Controllable headlight

Abstract

A headlight for a vehicle is described herein. The headlight includes a hybrid device and a controller. The hybrid device includes an array of light emitting devices that, in operation, illuminate a roadway on which the vehicle is located. The controller is electrically coupled to the hybrid device and, when in operation, causes the array of light emitting devices to selectively project patterned light onto an object on the roadway using the hybrid device and causes the camera to capture an image of the patterned light projected onto the object.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 391,933 filed on July 25, 2022, U.S. Provisional Application No. 63 / 424,819 filed on November 11, 2022, U.S. Provisional Application No. 63 / 424,824 filed on November 11, 2022, U.S. Provisional Application No. 63 / 424,826 filed on November 11, 2022, and U.S. Provisional Application No. 63 / 424,827 filed on November 11, 2022, the contents of which are hereby incorporated by reference into this document. Background Art

[0003] Camera vision will play an increasing role in autonomous vehicle vision systems. Unlike radio detection and ranging (radar) or light detection and ranging (lidar) vision systems, cameras can sense and measure light in the visible spectrum. This allows camera vision systems to perform functions that radar and lidar devices do not. For example, camera-based systems can use image processing techniques to recognize colors and read text on road signs. Summary of the invention

[0004] A headlight for a vehicle is described herein. The headlight includes a hybrid device and a controller. The hybrid device includes an array of light emitting devices that, when operated, illuminate a roadway on which the vehicle is located. The controller is electrically coupled to the hybrid device and, when operated, causes the array of light emitting devices to selectively project patterned light onto an object on the roadway using the hybrid device and causes a camera to capture an image of the patterned light projected onto the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] A more detailed understanding may be obtained from the following description, which is given by way of example in conjunction with the accompanying drawings, in which:

[0006] Figure 1A is a pictorial illustration of an example vehicle vision system;

[0007] Figure 1B is a pictorial illustration of another example vehicle vision system;

[0008] Figure 1C is a pictorial illustration of another example vehicle vision system;

[0009] Figure 1D is a pictorial illustration of another vehicle's visual system;

[0010] Figure 2 yes Figure 1A , Figure 1B , Figure 1C or Figure 1DA functional block diagram of an example implementation of a system;

[0011] Figure 3A is a pictorial illustration depicting an example of a light pattern suitable for implementing the embodiments described herein;

[0012] Figure 3B It is a schematic diagram of the visible light portion of the electromagnetic spectrum;

[0013] Figure 4A is a top view of an example array suitable for implementing the embodiments described herein;

[0014] Figure 4B is a side view of an exemplary hybrid device suitable for implementing the embodiments described herein;

[0015] Figure 5A is a flowchart of an example method according to example embodiments described herein;

[0016] Figure 5B is a flow chart of another example method according to the example embodiments described herein;

[0017] Figure 6 is a timing diagram according to an example embodiment described herein;

[0018] Figure 7 is a simplified block diagram of a system according to embodiments described herein;

[0019] Figure 8 is a pictorial schematic diagram of an example embodiment;

[0020] Fig. 9 is a pictorial illustration of a sequence of array states according to embodiments described herein;

[0021] Fig.10 is a timing diagram illustrating delay times for switching transmitters of an array according to embodiments described herein;

[0022] Fig.11 is a high-level block diagram of a system according to embodiments described herein;

[0023] Fig.12 is a functional block diagram of a system according to embodiments described herein; and

[0024] Fig.13 is a functional block diagram of a system according to embodiments described herein. DETAILED DESCRIPTION

[0025] Examples of different light illumination systems and / or light emitting diode (LED) embodiments will be described more fully below with reference to the accompanying drawings. These examples are not mutually exclusive, and features found in one example can be combined with features found in one or more other examples to achieve additional embodiments. Therefore, it will be understood that the examples shown in the accompanying drawings are provided for illustrative purposes only, and they are not intended to limit the present disclosure in any way. Like numbers always refer to like elements.

[0026] It will be understood that although the terms first, second, third, etc. can be used to describe various elements in this article, these elements should not be limited by these terms. These terms can be used to distinguish an element from another element. For example, the first element can be referred to as the second element and the second element can be referred to as the first element without departing from the scope of the present invention. As used herein, the term "and / or" can include any and all combinations of one or more associated listed items.

[0027] It will be understood that when an element such as a layer, region, or substrate is referred to as being "on" or "extending to" another element, it may be directly on or directly extending to another element, or there may also be intermediate elements. In contrast, when an element is referred to as being "directly on" or "directly extending to" another element, there may be no presence of intermediate elements. It will also be understood that when an element is referred to as being "connected" or "coupled" to another element, it may be directly connected or coupled to another element and / or connected or coupled to another element via one or more intermediate elements. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there is no presence of intermediate elements between the element and the other element. It will be understood that these terms are intended to cover different orientations of elements in addition to any orientation depicted in the figures.

[0028] Relative terms such as "below," "above," "upper," "lower," "horizontal," or "vertical" may be used herein to describe the relationship of one element, layer, or region to another element, layer, or region illustrated in the figures. It will be understood that these terms are intended to encompass different orientations of the device in addition to the orientation depicted in the figures.

[0029] As used herein, light emitting diodes (LEDs), micro-light emitting diodes (μLEDs), and pixels of hybrid devices may be referred to as being "on" and "off". The term "on" may refer to a state or transition to a state in which current is allowed to flow through the LEDs, μLEDs, and / or pixels of a μLED array. The term "off" may refer to a state or transition to a state in which current is prevented from flowing through the LEDs, μLEDs, and / or pixels of a μLED array. In some embodiments, a μLED array may include thousands or millions of light emitting LEDs placed together on a substrate of a centimeter or less area. Each pixel may include a μLED as described herein. A hybrid device may support high-density pixels with a lateral dimension of less than about 100 μm×100 μm. As used herein, μLEDs refer to independently controllable LEDs (e.g., emitter groups in a μLED array or individual emitters in a μLED array are independently controllable). Alternatively or in addition, μLEDs may refer to LEDs having a lateral dimension of about 1 μm to about 100 μm.

[0030] Conventional two-dimensional (2D) single camera systems used in motor vehicles have at least one disadvantage. Unlike radar and lidar devices, single camera systems are unable to capture the surface geometry of the imaged object and the distance from the camera to the imaged object. For example, conventional single camera vision systems are unable to perform the ranging functions performed by radar and lidar. As a result, single camera-based vision systems are limited in their ability to detect and distinguish 3-dimensional objects. The embodiments described herein are able to better capture the surface geometry of the imaged object, such as for use in motor vehicles (such as autonomous vehicles).

[0031] Figure 1A is a pictorial diagram of an embodiment of a camera vision system 800 implemented in a vehicle 400. Figure 1AIn the example shown in , the camera vision system 800 includes first and second headlights 408a, 408b. The first and second headlights 408a, 408b may each include headlight optics 810a, 810b, respectively, and each include first and second light engines 807a, 807b, respectively. The system 800 may further include a camera 820, which may include an imager 821 and camera optics 828. The imager 821 may include a light sensing and measuring surface 824 and an imager electronics 823. The first headlight 408a and the second headlight 408b may project visible light 410 generated by the first and second light engines 807a, 807b, respectively, into the travel path 20 of the vehicle 400 to illuminate a real world scene 803 including a three-dimensional (3D) object such as the object 802. In some embodiments, the headlights 408a, 408b may be offset from each other vertically or horizontally along the front of the vehicle 400. Additionally, in some embodiments, the first and second headlights 408a and 408b may also illuminate the road in the travel path 20. Figure 1A An embodiment with two headlights is depicted, but in additional embodiments, the camera vision system 800 may utilize two or more headlights. The additional headlights may have the same structure as the headlights 408A and 408B. Figure 1B In the example embodiment depicted in FIG. 4 , the headlights 408 a , 408 b are depicted as headlights, but in other embodiments, the headlights 408 a , 408 b may be turn signal indicator lights or any other suitable type of vehicle lighting.

[0032] The object 802 may be defined by a 3D surface geometry 801, which may be represented by x, y, and z coordinates 808, where x extends horizontally, y extends vertically perpendicular to a path plane, and z extends in a direction from the surface 801 to the camera 820. The first and second light engines 807a, 807b may be controlled by a controller (in Figure 1A ) to generate the first and second patterned lights (e.g. Figure 2 ). The headlight optics 810a, 810b may project first and second patterned lights into the travel path 10 to illuminate at least portions of the scene 803.

[0033] The camera 820 may be disposed in the vehicle 400 between the first headlight 408a and the second headlight 408b such that the light sensing and measuring surface 824 may sense visible light 411 including reflections of the first and second patterned lights from the surface 801 of the object 802. For example, the camera 820 may be disposed in, attached to, or fixed to a grille, dashboard, windshield, hood, or roof of the vehicle 400. Regardless of where the camera 820 is located in or on the vehicle 400, the camera 820 may be arranged relative to the headlights 408a and 408b such that the light sensing and measuring surface 824 of the camera 820 is in the path of light 411 reflected from at least some portion of the surface 801 of at least one object 802 illuminated by the light 410 emitted by the headlights 408a and 408b. In response to the capture control signal, the camera 820 captures an image of the object 802 under the control of the imager electronics 823.

[0034] like Figure 1A 8, the camera 820 may be arranged relative to the first headlight 408a and the second headlight 408b such that the first headlight 408a may project light from the A side of the camera 820 to illuminate the scene 803 including the object 802. The second headlight 408b may project light from the B side opposite to the A side of the camera 820 to illuminate the scene 803 including the object 802. The A side corresponds to the headlight 408a on the A side of the vehicle 400, and the B side of the camera 820 corresponds to the headlight 408b on the B side of the vehicle 400.

[0035] The optical devices 810a, 810b may include one or more light guides ( Figure 1A 410 to optimize the illumination of the travel path 20 according to various design considerations or constraints.

[0036] exist Figure 1AIn the embodiment shown in , the optical axes of the optical devices 810a, 810b can be arranged relative to the optical axes of the light engines 807a, 807b, respectively, so that the emitters including the light engines 807a, 807b can emit light in the visible light range, which is projected by the optical devices 810a, 801b into the scene 803 to illuminate the object 802 in the vehicle's travel path 20. In some embodiments, the optical devices 810a, 810b may include a steerable micro-lens array, which may be provided individually to each emitter or shared by a group of emitters to selectively project light onto a specific object 802 in or near the vehicle's travel path.

[0037] Figure 1B is a pictorial diagram of an embodiment of a camera vision system 800 implemented in a vehicle 400. Figure 1B In the example shown in , the camera vision system 800 includes a first headlight 408a. The first headlight 408a may include a headlight optics 810a and a first light engine 807a. The system 800 may further include a camera 820, which may include an imager 821 and camera optics 828. The imager 821 may include a light sensing and measuring surface 824 and imager electronics 823. The first headlight 408a may project visible light 410 generated by the first light engine 807a into the travel path 20 of the vehicle 400 so as to illuminate a real world scene 803 including three-dimensional (3D) objects (such as object 802). In addition, in some embodiments, the headlight 408a may also illuminate a road in the travel path 20. Although in Figure 1B In the example embodiment depicted in , the headlight 408A is depicted as a headlight, but in other embodiments, the headlight 408A may be a turn signal indicator light.

