System and method for illuminating an object

Abstract

A method of operating a vehicle. The method includes: identifying a dynamic object with at least one sensor on the vehicle; and determining whether an area around the vehicle includes a low ambient light condition. An object class for the dynamic object is then determined. A detection state of the dynamic object is determined using an optical sensor during the low ambient light condition. The dynamic object is illuminated with an illumination source from the vehicle during low ambient lighting conditions based on the detected state or the object class.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for illuminating dynamic objects using an adaptive headlight system on a vehicle. Background Art

[0002] An adaptive headlight system may include: a headlight housing attached to a vehicle for mounting a lamp unit. The lamp unit is movable or utilizes a lamp array that can be turned on / off to change the projection direction relative to the vehicle such that the projection direction may not be aligned with the heading of the vehicle. In particular, when the vehicle maneuvers or turns, the projection direction of the lamp unit may change to improve visibility in the direction of travel. Summary of the Invention

[0003] The present disclosure relates to a method of operating a vehicle. The method includes: identifying a dynamic object using at least one sensor on the vehicle; and determining whether an area around the vehicle includes low ambient light conditions. Then determining an object class for the dynamic object. Determining a detection state of the dynamic object using an optical sensor during the low ambient light conditions. Illuminating the dynamic object using a lighting source from the vehicle based on the detection state or the object class during the low ambient lighting conditions.

[0004] Another aspect of the present disclosure may be that if the detection state of the dynamic object by the optical sensor includes not detected, then illumination of the dynamic object using the lighting source occurs.

[0005] Another aspect of the present disclosure may include: when the detection state of the dynamic object by the optical sensor includes detected, determining the direction of travel of the dynamic object relative to the vehicle.

[0006] Another aspect of the present disclosure may include: when the direction of travel of the dynamic object is opposite to the direction of travel of the vehicle, identifying an illumination state of at least one of a headlight or a turn signal on the dynamic object; and if the illumination state is off or unknown, illuminating the dynamic object.

[0007] Another aspect of the present disclosure may include: when the direction of travel of the dynamic object is the same as the direction of travel of the vehicle, identifying an illumination state of at least one of a brake light or a turn signal on the dynamic object; and if the illumination state is off or unknown, illuminating the dynamic object.

[0008] Another aspect of the present disclosure may be: determining whether the area around the vehicle includes the low ambient light condition by measuring the ambient light condition in the area around the vehicle using a light sensor on the vehicle.

[0009] Another aspect of the present disclosure may include determining a vertical height of the dynamic object relative to the road surface using the at least one sensor, and wherein illuminating the dynamic object using the illumination source includes illuminating the dynamic object for a predetermined vertical distance from the road surface.

[0010] Another aspect of the present disclosure may be: wherein illuminating the dynamic object includes projecting a light pattern onto the road surface between the illumination source and the dynamic object.

[0011] Another aspect of the present disclosure may be: wherein illuminating the dynamic object includes projecting a light pattern onto the road surface between the illumination source and the dynamic object and onto the dynamic object.

[0012] Another aspect of the present disclosure may be: wherein illuminating the dynamic object using the illumination source includes tracking the movement of the dynamic object relative to the vehicle using the illumination source.

[0013] Another aspect of the present disclosure may be: wherein if the determined object class is a bicycle, illuminating the dynamic object using the illumination source occurs.

[0014] Another aspect of the present disclosure may be: wherein the illumination source includes an adaptive headlight system on the vehicle.

[0015] Another aspect of the present disclosure may be: wherein the adaptive headlight system includes at least one projector-type headlight.

[0016] Disclosed herein is a non-transitory computer-readable storage medium embodying programmed instructions that are operable, when executed by a processor, to perform a method. The method includes: identifying a dynamic object using at least one sensor on a vehicle; and determining whether the area around the vehicle includes a low ambient light condition. Then determining an object class for the dynamic object. Determining a detection status of the dynamic object using an optical sensor during the low ambient light condition. Illuminating the dynamic object using an illumination source from the vehicle based on the detection status or the object class during the low ambient illumination condition.

[0017] Another aspect of the present disclosure may be: if the detection status of the dynamic object by the optical sensor includes not detected, illuminating the dynamic object using the illumination source occurs.

