Open-loop and / or closed-loop control system for an object

Abstract

The invention relates to an open-loop and / or closed-loop control system (40) for an object, the system comprising an object (44), a target direction recording device (32) for recording at least one target movement variable, an evaluation unit (41), an orientation unit (42) for the object (44), and a reference recording device (34) for recording at least one reference movement variable, wherein the evaluation unit (41) is designed in such a way that it generates, on the basis of the at least one recorded target movement variable and the at least one recorded reference movement variable, at least one signal for the open-loop and / or closed-loop control of the object (44) and transmits said signal to the orientation unit (42), the orientation unit (42) being designed to orient the object (44) on the basis of this at least one signal and a fault analysis device (45) being connected to the orientation device (42).

Description

[0001] Name: Object control and / or regulation system

[0002] The invention relates to an object control and / or regulation system comprising an object, a target direction detection device for detecting at least one target movement variable, an evaluation unit, and an alignment unit for the object. It further relates to a device for illuminating the travel path, as well as a two-wheeler or three-wheeler and a method for object control and / or regulation.

[0003] Driving-situation-dependent cornering lights have become standard in motor vehicles and provide increased safety. Cornering lights can be controlled based on the cornering radius, yaw rate, or lateral acceleration of the vehicle, or they can be linked to a navigation system that allows predictions about the type of road ahead.

[0004] Bicycles generally have permanently mounted headlights. The main disadvantage of frame-mounted headlights is that the headlight beam continues to shine straight ahead when cornering, preventing the intended direction from being illuminated.

[0005] The disadvantage of fork-mounted or handlebar-mounted headlights on vehicles such as bicycles or e-bikes is that the headlight shines tangentially to the curve. The intended direction is not illuminated. With small steering movements, the movement of the headlight beam is very erratic and distracting, resulting in significant dazzling of other road users.

[0006] While a headlight mounted on the rider's helmet can illuminate the target well, the constantly changing direction of the headlight is distracting even with slight head movements, resulting in significant dazzling of other road users. Another disadvantage is that the weight of the headlight and the battery that powers the headlight must be carried on the rider's head.

[0007] From DE 10 2005 036 002 A1 a headlight system for a vehicle driven by an operator is known, comprising at least one controllable and adjustable headlight for emitting a light beam dependent on the direction of view, comprising at least one adjusting device connected to the adjustable headlight, by means of which the adjustable headlight can be adjusted, and comprising a detection device which detects the direction of view of the operator.

[0008] In addition to controlling a spotlight, there are also applications in other areas where robust, reliable and precise control of an object is required.

[0009] Various errors can occur in the headlight control system, leading to undesirable results. For example, the headlight may remain in a position that dazzles oncoming traffic.

[0010] The invention is therefore based on the object of providing a robust, reliable, and precise system for controlling and / or regulating, in particular aligning, an object, which system has a fallback level. Furthermore, a device for illuminating the path, a two-wheeler or three-wheeler, and a corresponding method are to be provided.

[0011] With regard to the object control and / or regulation system, this object is achieved according to the invention by the features of claim 1. According to this, a reference detection device is provided for detecting at least one reference movement variable, wherein the evaluation unit is configured such that, based on the at least one detected target movement variable and the at least one detected reference movement variable, it generates at least one signal for controlling and / or regulating the object and transmits it to the alignment unit, wherein the alignment unit is configured to align the object based on this at least one signal, wherein an error handling device connected to the alignment unit is provided. Advantageous embodiments of the invention are the subject of the dependent claims.

[0012] The invention is based on the consideration that various errors can occur during operation of a system described above. These include incorrect or undesired positioning of the headlight and thus incorrect or undesired direction of the light cone. Errors in the signal transmission between transmitter and receiver, too low voltage in the helmet sensor, or stiffness of the adjustment mechanism are also possible. Furthermore, errors in the mechanics of the adjustment mechanism (motor defective, gear stuck, etc.) can occur. These errors are particularly relevant to safety. Incorrect adjustment of the headlight can result in the driver no longer being able to see the road ahead clearly enough. This can also result in oncoming traffic being dazzled.

