CONTROLLING A PIXEL HEADLIGHT OF A MOTOR VEHICLE ARRANGED ON A ROAD

Description

[0001] The invention relates to a method for controlling a pixel headlight of a motor vehicle arranged on a roadway, in which the pixel headlight emits light depending on a control signal representing an image sequence in order to at least partially illuminate the roadway, wherein a respective individual image of the image sequence corresponds to a respective light distribution currently to be provided by the pixel headlight, the illuminated roadway is captured by a vehicle camera which provides corresponding camera data, and the camera data is evaluated in order to determine at least one indicative roadway feature and to provide the control signal for controlling the pixel headlight depending on the determined indicative roadway feature. The invention further relates to a control device for controlling a pixel headlight of a motor vehicle arranged on a roadway, comprising a control signal unit which is designedto provide a control signal representing an image sequence for the pixel headlight to illuminate the roadway of the motor vehicle, so that the pixel headlight emits light to at least partially illuminate the roadway, wherein a respective individual image of the image sequence corresponds to a respective light distribution currently to be provided by the pixel headlight, a receiving unit for receiving camera data from a vehicle camera that captures the illuminated roadway and provides the camera data, and an evaluation unit connected to the control signal unit and the receiving unit for evaluating the camera data in order to determine at least one indicative roadway feature, so that the control signal unit provides the control signal depending on the determined indicative roadway feature. Finally, the invention also relates to a motor vehicle with a vehicle camera,a pixel spotlight and a control device for controlling the pixel spotlight.

[0002] Methods for illuminating the vehicle surroundings of a motor vehicle, control devices for controlling the pixel headlights of the motor vehicle, and also motor vehicles of the generic type are extensively known in the prior art. Motor vehicles have headlights, in particular motor vehicle headlights, by means of which the vehicle surroundings of the motor vehicle, in particular the roadway on which the motor vehicle is arranged, can be illuminated. The lighting serves, on the one hand, to enable good visibility of the motor vehicle for other road users in poor visibility conditions, particularly in the dark, and, on the other hand, to enable, among other things, illumination of the roadway or roadway in order to enable the driver of the motor vehicle to drive the motor vehicle safely on the roadway.In addition, the lighting that must be provided by the motor vehicle is regulated by legal regulations and standards.

[0003] A motor vehicle of the generic type is a vehicle that can be driven by a drive device during normal driving operation. The drive device can be a drive device comprising an internal combustion engine or an electric motor. Of course, combinations of these can also be provided. The motor vehicle is preferably a motor vehicle, in particular a passenger car.

[0004] Modern motor vehicles feature one or more pixel headlights, which can be used to provide highly flexible light distributions for illuminating the vehicle's surroundings, particularly the roadway. For example, predefined light distributions can be generated and provided that illuminate, for example, a lane of the roadway on which the motor vehicle is traveling. However, the wider surroundings of the motor vehicle can also be illuminated using the pixel headlights.

[0005] A pixel headlight is a headlight that, due to its design, is capable of providing highly flexible light distributions. For this purpose, it can be designed, for example, based on light-emitting diodes arranged in the headlight like a matrix. Depending on the light distribution to be provided using the control signal, the light-emitting diodes are supplied with electrical energy by a headlight controller in order to emit the corresponding light. Furthermore, laser headlights can also be designed as pixel headlights; these headlights have a conversion material that emits conversion light when exposed to laser light. By appropriately exposing the conversion material at different locations, possibly with different luminous intensities of the laser light, almost any light distribution can be achieved.Of course, appropriate combinations of such headlight concepts can also be provided.

[0006] In addition, modern motor vehicles incorporate vehicle cameras to enable autonomous driving, for example, and / or to provide driver assistance systems with the necessary data. In combination with pixel headlights, for example, oncoming objects, especially oncoming motor vehicles, can be detected, and the light distribution provided by the pixel headlights can be adjusted accordingly to minimize glare to the detected objects.

[0007] For example, DE 10 2014 000 935 A1 discloses a method and arrangement for generating a road light display for vehicles. This is intended to enable projectable information to be displayed on a surface for the vehicle driver with as little distortion as possible.

[0008] Furthermore, DE 10 2011 081 396 A1 discloses a method and a control unit for adjusting the beam characteristics of a headlight. The objective is to identify an object to be highlighted and adjust the beam characteristics of the headlight so that the object is highlighted by the headlight.

[0009] Furthermore, DE 10 2015 207 543 A1 discloses a device and a method for controlling a vehicle headlight of a motor vehicle, with which the lighting of a roadway is to be automatically adjusted in order not to dazzle oncoming road users.

[0010] Furthermore, DE 10 2012 003 158 A1 discloses a method and a device for projecting a laser light image into an environment around a vehicle.

[0011] Finally, DE 10 2010 029 194 B4 discloses a method and a control device for checking the plausibility of a headlight range test value of a light cone of a vehicle headlight.

[0012] Even though the state of the art technology has proven itself, there is still room for improvement.