[0038] The object 802 may be defined by a 3D surface geometry 801, which may be represented by x, y, and z coordinates 808, where x extends horizontally, y extends vertically perpendicular to the path plane, and z extends in a direction from the surface 801 to the camera 820. The first light engine 807a may be controlled by a controller (in Figure 1B ) to generate the first and second patterned lights (e.g. Figure 2 The headlight optics 810a may project the first patterned light into the driving path 10 to illuminate at least portions of the scene 803.

[0039] The camera 820 may be provided in the vehicle 400. Figure 1BIn the example shown in , the camera is positioned laterally relative to the first headlight 408a so that the light sensing and measurement surface 824 can sense visible light 411, which includes reflections of the first and second patterned lights from the surface 801 of the object 802. For example, the camera 820 can be disposed in, attached to, or fixed to: a grille, a dashboard, a windshield, a hood, or a roof of the vehicle 400. Regardless of where the camera 820 is located in or on the vehicle 400, the camera 820 can be arranged relative to the headlight 408a so that the light sensing and measurement surface 824 of the camera 820 is in the path of light 411 reflected from at least some portion of the surface 801 of at least one object 802 illuminated by the light 410 emitted by the headlight 408a. In response to the capture control signal, the camera 820 captures an image of the object 802 under the control of the imager electronics 823.

[0040] The optical device 810a may include one or more light guides ( Figure 1B 807a). One or more light guides may be edge-lit or may have an internal opening that defines an interior edge of the light guide. The light engines 807a may be disposed in the interior openings of one or more light guides so that they may inject light into the interior edge (interior opening light guides) or the exterior edge (edge-lit light guides) of the one or more light guides. In embodiments, the one or more light guides may further shape the patterned light emitted by the light engine 807a according to, for example, a gradient, a chamfered distribution, a narrow distribution, a wide distribution, or an angular distribution so as to project light 410 to optimize illumination of the travel path 20 according to various design considerations or constraints.

[0041] exist Figure 1B In the embodiment shown in , the optical axis of the optical device 810a can be arranged relative to the optical axis of the light engine 807a, so that the emitters including the light engine 807a can emit light in the visible light range, which is projected by the optical device 810a into the scene 803 to illuminate the object 802 in the vehicle's travel path 20. In some embodiments, the optical device 810a can include a steerable micro-lens array, which can be provided individually to each emitter or shared by a group of emitters to selectively project light onto a specific object 802 in or near the vehicle's travel path.

[0042] Figure 1C is a pictorial diagram of an embodiment of a camera vision system 800 implemented in a vehicle 400. Figure 1C In the example shown in , the camera vision system 800 includes first and second taillights 110a, 110b. The first and second taillights 110a, 110b may each include a headlight optic 110a, 810b, respectively, and each include first and second light engines 807a, 807b, respectively. Figure 1CThe embodiments described in the Figure 1A However, vision system 800 may be adapted to reconstruct the surface geometry of object 802 and / or determine the distance to object 802 when object 802 is located behind the vehicle. This configuration may be particularly useful in autonomous driving applications such as autonomous parking.

[0043] Figure 1D is a pictorial diagram of an embodiment of a camera vision system 800 implemented in a vehicle 400. Figure 1D In the example shown in FIG. 8 , the camera vision system 800 is similar to Figure 1A . However, the camera 820 may be integrated into the headlights 408A and 408B, respectively. In this embodiment, the camera 820A may capture an image of the patterned light projected by the headlight 408B, and the camera 820b may capture an image of the patterned light projected by the headlight 408A. This inverted configuration of using the A camera that captures the B projection and vice versa may enable the vision system 800 to maximize the distortion of the light projected on the object 802, and thereby improve the reconstruction of the surface geometry of the object 802 and / or determine the distance from the object 802. The patterns of light projected by the headlights 408A and 408B may be different patterns, and these different patterns may be selected so that the pattern from the headlight 408a is easily distinguishable from 408B. For example, the headlight 408A may project a pattern including red light, and the headlight 408B may project a pattern using blue light. In these cases, the corresponding cameras 820A and 820B may be adapted to filter out the pattern of the other headlight.

[0044] Figure 2 yes Figure 1A A high-level functional block diagram of an example embodiment of a vehicle vision system 800 is shown in FIG. Figure 2 In the example of FIG. 4 , the headlights 408 a and 408 b include light engines including the first and second hybrid devices 102 a and 102 b, respectively. Figure 4B Examples of hybrid devices 102a and 102b are shown in FIG.

[0045] The first and second optical devices 810a and 810b can each include a reflector 860a, 860b and one or more lenses 861a, 861b, which in some example embodiments can include first and second steerable microlens arrays. Depending on the implementation, the first and second optical devices 810a, 810b can include more optical components than depicted, and / or different optical components than depicted.

[0046] The controller 916 may provide control signals 840a, 840b to the hybrid devices 102a, 102b, respectively. Fig.12 and Fig.13An example embodiment of a controller 916 is depicted in FIG. In some examples, the controller 916 may provide control signals 840a, 840b to the hybrid devices 102a, 102b in response to a signal 212 that may be received from an additional system within the vehicle. The control signals 840a, 840b may select the LEDs comprising the first and second arrays 102a, 102b to be driven in an on state, so that the first and second arrays 102a, 102b may emit light in a pattern defined by the arrangement of the on LEDs and the off LEDs. The patterned light may be projected by the optical devices 810a, 810b of the headlights 408a, 408b, thereby forming first and second patterned lights 817a, 817b. The patterned lights 817a, 817b may be projected into the travel path 20 of the vehicle 400, where they may be reflected from the surface of an object in the path.

[0047] exist Figure 2 In the example of , first patterned light 817a is shown as being reflected from 3D surface 801 of object 802. As seen from the perspective of camera 820, the stripes of light including patterned light 817a appear wavy. For illustrative purposes, the dark stripes in the figure correspond to a group of light-emitting elements that are turned on (e.g., emitting light) and arranged relative to light-emitting elements that are turned off (e.g., not emitting light). Light-emitting elements that do not emit light are shown as colorless (white) in the figure.

[0048] The contrast between the off elements and the on elements can produce an edge corresponding to the shape of the stripes (e.g., an elongated, generally rectangular stripe of light). The waves in the stripes seen from the perspective of camera 820 can correspond to the surface shape of surface 801. Likewise, the stripes of light including patterned light 817b can appear wavy according to the surface shape of surface 801. Camera 820 can capture an image of the object, where the patterned light 817a, 817b can be curved according to the surface shape of the object.

[0049] In some examples, the controller 916 can send a capture signal 830a to the camera 820. In response to the capture signal, the imager electronics 823 can read a measurement of light reflected from the surface 801 of the object 803 onto the light sensing and measuring surface 824, thereby capturing an image of the object 803. The camera 820 can provide the captured image of the object to an image processor (not shown), which can be part of the controller 916 or can be an external image processor (not shown). The image processor can reconstruct the surface geometry of the object 802 and / or determine the distance to the object 802 based on the distortion in the first and second captured images.

[0050] In other examples, the controller 916 may receive a capture signal 830a from the camera 820. In response to the capture signal, the controller 916 may cause the hybrid devices 102a and 102b to project patterned light onto the object 802. The camera 820 may then capture an image of the object onto which the patterned light is projected. The camera 820 may provide the captured image of the object to an image processor (not shown), which may be part of the controller 916 or may be an external image processor (not shown). The image processor may reconstruct the surface geometry of the object 802 and / or determine the distance to the object 802 based on the distortion in the first and second captured images. The image processor may then provide the reconstructed surface geometry of the object 802 and / or the determined distance to the object 802 to the automotive system 210 directly via 831b or indirectly via 831a. The automotive system 210 may include an electronic control unit (ECU), a processor or circuit that controls the autonomously driven vehicle 400, an advanced driver assistance system (ADAS), a navigation system, or a lighting system.

[0051] The automotive system 210 may provide a capture signal to the camera 820 and the controller 916 via signals 830b and 212. In these examples, the controller may receive the signal 212, and in response to receiving the capture signal, the controller 916 may cause the hybrid devices 102a and 102b to project patterned light onto the object 802. The camera 820 may then capture an image of the object onto which the patterned light is projected. The camera 820 may provide the captured image of the object to an image processor (not shown). The image processor may reconstruct the surface geometry of the object 802 and / or determine the distance to the object 802 based on the distortion in the first and second captured images. The image processor may then provide the reconstructed surface geometry of the object 802 and / or the determined distance to the object 802 to the automotive system 210 directly via 831b or indirectly via 831a.

[0052] The image processor may implement one or more of the imaging techniques described in “Structured-light 3D surface imaging: a tutorial” (Jason Geng, “Structured-light 3D surface imaging: a tutorial,” Adv Opt Photon 3, 128-160 (2011)) to reconstruct the surface geometry of object 802 and / or determine the distance to object 802. “Structured-light 3D surface imaging: a tutorial” is incorporated herein by reference in its entirety.

[0053] The automobile system 210 may detect that the headlight 408a or the headlight 408b is not functioning properly. The headlight may not function properly due to the corresponding headlight being blocked by debris, damaged in an accident, electrical anomalies, insect infestation, or a corresponding LED array failure. In such instances, the automobile system may dynamically reconfigure itself to operate according to the Figure 1B The automotive system 210 can determine that the headlight 408a or the headlight 408b is not operating properly by comparing the projected images of the patterned light 817a, 817b captured by the camera 820.

[0054] In some examples, the automotive system 210 can perform calibration on the vehicle vision system 800. During the calibration process, the automotive system 210 can cause the headlights 408a, 408b to project patterned light 817a, 817b onto the object 802 at one or more predetermined distances from the camera 820. The automotive system 210 can then instruct the camera 820 to capture an image of the patterned light 817a, 817b projected onto the object 802 at each of the one or more predetermined distances. The image processor can then use the image to calibrate the image processor to accurately measure the distance to the object. In some examples, the calibration is repeated for different light patterns.

[0055] The particular patterned light 817a, 817b may define a light pattern that is selected to facilitate the description of the example embodiments. However, one of ordinary skill reading this description will appreciate that a wide variety of light patterns may be suitable for implementing the various embodiments of the vehicle vision system 800 described herein.

[0056] Figure 3A Some examples of alternative light patterns of patterned light 817a, 817b suitable for implementation in various embodiments described herein are shown. However, these examples are not exhaustive of all light patterns suitable for implementing the described embodiments. Figure 2 , and for the purpose of illustration, the dark stripes in the drawings correspond to a group of light-emitting elements, which are turned on (e.g., emitting light) and arranged relative to the light-emitting elements that are turned off (e.g., not emitting light). The light-emitting elements that do not emit light are shown as colorless (white) in the drawings. In some instances, patterned light 817a, 817b may include light of different colors. In other instances, patterned light 817a, 817b may include light of continuously changing colors. In yet other instances, patterned light 817a, 817b may include color-coded stripes, segmented stripes, and De Bruijn sequences. In some instances, patterned light 817a, 817b may include pseudo-random binary points, mini patterns, color-coded grids, or color-coded dot arrays.

