# US 11,993,201 B2 · Method for controlling modules for projecting pixelated light beams for a vehicle

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- Number: US 11,993,201 B2
- Document ID: US11993201B2
- Status: Granted
- Kind: B2
- Application number: 17/281,859
- Filed: 2019-09-30
- Published: 2022-04-21
- Granted: 2024-05-28
- Earliest claimed: 2018-10-01
- Assignees: Valeo Vision
- Applicants: Valeo Vision
- Inventors: Hafid El Idrissi
- Web page: https://patentgrep.com/patent/US11993201B2

## CPC

- B60Q 1/08: automatically
- B60Q 9/008: {for anti-collision purposes}
- B60Q 1/0023: {the element being a sensor, e.g. distance sensor, camera}
- B60W 30/12: Lane keeping
- B62D 15/0265: {Automatic obstacle avoidance by steering}
- B62D 15/0295: {by overlaying a vehicle path based on present steering angle over an image without processing that image}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60Q 2300/136: Roll
- B60Q 2400/50: Projected symbol or information, e.g. onto the road or car body
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

Method for controlling modules for projecting pixelated light beams of a host vehicle. The host vehicle includes a step of determining, using a control device and according to the collected data, a polynomial function which models the profile of the edge and the centre of the road, such that the road profile is modelled based on a polynomial function, the degree of which depends on the curvature of the road. Also included is a step of determining, by means of the control device, a starting point (Pd) and an arrival point (Pa) of an area for projection (ZPd, ZPg, ZP) of patterns, and a step of determining, by means of the control device, a distance (De) between an axis (Ac) of a data/image acquisition means and the patterns, respectively for a right projection area ZPd and a left projection area ZPg. The control device is used to determine the width (Lm) of the pattern.

## Claims

### Claim 1

A method for controlling projection modules for projecting pixelated light beams from a host vehicle, the host vehicle comprising
a set of sensors, and
at least one device for controlling light beam projection modules,
wherein the method comprises:
collecting, via a data acquisition device, a set of data used to model a profile of a road stretching in front of the host vehicle;
determining, via a control device and according to the set of data collected, a polynomial function modeling the profile of an edge and of a center of the road, such that
the modeling of the profile of the road results from a first degree polynomial function of the form y=f(x)=Bi.x+Ai when the profile of the road is rectilinear,
the modeling of the profile of the road results from a second degree polynomial function of the form y=f(x)=Ci.x2+Bi.x+Ai when the profile of the road is parabolic, or
the modeling of the profile of the road results from a third degree polynomial function of the form y=f(x)=Di.x3+Ci.x2+Bi.x+A when the profile of the road comprises an inflection point;
determining, via the control device, a starting point (Pd) and an end point (Pa) of a projection zone for projection of patterns;
determining, via the control device, a distance (Dc) between an axis (Ac) of the data acquisition device and patterns of a right projection zone of the projection zone and patterns of a left projection zone of the projection zone; and
determining, via the control device, a width (Lm) of the patterns.

### Claim 2 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein the data acquisition device is a camera, a radar device, and/or a lidar device.

### Claim 3 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein when the data acquisition device detects an obstacle, the data acquisition device transmits, to the control device, data relating to the obstacle and defining a safety margin (MS) to prevent patterns from being projected onto the obstacle.

### Claim 4 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein the distance Dc is parameterizable according to a type of pattern projected.

### Claim 5 (depends on 4)

The method for controlling projection modules as claimed in claim 4, wherein, when the distance Dc=0, the control device controls the light beam projection modules such that the patterns of the right projection zone and the patterns of the left projection zone are superposed in the projection zone.

### Claim 6 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein the patterns projected into the projection zone are circles, squares, triangles, rectangles, chevrons, arrows, shapes, numbers, or continuous or broken lines.

### Claim 7 (depends on 1)

The method for controlling projection modules as claimed in claim 1, further comprising controlling the light beam projection modules to dynamically increase the width (Lm) of the patterns projected farthest away onto the road.

### Claim 8 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein the control device is associated with the set of sensors, the set of sensors being configured to determine a pitch of the host vehicle and compensate a mechanical and/or digital calibration of the light beam projection modules.

### Claim 9 (depends on 1)

The method for controlling projection modules as claimed in claim 1, further comprising controlling the light beam projection modules to compensate a light intensity according to a distance of projection of the patterns and a flat-beam base beam.

### Claim 10 (depends on 1)

The method for controlling projection modules as claimed in claim 1, wherein the control device is configured to determine whether an outline of the host vehicle is able to pass between two obstacles by projecting the outline between the two obstacles.

### Claim 11 (depends on 10)

The method for controlling projection modules as claimed in claim 10, wherein an orientation of the projection of the outline of the host vehicle is dynamically related to an angle of a steering system of the host vehicle.

### Claim 12 (depends on 1)

The method for controlling projection modules as claimed in claim 1, further comprising controlling the light beam projection modules to project an obstacle avoidance strategy.

### Claim 13 (depends on 1)

The method for controlling projection modules as claimed in claim 1, further comprising controlling the light beam projection modules to project a set of patterns configured to establish a trajectory for the host vehicle when a lane of the road narrows.

### Claim 14 (depends on 1)

The method for controlling projection modules as claimed in claim 1, further comprising controlling the light beam projection modules to project a change of trajectory, in the form of arrows on the road, for the host vehicle when the control device is associated with a navigation system of the host vehicle.

### Claim 15 (depends on 1)

A lighting device for a motor vehicle controlled by the control device, wherein the control device is configured to implement the method for controlling projection modules for projecting pixelated light beams as claimed in claim 1.

### Claim 16 (depends on 15)

The lighting device for the motor vehicle as claimed in claim 15, further comprising a device for fusion of information configured to determine a relevance of each datum from the set of sensors associated with the host vehicle and transmit reliable data to the control device.

### Claim 17 (depends on 2)

The method for controlling projection modules as claimed in claim 2, wherein when the data acquisition device detects an obstacle, the data acquisition device transmits, to the control device, data relating to the obstacle and defining a safety margin (MS) to prevent patterns from being projected onto the obstacle.

### Claim 18 (depends on 2)

The method for controlling projection modules as claimed in claim 2, wherein the distance Dc is parameterizable according to a type of pattern projected.

### Claim 19 (depends on 2)

The method for controlling projection modules as claimed in claim 2, wherein the patterns projected into the projection zone are circles, squares, triangles, rectangles, chevrons, arrows, or more complex shapes, numbers, or continuous or broken lines.

### Claim 20 (depends on 2)

The method for controlling projection modules as claimed in claim 2, further comprising controlling the light beam projection modules to dynamically increase the width (Lm) of the patterns projected farthest away onto the road.