[0013] As has now been recognized, the safety of the system and the user can be increased by providing a fallback level in the event of a fault, in which the object or the headlight is moved to a nominal or neutral position. This allows the system to continue to operate reliably without tracking and to fulfil standard functions. In the case of a trackable bicycle headlight, this means in particular that the headlight can illuminate the path straight ahead and is aligned in a central position. The central position is halfway between the extreme left and the extreme right positions. Although the headlight can no longer be rotated in line with the rider's line of sight, it does not constantly shine to the side and does not dazzle oncoming traffic.

[0014] Advantageously, the error handling device is configured to send an error signal to the alignment unit when an error condition is present. Upon receipt of this error signal, the alignment unit is configured to align the object in a nominal or neutral position. An error signal is understood here to mean, in particular, any type of operative connection between the error handling device and the alignment unit that is specifically designed to signal the alignment unit to align the headlight or the object in the nominal position.

[0015] The nominal or neutral position refers specifically to a position that lies between extreme positions, especially the center, in which the object can be aligned. For a bicycle headlight, this position corresponds to the longitudinal orientation of the bicycle, or the direction in which the bicycle travels with the handlebars straight, and thus to the center position. The headlight then behaves like a familiar bicycle lamp.

[0016] The alignment unit and the error handling device are preferably formed with the same electronic components or in a common housing.

[0017] The error handling device preferably comprises an actuating element and is configured to send the error signal to the alignment unit upon a predetermined actuation. If, in particular, the driver detects a malfunction, he or she can initiate the alignment of the object to the nominal position by actuating the actuating element.

[0018] The specified actuation is preferably an actuation that lasts longer than a specified time threshold. This means that the error signal is only generated if the actuating element is actuated for longer than a specified period of time. For example, this specified period of time is between one and several seconds, preferably two or three seconds.

[0019] The actuating element is preferably designed as a push-button or switch. The push-button design simplifies the software implementation. The actuating element is advantageously attached or mounted to the object or has a mounting bracket. If the object is a lighting unit or a bicycle headlight, the mounting bracket is preferably designed as a handlebar mount, with the aid of which the actuating element can be mounted on the handlebar.

[0020] The control element or button can be mounted near the handlebar grip or directly on the light. On the handlebar, operation is more convenient, and in the other case, there's no need to run a cable. Thus, in a preferred version, the mounting bracket is designed as a mounting bracket for a bicycle handlebar.

[0021] In a preferred embodiment, an activation element is provided or the system comprises an activation element which, when actuated, activates or deactivates the alignment unit. This means that the tracking of the headlight to the direction of view can be switched on or off. In a first preferred embodiment, the actuating element and the activation element are designed as the same element and / or are integrated. This reduces the number of operating elements. If the common element is designed as a button, for example, the tracking function is switched on or off by a short press, while a longer press activates the fallback level or fallback mode, so that the headlight is moved to the nominal position.

[0022] In a second preferred embodiment, separate operating elements are formed so that each of the operating elements is assigned only one function.

[0023] The system advantageously comprises a visual and / or acoustic notification element. The notification element changes its state when the fallback level is activated, i.e. when the error signal is sent. The notification element is preferably designed as at least one LED or preferably comprises at least one LED. The notification element can be designed to illuminate in multiple colors, whereby one color (e.g. green) can also indicate the normal operating state. The driver is informed, for example, by a yellow LED that the headlight has been automatically moved to the center position. The headlight is switched off (red error LED if necessary) and further driving is then no longer possible or no longer permitted.

[0024] Advantageously, the target direction detection device and the reference detection device each have a transmitting and / or receiving unit for wireless communication, in particular via BLE (Bluetooth Low Energy). In further advantageous embodiments, ANT (+), ZigBee / RF4CE, RFM, Wi-Fi, or a comparable wireless transmission standard can be used instead of BLE. These communication forms have the necessary range while consuming little energy, so that battery replacement is rarely necessary. A transmission standard for longer ranges at the expense of energy consumption is also conceivable.

