# US 11,897,384 B2 · System and method for vehicle lighting-based roadway obstacle notification > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,384 B2 - Document ID: US11897384B2 - Status: Granted - Kind: B2 - Application number: 18/086,948 - Filed: 2022-12-22 - Published: 2023-07-06 - Granted: 2024-02-13 - Earliest claimed: 2022-01-03 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Georg J. Maurer; Cyril Coerman; Uwe D. Hoffmann - Web page: https://patentgrep.com/patent/US11897384B2 ## CPC - B60Q 1/143: {combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers} - B60Q 1/085: {due to special conditions, e.g. adverse weather, type of road, badly illuminated road signs or potential dangers (B60Q1/10, B60Q1/12, B60Q1/1423 take precedence)} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - B60Q 2300/054: Variable non-standard intensity, i.e. emission of various beam intensities different from standard intensities, e.g. continuous or stepped transitions of intensity - B60Q 2300/112: Vehicle speed - B60Q 2300/116: Vehicle at a stop - B60Q 2300/132: Pitch - B60Q 2300/324: Road inclination, e.g. uphill or downhill - B60Q 2300/45: Special conditions, e.g. pedestrians, road signs or potential dangers - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A vehicle lighting-based roadway obstacle notification for a motor vehicle has a vehicle headlamp system with a controllable light distribution. A camera is aligned parallel to a forward driving direction records a part of the roadway surface lying in front of the motor vehicle which includes a multiplicity of roadway detection paths. Camera data are individually evaluated in relation to ranges and at least one quantity from among a magnitude of a vertical dimension hi of the roadway, a magnitude of a gradient gradx;i of the roadway, and an instantaneous speed vmom of the motor vehicle, with respect to the roadway detection paths. When at least one predetermined condition in respect of at least one of these quantities is complied with, the vehicle headlamp system is controlled in order to illuminate a part of the width of the roadway in which a roadway anomaly has been detected. ## Claims ### Claim 1 A method for vehicle lighting-based roadway obstacle notification for a motor vehicle which has a vehicle headlamp system with a controllable light distribution, at least one camera with an optical axis aligned parallel to a forward driving direction of the motor vehicle, and at least one electronic control unit operatively connected to the at least one camera and to the vehicle headlamp system, the method comprising the steps of: moving the motor vehicle along a roadway; recording camera data of a part of a roadway surface lying in front of the motor vehicle in the forward driving direction using the camera, wherein a recorded part of the roadway surface includes a multiplicity of roadway detection paths; individually evaluating the camera data relating to the roadway detection paths in relation to ranges and at least one quantity from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle; detecting a roadway anomaly in response to compliance of at least one from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle with at least one respective predetermined condition; and controlling the vehicle headlamp system as a function of the compliance with the respective predetermined condition in order to illuminate a part of the roadway corresponding to one of the roadway detection paths in which the roadway anomaly has been detected. ### Claim 2 (depends on 1) The method according to claim 1, wherein the at least one respective predetermined condition is comprised of a threshold. ### Claim 3 (depends on 1) The method according to claim 1, wherein the step of controlling the vehicle headlamp system in order to illuminate the detected roadway anomaly comprises the illuminated part of the roadway covering at least one of the roadway detection paths along which the roadway anomaly has been detected, as well as at least a part of the roadway for a neighboring roadway detection path, and in case the roadway anomaly is detected on an outer path of the roadway detection paths then the illuminated part of the roadway covering up until a corresponding lane edge. ### Claim 4 (depends on 1) The method according to claim 1, wherein the step of controlling the vehicle headlamp system in order to illuminate the detected roadway anomaly is continued until the motor vehicle has approached the detected roadway anomaly to within a predetermined distance. ### Claim 5 (depends on 1) The method according to claim 1, wherein at least one of the predetermined conditions of the step of detecting the roadway anomaly is dependent on at least one of a distance (d) of the motor vehicle from the detected roadway anomaly, a size of a confidence level in respect of the vertical dimension (hi) of the roadway, the vertical dimension (hi) of the roadway per se, the gradient (gradx;i) in the forward driving direction, and the instantaneous speed (vmom) of the motor vehicle. ### Claim 6 (depends on 1) The method according to claim 1, wherein after the step of illuminating the part of the roadway corresponding to the roadway detection path in which the roadway anomaly has been detected, the method further comprises repeatedly performing the steps of: recording camera data of a part of the roadway surface lying in front of the motor vehicle in the forward driving direction using the camera; individually evaluating camera data relating to the roadway detection paths in relation to ranges and at least one quantity from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle; continuing to detect the roadway anomaly in response to compliance of at least one from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle with at least one modified predetermined condition involving at least a lower requirement for compliance. ### Claim 7 (depends on 1) The method according to claim 1, wherein the motor vehicle is equipped with an automatic dynamic lighting range regulating device, which includes at least one electronic control unit that is intended to determine an instantaneous pitch angle of the motor vehicle in response to received data of sensors and to control the vehicle headlamp system in such a way that a predetermined lighting direction angle with respect to a roadway plane is adjusted, and wherein the method further comprises the steps of: when the roadway anomaly is detected, transmitting results of the step of detecting the roadway anomaly in relation to ranges and at least one quantity from among a vertical dimension (hi) of the roadway, a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle to an