[0057] The selection of a particular patterned light can affect the size of features of the surface geometry of the imaged object that can be detected by the camera 820 and the image processor. In addition, the selection of a particular patterned light can affect the accuracy of the measurement of the distance to the object. For example, a grid pattern with more horizontal and vertical lines can allow small feature sizes to be detected and allow more accurate distance measurements compared to a pattern with fewer horizontal and vertical lines. As a result, in many instances, it may be desirable to use μLEDs to project patterned light due to the small pixel size of μLEDs and the ability to generate high contrast projections. Therefore, the small pixel size of μLEDs and the ability to generate high contrast projections can result in high accuracy distance measurements and small feature size detection.

[0058] A particular pattern may be selected based on the number of headlights used in system 800. For example, Figure 1A As depicted in , a dual headlight system can utilize a specific pattern optimized based on the projection of two patterns. Similarly, in a single headlight system, such as Figure 1B As depicted in FIG. 8 , different patterns optimized for a single headlight may be selected. Likewise, in embodiments using more than two headlights, the pattern may be optimized for the number of headlights used in the system. In other embodiments, the pattern may be optimized based on whether the system 800 is installed in a system such as Figure 1A / Figure 1B In the headlight configuration depicted in the figure, or in the headlight configuration depicted in the figure, Figure 1C The pattern of light may be selected in the taillight configuration depicted in For example, in the taillight configuration, a pattern may be selected that is optimized to be compatible with the red color projected by the taillight during nighttime driving or when the vehicle brakes are applied.

[0059] In some examples, a specific pattern can be selected to support multiple shot 3D surface imaging. In these configurations, a specific pattern in a first time period can be changed to a different pattern in a second time period. This can enable the image processor to reconstruct the surface geometry of the object 802 and / or determine the distance to the object 802 based on the projected images of the different patterned lights in the first and second time periods.

[0060] In some examples, the particular pattern of patterned light 817a, 817b can be dynamically reconfigured by the controller 916 or the vehicle system 210. In some examples, the selection of the particular pattern can be automatically determined.

[0061] Figure 3B 186. In the embodiment described herein, the arrays 102a, 102b ( Figure 2102a, 102b) can emit light in the visible portion 180 of the electromagnetic spectrum 186. The visible portion 180 of the spectrum 186 can be defined by radiation having wavelengths from about 380 nm and to about 780 nm and even in an extended range to about 830 nm. In some embodiments, the emitters including the arrays 102a, 102b can be LEDs that emit white light by combining a blue emitting LED die and a phosphor coating or phosphor layer. In operation, blue radiation from the emitters including the arrays 102a, 102b can excite the phosphor, causing the phosphor to re-emit a portion of the excitation energy because the longer wavelength light is spread over a wide spectrum. The converted luminescence from the phosphor, together with the unconverted blue light from the LED, can provide light in the white portion of the spectrum.

[0062] In some example embodiments, the arrays 102a, 102b may include LED chips that may be approximately 1-2 mm or smaller in size and may typically provide a maximum luminous flux of approximately 200 Lm. In some embodiments, using high power LED technology, the arrays 102a, 102b may emit approximately 100 to 200 MCd / m 2 brightness level.

[0063] In some example embodiments, the patterned light 817a, 817b may be projected in an invisible spectrum of IR 183 or UV 184. In these embodiments, the camera 820 may be adapted to capture images in the same invisible spectrum as the patterned light. By using an invisible spectrum, the patterned light 817a, 817b may be projected onto a particular object 802 without potentially distracting the driver. Furthermore, by using an invisible spectrum, the problem of the patterned light 817a, 817b being the same color as the particular object 802 may be avoided more often.

[0064] In other example embodiments, the patterned light 817a, 817b may be projected in the invisible spectrum of IR 183 or UV 184, and the hybrid device 102a, 102b may project light on the road in the visible spectrum 182. In these embodiments, the camera 820 may be adapted to capture images in the same invisible spectrum as the patterned light. These embodiments may enable the driver of the vehicle to have a visible illuminated road while at the same time providing the patterned light 817a, 817b required by the camera.

[0065] In additional example embodiments, the patterned light 817a, 817b may be projected in a first color, and the hybrid devices 102a, 102b may project light on the road in a second color. For example, the first color and the second color may be selected so that when combined, the resulting light on the road appears as white light. For example, the first color may be yellow, and the second color may be blue. In these embodiments, the camera 820 may be adapted to capture images corresponding only to wavelengths of the first color. These embodiments may enable patterned light to be projected for longer durations without distracting the driver.

[0066] Figure 4A is a top view of an example hybrid device. Figure 4A The example hybrid device shown in FIG. 1 includes an LED die 1302 that includes a light emitting element 120 (also referred to herein as an emitter). Figure 2 The patterned light 817a, 817b projected by the array 102 (shown in FIG. 8 ) can define an image, which can include light emitted from the LED 120. In the case of the system 800, each LED 120 (or group of LEDs) of the array can correspond to a projector picture element or a projector pixel. In the embodiments described herein, the emitter 120 may include a light emitting diode (LED). Suitable hybrid devices may include a monolithic LED array, a micro-LED array, and the like. Each LED 120 in the LED die 1302 may be individually addressable. Alternatively, a group or subset of LEDs 120 may be addressable. In the embodiments described herein, the array 102 may be a micro-LED, whereby, for example, each LED 120 may have a size in the micrometer range (i.e., between 1 micrometer (μm) and 100 μm). For example, in some embodiments, the LED 120 may have a size of approximately 40 μm×40 μm (a size approximately within 10 μm×10 μm). In some embodiments, the LED 120 may have a lateral dimension of less than 100 μm.

[0067] The LEDs 120 may be arranged in a matrix including one or more rows and one or more columns to define a rectangle. In other embodiments, the LEDs 120 may be arranged to define other shapes. Each micro-LED included in the LED die 1302 may cover thousands or millions of projector pixels or LEDs. For example, the μLED may include approximately 5,000 pixels, 20,000 pixels, or more pixels (such as millions of pixels). Each pixel may include an emitter. The μLED may support high-density pixels with a lateral dimension of less than 150 μm×150 μm. In some embodiments, the μLED die 1302 may have a diameter or width of approximately 50 μm in size. In some embodiments, the height dimension of the array 120 including the LEDs, their supporting substrates and electrical traces, and associated micro-optical devices may be less than 5 mm.

[0068] Figure 4A Also shown in FIG. 1 is an exploded view of a 3×3 sub-array 125 of emitters 120 included in the LED die 1302. The sub-array 125 may include emitters 120, each of which is defined by a width w1. In some example embodiments, the width w1 may be approximately 100 μm or less (e.g., 40 μm). As shown in the sub-array 125, the channels 122 may be defined to extend horizontally and vertically to define rows 122a and columns 122b of the LEDs 120. The width of the channels 122 between the emitters 120 may be w2. In an embodiment, the width w2 may be approximately 20 μm or less (e.g., 5 μm). In some embodiments, the width w2 may be as small as 1 μm. The channels 122 may provide air gaps between adjacent emitters, or may include other materials. The distance d1 from the center of one emitter 120 to the center of an adjacent emitter 120 may be approximately 120 μm or less (e.g., 45 μm). It will be understood that the widths and distances provided herein are examples of one of many possible embodiments in which the widths and / or other dimensions may vary.

[0069] In some example embodiments, channel 122 may be defined by a width w2, which may be approximately 20 μm or less (e.g., 5 μm). In some example embodiments, width w2 may be as small as 1 μm. Channel 122 may be used to provide an air gap between adjacent emitters 120 and may contain materials other than luminescent materials. In some example embodiments, the distance D1 from the center of one emitter 120 to the center of an adjacent emitter 120 may be approximately 120 μm or less (e.g., 45 μm). It will be understood that the LEDs and channel widths and distances between the LEDs are intended only as examples. A person of ordinary skill reading the disclosure herein will appreciate that ranges of widths and / or sizes will apply to various embodiments and that those embodiments will fall within the scope of the present disclosure.

[0070] For ease of illustration, the emitter 120 contained in the LED die 1302 is depicted herein as having a rectangular shape. However, as will be appreciated by one of ordinary skill, various other emitter shapes will be suitable for implementing the emitter 120 and LED die 1302 in various applications, and these will fall within the scope of the embodiments described herein. Likewise, the LED die 1302 is Figure 4A 1302 as a symmetrical matrix of emitters 120. However, various other embodiments of LED die 1302 may be suitable for implementing the embodiments described herein, depending on the application and design considerations. For example, in some embodiments, LED die 1302 may include a linear array of emitters 120, and in other embodiments may include a rectangular array of emitters 120. In some embodiments, LED die 1302 may include a symmetrical or asymmetrical matrix of emitters 120. LED die 1302 may include an array or matrix defined by a size or order different from the array size or order depicted herein.

[0071] For example, in some practical applications, Figure 4A The LED dies 1302 depicted in the drawings may include over 20,000 emitters 120 in an asymmetric or symmetric arrangement, in a wide range of array sizes and orders (e.g., a 200×100 array, a symmetric matrix, or an asymmetric matrix). For example, in some practical applications, two or more LED dies 1302 may be stacked such that the emitters 102 are arranged to define rows and columns extending in three spatial directions or dimensions. It will also be understood that the LED dies 1302 themselves may be sub-arrays of a larger array (not shown) of emitters 102.

[0072] LED die 1302 may have a 90 mm 2 or larger surface area, and may require considerable power to drive the LEDs. In some applications, this may be as much as 60 watts or more. In some embodiments, array 102 may include an array of emitters. In this case, LED die 1302 may include hundreds, thousands, or even millions of LEDs or emitters arranged within a substrate of an area on the order of centimeters or less. The micro-LED may include an array of individual emitters disposed on a substrate, or may be a single silicon wafer or die that is partially or fully divided into light-emitting segments that form emitters 120. In some embodiments, the emitters may have different non-white colors. For example, at least four of the emitters may be an RGBY emitter group.

[0073] Figure 4BAn embodiment of a hybrid device 102 is shown. In this example embodiment, LED dies 1302 comprise emitters 120. A backplane 1304 can provide an electrical interface between individual emitters 120 or groups of emitters and other components, such as drivers and controllers that can determine which LEDs 120 will be on (lit) and at what intensity at any given time and which LEDs will be off (not emitting). In some embodiments, a silicon backplane can include circuitry that receives power from one or more power sources and distributes the power to other components on the backplane and to the emitters 120 of the array 102.

[0074] The backplane may include circuitry that receives control signals from one or more controllers external to the backplane. The backplane may be electrically coupled to the LEDs 120 of the array 102 to enable selection of individual LEDs or groups of LEDs for illumination at various intensity levels in response to control signals from the one or more controllers. For example, the backplane may provide an interface between one or more illumination sources and a power control signal source including an LED driver or the like, and the emitters 120 of the array 102 may be driven in accordance with the control signals. The control signals may include pulse width modulation (PWM) signals for controlling the intensity of light emitted by the individual emitters of the array 102 to form patterned light (such as a Figure 2 The light emission patterns of the patterned light 817a and 817b) shown in FIG.