[0025] The error handling device is preferably configured to monitor the wireless communication and, upon a detected failure or malfunction of the wireless communication, to send the error signal to the alignment unit.

[0026] An object direction and / or object acceleration and / or object speed is preferably detected as the target movement variable, with a reference direction and / or a reference acceleration and / or a reference speed advantageously being detected as the reference movement variable. If accelerations, in particular the acceleration due to gravity, are also detected in addition to the directions, the inclination of the object and / or the reference frame can also be taken into account, for example, when using the system to align a headlight.

[0027] In a preferred embodiment of the invention, an object direction and a reference direction are detected, with the evaluation unit generating a signal for controlling and / or regulating the object from the difference between the two detected directions. In this way, errors caused by the acceleration of the target direction detection device can be compensated.

[0028] To detect the object direction, the target direction detection device advantageously comprises a sensor for the Earth's magnetic field, and to detect the reference direction, the reference detection device advantageously comprises a sensor for the Earth's magnetic field. In principle, any sensor that can detect and process translational and rotational motion signals is suitable. Taking the Earth's magnetic field into account serves, in particular, to correct possible deviations in the acceleration of motion.

[0029] In a preferred embodiment, the system is designed as a headlight system for a vehicle driven by an operator, with an object which is designed as a controllable and adjustable headlight for emitting a light beam dependent on the direction of view, with an alignment unit which is designed as an adjustment device connected to the adjustable headlight, by means of which the adjustable headlight can be adjusted, with a target direction detection device designed as a gaze detection device which detects the direction of view of the operator, and with a reference detection device designed as a position detection device which detects the position of the vehicle and / or the target direction detection device and / or the headlight, wherein the nominal position is a straight-ahead or central position of the headlight.This makes turning and negotiating tight curves on cycle paths significantly safer. Directional signs on cycle paths are often mounted at a height of 2 meters or more. To be able to read them, the headlights should also be able to shine upwards, within the limits of what is permitted.

[0030] The gaze detection device preferably detects a direction, for example, a direction in which a person's head is turned. Gaze detection here involves detecting the direction of the head, with additional eye movements to the left or right not being detected. The adjustment device is advantageously configured to adjust the headlight and / or at least one light source of the headlight and / or at least one reflector of the headlight. In this way, the path can be illuminated as needed.

[0031] Advantageously, the gaze detection device comprises a mount for a helmet, in particular a bicycle helmet, and / or the position detection device preferably comprises a mount for a bicycle frame. In further preferred embodiments, the gaze detection device comprises a mount for a hat or cap, glasses, or headphones. In a further preferred embodiment, the gaze detection device comprises a mount designed as an ear hook.

[0032] In a preferred embodiment, a preferably lightweight sensor and transmitter module is attached to the helmet, which determines and transmits the absolute position and direction of the head. A further module is attached to a bicycle, possibly as part of the lamp. It contains a receiver that receives the helmet direction and position, and another sensor that determines the direction and position of the headlight. From this position and direction data, the direction in which the headlight must be adjusted is calculated. The adjustment is carried out, for example, by an actuator in or on the headlight.

[0033] To move the headlight in a single plane, a pivoting actuator of the lamp and reflector is preferably implemented. As an alternative to moving the entire headlight, moving only the reflector or controlling various light sources, such as LEDs, is also possible or can be implemented. Optionally, a vertical movement in another movement axis can be performed on demand to better illuminate distant targets or traffic signs, comparable to the high beam in motor vehicles. The driver's head direction (line of gaze) is preferably detected or recognized by a sensor. Electronics evaluate this direction and adjust the headlight's illumination direction accordingly.

[0034] The invention also includes a device for illuminating the roadway according to claim 19, comprising a helmet and comprising a headlight system as described above, wherein the gaze detection device is attached to the helmet.

[0035] The invention further comprises a two-wheeler or three-wheeler according to claim 20, comprising a device as described above, wherein the position detection device is mounted on the vehicle frame for detecting the position of the vehicle and / or the position of the headlight system.