[0018] Another aspect of the present disclosure may include: when the detection state of the dynamic object by the optical sensor includes detection, determining the traveling direction of the dynamic object relative to the vehicle.

[0019] Another aspect of the present disclosure may include: when the traveling direction of the dynamic object is opposite to the traveling direction of the vehicle, identifying the illumination state of at least one of the headlight or turn signal on the dynamic object; and if the illumination state is off or unknown, illuminating the dynamic object.

[0020] Another aspect of the present disclosure may include: when the traveling direction of the dynamic object is the same as the traveling direction of the vehicle, identifying the illumination state of at least one of the brake light or turn signal on the dynamic object; and if the illumination state is off or unknown, illuminating the dynamic object.

[0021] Disclosed herein is a vehicle. The vehicle includes: a body defining a passenger compartment; wheels supporting the body; sensors fixed relative to the body; and an adaptive headlight system fixed relative to the body. The vehicle further includes: a controller in communication with the sensors and the adaptive headlight system. The controller is configured to: identify a dynamic object using at least one sensor on the vehicle; and determine whether the area around the vehicle includes low ambient light conditions. The controller is further configured to: determine an object class for the dynamic object; and determine the detection state of the dynamic object using an optical sensor during the low ambient light conditions. Additionally, the controller is configured to: illuminate the dynamic object based on the detection state or the object class using a lighting source from the vehicle during low ambient lighting conditions.

[0022] Another aspect of the present disclosure may be: wherein the controller is further configured to: if the detection state of the dynamic object by the optical sensor includes non-detection, illuminate the dynamic object using the lighting source. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic illustration of an example vehicle.

[0024] Figure 2 illustrates a method of operating a Figure 1 vehicle by illuminating a dynamic object in low ambient light conditions.

[0025] Figure 3 schematically illustrates a Figure 1 vehicle that illuminates a dynamic object.

[0026] The present disclosure may be embodied or modified in alternative forms using the representative embodiments shown in the drawings and described in detail below. The present disclosure is not limited to the disclosed embodiments. Instead, the present disclosure is intended to cover alternatives falling within the scope of the present disclosure as defined by the appended claims. Detailed Description

[0027] Those skilled in the art will recognize that terms such as "above", "below", "up", "down", "top", "bottom", "left", "right", etc. are used descriptively in the figures and do not represent a limitation on the scope of the present disclosure as defined by the appended claims. Additionally, the teachings herein may be described in terms of functional and / or logical block components and / or various processing steps. It should be appreciated that such block components may include multiple hardware, software, and / or firmware components configured to perform the specified functions.

[0028] Referring to the figures, in which like reference numerals indicate like parts, reference is made to the drawings, in which like reference numerals refer to like components, Figure 1 A schematic illustration of a motor vehicle 10 positioned relative to a road surface 12, such as a lane, is shown. As Figure 1 shown, the vehicle 10 includes: a body 14; a first axle having a first set of load-bearing wheels 16-1, 16-2; and a second axle having a second set of load-bearing wheels 16-3, 16-4 (such as individual left and right wheels on each axle). Each of the load-bearing wheels 16-1, 16-2, 16-3, 16-4 employs a tire configured to provide frictional contact with the road surface 12. Although two axles with corresponding load-bearing wheels 16-1, 16-2, 16-3, 16-4 are specifically shown, there is no impediment to the motor vehicle 10 having additional wheels.

[0029] As Figure 1As shown, a vehicle suspension system operatively connects a vehicle body 14 to a respective set of road wheels 16-1, 16-2, 16-3, 16-4 for maintaining contact between the wheels and a road surface 12 and for maintaining the handling of a motor vehicle 10. The motor vehicle 10 additionally includes a driveline 20 having one or more power sources 20A, which can be an internal combustion engine (ICE), an electric motor, or a combination of such devices, configured to transmit drive torque to the road wheels 16-1, 16-2 and / or the road wheels 16-3, 16-4. The motor vehicle 10 also employs a vehicle operation or control system including devices such as one or more steering actuators 22 (e.g., an electric power steering unit) configured to steer the road wheels 16-1, 16-2 at a steering angle (θ); an accelerator device 23 for controlling the power output of the one or more power sources 20A; a brake switch or device 24 for slowing the rotation of the road wheels 16-1 and 16-2 (such as via individual friction brakes located at the respective road wheels); and so on.