[0075] The backplane 1304 can be further coupled to a circuit board 1306. The backplane 1304 can be coupled to the circuit board 1306 via top conductors 1312. In other examples, the circuit board 1306 can be coupled to the backplane 1304 via a socket. The circuit board 1306 can include additional circuits and packaging for the hybrid device 102, such as a driver and a heat sink. In addition, the circuit board 1306 can include additional circuits to facilitate communication with the controller 916 or the automotive system 210. In some examples, the controller 916 can be integrated into the circuit board 1306. The circuit board 1306 can also be referred to as a package board to distinguish it from other circuit boards described herein.

[0076] The circuit board 1306 can be further coupled to a customer board 1316. The circuit board 1306 can be coupled to the customer board 1316 via top conductors 1308. In other examples, the circuit board 1306 can be coupled to the customer board 1316 via a socket or through a bottom connector of the circuit board 1306. The customer board 1316 can include additional circuitry and / or packaging for the hybrid device 102, such as a driver, a controller, passive components, and / or a heat sink. In addition, the customer board 1316 can include additional circuitry to facilitate communication with the controller 916 or the automotive system 210. In some examples, the controller 916 can be integrated into the customer board 1316.

[0077] The hybrid device 102 can include an optics 810, such as a reflector 860 and / or one or more lenses 861. Depending on the implementation, the optics 810 can include more optical components than depicted and / or different optical components than depicted. For example, in some instances, the optics 810 can include a prism and / or a steerable microlens required to project patterned light generated by the LEDs on the LED die 1302 onto the object 802.

[0078] The silicon backplane can be a complementary metal oxide semiconductor (CMOS) backplane that can provide a number of LED drivers equal to the number of LEDs that make up the corresponding LED array. In some embodiments, a driver can be provided for each group of LEDs, each group including a certain number of LEDs. In these embodiments, groups of LEDs or groups of emitters can be controlled together rather than controlling individual LEDs. In some embodiments, the silicon backplane can be implemented by an application specific integrated circuit (ASIC). Each driver can be electrically coupled to a corresponding LED or emitter or group of LEDs or emitters individually.

[0079] In one embodiment of the above backplane, individual drivers may be provided in the silicon backplane and electrically coupled to individual LEDs or emitters or groups of LEDs or emitters in the LED array. Thus, the LED array 120 may be ideally arranged in close proximity to the silicon backplane. In an embodiment, this may be accomplished by individually coupling copper stud bumps or other connectors in an array of connectors on the surface of the LED array to corresponding connectors on the opposite surface of the silicon backplane.

[0080] Additionally, an LED array (such as array 102) and an associated silicon backplane may include a number of passive components (such as resistors, capacitors, and crystals) to be disposed on one or more circuit boards, which may be arranged in close proximity to the silicon backplane. Embodiments described herein may include array elements that include LED packages or units that may enable a large number of passive components (e.g., 27 or more) to be mounted on the surface of a circuit board and in close proximity to the backplane and LED array. Furthermore, embodiments described herein may provide a low profile LED array package that accommodates one or more passive components and enables heat generated by the silicon backplane and LED array to be dissipated.

[0081] Figure 5A4000A, which may be implemented via a controller (such as the controller 916, the automated system 212, and / or a controller anywhere on the package board 1306 or the customer board 1308) to cooperate with the array 102a, 102b of headlights 408a, 408b and the camera 820 to implement the vehicle vision system 800 according to the example embodiment of multi-shot 3D surface imaging. The method 4000A may define a protocol or algorithm for configuring the controller and / or the automated system 212 to perform the system functions described herein.

[0082] Before the method begins, time periods P1 and P2 may be defined. For example, the time periods corresponding to P1 and P2 may be programmed into, provided to, or otherwise defined by: a synch timer 920 ( Figure 2 ). The method may begin at 4001 by starting the synchronization timer 920 so that the time of executing step 4002 may mark the start time of P1. At 4002, the controller 916 may send a first control signal 840a to select individual LEDs 120 of the array 102a to be driven to their on-states, while other LEDs 120 of the array 102a may be driven to their off-states, so that relative positions in the LED array 102a may be in the on-state relative to positions in the LED array 102a that are in the off-state, which may define a light emission contrast pattern for the array 102a.

[0083] In response to the first control signal 840a, and at some time after the start of P1 and before the expiration of P1, the array 102a can turn the LEDs on and off according to the light emission contrast pattern. In the case where the array 102a emits light according to the emission contrast pattern, the optics 410a of the headlight 408a can project the emission contrast pattern from the array 102a as the first patterned light 817a into the travel path 10 of the vehicle 400. The projection of 817a can be maintained for a period of time thereafter.

[0084] At some time after the headlight 408a projects the patterned light 817a, and when the patterned light 817a is projected into the travel path 20, the controller can send a capture signal to the camera 820 at 4004. In response to the capture signal, the camera 820 can capture an image of the real-world scene in the vehicle's travel path while the scene is illuminated by the projected patterned light 817a, such that the captured image includes reflections of the first patterned light 817a from the surface 801 of one or more objects 802 in the scene 803.

[0085] At 4006, expiration of P1 may be detected. In the event that the projected patterned light 817a is not deactivated upon expiration of P1, the controller may send a control signal to the array 102a to deactivate the first projected patterned light 916a at 4008. At the same time, the synchronization timer 920 may start a timer for P2.

[0086] At 4010, the controller may send a second control signal 840b to the array 102b including the headlight 408b to select individual LEDs 120 of the array 102b to be driven to their on-states while other LEDs 120 of the array 102b may be driven to their off-states, so that relative positions in the LED array 102b that are in the on-state relative to positions in the LED array 102b that are in the off-state may define a light emission contrast pattern for the array 102b.

[0087] In response to the second control signal 840b, and at some time after P2 begins and before P2 expires, the array 102b may turn the LEDs on and off according to the light emission contrast pattern for the array 102b. In the event that the array 102b emits light according to the emission contrast pattern, the optics 410b of the headlight 408b may project the emission contrast pattern from the array 102b as the second patterned light 817b into the travel path 10 of the vehicle 400. The projection of 817b may be maintained for a period of time thereafter.

[0088] At some time after the headlight 408b projects the patterned light 817b, and when the patterned light 817b is projected into the travel path 20, the controller can send a capture signal (4012) to the camera 820. In response to the capture signal, the camera 820 can capture an image of a real-world scene in the vehicle's travel path while the scene is illuminated by the projected patterned light 817b, such that the captured image includes reflections of the second patterned light 817b from the surface 801 of one or more objects 802 in the scene 803.

[0089] At 4014, expiration of P2 can be detected. In the event that the projected patterned light 817b is not deactivated upon expiration of P2, at 4016, the controller can send a control signal to the array 102b to deactivate the second projected patterned light 916b. At 4018, an exit condition can be tested. If the exit condition is not met, the P1 timer can be started again at 4001, and the method can be repeated until the exit condition is met at 4018, in which case the method can end at 4020.

[0090] Figure 5B4000B may be implemented via the controller and / or the automated system 212 to implement the vehicle vision system 800 in accordance with an example embodiment utilizing single shot 3D surface imaging in conjunction with the array 102a, 102b of headlights 408a, 408b and the camera 820. The method 4000B may define a protocol or algorithm for configuring the controller and / or the automated system 212 to perform the system functions described herein.

[0091] In optional step 430, the controller 916 and / or the automatic system 212 may select a pattern to be projected as one or more of the patterned light 817a, 817b. For example, the automobile system 210 may determine that the automobile 400 is trying to park and select a specific pattern optimized for detecting features of the object 802 at a short distance. Similarly, in other embodiments, the automobile system may select a specific pattern when the adaptive cruise control is engaged. In this particular instance, the specific pattern may be optimized for detecting features of the object 802 at a short distance. In other embodiments, a specific pattern may be selected by time of day. For example, a specific pattern optimized for lighting conditions found during dawn or dusk may be selected.

[0092] In other examples, a specific pattern may be selected in step 430 based on ambient conditions outside the vehicle 400. For example, the automotive system 210 may detect that it is raining by a rain sensor or by the occupancy of the windshield wipers. In this example, the automotive system 210 may select a specific pattern that minimizes the interference caused by raindrops to the projection of patterned light 817a, 817b. In other examples, the automotive system 210 may detect that it is likely that the vehicle 400 may encounter ice. In these examples, the selected patterned light may be optimized to detect ice. In other examples, a specific light pattern may be selected based on ambient light detected in the environment into which the vehicle 400 is driving. For example, if the automotive system 210 determines that the vehicle 400 is in an environment with high sunlight glare, the selected specific light pattern may be optimized to minimize possible interference with the projection of patterned light 817a, 817b.

[0093] In some embodiments, a particular pattern of patterned light 817a, 817b may be selected in 430 based on the reconstructed surface geometry of object 802 determined in 460 and / or the determined distance to object 802. For example, if the determined distance exceeds a threshold, the selected particular pattern of light may be selected to be optimized for long-distance objects. Similarly, if the determined distance is below a threshold, the selected particular light pattern may be optimized for shorter distances. In other examples, a particular pattern may be selected based on the speed at which the vehicle is traveling, such that a different pattern is selected when the vehicle speed exceeds a threshold.

[0094] In yet other embodiments, a particular pattern of patterned light 817a, 817b may be selected in 430 based on a condition that the image processor is unable to detect the patterned light in the captured image in step 460. For example, if the patterned light 817a, 817b is blue light, and the object 802 happens to be the same shade of blue, the camera 820 may not be able to detect the patterned light. Therefore, a red patterned light may be selected.

[0095] In other examples, a specific pattern of patterned light 817a, 817b can be selected in 430 based on input from the driver. In some examples, this can be done directly by turning a knob or selecting in the vehicle. In other examples, the selection can be made indirectly by changing the driving mode. For example, selecting a sports driving mode can result in the selection of patterned light optimized for higher speeds and faster object detection. Similarly, selecting OffRoad may result in the selection of patterned light optimized for slower speeds and multi-object detection. In other embodiments, different patterns can be selected when the turn signal is activated. The patterns selected in these examples can be optimized for detecting objects along the periphery of the field of view of the camera 820.

[0096] The patterned light 817a, 817b can be projected by the hybrid device 102a, 102b at 440 onto the road and objects 802 in the driving path 20. In some examples, additional light can also be projected onto the road surface, which illuminates the road surface for the driver. In some examples, the patterned light 817a, 817b can be projected continuously in step 440. In other examples, the patterned light can be projected for a period of time less than the human perception threshold (e.g., 20ms).

[0097] At 450, camera 820 may capture images of patterned light 817a, 817b projected onto the roadway. In some instances, parameters of the camera may be modified based on the pattern of light selected at step 430. For example, the integration time, exposure, aperture, or other parameters of camera 820 may be configured based on the particular pattern selected.

[0098] In step 460, the image processor can then reconstruct the surface geometry of the object 802 and / or determine the distance of the object 802 from the camera 820. The image processor can reconstruct the surface geometry of the object 802 and / or determine the distance of the object 802 from the camera 820 based on the image captured in 450. In some examples, the image processor can perform the reconstruction and / or determination using additional information obtained during the calibration process. The results of the reconstruction and / or determination can then be provided to the automotive system 210. Optionally, the results of the reconstruction and / or determination can also be provided to the controller 916 and / or the automatic system 212 to select a specific pattern in 430.