[0036] In an advantageous embodiment of the system, the object is a drone, in particular an aerial drone. In further preferred embodiments of the invention, the object is designed as a searchlight or a fire hose or water cannon.

[0037] With regard to the method, the above-mentioned object is achieved by claim 21, wherein at least one target movement quantity and at least one reference movement quantity are detected, and wherein the object is aligned on the basis of the detected movement quantities.

[0038] In a preferred variant, the object is a lighting device of a vehicle driven by an operator, wherein the operator's viewing direction is detected as the target movement variable, and wherein the position of the vehicle is detected as the reference movement variable, and wherein, based on the difference between the viewing direction and the position of the vehicle, at least one parameter for at least one adjustable and adjustable headlight of the lighting device is adjusted. Advantageously, at least one acceleration is detected, wherein this acceleration is used to adjust at least one parameter of an adjustable and adjustable headlight of the lighting device.

[0039] The advantages of the invention are, in particular, that the system described above achieves precise and robust control or regulation of an object, wherein in the event of a fault in a fallback level, a basic function of the system can be maintained by moving the object into a nominal position or aligning the object in a nominal position.

[0040] The system includes safety-relevant features for view-dependent headlights for bicycles, pedelecs, and e-bikes. The system's response to potential malfunctions is described.

[0041] The system is implemented and designed in such a way that, upon detection of a malfunction in the follow mode, the headlight is returned to its nominal position by pressing a button, thus ending the follow mode. The malfunction is detected based on the driver's perception. The data connection between the sensor on the helmet and the sensor on the headlight can be automatically monitored. If an error occurs, i.e., there is no data connection, the headlight automatically moves to its nominal position so that normal function can be restored as quickly as possible.

[0042] The headlight system described above creates a viewing-dependent cornering light. It is independent of driving situation parameters such as steering angle or vehicle inclination. The light is always where the rider is looking, even when the vehicle is stationary. The bicycle light illuminates the area the rider is looking at. The light beam is controlled based on the direction of vision, not the handlebar position, thereby increasing safety. A headlamp for turning or reading signage is no longer necessary. Transmitters from multiple helmets can be paired with the same receiver, and vice versa. A low-pass filter can be used to specifically filter out small movements. The headlight direction (e.g., to the left) can be limited to avoid dazzling oncoming traffic. The weight of the headlight remains on the bike (unlike helmet lighting).

[0043] Aligning the headlight to a nominal position prevents dazzling oncoming traffic. In this case, the headlight can still function as a fixed headlight in its center position.

[0044] An embodiment of the invention is explained in more detail with reference to the drawings. All described and / or illustrated features, individually or in any meaningful combination, constitute the subject matter of the present invention, regardless of their summary in the claims or their interrelationships.

[0045] Some of them are shown schematically:

[0046] Figure 1 shows an alignment unit, an error handling device, an actuating element, a notification element and an adjustable headlight of a system in a preferred embodiment in a perspective view,

[0047] Figure 2 shows the alignment unit, the error handling device, the actuating element, the notification element and the adjustable headlight according to Figure 1 in a first configuration in a plan view,

[0048] Figure 3 shows the alignment unit and the adjustable headlight according to Figure 1 in a second configuration in a plan view,

[0049] Figure 4 shows the alignment unit and the adjustable headlight according to Figure 1 in an exploded view,

[0050] Figure 5 shows a lamp holder in a perspective view,

[0051] Figure 6 shows a target direction detection device in an exploded view,

[0052] Figure 7 shows the target direction detection device according to Figure 6 mounted on a helmet, and

[0053] Figure 8 shows an object control and / or regulation system with a gaze detection device according to Figure 1 and a position detection device according to Figure 6. Identical parts are provided with the same reference numerals in all figures.

[0054] Figures 1-4 show a section of a bicycle frame 1, to which a lamp holder 2 is attached by a housing 3. The figures show a reference mounting device 34, which in this case is designed as a position detection device 35. This comprises a lamp housing 4, which accommodates a ring 5 and a lens 6. The housing 3 accommodates a glass 31 on a front side, which serves as a transparent protective cover.