[0013] Modern headlights in vehicles are designed as pixel headlights and illuminate an area in front of the vehicle. Special functions that can be switched on and off, such as fog lights or the like, are state of the art, along with more complex technologies such as matrix lighting. Furthermore, it is already known that high-resolution headlights are being planned and developed that allow for high precision, matrix functionality, and the depiction of objects on the road. Lines that represent the width of the vehicle and images of the possible braking distance are being discussed, along with displayed pedestrian crossings. In this case, the headlight or its headlight control is controlled by means of a control signal that takes into account data from the vehicle, such as steering angle, speed, and pre-programmed values ​​such as vehicle width and / or the like.

[0014] Today's roads have many markings on the road surface to direct and control traffic.

[0015] Markings projected onto the road surface by high-resolution headlights are static, except for the matrix functions. The vehicle camera can be used to ensure accurate representation, but all functions are markings that are additionally displayed for the driver to see. If markings are already permanently applied to the road surface, the projected markings overlap with the existing ones.

[0016] An example of this would be a direction arrow on the road that points to the left. However, if turning left is no longer possible due to construction, for example, additional markings can signal this. For example, a navigation device may point straight ahead, and a direction indicator displayed by the headlights may also point forward. However, this projected marking is overlaid by the one printed on the road. This can confuse the driver, who must mentally reconcile the marking fixed on the road with the one projected by the navigation device. Furthermore, Robert Tamburo et al. discloses in Visual Communications and Image Processing, Volume 8979, March 7, 2014, pages 89790F-1 to 89790F-4: "DMDs for smart headlights." Furthermore, DE 10 2008 039 091 A1 discloses a method for processing camera data for variable headlight control of a vehicle.Furthermore, CN 102 887 108 A discloses a headlight for a motor vehicle. Finally, US 2016 / 0371983 A1 discloses a parking assistance system and method.

[0017] The invention is therefore based on the object of improving the projection of markings.

[0018] As a solution, the invention proposes a method, a control device and a motor vehicle according to the independent claims.

[0019] Further advantageous embodiments result from features of the dependent claims.

[0020] With regard to a generic method, it is particularly proposed that the image sequence is provided with an image sequence frequency of greater than approximately 24 Hz, preferably greater than approximately 90 Hz, particularly preferably greater than approximately 100 Hz, wherein the image sequence comprises at least one reference image for uniformly illuminating the travel path, the vehicle camera for capturing the travel path is synchronized with respect to the reference image, the at least one indicative travel path equipment and information data associated with the indicative travel path equipment are determined from the provided camera data with respect to the reference image, the associated information data are compared with data from a database, and the control signal is determined as a function of the comparison.

[0021] With regard to a generic control device, it is particularly proposed that the control signal unit is further designed to provide the image sequence with an image sequence frequency of greater than approximately 24 Hz, preferably greater than approximately 90 Hz, particularly preferably greater than approximately 100 Hz, wherein the image sequence comprises at least one reference image for uniformly illuminating the travel path, to synchronize the vehicle camera for capturing the travel path with respect to the reference image, and the evaluation unit is designed to determine the at least one indicative travel path equipment and information data associated with the indicative travel path equipment from the provided camera data with respect to the reference image, and to compare the associated information data with data from a database, and the control signal unit is further designed to determine the control signal depending on the comparison.

[0022] On the motor vehicle side, it is particularly proposed that the control device is designed according to the invention.

[0023] The invention is based on the idea that uniform illumination of the vehicle's surroundings at a predeterminable illumination level can create the possibility of reliably capturing the roadway, in particular any indicator features of the roadway, with the vehicle camera. The uniform illumination is selected such that it does not obstruct other road users as much as possible. To this end, the invention provides for the uniform illumination to be provided for a brief moment by means of a reference image, which is inserted into the image sequence or replaces an existing image in the image sequence. The duration is selected such that no significant impairment is to be expected, particularly for the human eye.The invention achieves this by selecting a correspondingly high frame rate so that an inertia in the detection of light can be used to avoid or reduce the disturbance for other road users, in particular persons, for example drivers of other motor vehicles or the like.

[0024] To enable capture of the vehicle's surroundings during the active reference image, the vehicle camera is synchronized accordingly. For this purpose, the vehicle camera can be provided with its own sensor that can determine the reference image. However, it can also be provided that a separate camera control signal is provided, by means of which the vehicle camera is transmitted the information when the pixel headlight is controlled according to a reference image. Finally, if the image sequence is provided in the manner of a video sequence, it is also possible to synchronize the capture with the video sequence. By synchronizing the capture with the video sequence, synchronization with the reference image can also be achieved automatically.

[0025] The vehicle camera can be, for example, a video camera, a still camera, and / or the like. Preferably, the vehicle camera has an electronic, in particular a digital, recording unit, so that camera data, preferably digital data, can be provided according to the detected vehicle environment.

[0026] The pixel headlight is a headlight that has a plurality of individually controllable pixels arranged in a matrix-like manner, which can be controlled in a suitable manner in order to adjust the light output of the pixel headlight according to the current image of the image sequence in accordance with the control signal. A pixel of the pixel headlight thus preferably represents a substantially point-shaped light source. The light source can be formed, for example, by a light-emitting diode, but also fundamentally by a gas discharge lamp, an incandescent lamp, and / or the like. These light sources can be combined into a matrix, which can also include a headlight control system by means of which the individual light sources can be controlled accordingly according to the control signal.The pixel spotlight can also comprise a laser light source in the form of a laser scanner, which is controlled accordingly so that a light distribution can be provided according to the control signal. Furthermore, the pixel spotlight can of course comprise further optically active elements capable of adapting the light emitted by the individual light sources of the pixel spotlight in the desired manner to emit light according to the light distribution, for example, refractory elements such as lenses, prisms, and / or the like, reflective elements such as mirrors, in particular micromirrors, DMDs (Digital Mirror Devices), combinations thereof, and / or the like.