[0030] As Figure 1 As shown, the motor vehicle 10 includes at least one sensor 25A and an electronic controller 26 that cooperate to at least partially control, guide, and maneuver the vehicle 10 in an autonomous mode during certain situations. Thus, the vehicle 10 can be referred to as an autonomous vehicle. To achieve efficient and reliable autonomous vehicle control, the electronic controller 26 can operatively communicate with the one or more steering actuators 22 configured as an electric power steering unit, the accelerator device 23, and the brake device 24. The sensor 25A of the motor vehicle 10 is operable to sense the road surface 12 and monitor the surrounding geographical area and traffic conditions in proximity to the motor vehicle 10.

[0031] The sensor 25A of the vehicle 10 can include, but is not limited to, at least one of a light detection and ranging (LIDAR) sensor, a radar, or a camera (an optical sensor) located around the vehicle 10 to detect boundary indicators (such as edge conditions) of the road surface 12. The vehicle 10 can also include an ambient light sensor 64 for measuring the light level in the area around the vehicle 10. The types of the sensors 25A, their locations on the vehicle 10, and their operation for detecting and / or sensing boundary indicators of the road surface 12 and monitoring the surrounding geographical area and traffic conditions are understood by those skilled in the art, are not relevant to the teachings of the present disclosure, and are thus not described in detail herein. The vehicle 10 can additionally include sensors 25B attached to the vehicle body and / or the driveline 20. Further, the vehicle 10 can include a dynamic or adaptive headlight system 50 that can change the direction in which the headlights project relative to the heading on the vehicle 10, or the adaptive headlight system 50 can include an array of lights selectively operable to highlight certain areas.

[0032] The electronic controller 26 is arranged to communicate with the sensors 25A of the vehicle 10 for receiving their respective sensed data related to the detection or sensing of the road surface 12 and the monitoring of the surrounding geographical area and traffic conditions. The electronic controller 26 may alternatively be referred to as a control module, a control unit, a controller, a vehicle 10 controller, a computer, etc. The electronic controller 26 may include a computer and / or a processor 28 and includes software, hardware, memory, algorithms, connections (such as to the sensors 25A and 25B), etc. for managing and controlling the operation of the vehicle 10. Thus, the method described below and generally represented in Figure 2 can be embodied as a program or algorithm that is partially operable on the electronic controller 26. It should be appreciated that the electronic controller 26 may include a device capable of performing the following operations: analyzing data from the sensors 25A and 25B; comparing the data; making decisions required to control the operation of the vehicle 10; and performing required tasks to control the operation of the vehicle 10.

[0033] The electronic controller 26 may be embodied as one or more digital computers or mainframes, each having one or more processors 28, read-only memory (ROM), random access memory (RAM), electrically programmable read-only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (A / D) circuitry, digital-to-analog (D / A) circuitry, and input / output (I / O) circuitry, I / O devices, and communication interfaces, as well as signal conditioning and buffering electronics. The computer-readable memory may include: non-transitory / tangible media that participate in providing data or computer-readable instructions. The memory may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Example volatile media may include: dynamic random access memory (DRAM), which may constitute the main memory. Other examples of embodiments of the memory include floppy disks, hard disks, magnetic tape or other magnetic media, CD-ROM, DVD, and / or other optical media, and other possible memory devices such as flash memory.

[0034] The electronic controller 26 includes: a tangible non-transitory memory 30 on which computer-executable instructions including one or more algorithms are recorded for regulating the operation of the motor vehicle 10. The (one or more) subject algorithms may specifically include an algorithm configured to control the movement of the adaptive headlight system 50.

[0035] The motor vehicle 10 further includes: a vehicle navigation system 34, which can be part of an integrated vehicle control device or an additional device for finding the direction of travel in the vehicle. Earth-orbiting satellites are also used to operably connect the vehicle navigation system 34 to the Global Positioning System (GPS) 36. The vehicle navigation system 34 in combination with the GPS 36 and the sensors 25A mentioned above can be used for the automation of the vehicle 10. The electronic controller 26 communicates with the GPS 36 via the vehicle navigation system 34. The vehicle navigation system 34 uses a satellite navigation device (not shown) to receive its position data from the GPS 36 and then correlates this position data with the position of the vehicle relative to the surrounding geographical area. Based on this information, when a direction to a specific waypoint is needed, a route to such a destination can be plotted and calculated. Real-time terrain and / or traffic information can be used to adjust the route. The current position of the vehicle 10 can be calculated via dead reckoning - by using a previously determined position and advancing that position based on a given or estimated speed over elapsed time and course taking discrete control points.