[0055] The ring 5, the lens 6 and an LED circuit board 14 form a headlight 44 and are arranged in a carrier 20 which is closed with a cover 19. Two screws 9 are used to fasten the cover 19 to the carrier 20. An L-shaped circuit board 12 and a further circuit board 10 are arranged on each side of the carrier 20. A circuit board 13 is arranged perpendicular to this. A Bluetooth module and a microcontroller are located on the further circuit board 11. The circuit board 12 belongs to the lamp and is used to control an optional high beam function. The circuit board 13 contains the components for the voltage supply and a connector collar 18 for connecting the voltage supply and as a service interface. Depending on the design, it is also conceivable to combine components and functions, thereby reducing the number of circuit boards.The carrier 20 is rotatably mounted on the cover 19 by means of a ball bearing 15 and a cylindrical pin 16.

[0056] The position detection device 35 comprises a servo drive 17, which rotates a gear 21 that meshes with a gear segment 22. It further comprises a sensor 39 for detecting a direction and a receiving unit 38 for communicating with a gaze detection device 32 shown in Figures 6 and 7. In this case, the sensor 39 uses the earth's magnetic field to determine an azimuthal direction. The servo drive 17 is screwed to the circuit board 11 using screws 7. The carrier 20 is screwed to the housing 3 using screws 8.

[0057] With the help of the receiving unit 38, the position detection device 35 receives a signal from the gaze detection device 32, which represents a viewing direction. The receiving unit 38 transmits this signal to an evaluation unit 41, which compares it with a signal from the sensor 38. It calculates the difference between the two detected directions and generates a signal for an alignment unit 42 or adjustment unit 43, which includes the servo drive 17 and the gear 21.

[0058] Integrated with the alignment unit 41 is an error handling device 45, which is connected to the alignment unit 41 on the signal input side. The error handling device 45 comprises an operating element or actuating element 46, which in the illustrated preferred embodiment is designed as a button 47. Furthermore, a notification element 48 is provided, which in the present case is designed as a lighting element that can illuminate in two colors as required. Figure 2 shows how the headlight 44 illuminates straight ahead in one direction. Figure 3 shows the headlight 44 in a position rotated relative to this, which is achieved starting from the straight-ahead position according to Figure 2 by activating the servo drive 17.

[0059] Figure 5 shows the lamp holder 2. The gear segment 22 is attached to the lamp holder 2, so that when the servo drive 17 is actuated and the gear 21 rotates, the engagement of the gear 21 with the gear segment 22 causes the ring 5, lens 6, and LED board 14 to rotate. In this way, the direction of the illumination can be adjusted in a plane in which these components rotate.

[0060] Figure 6 shows a target direction detection device 32, which is designed as a gaze detection device 33. It comprises a housing 23 with a cover 24. An on / off switch 26 is arranged beneath the cover 24. The cover 24 includes an opening through which a portion of the on / off switch 26 is guided, so that it can be actuated from the outside when installed. The cover 24 is attached to the housing with two screws 27. Additional screws 28 serve to attach the gaze detection device 32 to a helmet 29 (see Figure 7).

[0061] A sensor 37 for position detection or viewing direction, which senses the Earth's magnetic field, is arranged beneath the cover 24. The gaze detection device 32 further comprises a battery 25, which is preferably designed as a rechargeable battery, and a transmitter unit 36 ​​for wirelessly transmitting a signal representing the position of the gaze detection device 32 or the helmet 29 to the position detection device. The gaze detection device 32 comprises a first circuit board 10 and a second circuit board 11. The circuit board 10 contains the motion and position sensors for the translational and / or rotational movement detection and the detection of the Earth's magnetic field.

[0062] Figure 7 schematically shows a person's head 30, on which a helmet 29 is placed. The target direction detection device 32 or gaze detection device 33 is attached to the rear of the helmet 29. When the person turns their head 30 in one direction, the helmet 29 also rotates in this direction, so that this direction is detected by the gaze detection device 33. Gaze detection here refers to the detection of the head direction; additional movements of the eyes to the left or right are not detected in this case. Figure 8 shows an object control and / or regulation system 40 with the gaze detection device 32 according to Figure 1 and the position detection device 35 according to Figure 6.