[0027] The vehicle environment covers at least part of an area around the vehicle, which may be limited, for example, by the driver's field of vision. The vehicle environment preferably includes the driving path, which, however, may also be merely a roadway on which the motor vehicle is driven, a sidewalk located adjacent to a roadway, a road edge, traffic signs associated with the driving path, combinations thereof, or the like. Partial areas of the vehicle's path may also be covered.

[0028] The pixel headlight can be used to at least partially illuminate the roadway, preferably in an area into which the motor vehicle enters during normal driving operation. The pixel headlight thus serves to at least partially illuminate the vehicle path. However, the motor vehicle does not need to have just a single pixel headlight, but can also have two or more pixel headlights that can be controlled jointly in a suitable manner, for example by means of the control signal, which can serve to control more than just a single pixel headlight, or by means of separate control signals for each of several pixel headlights. The pixel headlight is preferably a high-resolution headlight, which can, for example, comprise one million pixels or even more.

[0029] The control signal itself is provided by a control signal unit and is preferably an electrical signal, which is particularly embodied as a digital signal. The control signal represents a sequence of images in the manner of a video sequence, which serves to control the pixel spotlight accordingly. With the pixel spotlight, a respective image of the sequence, which is currently provided by the control signal, is used to control the light sources of the pixel spotlight. The pixel spotlight is therefore designed to emit light in the manner of a projector, particularly a video projector.

[0030] At least the illuminated vehicle path is recorded by the vehicle camera. Depending on the design, it can also be provided that the vehicle camera only records a predeterminable area of ​​the illuminated vehicle path. Preferably, it can be provided that the vehicle camera only records a section of the illuminated area that is located in front of the motor vehicle in the direction of travel during normal driving operation. However, it can also be provided that the vehicle camera records the entire vehicle path. The vehicle camera can be designed as a single structural unit and arranged in a suitable position on the motor vehicle. The vehicle camera can also be designed in several parts so that it can, for example, record the vehicle path in different directions in a direction-selective manner and provide corresponding camera data.

[0031] An evaluation unit is also provided, which receives the camera data from the vehicle camera and evaluates it, for example, taking into account a predefined light distribution. This allows the control signal for controlling the pixel headlight to be determined and provided.

[0032] The predefined light distribution is a light distribution that is to be provided, for example, as a target light distribution by the pixel headlight. The predefined light distribution can be provided by a higher-level vehicle control system, a control element that can be manually actuated by the driver of the motor vehicle, and / or the like. For example, the predefined light distribution can represent a high beam, a low beam, and / or the like.

[0033] The evaluation unit can analyze the camera data and, for example, detect oncoming vehicles or other road users. If other road users are detected, subsequent images in the sequence can be modified in such a way that a spatial angle in which the other road user is located is masked out or eliminated.

[0034] The image sequence includes at least one reference image for uniformly illuminating the vehicle's surroundings. The reference image therefore causes the light sources of the pixel headlight to be controlled such that they emit light with approximately the same luminous intensity. It can be provided that the light sources are controlled to emit the maximum luminous intensity. The vehicle camera, which is synchronized with the reference image and captures the vehicle's surroundings in a synchronized manner with respect to the reference image, sends corresponding camera data to the evaluation unit. The evaluation unit can then use the camera data to determine details that would otherwise not be visible in the images of the image sequence, for example because the appropriate lighting in the respective area is insufficient, or a corresponding area cannot be captured due to the vehicle camera being overloaded due to excessive light exposure.This makes it possible, for example, to detect road areas covered in ice or water. Furthermore, other vehicle details, such as oncoming or preceding vehicles, can be determined. Furthermore, it is of course possible to adjust the control signal accordingly by adapting subsequent images to the reference image, taking into account the findings obtained from the evaluation. For example, it is possible to reduce the illumination of a road area covered in ice or water, thus minimizing the dazzling of the driver or other road users.

[0035] Based on the camera data relating to the reference image, the evaluation unit can, for example using an algorithm, search the camera data for known objects as indicative road features, for example stop signs, direction arrows, double road markings (yellow / white), warning signs and / or speed information.

[0036] The evaluation unit determines information data for the identified indicative road features, which are associated with the respective indicative road features, for example, the direction of travel indicated by a lane marking or the like. The information data determined for each identified indicative road feature is then compared with the data in a database. This database contains data from the internet, GPS data, data from the vehicle camera, analysis of traffic signs, traffic radio, other sensor data, information on the vehicle's position, and / or the like. Based on the comparison, the control signal is then determined by the control signal unit, which is communicatively linked to the evaluation unit.

[0037] If there is a match, an action can be omitted or the road markings can be highlighted. If there is no match, the road markings, such as the road markings, can be made less visually visible in certain areas by adjusting the images in the sequence. It is also possible to actively "blend" or cross out the road markings with other projected markings.