[0099] Figure 6 5 is a timing diagram illustrating an example implementation of the multi-shot method described above and shown in the flowchart of FIG. Figure 6 As shown in , the headlights 408a and 408b can actually take turns projecting their corresponding patterned lights 817a, 817b. As a result, the projected patterned lights 817a, 817b can be switched from one to another at a rate defined by the time intervals P1 and P2. In an example embodiment, the first and second time intervals P1 and P2 can be set so that the projected patterned light can be switched from one to another at a switching rate greater than about 50 switches per second. In this case, the synchronization timer 920 can set the time interval P1 to no longer than about 20ms, and also set the time interval P2 to no longer than about 20ms.

[0100] like Figure 6 As shown in , patterned light 817a can be formed by light engine 807a and projected by frontlight 408a between t=0 and t=1, which can correspond to P1. At the end of P1, patterned light 817a can be deactivated at t=1 (if not deactivated), and patterned light 817b can be formed by light engine 807b and projected by frontlight 408a between t=1 and t=2 corresponding to P2. At t=2 (which can be the time when P2 expires), patterned light 817b can be deactivated (if not deactivated), and patterned light 817a can again be formed by light engine 807a and projected by frontlight 408a between t=2 and t=3 corresponding to P1, and so on.

[0101] At some time within each P1 interval, the controller may send at least one first capture signal 830 to the camera 820. In response, the light sensing and measurement surface 824 of the camera 820 may sense light reflected from a surface of an object in the scene 803 (e.g., the surface 801 of the object 802), and the camera 820 may capture the sensed light as an image, wherein the projected light pattern 817a appears in the captured image of the object 802. Similarly, at some time within each P2 time interval, the controller may send at least one second capture signal 830 to the camera 820. In response, the light sensing and measurement surface 824 of the camera 820 may sense light reflected from a surface of an object in the scene 803 (e.g., the surface 801 of the object 802), and the camera 820 may capture the sensed light as an image, wherein the projected light pattern 817b appears in the captured image of the object 802. When the patterned light 817a, 817b appears in the first and second captured images, the surface geometry of the object 802 may be reconstructed based on the patterned light 817a, 817b.

[0102] Based on the characteristics of normal human vision, intervals P1 and P2 can be selected to be less than about 20ms. The human eye may need longer than about 20ms to form a complete image in response to the sensed light, although this time may vary depending on factors such as the intensity of the light. At a switching rate of less than about 50 switches per second (e.g., each patterned light is projected longer than about 20ms), the human eye will generally be able to perceive a flickering change from the projection of patterned light 817a to the projection of patterned light 817b, and vice versa. This can be especially possible when patterned lights 817a and 817b are selected to have high contrast relative to each other. The flickering light may distract the attention of a person driving a vehicle near vehicle 400.

[0103] To avoid flicker effects, the controller can project patterned light 817a and 817b for no longer than 20ms each to maintain a switching rate of about 50 switches per second. In some embodiments, the switching rate can be selected based on the rate at which the human eye will mix the projected patterned light under test conditions to avoid flicker effects.

[0104] On the other hand, in many practical applications, it may be desirable to have patterned lights 817a and 817b with high contrast so as to be clearly distinguishable from each other in a captured image of object 802. To achieve this goal without reducing the switching rate to a rate below which flicker would be perceived, camera 820 may include a light sensing and measuring surface 824 (shown in FIG. 1 ) that can form a complete image of the projected patterned light in an exposure time significantly less than 20 ms. Thus, even though the patterned light may be switched at a rate faster than about 50 Hz, camera 820 may still capture first and second images of the object, with patterned light 817a being reflected in the first image and patterned light 817b being reflected in the second image.

[0105] In some embodiments, the controller may send a control signal so that patterned lights 817a and 817b may be flashed on and off one or more times during their respective projection time intervals P1 and P2, respectively, rather than being projected continuously throughout P1 and P2, respectively (e.g., to achieve higher resolution in the captured image or to adapt to environmental conditions or other factors). For the same reason, in some embodiments, the controller may send more than one capture signal during intervals P1 and P2.

[0106] exist Figure 6 In an example embodiment of , patterned light 817a projected by frontlight 408a may define a vertical stripe pattern that is opposite to the horizontal stripe pattern of patterned light 817b projected from frontlight 408b. This pattern difference may increase contrast and may make reflections of patterned light 817a and 817b more easily distinguishable from each other in an image of object 802 captured by camera 820.

[0107] Examples of patterned lights 817a and 817b are shown in the figures herein and are simplified for purposes of explanation. In practice, patterned lights 817a and 817b may define a variety of other patterns or shapes. Figure 3A Additional examples of suitable patterns for patterned light 817a and 817b are depicted in FIG.

[0108] In reconstructing the surface geometry of the surface 801 of the object 802 in the scene 803 (shown in FIG. 1 ), the scene 803 (or surface 801 ) can be viewed as a function that can map the light emitting elements of the array 102a, 102b (projector pixels) including the headlights 408a, 408b onto the light sensing elements (imager pixels) (not shown) of the light sensing and measuring surface 824 of the camera 820. The light sensing elements comprising the surface 824 can in turn be mapped by the imager electronics 823 to picture elements (pixels) whose pixel-to-pixel brightness value variations define the shape of each corresponding reflected patterned light in the image of the object 802 captured by the camera 820. A 3D image of the surface 801 of the object 802 can be reconstructed by analyzing the patterned light shapes in the captured image. Knowledge of the surface geometry of the object can facilitate computer recognition and identification of the object. In an autonomous vehicle, it may be highly desirable to quickly and accurately identify objects in the path of the vehicle, for example, to allow the vehicle to quickly determine and initiate an evasive maneuver if necessary.

[0109] Figure 7 is a simplified block diagram of a vision system 800 configured to implement the above-described Figure 5A The flowchart described and based on Figure 6 The multiple-shot method for the time series depicted in FIG.

[0110] like Figure 7 As shown in the example of , components and their arrangement are only one possible implementation. Ordinary technicians will appreciate a wide range of equivalent components and arrangements. For example, instead of row drivers and column drivers to select LEDs to have an on state, some embodiments may have individually addressable light elements 120 coupled to a bus, and a controller may be coupled to the bus. The controller can provide signals to select individual LEDs or LED groups in the array 102a, 102b, which include selecting columns and rows of LEDs by applying addresses unique to the LEDs or LED groups to the bus. Individual LEDs may include a decoder that decodes the address. Those LEDs whose addresses match the decoded addresses can respond to the drive signals accordingly. The controller itself may include more than one controller component and may be implemented in various combinations of hardware and software, firmware or middleware components.

[0111] Now turn to Figure 7, at time t=0, the controller 916 (or any other controller as described above) may provide a first control signal that includes providing a control signal 827a to the row driver 823a to select rows R1-R4 and a control signal 829a to the column driver 822a to select columns C1 and C3. Thus, at time t=0, the row and column drivers may drive emitters R1C1, R2C1, R3C1, and R4C1 and emitters R1C3, R2C3, R3C3, and R4C13 in an on state because these emitters have their corresponding rows and columns selected. In this way, the controller 916 may control the array 102a to project patterned light 817a from time t=0 to time t=1.

[0112] And at time t=0, emitters R1C2, R2C2, R3C2, and R4C2 and emitters R1C4, R2C4, R3C4, and R4C4 of array 102b may be deactivated (e.g., in an off state or non-emitting state). Therefore, at time t=0 (or immediately thereafter), controller 916 may control array 102a to project patterned light 817a. In this example, patterned light 817a may be defined by two vertically extending light strips 813a comprising LEDs in an emitting state (on), alternating with two vertically extending light strips 814a comprising LEDs in a non-emitting state (off). Each stripe 813a, 814a may correspond to a respective column of illuminated and unilluminated emitters of array 102a. During time t=0 to t=1, controller 916 may control all emitters of array 102b to remain in an off state.

[0113] At time t=1, the controller 916 may provide control signals 827a and 829a so that the corresponding row driver 823a does not select any row and the column driver 822a does not select any column of the array 102a. For example, the controller 916 may stop generating the drive signals 827a and 829a, or may generate the drive signals 827a and 829a in some other manner to ensure that the row driver 823a and the column driver 822a select neither the rows R1-R4 nor the columns C1-C4 after time t=1. The controller 916 may control the array 102a to effectively stop projecting the patterned light 817a (or any light) from time t=1 to time t=2 or any portion of that time.

[0114] At time t=1, the controller 916 may also provide a second drive signal including a drive signal 827b to the row driver 823b to select the rows R1-R4 of the array 102b, and provide a second drive signal including a drive signal 829b to the column driver 822b to select the columns C1 and C3 of the array 102b. Thus, at time t=1, the second drive signal may drive the emitters R2C1, R2C2, R2C3, and R2C4 and the emitters R4C1, R4C2, R4C3, and R4C4 in an on state, as these emitters have both their corresponding rows and columns selected. And at time t=1, the emitters R1C1, R1C2, R1C3, and R1C4 and the emitters R3C1, R3C2, R3C3, and R3C4 may be deactivated (e.g., in an off or non-transmitting state). Thus, at time t=1 (or immediately thereafter), controller 916 may control array 102b to project patterned light 817b. In this example, patterned light 817b may be defined by two vertically extending light strips 813b, each strip 813b corresponding to a row of illuminated emitters of array 102b. Controller 916 may control array 102b to project patterned light 817b from time t=1 to time t=2, or any portion of this time.

[0115] At time t=2, the controller 916 may generate control signals 827b and 829b so that the corresponding row driver 823b does not select any row and the column driver 822b does not select any column of the array 102b so that no LED in the array 102b is turned on. In other words, between time t=2 and t=3, the headlight 408b shown in FIG. 1 may not project light into the travel path 20.

[0116] In addition, at time t=2, the controller 916 may again provide the first control signal including the control signal 827a to the row driver 823a to select the rows R1-R4, and provide the first control signal including the control signal 829a to the column driver 822a to select the columns C1 and C3 of the array 102a. Thus, at time t=2, the row and column drivers may drive the emitters R1C1, R2C1, R3C1, and R4C1 and the emitters R1C3, R2C3, R3C3, and R4C13 in the on state, as these emitters have both their corresponding rows and columns selected. And at time t=2, the emitters R1C2, R2C2, R3C2, and R4C2 and the emitters R1C4, R2C4, R3C4, and R4C4 may again be deactivated (e.g., in the off or non-transmitting state). Thus, at time t=2 (or immediately thereafter), controller 916 may control array 102a to emit patterned light such that frontlight 408a projects patterned light 817a. Controller 916 may control array 102a to project patterned light 817a from time t=2 to time t=3.

[0117] At time t=3, controller 916 may again generate control signals 827a and 829a so that the corresponding row driver 823a does not select any row and column driver 822a does not select any column of array 102a. In other words, controller 916 may control array 102a so that from time t=3 to time t=4, front light 408a does not project light.