[0063] While driving, the driver may discover an error in the tracking of the headlight 44 according to the direction of view or helmet alignment. This may result in an incorrect or undesired position of the headlight and thus an incorrect or undesired direction of the light cone. This may be due, for example, to a problem in the gaze detection device and / or the alignment unit 42. There may also be an error in the signal transmission between the transmitter and receiver, or the voltage of the helmet sensor may be too low, or the adjustment mechanism in the alignment unit 42 may be stiff. In particular, the servo drive 17 may be defective or the gear 21 may be jammed.

[0064] In this case, the rider can press the button 47, in this case for longer than 3 seconds, for example. In this case, the error handling device 45 sends an error signal to the alignment unit 42, which, upon receipt of the error signal, moves the headlight 44 to a nominal or neutral position, which corresponds to an alignment of the headlight 44 in a straight-ahead direction, which corresponds to the direction of travel of the bicycle with the handlebars straight. The error handling device 45 activates the notification element 48 to visually indicate to the rider that the fallback level has been activated. In this case, the notification element 48 displays a yellow light. The rider is thus shown that in fallback mode the headlight behaves like a normal, rigidly forward-facing headlight. The system 40 is configured such that the button 47 or the actuating element 46 fulfills a dual function.If the button 47 is pressed only briefly, the tracking function is switched off, which is indicated by the notification element 48 with the help of a red light.

[0065] The error handling device 45 monitors the transmission unit 36 ​​for wirelessly transmitting the signal representing the position of the gaze detection device 32 or the helmet 29 to the position detection device. If the wireless transmission fails, i.e., there is no longer a data connection and / or there is a malfunction, the fallback level is activated and the error signal is sent to the alignment unit.

[0066] List of reference symbols

[0067] 1 bicycle frame

[0068] 2 lamp holders

[0069] 3 housings

[0070] 4 lamp housings

[0071] 5 rings

[0072] 6 lens

[0073] 7 screw

[0074] 8 screw

[0075] 9 Screw

[0076] 10 circuit boards

[0077] 1 1 board

[0078] 12 circuit boards

[0079] 13 circuit boards

[0080] 14 LED board

[0081] 15 ball bearings

[0082] 16 cylindrical pin

[0083] 17 Servo drive

[0084] 18 plug collars

[0085] 19 lids

[0086] 20 carriers

[0087] 21 gear

[0088] 22 gear segment

[0089] 23 housings

[0090] 24 lids

[0091] 25 Battery

[0092] 26 On / Off switch

[0093] 27 Screw

[0094] 28 screw

[0095] 29 Helmet

[0096] 30 head glass

[0097] Target direction detection device

[0098] Eye tracking device

[0099] Reference recording device

[0100] Position detection device

[0101] Transmitter unit

[0102] sensor

[0103] Receiving unit

[0104] sensor

[0105] Object control and regulation system

[0106] Evaluation unit

[0107] Alignment unit

[0108] adjustment unit

[0109] Headlight (object)

[0110] Error handling device

[0111] Actuating element

[0112] button

[0113] Notification element

Claims

Patent claims 1. Object control and / or regulation system (40) comprising an object (44), a target direction detection device (32) for detecting at least one target movement parameter, an evaluation unit (41), an alignment unit (42) for the object (44), a reference detection device (34) for detecting at least one reference movement parameter, wherein the evaluation unit (41) is configured to generate at least one signal for controlling and / or regulating the object (44) based on the at least one detected target movement parameter and the at least one detected reference movement parameter and transmit it to the alignment unit (42), wherein the alignment unit (42) is configured to align the object (44) based on this at least one signal, and wherein an error handling device (45) connected to the alignment unit (42) is provided.