[0038] The control system thus adapts static warning road features to the dynamic information from the sensors and data, thus eliminating the information discrepancy between static warning road features and the actual surroundings. It proves advantageous that the reference image is only activated for a very short period of time, so that the driver of the vehicle and other road users are largely unaffected.

[0039] The invention proves particularly suitable for retrofitting into motor vehicles or pixel headlights. Since pixel headlights of this type can already be controlled with a control signal similar to a video sequence, the invention can be implemented easily without requiring any structural changes to existing concepts. Since a single reference image is averaged by the human eye with the values ​​from the next 23 subsequent images, other road users essentially do not notice any glare. The invention thus enables the vehicle camera to capture a detailed image of the roadway, in particular of warning road features, without disturbing other road users. At the same time, the invention enables reliable detection of existing warning road features.In particular, the lighting of the road can be actively controlled so that the vehicle camera can detect and classify as many objects as possible.

[0040] One advantage of the invention lies in the fact that existing vehicle components can be reused. The high-resolution headlights or pixel headlights of future vehicles, which are being introduced to better illuminate the road and interact with road users, require the same sensors as the solution presented here. Since these modules are controlled by a video sequence, embedding individual frames or images with control patterns is not difficult. The repeated inversion of defined areas is also possible with this technology.

[0041] Driver guidance can be improved because the information visually transmitted to the driver via the road surface is again consistent with the information the driver receives from other sources. Dissonances that can distract or confuse the driver are avoided.

[0042] The data collected, for example, via existing road markings can be used as a data basis for traffic databases.

[0043] Furthermore, the image sequence repeatedly comprises reference images, wherein successive reference images are spaced apart in time by at least approximately 0.5 seconds, preferably at least approximately 0.8 seconds. It has been shown that with such a spacing of the reference images from one another, impairment of the driver and / or other road users can be largely avoided, while at the same time reliable functionality according to the invention can be ensured. Alternatively or additionally, it can also be provided that the spacing of the reference images from one another in time depends on a vehicle speed of the motor vehicle. For example, it can be provided that the reference images follow one another in time with a short spacing at a high vehicle speed, whereas at a low vehicle speed, for example when maneuvering or the like, the spacing can be increased.In addition, other vehicle parameters can of course also be taken into account to adjust the temporal spacing between successive reference images. The reference images do not need to follow one another equidistantly in time; instead, the temporal spacing between the reference images can be varied.

[0044] It is further proposed that, if the information data deviates from the database data, the images of the image sequence be determined in such a way that a route-indicating feature corresponding to the database data is projected in a visually perceptible manner using the pixel headlight. This allows for more reliable visual guidance of the motor vehicle.

[0045] It is further proposed that the identified indicative roadway features be at least partially overlaid by the projected indicative roadway features in a visually perceptible manner. This can result in the identified indicative roadway features being visually in the background and less noticeable. Furthermore, the projected indicative roadway features can be brought to the foreground, thus leading to a more reliable detection of the actually desired traffic routing, particularly for the driver of the motor vehicle, but also potentially for autonomous vehicle control.

[0046] Preferably, the identified indicative track features are at least partially embedded in the projected indicative track features. The identified indicative track features can thus become part of the projected indicative track features, which can further improve visual comprehensibility.

[0047] Furthermore, it is proposed that, if the information data deviates from the database data, the images of the image sequence be determined in such a way that the determined indicative guideway equipment is only partially illuminated at most. Preferably, it is only illuminated in areas where a projection is also made according to the projected indicative guideway equipment. Components of the determined indicative guideway equipment that are outside the projected indicative guideway equipment, for example, can be left unlit or at least illuminated to a reduced degree. As a result, these components of the determined indicative guideway equipment are visually in the background, which can also further improve visual comprehensibility.

[0048] It is further proposed that at least one over- or underexposed area of ​​the illuminated roadway be determined based on the camera data. For this purpose, the camera data captured by the vehicle camera during the reference image is used in particular.

[0049] It is further proposed that the images of the image sequence following the reference image be determined depending on the at least one over- or underexposed area. In this embodiment, the images of the image sequence following the reference image are therefore adjusted accordingly based on the evaluation using the camera data during the reference image in order to improve the lighting of the route, in particular the roadway. This makes it possible to improve the illumination of specific areas of the route that are very bright and may dazzle the driver or the vehicle camera, or areas where visibility is unfavorable due to insufficient lighting, by adjusting the images and consequently also adjusting the light output of the pixel headlight. Of course, the invention does not need to be limited to a single area; rather, several over- or underexposed areas can also be determined at the same time.

[0050] It is further proposed that the reference image be provided by means of a reference control signal controlling the pixel spotlight. In this embodiment, a separate control signal, namely the reference control signal, is provided for providing the reference image. Therefore, there is no need to intervene in an existing image sequence. For this purpose, the pixel spotlight can have a separate input connection to which the reference control signal can be supplied. However, it can also be provided that the reference control signal is supplied to the control signal unit, which then inserts a corresponding reference image into the image sequence or replaces an existing image with the reference image. In a comparable manner, this function can of course also be provided for the pixel spotlight itself.