electronic control unit; in response to a previous calibration and the transmitted results, calculating an expected time variation of the pitch angle of a body of the motor vehicle when driving over the roadway anomaly; and controlling, as a function of driving over the roadway anomaly by the motor vehicle, the lighting range regulating device in order to compensate for a deviation of a lighting direction angle from a predetermined lighting direction angle with respect to a roadway plane during a pitch movement of the body of the motor vehicle according to signals from sensors including a pitch angle determination sensor. ### Claim 8 A vehicle lighting-based roadway obstacle notification system for a motor vehicle that moves along a roadway, comprising: a vehicle headlamp system with a controllable light distribution; at least one camera having an optical axis aligned parallel to a forward driving direction; and an electronic control unit operatively connected to the at least one camera and to the vehicle headlamp system, configured to: record camera data of a part of a surface of the roadway lying in front of the motor vehicle in the forward driving direction using the camera, wherein a recorded part of the roadway includes a multiplicity of roadway detection paths; individually evaluate the camera data relating to the roadway detection paths in relation to ranges and at least one quantity from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle; detect a roadway anomaly in response to compliance of at least one from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle with at least one respective predetermined condition; and control the vehicle headlamp system as a function of the compliance with the respective predetermined condition in order to illuminate a part of the roadway corresponding to the roadway detection path in which the roadway anomaly has been detected. ### Claim 9 (depends on 8) The system according to claim 8, wherein the at least one respective predetermined condition is comprised of a threshold. ### Claim 10 (depends on 8) The system according to claim 8, wherein the electronic control unit is configured to illuminate the detected roadway anomaly such that the illuminated part of the roadway covers at least one of the roadway detection paths along which a roadway anomaly has been detected, as well as at least a part of the roadway for a neighboring roadway detection path. ### Claim 11 (depends on 8) The system according to claim 8, wherein the electronic control unit is configured such that illuminating the detected roadway anomaly is continued until the motor vehicle has approached the detected roadway anomaly to within a predetermined distance. ### Claim 12 (depends on 8) The system according to claim 8, wherein at least one of the predetermined conditions is dependent on at least one of a distance (d) of the motor vehicle from the detected roadway anomaly, a size of a confidence level in respect of the vertical dimension (hi) of the roadway, the vertical dimension (hi) of the roadway per se, the gradient (gradx;i) in the forward driving direction, and the instantaneous speed (vmom) of the motor vehicle. ### Claim 13 (depends on 8) The system according to claim 8, wherein the electronic control unit is further configured such that after illuminating the part of the roadway corresponding to the roadway detection path in which the roadway anomaly has been detected, the electronic control unit repeatedly: records camera data of a part of the roadway lying in front of the motor vehicle in the forward driving direction using the camera; individually evaluates camera data relating to the roadway detection paths in relation to ranges and at least one quantity from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle; continues to detect the roadway anomaly in response to compliance of at least one from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle with at least one modified predetermined condition involving at least a lower requirement for compliance. ### Claim 14 (depends on 8) The system according to claim 8, further comprising: an automatic dynamic lighting range regulating device, which includes a controller that determines an instantaneous pitch angle of the motor vehicle in response to received data of sensors and controls the vehicle headlamp system in such a way that a predetermined lighting direction angle with respect to a roadway plane is adjusted; wherein the electronic control unit is further configured to: when the roadway anomaly is detected, employ results of individual evaluation of the recorded camera data in relation to ranges and at least one quantity from among a magnitude of a vertical dimension (hi) of the roadway, a magnitude of a gradient (gradx;i) of the roadway in the forward driving direction, and an instantaneous speed (vmom) of the motor vehicle to calculate an expected time variation of a pitch movement of a body of the motor vehicle when driving over the roadway anomaly; and control the lighting range regulating device in response to driving over the roadway anomaly by the motor vehicle, confirmed by signals of vehicle-based sensors, in order to compensate for a deviation of the lighting direction angle from the predetermined lighting direction angle with respect to a roadway plane during the pitch movement of the body of the motor vehicle generated by driving over the detected roadway anomaly. ### Claim 15 (depends on 14) The system according to claim 14, wherein the vehicle-based sensors are comprised of (1) a multiplicity of height level sensors, which are arranged on a front axle and a rear axle of the motor vehicle, or (2) a multiplicity of acceleration sensors, which are respectively arranged wheel-individually on wheel supports of a front axle of the motor vehicle, or (3) as an inertial measurement unit with a pitch rate sensor, or (4) a sensor combination consisting of vertical and longitudinal acceleration sensors, in order to determine a pitch movement of a motor vehicle structure. ### Claim 16 (depends on 15) The system according to claim 15 wherein the vehicle-based sensors are further comprised of a reduced set of wheel-mounted sensors, wherein two height level sensors are provided wheel-individually on the front axle, or two wheel support-mounted acceleration sensors are provided wheel-individually on the front axle. ### Claim 17 (depends on 14) The system of claim 14 further comprising: an image processing unit determining a displacement of at least one object in at least two images recorded at different instants by the at least one camera, wherein the electronic control unit calculates a pitch movement of the motor vehicle from the displacement.