[0036] The electronic controller 26 is generally configured (i.e., programmed) to determine or identify the positioning 38 of the motor vehicle 10 on the road surface 12 ( Figure 1 the current position in the X-Y plane as shown), speed, acceleration, yaw rate, and the expected path 40, and heading 42. The positioning 38, expected path 40, and heading 42 of the motor vehicle 10 can be determined via the navigation system 34 that receives data from the GPS 36, while the speed, acceleration (including longitudinal and lateral g), and yaw rate can be determined based on the vehicle sensors 25B. Alternatively, the electronic controller 26 can use other systems or detection sources (e.g., cameras) remotely located with respect to the vehicle 10 to determine the positioning 38 of the vehicle relative to the road surface 12.

[0037] As noted above, the motor vehicle 10 can be configured to operate in an autonomous mode guided by the electronic controller 26 to transport a passenger or driver 62. In this mode, the electronic controller 26 can further obtain data from the vehicle sensors 25B to guide the vehicle along a desired path, such as by adjusting the steering actuator 22. The electronic controller 26 can additionally be programmed to detect and monitor the steering angle (θ) of the (one or more) steering actuators 22 along the desired path 40, such as during a negotiated turn. Specifically, the electronic controller 26 can be programmed to determine the steering angle (θ) via receiving and processing data signals from a steering position sensor 44 ( Figure 1 as shown), which communicates with the (one or more) steering actuators 22, accelerator device 23, and brake device 24.

[0038] Figure 2 Method 100 for detecting and recognizing an object (such as a dynamic or moving object) during low ambient light conditions is illustrated. At block 102, method 100 begins by identifying at least one dynamic object and determining whether the area around vehicle 10 includes low ambient light conditions. Method 100 utilizes at least one of sensors 25A, 25B (such as radar, lidar, or optical sensors) to detect an object 70, such as Figure 3 the dynamic object 70 shown in. In one example, method 100 can determine whether object 70 is a dynamic object and whether object 70 includes a minimum speed relative to ground truth.

[0039] In addition, at block 102, method 100 utilizes ambient light sensor 64 located on vehicle 10 to determine whether the area around vehicle 10 includes low ambient light conditions. If the light level measured by light sensor 64 is below a predetermined threshold, the ambient light condition can be determined to be low. Alternatively, the ambient light condition can be determined to be low based on the time of day.

[0040] During operation of vehicle 10, low ambient light conditions can affect the visibility of object 70, especially if object 70 does not include its own light source. However, if object 70 is not dynamic (such as a parked car) or if the area around vehicle 10 does not include low ambient light conditions, method 100 proceeds to block 104. At block 104, method 100 determines that object 70 does not pose a danger to vehicle 10 and does not treat object 70 any differently from the surrounding environment.

[0041] If object 70 is determined to be a dynamic object and the ambient light condition is determined to be low, method 100 proceeds to block 106 to determine the object class for object 70. Object classes for dynamic objects can include people, bicycles, vehicles, etc. By determining the object class at block 106, method 100 can determine whether certain classes of objects (such as bicycles) should be automatically illuminated in low ambient light conditions regardless of the object's own light source.

[0042] At block 108, method 100 determines which of sensors 25A and 25B can identify object 70. In particular, as opposed to one or more of radar or lidar sensors being able to identify object 70, method 100 determines the detection status of object 70 based on one of the optical sensors being able to identify dynamic object 70. In one example, for an object 70 identified by one of other sensors 25A, 25B on vehicle 10 and not identified by one of the optical sensors during low ambient light conditions, the detection status may include "not detected". Alternatively, for a dynamic object 70 identified by one of other sensors 25A, 25B in addition to being identified by one of the optical sensors during low ambient light conditions, the detection status may include "detected".