[0118] At time t=3, the controller 916 may again provide a second control signal including a control signal 827b to the row driver 823b to select the rows R1-R4 of the array 102b, and provide a drive signal 829b to the column driver 822b to select the columns C1 and C3 of the array 102b. Thus, at time t=3, the column and row drivers may drive the emitters R2C1, R2C2, R2C3, and R2C4 and the emitters R4C1, R4C2, R4C3, and R4C4 in an on state, as these emitters have both their corresponding rows and columns selected. And at time t=3, the emitters R1C1, R1C2, R1C3, and R1C4 and the emitters R3C1, R3C2, R3C3, and R3C4 may be deactivated (e.g., in an off or non-transmitting state). Thus, at time t=3 (or immediately thereafter), controller 916 may again control array 102b to project patterned light 817b. Controller 916 may control array 102b to project patterned light 817b from time t=3 to time t=4.

[0119] At time t=4, controller 916 may again send first and second control signals to the row drivers and column drivers of arrays 102a and 102b, as described above with respect to times t=0 and t=2, such that array 102a may emit light from time t=4 to time t=5 as patterned light 817a for projection, and array 102b may not emit light between time t=4 and t=5. The above algorithm may be repeated for any number of iterations until an interrupt signal terminates the process. For example, an interrupt may be triggered by the occurrence of a predefined event, such as in the event of manual deactivation of headlights 408a and 408b by driver action, or in the event of expiration of a predefined time period, or when some other predefined event occurs.

[0120] like Figure 7 As shown in , the controller 916 can also provide a capture signal 830 to the camera 820 so that the electronics 823 of the camera 820 can read the light measurement from the light sensing and measuring surface 822 at a predetermined time. According to the protocol of FIG. 4 , the controller 916 can synchronize the capture signal 830 with the first and second drive signals so that the camera 820 can capture an image of the scene 803 in the driving path 20 of the vehicle 400 at least once (e.g., during the time interval t=0 to t=1). Figure 1A ), captured at least once more during the time interval t=1 to t=2, and so on. In this way, patterned light 817a but not 817b may appear in any image of object 802 captured during t=0 to t=1, at which time patterned light 817a but not 817b may appear in the captured image of object 802. Likewise, an image captured during t=1 to t=2 may reflect patterned light 817b but not patterned light 817a. The image reconstruction processor may reconstruct the surface geometry of object 802 by comparing the image reflecting patterned light 102a with the image reflecting patterned light.

[0121] In other embodiments, the controller 916 may receive the capture signal 830 from the camera 820 or other systems within the vehicle 400. Receipt of the capture signal 830 may cause the controller 916 to synchronize the first and second drive signals with the capture signal 830 so that the camera 820 may capture an image of the scene 803 in the driving path 20 of the vehicle 400 (e.g., Figure 1A ).

[0122] Figure 8 is a pictorial illustration of an embodiment of system 800 in which headlights 408a, 408b alternately project first and second patterned lights in the manner described above. Figure 8In the system shown in , the controller 916 can control the LEDs of every other row of array 102a to emit light according to an on / off pattern corresponding to pattern 817, while controlling all LEDs in other rows of array 102 to be driven off. The controller 916 can control the rows of array 102b corresponding to the remaining rows of array 102a (rows turned off between t=0 and t=1) to emit light according to an on / off pattern corresponding to a portion of pattern 817 not represented in array 102a. When the projection is switched, the combination of the light-emitting rows of array 102a and the light-emitting rows of array 102b can be mixed to form a projected patterned light corresponding to the combination of patterned light 817.

[0123] For example, at time t=1, the emitters of rows R2 and R4 in column 1 of array 102a may be turned on. The emitters of rows R2 and R4 in column 2 of array 102a may be turned off, the emitters of rows R2 and R4 in column 3 of array 102a may be turned on, and the emitters of rows R2 and R4 in column 4 of array 102a may be turned on. Thus, rows R2 and R4 may each reflect a portion of the fringe pattern defined by corresponding portions of light pattern 817. The remaining rows comprising array 102a may have all emitters turned off.

[0124] At time t=1, all emitters of array 102a may be turned off, and emitters including R1, R3, and R5 of array 102b may be switched to have relative on and off emission states corresponding to the portions of light pattern 817 for which emitters in corresponding rows R1, R3, and R5 of array 102a were turned off during projection of array 102a between t=0 and t=1. Light engine 807b may project a portion of pattern 817a corresponding to rows R1, R3, and R5 between t=1 and t=2. At time t=2, all emitters of array 102b may be turned off, and emitters in rows R2 and R4 of array 102a may be turned on again between t=2 and t=3, and so on.

[0125] Thus, between time t=0 and t=1, the light engine 807a of the first frontlight 408a may project a light contrast pattern defined by every other row of the first array 102a. Between time t=1 and t=2, the light engine 807b of the second frontlight 408b may project a light contrast pattern corresponding to the light pattern 817 in rows R1, R3, and R5 of the array 102a. The projection may be switched at a rate greater than about 50 switches per second to avoid the perception of flicker.

[0126] At some time between t=0 and t=1, the controller 916 may send a capture signal to the camera 820 so that the camera 820 may capture a first projected patterned light including R1 and R2 of the array 102a reflected from the surface 801 of the object 802 in the travel path 20. At some time between t=1 and t=2, the controller 916 may send a capture signal to the camera 820 so that the camera 820 may capture a second projected patterned light including R1, R3, and R5 of the array 102b reflected from the surface 801 of the object 802. The camera 820 may provide the first and second images to an image processor (not shown), which may reconstruct the surface geometry of the surface 802 based on the reflections of the first and second patterned lights in the captured images.

[0127] Fig. 9 is depicted as shown in Figure 1 and Figure 2 4 , the array 102 may include thousands, tens of thousands, or even more emitters, which may be arranged to define arrays and matrices of any size. For ease of illustration and description, the array 102 may include thousands, tens of thousands, or even more emitters. Fig. 9 A simplified representative array 102 is depicted in . The simplified representative array 102 includes 12 transmitters arranged to define three rows (R1 to R3) and four columns (C1 to C4).

[0128] The lighting sequence 3000 is depicted as a series of snapshots or states of the array 120, where each snapshot or state is defined by a particular arrangement of on and off emitters. In some embodiments, an on emitter is an emitter that is driven to emit light at a full brightness (full intensity) level, and an off emitter is an emitter that does not emit light, such as by virtue of a switch in its current path that operates to interrupt the flow of current through the LED for a period of time. In other embodiments, an off emitter can be any emitter that is driven to emit light at a brightness or intensity level that is less than full brightness or intensity. In some embodiments, the intensity level corresponding to off is defined by a threshold intensity level value that defines the transition from off to on, and vice versa.

[0129] For ease of description, an example embodiment is described in which a turned-off emitter does not emit light, such as by a switch in its current path (e.g., Fig.13 The emitter can be switched from off to on depending on the position of the switch (open or closed). Although system 800 is described herein in terms of a switch in series with an LED (e.g., see Fig.13), but a person of ordinary skill will appreciate that various equivalent switch configurations are possible, including switches arranged in parallel with the LEDs. In a parallel switch arrangement, when the switch is closed to shunt current around the LED, the LED may be in an off (non-emitting) state. When the switch is open, the LED may be on (emitting), so the shunt path is unavailable and current flows through the LED.

[0130] Now return to Fig. 9 , the sequence 3000 may be defined by a series of snapshots taken at consecutive corresponding times (clock ticks), the series of snapshots occurring at predefined intervals, starting with the first tick at time t=0 and ending with the last tick at time t=11. At time t=-1 immediately before time t=0, all transmitters 120 of the array 102 may be turned off. Between time t=0 and t=11, the transmitters 120 may be turned on according to the sequence 3000, such that all transmitters are turned on at the end of the sequence (e.g., at time t=11).

[0131] A feature of the first aspect of the sequence 3000 may be that switching the array from off (all transmitters 120 of the array 102 are off) to on (all transmitters 120 of the array 102 are on) may not result in each transmitter 120 of the array 102 being switched from off to on at the same time. If this were the case, switching the array from off to on would result in the array presenting a large and sudden increase in load to the vehicle power supply. This could produce voltage and / or current spikes that could damage the transmitters, the power supply, or other components in the power path.

[0132] A further feature of the second aspect of the sequence 3000 may be that at some time t coincident with a tick occurring between t=0 (at which time all transmitters 120 are off) and t=11 (at which time all transmitters are on) C , the pattern of turning on and off the emitters can define a fringe pattern 817 emitted from the array 102. The fringe pattern 817 can correspond to the emission of the emitters at time t C The patterned light with the highest structural contrast between the ticks and the text appears. At the next tick, the emitters in the dark part of the pattern will be turned on.

[0133] In simplified illumination sequence 3000, a fully defined fringe pattern 817 may first be presented at t=5. In this pattern, t Ccoincides with the tick at t=5 and continues until the tick at t=6. In this case, the array 102 may emit a fringe pattern 817 with the highest contrast between times t=5 and t=6. At t=6, the emitters in the dark portions of the pattern 817 may be turned on, thereby reducing the contrast within the pattern. Although in the simplified example, the particular fringe pattern 817 occurs at t=5, a person of ordinary skill reading the description herein may be easily able to extend the simplified example to a larger array (e.g., the array 102 shown above). Figure 4A described arrays) and striped (or other shaped) patterns (e.g., such as Figure 3A Based on the simplified examples described herein, as will be appreciated by one of ordinary skill in the art, in any particular practical implementation, the number of snapshots or states of the array 102 between the start time and the end time may vary with the size of the array 102 and the choice of light pattern 817. Likewise, the time or ticks between snapshots may vary with the array size, light pattern, clock speed, and other variables and constraints in a particular practical implementation.

[0134] For purposes of explanation, all of the transmitters 120 may be off at time t=1 immediately before the sequence 3000 is initiated. The sequence 3000 may be initiated manually, for example by an operator turning on the headlights 408a, 408b of the vehicle 400, as shown in FIGS. 1 and 2 . Figure 2 The sequence 3000 may also be initiated automatically, such as by Figure 2 Controller 916 shown in FIG. 1 sends a “start sequence” signal to array 102, or another controller or processor in or outside the vehicle sends a signal to initiate sequence 3000. Once initiated, sequence 3000 may be repeated until interrupted, such as by a person manually operating a headlight on / off switch, by controller 916 being programmed with an event corresponding to an interruption, or by any other device or system communicating with controller 916 to send an interrupt corresponding to detection of such an event.

[0135] In response to receiving the start signal, the array 102 may change from its state at t=-1 (no emitter turned on) to its state at time t=0, at which time the controller 916 may provide a signal that may cause the emitter 120 in the row 1 column 1 position (R1C1) to switch from off to on, after which emitter R1C1 may remain on at least until t=11. At the next clock tick (t=1), emitter R2C1 may similarly switch from off to on, and may similarly remain on until t=11. At t=2, emitter R3C1 may switch on and remain on. At t=2, the emitters of the array 102 may define a first stripe including patterned light 817. At t=3, emitter R1C3 may be turned on. At time t=4, emitter R2C3 may be turned on. At time t=5, emitter R3C3 may be turned on. At t=5, a second stripe corresponding to patterned light 817 may be defined. Sequence 3000 may continue to turn on the transmitters one by one at each tick until all transmitters are on at t = 11. At t = 11, sequence 3000 may repeat or terminate. In embodiments where sequence 3000 repeats, all transmitters may be turned off at or after the tick of t = 11, so that all transmitters are turned off again when sequence 3000 begins.