[0051] Preferably, the reference image is provided by the pixel headlight for a period of less than approximately 0.033 seconds, preferably less than approximately 0.01 seconds. With such a period, the vehicle camera can reliably capture the path relative to the reference image, while largely avoiding adverse effects on other road users or even on the driver of the motor vehicle.

[0052] The pixel headlight preferably illuminates a roadway as a driving path. The pixel headlight is therefore, for example, a headlight of a motor vehicle. However, it can also be a reversing light or an auxiliary headlight, or something similar.

[0053] It is further proposed that visibility conditions be determined using the vehicle camera and that the method be carried out depending on the determined visibility conditions. In this way, it is possible to use the method control in an optimized manner, particularly when unfavorable lighting conditions prevail and visibility is impaired, particularly for the driver of the motor vehicle or other road users. For example, it can be provided that ambient brightness or precipitation are recorded using the vehicle camera, whereupon the corresponding method control is then activated. Accordingly, the method control can also be deactivated again if an improvement in visibility conditions has been determined using the vehicle camera or the corresponding prerequisites that activated the method control according to the invention have ceased to exist.

[0054] The effects and advantages stated for the method according to the invention apply equally to the control device according to the invention and the motor vehicle equipped with the control device according to the invention, and vice versa. In particular, method features can therefore also be assigned corresponding device features and formulated as such, and vice versa.

[0055] The invention also includes further developments of the method according to the invention that have features already described in connection with the further developments of the motor vehicle according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0056] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 schematically shows a first embodiment of a pixel headlight; Fig. 2 schematically shows a second embodiment of a pixel headlight; Fig. 3 a schematic representation of a light output when controlling the pixel headlight according to Fig. 1 or 2 with a reference image; Fig. 4 a schematic representation of a light output when controlling the pixel spotlight according to Fig. 1 or 2 with an image of an image sequence; Fig. 5 a schematic representation of a section of an image sequence for controlling the pixel spotlight according to Fig. 1 or 2 , Fig. 6 schematic representations for a first embodiment according to the invention, Fig. 7 schematic representations for a second embodiment according to the invention, Fig. 8 schematic representations for a third embodiment according to the invention, and Fig. 9 schematic representations for a fourth embodiment according to the invention.

[0057] The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual, independently considered features of the invention, which also further develop the invention independently of one another and are thus also to be considered as components of the invention, either individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0058] In the figures, functionally identical elements are provided with the same reference numerals.

[0059] Fig. 1 shows a schematic representation of a first embodiment of a pixel spotlight 10 by means of which the method of the invention can be carried out. The pixel spotlight 10 comprises a light source 28, which in the present case can be formed, for example, by a gas discharge lamp. Alternatively, a laser light source, a correspondingly bright light-emitting diode, an incandescent lamp or the like can of course also be provided here. The light source 28 emits light 36, which is fed to a matrix 34. The matrix 34 has individual elements 38, which can be individually switched to transparent or non-transparent. This provides the individual pixels of the pixel spotlight 10. The enlarged representation below shows a schematic plan view of the matrix 34, in which the individual elements 38 can be seen.Depending on the respective control of the pixel spotlight 10 by means of a control signal, the corresponding elements 38 are switched to transparent or non-transparent, so that a corresponding light pattern or light distribution is provided, according to which light 40 is emitted. 32 represents a light output of the light 40 that is provided when all elements 38 of the matrix 34 are switched to transparent.

[0060] Fig. 2 shows a second embodiment of a pixel headlight 12 by means of which the invention can be implemented. The pixel headlight 12, like the pixel headlight 10 according to Fig. 1 the light source 28, which emits light 36. The light 36 is fed to a mirror matrix 42, which is divided into individual parts that can be individually controlled. Depending on the control, the light 36 is deflected in a direction corresponding to the individual control. The individual pixels of the pixel spotlight 12 are thus provided by the mirror matrix 42. A current setting of the mirror matrix 42 is shown enlarged at 48. This setting of the mirror matrix 42 results in the light 36 being partially reflected by the mirror matrix 42 and emitted as light 40, which has a light distribution according to the representation 48. The light 36 is deflected into a light trap 44 by the remaining elements of the mirror matrix 42. The pixel spotlight 12 thus emits a light distribution according to the emitted light 40.

[0061] The Fig. 3 bis 5 show below a method for illuminating a vehicle environment of a motor vehicle, in which the pixel headlight 10, 12 of the motor vehicle, which is not shown in the figures, emits light 40 depending on a control signal representing an image sequence 14 in order to at least partially illuminate the vehicle environment.

[0062] A respective individual image 20, 22 ( Fig. 5 ) of an image sequence 14 corresponds to a respective light distribution currently provided by the pixel headlight 10, 12. The illuminated vehicle surroundings are recorded by a vehicle camera (not shown), which stores the corresponding camera data 18 ( Fig. 4 ). In Fig. 4 An analysis of the camera data 18 is shown, according to which the camera data 18 detects an area 24 where the illumination is too high, so that glare may occur. Furthermore, the camera data 18 shows that an area 26 has been identified where the illumination is insufficient. Thus, contrasts in the areas 24, 26 cannot be adequately recognized. In the remaining area 50, normal illumination within a permissible range has been detected.