[0043] If the detection status for object 70 is "not detected" or if object 70 is classified in a group that is automatically illuminated (such as a bicycle), method 100 proceeds to block 110 and illuminates object 70. Method 100 may utilize adaptive headlight system 50 on vehicle 10 to provide illumination for object 70. In one example, adaptive headlight system 50 includes: a projector-type headlight having a physical shutter for controlling illumination from a light source. Alternatively or in addition to the shutter, adaptive headlight system 50 may include: a light-emitting diode (LED) projector-type headlight system that can selectively control the illumination of individual LEDs for illuminating portions of object 70. This may allow adaptive headlight system 50 to create light pattern 80, as discussed below. Also, one or both of the headlights in adaptive headlight system 50 may be used to illuminate object 70 based on the relative position of object 70 with respect to vehicle 10.

[0044] Adaptive headlight system 50 may illuminate object 70 in several different ways. For example, sensors 25A and 25B may determine the vertical height of object 70 relative to road surface 12. Adaptive headlight system 50 may then be directed to illuminate object 70 at a predetermined vertical distance from road surface 12. One feature of this approach is to reduce the likelihood of emitting blinding light to the operator of object 70. The predetermined distance from road surface 12 may also vary depending on the object class determined for object 70. For example, if the object class is determined to be a commercial vehicle as opposed to a passenger or compact car, the predetermined distance may be greater.

[0045] In addition, adaptive headlight system 50 may be used to project a light pattern 80 of the roadway in the direction of object 70. In Figure 3In the illustrated example, the light pattern 80 may include at least one of a ground highlight 84 or a direction marker 82. In the illustrated example, the ground highlight 84 includes a line extending from the vehicle 10 that is at least as wide as the object 70, where the ground highlight intersects the object 70. The direction marker 82 may include varying shapes, such as an arrow or a V shape. One feature of the ground highlight and the direction marker 82 is to assist an operator of the vehicle 10 in quickly identifying the object 70 in low ambient light conditions, as Figure 3 shown in

[0046] Additionally, when illuminating the object 70 with the adaptive headlight system 50, the illumination (such as the light pattern 80) may track the movement of the object 70 relative to the vehicle 10 within a predetermined angular range of the heading of the vehicle 10. In one example, the predetermined angular range includes an angular range between zero degrees (i.e., along the heading of the vehicle 10) and approximately 90 degrees. In another example, the predetermined angular range may include between 0 and 75 degrees. The adaptive headlight system 50 may also track the object 70 as long as it remains within a predetermined distance from the vehicle 10.

[0047] At block 108, when the detection status is "detected" by one of the optical sensors and the object class is not an object class that is automatically illuminated by the adaptive headlight system 50, the method 100 proceeds to block 112. When the method proceeds to block 112, the object 70 may include a vehicle or other dynamic object that is self-illuminated (such as by a headlight or a brake light) and a non-self-illuminated dynamic object.

[0048] At block 112, the method 100 determines the direction of movement for the object 70. The direction of movement for the object 70 may include a direction of travel that is common or similar to that of the vehicle 10. Alternatively, the direction of movement for the object 70 may include a direction of travel that is opposite or relative to the vehicle 10.

[0049] Once the direction of travel of the object 70 has been determined relative to the vehicle 10, the method proceeds to block 114. At block 114, the method 100 determines the illumination status of the object 70 by attempting to identify a light (such as a headlight, a brake light, or a turn signal) on the object 70. If the light cannot be identified, the illumination status is off or unknown. If a light on the object 70 can be identified, then the illumination status is "on" or "illuminated".

[0050] In the case where the object 70 is traveling in the same direction as the vehicle 10, the method 100 attempts to identify one of the brake lights or one of the turn signals on the object 70 using an optical sensor on the vehicle 10. If the optical sensor cannot identify one of the brake lights or one of the turn signals, the illumination state changes to "off" or "unknown". If the illumination state is off or unknown, the method 100 proceeds to block 110 and illuminates the object 70 as discussed above. However, if the illumination state is "on" or "illuminated", the method 100 proceeds to block 104 and does not illuminate the object 70.