[0136] Fig.10 is a controller 916 (in FIGS. 1 and 2) for configuring the system 800 Figure 2 The timing diagram is shown in Fig. 9 The transmitter 120 of the simplified example array 102 shown in FIG. 1 is switched from off to on according to the sequence 3000, thereby generating Fig. 9 Array 102 may represent an example light pattern 817 as shown in FIG. Figure 2 , Fig.11 and Fig.12 One or both of the arrays 102a and 102b in FIG. The two arrays 102a, 102b may emit the same light pattern 817. However, in the case where the array 102a is configured as described herein such that the headlight 408a projects a first light pattern (e.g., Figure 2 ), and array 102b is configured as described herein such that headlight 408b projects a light pattern that is consistent with the first light pattern (e.g., Figure 2 In embodiments where the second light pattern is opposite to or at least different from the light pattern 817b) shown in FIG. 8 , a higher contrast ratio between the first patterned light and the second patterned light may be achieved.

[0137] exist Fig.10In the timing diagram of , each timeline 7000 may correspond to a respective drive signal provided to a corresponding respective emitter. Each drive signal may be labeled by an emitter identifier that indicates the corresponding emitter by its column and row position in array 120. Fig.10 The drive signals shown separately in FIG. 1 and FIG. Figure 2 , Fig.11 and Fig.12 The above are collectively indicated as corresponding to control signals 840a and / or 840b. Fig.10 The ticks in can correspond to Fig. 9 The ticks in Fig.10 As shown in , the controller 916 may provide a signal that may cause each respective drive signal to transition from low to high at a different time relative to the time of the first tick that may occur at t=0. Thus, the delay time for switching any given emitter from off to on may be defined as the difference between the time at which the first tick occurs at t=0 and the subsequent time at which a low to high transition occurs in the drive signal to the given emitter, thereby switching the given emitter from off to on. In this context, the delay may be defined relative to time t=0.

[0138] As mentioned above about Fig. 9 As described above, no two transmitters 120 in array 102 may have the same time delay. Therefore, in sequence 3000, only one transmitter may be switched from off to on at a time. Fig.10 As shown in , the delay time of each emitter can vary from one emitter to the next according to a pattern. In other words, the delay time between consecutive emitters in the array can alternate between a short delay for one emitter relative to a longer delay time for an adjacent emitter and a relatively short delay time relative to the next adjacent emitter, and so on. For example, the delay time of emitter R1C12 may be long relative to the delay time of emitter R1C3, which is short relative to the delay time of R1C4, and so on.

[0139] Table 1 may correspond to an example data structure of the system 800 configured to contain delay values ​​for turning on each transmitter 120 comprising the array 102 according to the sequence 3000. The delay values ​​may be expressed in relative time units. As will be appreciated by one of ordinary skill in the art, the actual time values, e.g., in seconds corresponding to the relative units in Table 1, may depend on specific implementation parameters and constraints.

[0140] Table 1

[0141] Column 1 Column 2 Column 3 Column 4 R1 0 6 3 9 R2 1 7 4 10 R3 2 8 5 11

[0142] In one example, according to Figure 6 The timing diagram in the system 800 for switching the headlights makes the projected patterned light indistinguishable by normal human vision, the maximum total period of time that the array 102a of headlights 408a will remain on can be about 20ms, after which the first projected patterned light 817a projected by the headlight 408a is deactivated (all emitters are off), and then the headlight 408b projects the second patterned light 817b for no longer than about 20ms. Fig. 9 The simple example shown in Figure 6 , in one embodiment, the time from t=5 to t=6 may be less than about 20 ms. In other embodiments, the time from t=0 to t=12 may be less than about 20 ms. Each snapshot or state of array 102a in sequence 3000 may represent a time period within those constraints. For example, in the latter embodiment, each snapshot may last no longer than 20 / 12 ms. In this case, the R1C2 transmitter may have a delay of 6×20 / 12 ms relative to time t=0. The R1C3 transmitter may have a delay of 3×29 / 12 ms, and so on.

[0143] Fig.10 The timing of the capture signal 130 relative to the timing of the drive signal for each emitter 120 is also shown. Fig.10 Capture signal 130 is shown occurring between t=5 and t=6, which may correspond to a snapshot or state where emitter 120 defines fringe pattern 817. At this time, camera 820 may capture an image of the object, and the projected patterned light at this time will be reflected in the captured image.

[0144] Fig.11 is a simplified block diagram showing the Fig. 9 and Fig.10 The system 800 is configured as described above in an example embodiment of the system 800. Fig.11 As shown in FIG. , the controller 916 (in Figure 2 , Figure 7 , Fig.10 102a, 102b) may include first and second data structures 918a, 918b (corresponding to the two examples of Table 1 above), each data structure containing relative delay time values ​​for each transmitter of the corresponding array 102a, 102b. Table 1 may be implemented in a memory (or external memory) of the controller 916, for example as a table comprising a database constituting such a memory.

[0145] As mentioned above, the relative delay values ​​in Table 1 are only a simplified example of a possible embodiment. Fig. 9 and Fig.10A reader of the description of the simplified example herein will be able to extend the simplified example to select appropriate relative delay values ​​to achieve a desired effect for a wide range of array sizes and headlight configurations (including very large arrays such as those described herein). Figure 4A Delay table of an array described by .

[0146] The controller 916 may include a synchronization timer 920, which may be a clock structure that is configured, for example, to divide the system clock into specific ticks that define a snapshot or state of the array transmitter in the sequence 3000, as described above with respect to Fig. 9 and Fig.10 described; and programmed to identify a time T corresponding to, for example Fig. 9 The controller 916 may provide control signals corresponding to the drive signals 840a, 840b according to the ticks so that the transition of the drive signals driving the emitters to the on state may be delayed according to the delay values ​​provided in the delay tables 918a, 918b, respectively. Fig.11 Representative snapshots or states of each array 102a, 102b at t=0, t=5, and t=11 are shown to illustrate the nature of the sequence 3000.

[0147] Those of ordinary skill will appreciate equivalent embodiments where only controller 916 includes only one delay table structure that provides delay values ​​for both arrays 102a and 102b. Likewise, controller 918a may be implemented as one integrated circuit (IC) structure configured to perform all of the functions described herein, or alternatively, the functions of controller 918 may be distributed among multiple IC structures such that controller 918 includes multiple IC structures configured to perform those functions. For example, these structures and functions may be distributed between circuit board 1306 and customer board 1308.

[0148] The synchronization timer 920 can be configured to count clock ticks and keep track of corresponding times and time delays that determine at what point in real-world time each array 102a, 102b, respectively, advances from one snapshot or state to the next snapshot or state according to the sequence 3000. The synchronization timer 920 can also be programmed to determine specific relative delay times at which the emitters of the arrays 102a and 102b can define their respective corresponding light patterns 817a and 817b in their highest contrast snapshots. As described above, at times corresponding to those specific relative delay times, the controller 916 can send a capture signal ( Figure 2 , Figure 7 , Fig.10). In some instances, the synchronization timer 920 is located in the controller 916. In other instances, the synchronization timer is part of the camera 820. In other instances, the synchronization timer is part of the vehicle system 212.

[0149] For example, in Fig. 9 and Fig.10 In a simplified embodiment of , the controller 916 may send a capture signal 130 at some point in time immediately after a time corresponding to t=5 (the relative times at which the emitters are turned on and off to define the fringe pattern 817) and before a time corresponding to a delay time t=6. At t=6, the controller 916 may send a control signal that drives the additional emitter to switch from off to on. When the additional emitter is turned on after the delay t=6, the light from the emitter may reduce the contrast of the fringe pattern produced immediately after the delay t=5. In this manner, the controller 916 may be configured to synchronize the control signals 840a, 840b with the arrays 102a, 102b such that the camera 820 captures an image of the object, e.g., at a time when at least one of the headlights 408a, 408b is projecting patterned light defined by the fringe pattern 817a or 817b, respectively. Figure 2 The object 803 shown in . The surface geometry of the surface 801 of the object 803 can be reconstructed based on the reflection of the patterned light projected in the captured image of the object 803. In this way, the vision system 800 "sees" the object 803 with 3D vision.

[0150] Fig.12 yes Fig.11 8 is a block diagram of an example of a system 800 implemented in the context of a pulse width modulation (PWM) dimming configuration of headlights 408a, 408b. Fig.12 As shown in , the system 800 may include a controller 916, a camera 820, and an emitter array 102a, 102b, the emitter array 102a, 102b including first and second headlights 408a, 408b, respectively. Fig.12 In the example embodiment of FIG. 7 , each emitter 120 may be referred to herein as an LED unit 120. Each LED unit 120 includes a light emitting diode 751a and a switch 752a.

[0151] will understand, Fig.12 is a simplified representation that shows only one representative LED unit 120 in each array 102a, 102b. Figure 4A As shown in the array 102, each array 102a and 102b may include thousands, tens of thousands, or more LED units 120. Fig.11A person of ordinary skill in the art who has read the simplified example of the description of will understand how to extend the simplified example to implement arrays of any size, including Figure 4A A large array of descriptions.

[0152] In a common PWM dimming arrangement, switches 752a, 752b can be arranged in series with LEDs 751a, 751b, respectively. Switches 752a, 752b can be driven by corresponding PWM controllers 700a, 700b to periodically interrupt the current through the LED according to pulse width modulation (PWM) signals 702a, 702b. The PWM signals 702a, 702b may include pulses repeated at a pulse repetition rate (PRR), and their pulse widths are adjustable in any given one or more repetitions. The average pulse width over a time period can define the average current through the corresponding LED during the time period, and thus can define the average intensity of the light emitted by the corresponding LED during the time period. As explained above with respect to the switching rate of the projected patterned light, the PRR can be high enough so that the periodic interruption of light emission is not perceptible by normal human vision.

[0153] Fig.12 The embodiment of the present invention achieves the above-mentioned purpose by delaying the time of providing each PWM signal to each corresponding LED unit. Fig. 9 and Fig.10 For example, when the arrays 102a, 102b including the headlights 408a, 408b are initially switched to their on states (e.g., by manual action of a human driver operating a headlight on / off switch, or by some other form of start signal), the PWM controllers 700a, 700b may begin providing PWM signals 702a, 702b to the switches 752a, 752b of each LED unit including the arrays 120a and 120b, respectively. The PWM signals may be configured to modulate the current flowing through the corresponding LEDs 751a, 751b, respectively, according to a pulse width and PRR corresponding to the respective target brightness levels of the LEDs 751a, 751b.

[0154] To transition the arrays 102a, 102b from an initial state in which all of its LEDs are off to a final state in which all of its LEDs are off and on at levels determined by their PWM signals, the controller 916 may rely on the delay values ​​in the delay tables 918a, 918b to operate the switches 764a, 754b in a sequence 3000 (based on the delay values) defined by the delay table entries. Fig. 9 and Fig.10 ) is turned on. Thus, delayed PWM signals 704a, 704b may be provided to arrays 102a, 102b, respectively. Example delay table entries may be described in Table 1 above and with reference to Fig. 9 and Fig.10 Further description.