[0063] The camera data 18 are evaluated by means of an evaluation unit (also not shown) taking into account a predetermined light distribution, here a high beam, in order to determine and provide the control signal for controlling the pixel headlight 10, 12.

[0064] The sequence 14 ( Fig. 5 ) is provided with a frame rate of approximately 100 Hz. The frame rate 14 comprises a reference frame 16 ( Fig. 3 ), which serves to evenly illuminate the vehicle's surroundings. In this case, all pixels of the pixel headlight 10, 12 are designed to emit maximum brightness.

[0065] The vehicle camera records the vehicle surroundings with reference to the reference image 16 by being synchronized accordingly. Controlling the pixel headlight 10, 12 by means of the reference image 16 results in the vehicle camera recording the camera data 18 while the reference image 16 is being displayed by means of the pixel headlight 10, 12. The camera data 18 thus correspond to a recording while the reference image 16 is being displayed by means of the pixel headlight 10, 12. The camera data 18 can be determined, for example, from Fig. 4 shown.

[0066] The control signal is now determined by means of the evaluation unit depending on the camera data 18 recorded with respect to the reference image 16.

[0067] Fig. 5 shows a video sequence or image sequence 14, which represents the control signal for controlling the pixel spotlight 10, 12. The order of the individual images is from left to right and from top to bottom.

[0068] A first image is formed by the reference image 16. While this reference image 16 is used to control the pixel headlight 10, 12, the vehicle camera records the vehicle surroundings and provides camera data 18 ( Fig. 4 Based on the camera data 18, the following images 20 are determined, in which the area 24 is reduced in light intensity in order to reduce or mask out glare from an oncoming object. The six images 20 that follow one another immediately control the light output of the pixel spotlights 10, 12 for the next six cycles or frames.

[0069] By further evaluation of the camera data 18, in particular taking into account the area 26 ( Fig. 4 ), areas 52 are also masked or de-glared where reduced illumination is desired to reduce glare due to ice or water. This is achieved with images 22 following images 20. A subsequent image 54 shows that the masking is reduced in areas 24, 52. In these areas, the pixels are thus again controlled to partially emit light.

[0070] The Fig. 5 The section of image sequence 14 shown here shows the basic process control. In the present embodiment, 100 images 16, 20, 22, 52 are provided consecutively as a control signal per second. Additional reference images 16 can be provided in the image sequence 14 as needed. In the present embodiment, every thirtieth image is a reference image 16. Of course, the frame rate or the time interval between the reference images 16 can also be varied as needed in order to adapt the process control to current requirements in a suitable manner.

[0071] The exemplary configurations described below for controlling a high-resolution spotlight such as the pixel spotlight 10, 12 allow the generation of patterns at very short intervals. Since the human eye averages the brightness of an observed surface over time, it is possible to incorporate individual images such as the reference image 16 that are not recognized by the observer.

[0072] In the present concept, the refresh rate is selected such that it is possible to display a full image using reference image 16 without the driver noticing. This makes it possible to mask out objects, for example, using MatrixBeam technology, while still illuminating the entire roadway for a very short period of time.

[0073] The vehicle camera is synchronized with the pixel headlight 10, 12 in such a way that it can record camera data 18 when the road is fully illuminated according to the reference image 16 and transmit this separately.

[0074] The evaluation unit searches the camera data of the fully illuminated image for known symbols indicating road features, such as arrows, markings, warnings, and / or the like, and assigns them defined statements as information data, such as left turn, frost, lane deviation, and / or the like. These statements are then compared with a database and checked for inconsistencies.

[0075] For example: In a tunnel, a right-turn arrow is painted on the road, but traffic reports and signs indicate that the exit is closed.

[0076] Due to road repairs, parts of the markings are missing, but GPS and previous markings indicate where the median strips, for example, should be.

[0077] There is a direction sign on the road, for example "Zentrum" (city center), but due to a diversion, this road no longer leads to the city center but to the outskirts.

[0078] Due to reconstruction work, yellow markings have been applied and the white markings are invalid.

[0079] The information on the road is correct and should be made more clearly visible.

[0080] The evaluation unit now reacts dynamically to the lane symbols. For this purpose, it can include a program-controlled computer unit. The program can implement a suitable algorithm. Since the speed of the vehicle is known and the position of the symbols or markings can be evaluated at high frequency using the images of image sequence 14 with the vehicle camera, it is possible to track the movement and outlines of the symbols or markings within the driver's view. Unwanted and incorrect information can now be hidden, modified, or reduced in the remaining or subsequent images. Useful information can be clarified.

[0081] Fig. 6 shows examples of the use of the invention using a directional arrow 66 mounted on a roadway. By means of the method of the invention for controlling the pixel headlight 10, 12 of a motor vehicle arranged on a roadway, in which the pixel headlight 10, 12 emits light 40 depending on a control signal representing an image sequence 14 in order to at least partially illuminate the roadway. A respective individual image of the image sequence 14 corresponds to a respective light distribution currently provided by the pixel headlight 10, 12. The illuminated roadway is recorded by a vehicle camera, which provides corresponding camera data 18. The camera data 18 are evaluated in order to determine an indicative roadway feature, here the directional arrow 66, and to provide the control signal for controlling the pixel headlight 10, 12 depending on the determined indicative roadway feature.