2. System (40) according to claim 1, wherein the fault handling device (45) is configured to, upon the occurrence of a fault condition of The alignment unit (42) sends an error signal, wherein the alignment unit (42) is configured to align the object (44) in a nominal position upon receiving this error signal. System (40) according to claim 2, wherein the error handling device (45) comprises an actuating element (46) and is configured such that, upon a predetermined actuation, the error signal is sent to the alignment unit (42). System (40) according to claim 3, wherein the predetermined actuation is an actuation that lasts longer than a predetermined time threshold. System (40) according to claim 3 or 4, wherein the actuating element (46) is configured as a push button (47) or switch. System (40) according to claim 5, wherein the actuating element (46) is mounted on the object (44) or has a mounting bracket. System (40) according to any one of claims 3 to 6, wherein an activation element is provided which, upon actuation, activates or deactivates the alignment unit (42). System (40) according to claim 7, wherein the actuating element (46) and the activation element are configured as the same element and / or are integrated. System (40) according to any one of claims 1 to 8, comprising an optical and / or acoustic notification element (48). System (40) according to claim 9, wherein the notification element (48) is configured as at least one LED. System (40) according to any one of claims 1 to 10, wherein the target direction detection device (32) and the reference detection device (34) each comprise a transmit and / or receive unit (36, 38) for wireless communication, in particular by means of BLE. System (40) according to claim 1, wherein the error handling device (45) is configured to monitor the wireless communication and, in the event of a detected failure or malfunction of the wireless communication, to send the error signal to the alignment unit (41). System (40) according to any one of claims 1 to 12, wherein a target direction and / or target acceleration and / or target velocity is detected as the target motion variable, and wherein a reference direction and / or a reference acceleration and / or a reference velocity is detected as the reference motion variable. System (40) according to claim 13, wherein a target direction and a reference direction are detected, and wherein the evaluation unit (41) generates a signal for controlling and / or regulating the object (44) from the difference between the two detected directions. System (40) according to claim 14, wherein, for detecting the target direction, the target direction detection device (32) comprises a sensor (37) for the Earth's magnetic field, and wherein, for detecting the reference direction, the reference detection device (34) comprises a sensor (39) for the Earth's magnetic field.System (40) according to claim 14 or 15, which is designed as a headlight system for a vehicle driven by an operator, comprising an object designed as a controllable and adjustable headlight (44) for emitting a beam of light dependent on the direction of view. with an alignment unit (42), which is configured as an adjustment device (43) connected to the adjustable headlight (44), by means of which the adjustable headlight (44) can be adjusted, with a target direction detection device (32), which is configured as a gaze detection device (33), which detects the gaze direction of the operator, and with a reference detection device (34), which is configured as a position detection device (35), which detects the position of the vehicle and / or the headlight (44), wherein the nominal position is a straight-ahead position of the headlight. System (40) according to claim 16, wherein the adjustment device (43) is configured to adjust the headlight (44) and / or at least one light source of the headlight (44) and / or at least one reflector of the headlight (44).System (40) according to claim 16 or 17, wherein the gaze detection device (33) has a mount for a helmet (29), and / or wherein the position detection device (35) has a mount for a bicycle frame (1). Device for illuminating the roadway, comprising a helmet (29) and comprising a headlight system according to one of the. Claims 16 to 18, wherein the eye-tracking device (22) is attached to the helmet (29). Two-wheeled or three-wheeled vehicle comprising a device according to claim 19, wherein the position-tracking device (35) is mounted on the vehicle frame (1). Method for controlling and / or regulating an object, wherein at least one target motion variable and at least one reference motion variable are detected, and wherein the object is aligned based on the detected motion variables, and wherein in the event of a fault, the object is aligned to a nominal position.Method according to claim 21, wherein the object is a lighting device of a vehicle driven by an operator, and wherein the direction of view of the operator is detected as the target movement variable, and wherein the position of the vehicle is detected as the reference movement variable, and wherein at least one parameter of at least one adjustable and variable headlight (44) of the lighting device is set based on the difference between the direction of view and the position of the vehicle, and wherein. In the event of a fault, the headlight (44) is aligned to the nominal position which corresponds to the straight direction of travel of the vehicle.

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