[0155] As mentioned above about Fig. 9 and Fig.10 As described, the synchronization timer 920 of the controller 916 may provide at least one first capture signal 830 to the camera 820 during a certain time period during which the array 102a is projecting the first patterned light 817a as determined by the delayed PWM signal 704a, so that the camera 820 may capture an image of the first patterned light 817a reflected from the surface 801 of the object 802. Similarly, the controller 916 may provide at least one second capture signal 830 to the camera 820 during a certain time period during which the array 102b is projecting the second patterned light 817b as determined by the delayed PWM signal 754b, so that the camera 820 may capture an image of the second patterned light 817b reflected from the surface 801 of the object 802.

[0156] exist Fig.12 In the embodiment shown in , a first light pattern corresponding to a first projected patterned light 817a can be stored in a pattern (or "frame") buffer 921a. The first light pattern 817a can correspond to an array of delay values ​​stored in a delay table 918a. A second light pattern corresponding to a second projected patterned light 817b can be stored in a pattern buffer 921b. The second light pattern 817b can correspond to an array of delay values ​​stored in a delay table 918b. It will be appreciated that Fig.12 A variation of the system 800 shown in FIG. 8 may include a single delay table storing delay values ​​for arrays 102 a and 102 b, and a single PWM controller providing PWM signals to arrays 102 a and 102 b. Variations may also include more than two PWM controllers providing signals to arrays 102 a, 102 b. A person of ordinary skill reading this description will be able to Fig.12 The simplified example extends to a wide range of equivalent structural arrangements to implement the functionality of controller 916.

[0157] Fig.13 is a block diagram of another example implementation of a system 800 in which a headlight 408a, 408b includes an array of emitters (LED units 120) driven by a PWM signal. Fig.13 In normal operation of the arrays 102a, 102b shown in FIG, the LED units 120 comprising the arrays 102a, 102b may be driven to emit light at respective corresponding target brightness levels according to corresponding PWM signals. The target brightness levels may be set, for example, by a dimming control, which may be a manual or automatic dimming control. However, at periodic intervals, the normal operation of the headlights 408a and 408b may be interrupted, and the PWM controllers 700a, 700b may phase shift the PWM signals to achieve the desired brightness levels. Fig. 9 A sequence of snapshots or states is depicted in 3000.

[0158] The sequence 3000 may be initiated in several ways. For example, in some embodiments, the controller 916 may send a start signal (not depicted) to the PWM controllers 700a, 700b to initiate the sequence in response to a human operator manipulating a headlight switch or other user interface of the controller 916. In other embodiments, the sequence 3000 may be initiated by the image synchronization timer 920 in response to the occurrence of a predefined event that requires the camera 820 to capture an image of a scene in the path of travel of the vehicle 400. In other instances, the sequence 3000 may be initiated in response to a signal received by the camera 820 or by another system located within the vehicle 400. Regardless of how the sequence 3000 is initiated, once initiated, the PWM controllers 700a, 700b may respond as described below.

[0159] PWM controller 700a may phase shift all PWM signals provided to LED units 120 comprising array 102a such that each PWM signal drives its corresponding LED unit 120 to an off state at time t=-1 ticks prior to t=0. Concurrently, PWM controller 700b may drive LED units 120 of array 102b such that the LED units are off (not emitting) or emit at a relatively low intensity level relative to their highest achievable intensity level between time t=0 and at least until controller 916 deactivates patterned light 917a corresponding to a light emission pattern defined by the emitters of array 102a.

[0160] PWM controller 700a may shift the PWM signals of LED units 120 making up array 102a so that, starting at time t=0, each LED unit 120 switches from off to on to define a sequence, such as in Fig. 9 In the example and in accordance with Fig.10 3000 of the example timing diagram shown in . For example, the PWM controller 700a can shift the phase of the PWM signal to the respective corresponding LED units 120 of the array 102a so that the leading edge of the first PWM pulse of each PWM signal occurs at a time delayed by a given number of ticks of the synchronization timer 920 relative to t=0. An example of the leading edge of the drive pulse is shown in Fig.10 799 instructions in the. Fig.10 Compared to the timing depicted in the example timing diagram of FIG. 1 , the number of ticks after t=0 that the leading edge of the phase-shifted PWM signal occurs may vary from one LED unit 120 to the next.

[0161] For example, PWM controller 700a may shift the PWM signal for LED unit 120 at position R1C1 of array 102a so that the leading edge of the next occurring PWM pulse occurs at time t=0, thereby driving LED R1C1 from off to on at t=0. PWM controller 700a may shift the phase of the PWM signal corresponding to LED unit at R1C2 so that the first leading edge of the PWM signal occurs at a time corresponding to six ticks of synchronization timer 920 after t=0, as shown in FIG. Fig.10 . The PWM controller 700a can shift the phase of each PWM signal for each remaining LED unit 120 constituting the array 102a so that each drive signal has a leading edge that appears after a delay time Δ relative to time t=0. Table 1 can provide the corresponding Fig.10 After sequence 3000 ends at t=11, PWM controller 700a may turn off all LEDs in array 102a, and PWM controller 700b may control LED units 120 of array 102b according to the sequence described above for array 102a.

[0162] After the sequence corresponding to array 102b is completed, the sequence can be repeated for array 102a so that switching between patterned light 817a and 817b can occur at a rate of no less than 50 switches per second. In this embodiment and other embodiments described herein, the switching may not cause a human observer to perceive flicker. Fig. 9 and Fig.10 In an embodiment, additional advantages may be provided because not all LED units 120 of array 102a or 102b may be turned on at the same time, thereby avoiding the risk of damaging effects caused by a sudden large increase in the load presented to the vehicle power supply by arrays 102a, 102b having all LED units suddenly and simultaneously driven from off to on.

[0163] exist Fig.13In the embodiment shown in , the delay table memories 918a, 918b store delay tables containing delay times for phase shifting the PWM signals of each LED unit of the arrays 102a, 102b, respectively. The values ​​contained in any given table may be determined in part by the size of the arrays 102a, 102b and in part by the particular light emission pattern selected for the patterned light to be projected into the travel path 20 by the headlights 408a, 408b. Thus, the pattern buffer (which may be implemented in any kind of memory including ROM, RAM, and flash memory) may store values ​​corresponding to a plurality of different light emission patterns and may indicate which light emission pattern will be projected by the headlight 408a and which light emission pattern will be projected by the headlight 408b at any given time. The controller 916 may select a delay table from the delay table memories 918a, 918b based on the indicated light emission pattern.

[0164] The provided method can be implemented in a general purpose computer, a processor, or a processor core. For example, suitable processors include a general purpose processor, a special purpose processor, a conventional processor, a digital signal processor (DSP), a plurality of microprocessors, one or more microprocessors associated with a DSP core, a controller, a microcontroller, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) circuit, any other type of integrated circuit (IC), and / or a state machine. Such a processor can be manufactured by configuring a manufacturing process using the result of a processed hardware description language (HDL) instruction and other intermediate data including a netlist (such instructions can be stored on a computer readable medium). The result of such a process can be a mask, which is then used in a semiconductor manufacturing process to manufacture a processor that implements aspects of the embodiment.

[0165] The methods or flow charts provided herein may be implemented in a computer program, software or firmware contained in a non-transitory computer-readable storage medium to be executed by a general-purpose computer or processor. Examples of non-transitory computer-readable storage media include read-only memory (ROM), random access memory (RAM), registers, cache memory, semiconductor memory devices, magnetic media (such as built-in hard disks and removable disks), magneto-optical media, and optical media (such as CD-ROM disks and digital versatile disks (DVDs)).

[0166] As will be clear to those skilled in the relevant art, based on the description herein, embodiments of the present invention can be designed in software using a hardware description language (HDL) such as, for example, Verilog or VHDL. An HDL design can simulate the behavior of an electronic system, where the design can be synthesized and ultimately fabricated into a hardware device. Furthermore, an HDL design can be stored in a computer product and loaded into a computer system before hardware fabrication.

[0167] Having described the embodiments in detail, those skilled in the art will appreciate that, given this description, modifications may be made to the embodiments described herein without departing from the spirit of the inventive concept. Therefore, it is intended that the scope of the invention not be limited to the specific embodiments illustrated and described.

Claims

1. A headlight for a vehicle, comprising: a hybrid device comprising an array of light emitting devices configured to illuminate a roadway when in operation, said vehicle being located on said roadway; and A controller is electrically coupled to the hybrid device and is configured to, when operating: causing the array of light emitting devices to selectively project patterned light onto an object on the road using the hybrid device, and A camera is caused to capture an image of the patterned light projected onto the object. 2 . The headlamp of claim 1 , wherein the controller is configured to cause a camera to capture an image of the patterned light projected on the object for object detection by another system in the vehicle.

3. The headlamp of claim 2, wherein the other system in the vehicle is one of adaptive cruise control or autonomous driving.

4. The headlamp according to claim 1, wherein: The hybrid device comprises a silicon backplane and a monolithic array on the silicon backplane, The monolithic array includes a plurality of light-emitting pixels, and The controller is also configured to cause the array of light emitting devices to selectively project the patterned light onto the object by turning groups of light emitting pixels on or off. 5 . The headlight of claim 4 , wherein the plurality of light-emitting pixels comprises at least 20,000 light-emitting segments spaced 20 μm or less apart.

6. The headlight of claim 1 , wherein the controller is further configured to select a pattern of the patterned light based on at least one of: an operating parameter of the vehicle, or An image of the patterned light projected on the object is captured by the camera.

7. The headlamp of claim 1, wherein the controller is further configured to project the patterned light onto the object on the roadway for a period of time that is less than a human perception threshold.

8. The headlamp of claim 1, wherein the controller is further configured to project non-patterned light onto the roadway using the hybrid device.

9. The headlight of claim 8, wherein the non-patterned light is in the visible spectrum and the patterned light is in the non-visible spectrum.

10. A method for illuminating a road on which a vehicle is traveling, the method comprising: projecting patterned light onto an object on the road using a hybrid device including a light source; and A camera is caused to capture an image of the patterned light projected onto the object.

11. The method of claim 10, wherein a camera is caused to capture an image of the patterned light projected on the object for object detection by another system in the vehicle.

12. The method of claim 11, wherein the other system in the vehicle is one of adaptive cruise control or autonomous driving.

13. The method of claim 10, wherein the light source comprises a silicon backplane and a monolithic array on the silicon backplane, the monolithic array comprising a plurality of light-emitting pixels, groups of light-emitting pixels being individually controllable.

14. The method of claim 10, further comprising selecting a pattern of the patterned light based on at least one of: an operating parameter of the vehicle, or An image of the patterned light projected on the object is captured by the camera.

15. The method of claim 10, wherein the patterned light is projected onto the object on the roadway for a period of time that is less than a human perception threshold.

16. The method of claim 10, further comprising projecting non-patterned light onto the roadway using the hybrid device.

17. The method of claim 16, wherein the non-patterned light is in the visible spectrum and the patterned light is in the invisible spectrum.

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