[0082] According to the invention, the image sequence 14 is provided with a frame rate of greater than 100 Hz. The image sequence 14 includes a reference image 16 for uniformly illuminating the route. The vehicle camera is synchronized with the reference image 16 to capture the route. From the provided camera data 18, the indicative route equipment and information data associated with the indicative route equipment are determined with respect to the reference image 16. The associated information data are compared with data from a database. The control signal is determined based on the comparison.

[0083] In Fig. 6 The reference image 16 is shown on the far left. To the right of it, the camera data 18 captured by the vehicle camera with respect to the reference image 16 are shown.

[0084] Representations 74 and 80 refer to the crossing of the determined arrow 66 by means of a projection provided by the pixel headlight according to an image from the image sequence 14 as light output. 74 represents the image determined by the control signal unit taking into account the evaluation of the camera data 18. 80 represents the correspondingly illuminated roadway. It can be seen that the arrow 66 is not illuminated. In contrast, a cross 68 is brightly projected. The remaining area of ​​the image 74 is illuminated according to a normal, predetermined light distribution. Representation 80 shows the projection on the roadway. The cross 68 is clearly visible. The arrow 66, on the other hand, is barely visible.

[0085] Two further representations 76, 82 refer to hiding arrow 66. For this purpose, image 76 is determined from camera data 18, which is displayed using pixel headlights 10, 12. The correspondingly illuminated roadway is represented by 82. Only a substantially uniform illumination of the roadway can be seen, which is designated by reference numeral 70. Arrow 66 is no longer visually recognizable.

[0086] Two further images, 78 and 84, relate to the inclusion of arrow 66 in the projection. Arrow 66 is to be overlaid with an arrow 72, which was determined as the actual traffic routing using data from a database. The corresponding image is designated 78. 84 represents the correspondingly illuminated roadway. Only arrow 72 is visible, which completely encompasses arrow 66. Thus, only arrow 72 is visually visible.

[0087] Fig. 7 shows another example of the use of the invention, namely the visual projection of missing shoulders. As in the first case for Fig. 6 The reference image 16 allows the acquisition of camera data 86 of the roadway. The analysis reveals that shoulders 92 are shown, although parts of the shoulders are missing. By analyzing the camera data 86, an image 88 is determined, which is used to control the pixel headlights 10, 12. The already detected markings 92 are bright enough and do not need to be further illuminated, whereas the rest of the roadway is illuminated with average light intensity. Areas with the missing shoulders 94 are illuminated to the maximum. A continuous pattern of shoulders results on the roadway, as shown at 90.

[0088] Fig. 8 shows another example of the use of the invention, namely the replacement of a roadway sign for traffic guidance. The reference image is again shown at 16. The associated camera data is designated 96. The evaluation reveals that the sign 98 "Hof" is present on the roadway. Since the database states that this roadway no longer leads to Hof, but to Munich (MUC), a mask is determined as image 100, which leaves the sign 102 "Hof" dark and brightens or projects the sign 104 "MUC". This creates the impression that only "MUC" is present on the roadway. This is shown with the representation 106 of the roadway.

[0089] The invention also allows for the masking of invalid markings. The masking of invalid markings largely corresponds to the design according to Fig. 7 , which is why we refer to this in addition. When evaluating the camera data with regard to the reference image 16, a distinction is made according to the color of the marking. If yellow markings are present, they are ignored and the white markings are used as in the design according to Fig. 7 actively hidden. The yellow markings remain particularly visible to the driver because, unlike the white ones, they are further illuminated by the pixel headlights 10, 12.

[0090] Fig. 9shows a further example of the use of the invention, namely the highlighting of an indicative road feature, here an exclamation mark 108 attached to the road. The reference image is again shown at 16. The associated camera data is designated 106. By evaluating the camera data 106, a signal sign, here the exclamation mark 108, is determined. Further evaluation shows that the database contains data indicating that the exclamation mark 108 is correct. An attempt is therefore made to draw the driver's attention to this. In a first case, a mask is determined as image 110, which illuminates the road but over-illuminates the exclamation mark 108. This leads to an emphasis on the exclamation mark 108 on the road, which is shown by the representation 112.In a second case, an area is generated around the exclamation mark 108 that is darker than the rest of the roadway illumination, thus standing out from the rest of the roadway. A corresponding image to be displayed is designated 114. The exclamation mark 108 itself is particularly illuminated. This creates a brightly illuminated lettering with a dark border on the roadway, which is more easily visible to the driver due to the high contrast. This is shown in image 116.

[0091] Overall, the embodiments show how the invention can achieve improved illumination of the roadway, in particular of the roadway on which the motor vehicle is driven.

[0092] The embodiments serve only to explain the invention and are not intended to limit it.