[0051] In the case where the object 70 is traveling in the opposite direction relative to the vehicle 10, the method 100 attempts to identify one of the headlights or one of the turn signals on the object 70 using an optical sensor on the vehicle 10. If the optical sensor cannot identify one of the headlights or one of the turn signals, the illumination state changes to "off" or "unknown". If the illumination state is "off" or "unknown", the method 100 proceeds to block 110 and illuminates the object 70 as discussed above. However, if the illumination state is "on" or "illuminated", the method 100 proceeds to block 104 and does not illuminate the object 70.

[0052] For the purposes of this detailed description, unless specifically disclaimed: singular includes plural and vice versa; the words "and" and "or" shall be both conjunctive and disjunctive; the words "any" and "all" shall each mean "any and all"; and the words "comprising", "including", "containing", "having", etc. shall each mean "including but not limited to". Additionally, herein, approximate words such as "about", "almost", "substantially", "generally", "roughly", etc. may be used to denote, for example, "at, near, or almost at...", or "within 0 - 5% of...", or "within acceptable manufacturing tolerances", or any logical combination thereof. Finally, directional adjectives and adverbs such as forward, rearward, inward, outward, starboard, port, vertical, horizontal, upward, downward, front, back, left, right, etc. may be relative to a motor vehicle, such as the forward driving direction of the motor vehicle when the vehicle is operating on a horizontal driving surface in an operating orientation.

[0053] Although the best mode for carrying out the present disclosure has been described in detail, those skilled in the art to which the present disclosure pertains should recognize various alternative designs and embodiments for practicing the present disclosure within the scope of the appended claims.

[0054] Any of the dimensions, configurations, etc. discussed herein may be varied, as needed or desired, to values or characteristics different from those specifically mentioned herein or shown in the drawings for any of the embodiments.

[0055] It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the devices and assembly methods discussed herein without departing from the scope or spirit of the disclosure. Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the description and practice of the various embodiments disclosed herein. For example, some of the equipment may be constructed and operate in a manner different from that described herein, and certain steps of any method may be omitted, performed in an order different from that specifically mentioned, or in some cases performed simultaneously or in sub-steps. In addition, variations or modifications can be made to certain aspects or features of the various embodiments to create further embodiments, and the features and aspects of the various embodiments can be added to or replaced with other features or aspects of other embodiments to provide still further embodiments.

Claims

1. A method of operating a vehicle, the method comprising: identifying a dynamic object using at least one sensor on the vehicle; determining whether an area surrounding the vehicle includes low ambient light conditions; determining an object class for the dynamic object; determining a detection state of the dynamic object using an optical sensor during the low ambient light condition; as well as The dynamic object is illuminated based on the detection state or the object class using an illumination source from the vehicle during low ambient lighting conditions. 2 . The method of claim 1 , wherein if the detection state of the dynamic object by the optical sensor includes not detected, then illuminating the dynamic object using the illumination source occurs.

3. The method of claim 1, comprising: When the detection state of the dynamic object by the optical sensor includes detection, a traveling direction of the dynamic object relative to the vehicle is determined.

4. The method of claim 3, comprising: When the moving direction of the dynamic object is opposite to the moving direction of the vehicle, identifying a lighting state of at least one of a headlight or a turn signal on the dynamic object; And if the lighting state is off or unknown, lighting the dynamic object.

5. The method of claim 3, comprising: When the direction of travel of the dynamic object is common to the direction of travel of the vehicle, identifying an illumination state of at least one of a brake light or a turn light on the dynamic object; And if the lighting state is off or unknown, lighting the dynamic object. 6 . The method of claim 1 , wherein determining whether the area around the vehicle includes the low ambient light condition is performed by measuring ambient light conditions in the area around the vehicle using a light sensor on the vehicle.

7. The method of claim 1 , comprising determining, using the at least one sensor, a vertical height of the dynamic object relative to a road surface, and wherein illuminating the dynamic object using the illumination source comprises illuminating the dynamic object for a predetermined vertical distance from the road surface.

8. The method of claim 1, wherein illuminating the dynamic object comprises: A light pattern is projected onto a road surface between the illumination source and the dynamic object.

9. The method of claim 1, wherein illuminating the dynamic object comprises projecting a light pattern onto a road surface between the illumination source and the dynamic object and onto the dynamic object.

10. The method of claim 1, wherein illuminating the dynamic object with the illumination source comprises tracking movement of the dynamic object relative to the vehicle with the illumination source.

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