Claims

1. A method for controlling a pixel headlight of a motor vehicle arranged on a driveway, in which: - the pixel headlight (10, 12) emits light (40) depending on a control signal representing an image sequence (14) to at least partially illuminate the driveway, for which purpose the pixel headlight is formed to emit light in the manner of a projector, wherein the control signal itself is provided by a control signal unit, wherein the control signal represents the image sequence (14) of images (20, 22) in the manner of a video sequence, which serve to correspondingly control the pixel headlight, wherein a respective image (20, 22) of the image sequence (14), which is currently provided by means of the control signal, is used with the pixel headlight for controlling light sources of the pixel headlight, wherein a respective individual image (20, 22) of the image sequence (14) corresponds to a respective light distribution currently to be provided by the pixel headlight (10, 12), - the illuminated driveway is captured by means of a vehicle camera, which provides corresponding camera data (18), and - the camera data is evaluated to ascertain at least one indicating driveway equipment, and to provide the control signal for controlling the pixel headlight (10, 12) depending on the ascertained indicating driveway equipment, - the image sequence (14) is provided with an image sequence frequency of greater than 24 Hz, wherein the image sequence (14) includes at least one reference image (16) for uniformly illuminating the driveway, such that by uniform illumination of the vehicle environment at a presettable illumination level, the possibility of reliably capturing the driveway with the vehicle camera is provided, wherein the reference image (16) is inserted into the image sequence (14) or replaces an existing image of the image sequence (14), such that the uniform illumination is provided for a short moment by means of the reference image (16), wherein the image sequence (14) repeatedly includes reference images (16), wherein consecutive reference images (16) are spaced from each other in time by at least 0.5 s, wherein the reference image (16) results in the fact that the light sources of the pixel headlight are controlled such that they emit light with the same light intensity, - the vehicle camera is synchronized with respect to the reference image (16) for capturing the driveway, - from the provided camera data with respect to the reference image (16), the at least one indicating driveway equipment as well as information data associated with the indicating driveway equipment are ascertained, such as for example stop signs, directional arrows, double roadway markings (yellow / white), warning notices and / or speed indications, - the associated information data is compared to data of a database, and - the control signal is ascertained depending on the comparison.

2. The method according to claim 1, characterized in that if the information data deviates from the data of the database, the images of the image sequence are ascertained such that an indicating driveway equipment corresponding to the data of the database is visually detectably projected by means of the pixel headlight.

3. The method according to claim 2, characterized in that the ascertained indicating driveway equipment is at least partially visually detectably overlaid by the projected indicating driveway equipment.

4. The method according to any one of the preceding claims, characterized in that the ascertained indicating driveway equipment is at least partially embedded in the projected indicating driveway equipment.

5. The method according to any one of the preceding claims, characterized in that if the information data deviates from the data of the database, the images of the image sequence are ascertained such that the ascertained indicating driveway equipment is at most partially illuminated.

6. The method according to any one of the preceding claims, characterized in that the reference image (16) is provided by means of a reference control signal controlling the pixel headlight (10, 12).

7. The method according to any one of the preceding claims, characterized in that the reference image (16) is provided by means of the pixel headlight (10, 12) for a period of time of less than 0.033 s.

8. A control device for controlling a pixel headlight of a motor vehicle arranged on a driveway, comprising: - a control signal unit, which is formed to provide a control signal representing an image sequence (14) for the pixel headlight (10, 12) for illuminating the driveway of the motor vehicle, for which purpose the pixel headlight is formed to emit light in the manner of a projector, wherein the control signal represents the image sequence (14) of images (20, 22) in the manner of a video sequence, which serve to correspondingly control the pixel headlight, wherein a respective image (20, 22) of the image sequence (14), which is currently provided by means of the control signal, is used with the pixel headlight for controlling light sources of the pixel headlight, such that the pixel headlight (10, 12) emits light (40), to at least partially illuminate the driveway, wherein a respective individual image (20, 22) of the image sequence (14) corresponds to a respective light distribution currently to be provided by the pixel headlight (10, 12), - a receiving unit for receiving camera data (18) of a vehicle camera capturing the illuminated driveway and providing the camera data, and - an evaluation unit connected to the control signal unit and the receiving unit for evaluating the camera data (18), to ascertain at least one indicating driveway equipment in order that the control signal unit provides the control signal depending on the ascertained indicating driveway equipment, wherein the control signal unit is further formed - to provide the image sequence (14) with an image sequence frequency of greater than 24 Hz, wherein the image sequence (14) includes at least one reference image (16) for uniformly illuminating the driveway, such that by a uniform illumination of the vehicle environment at a presettable illumination level, the possibility of reliably capturing the driveway with the vehicle camera is provided, wherein the reference image (16) is inserted into the image sequence (14) or replaces an existing image of the image sequence (14), such that the uniform illumination is provided for a short moment by means of the reference image (16), wherein the image sequence (14) repeatedly includes reference images (16), wherein consecutive reference images (16) are spaced from each other in time by at least 0.5 s, - to synchronize the vehicle camera with respect to the reference image (16) for capturing the driveway, and - the evaluation unit is formed to ascertain the at least one indicating driveway equipment as well as information data associated with the indicating driveway equipment from the provided camera data with respect to the reference image (16), such as for example stop signs, directional arrows, double roadway markings (yellow / white), warning notices and / or speed indications, as well as - to compare the associated information data to data of a database, and - the control signal unit is further formed to ascertain the control signal depending on the comparison.

9. A motor vehicle with a vehicle camera, a pixel headlight (10, 12) and a control device for controlling a pixel headlight (10, 12), characterized in that the control device is formed according to claim 8.