# US 12,762,818 B2 · Method for controlling a motor vehicle lighting system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,762,818 B2 - Document ID: US12762818B2 - Status: Granted - Kind: B2 - Application number: 18/547,902 - Filed: 2022-02-25 - Published: 2024-04-25 - Granted: 2026-10-13 - Earliest claimed: 2021-02-26 - Assignees: Valeo Vision - Applicants: Valeo Vision - Inventors: Mickael Mimoun; Rezak Mezari; Hafid El Idrissi; Yasser Almehio - Web page: https://patentgrep.com/patent/US12762818B2 ## CPC - G06V 10/141: Control of illumination - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 10/145: Illumination specially adapted for pattern recognition, e.g. using gratings - G06V 10/764: using classification, e.g. of video objects - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60Q 1/143: {combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers} - G06T 2207/20081: Training; Learning - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract A method for controlling a lighting system for a motor vehicle having a system for detecting objects includes defining at least one set of detectable types of objects and acquiring, by means of the detection system, a set of data relating to the position of a plurality of objects of types belonging to the set. Also included is determining a lighting model which is associated with said set and defines at least one zone referred to as the initial detection zone, and a light pattern referred to as the initial light pattern, of a light beam intended to be emitted in the initial detection zone. The lighting system is controlled in order to emit a light beam having the initial light pattern in the initial detection zone of said lighting model. ## Claims ### Claim 1 A method for controlling a lighting system for a motor vehicle equipped with an object detection system comprising an image acquisition system for acquiring images of all or part of an environment of the motor vehicle, the method comprising: defining at least one set of types of objects intended to be detected by the object detection system of the motor vehicle; acquiring, via the object detection system, a dataset relating to a position, in the environment of the motor vehicle, of a plurality of objects of types belonging to said set; determining, based on the dataset, a lighting model associated with said set defining at least one initial detection zone associated with the set of types of objects and able to be addressed by the lighting system, and an initial photometry of a light beam intended to be emitted by the lighting system in the initial detection zone associated with the set, wherein determining the lighting model comprises, for each type of object of the set, modeling, based on the dataset, a first detection zone of the type of object encompassing initial positions of objects of the type of object, and determining the initial detection zone based on the first detection zone of the types of objects of the set; and controlling the lighting system based on the determined lighting model to emit a light beam having the initial photometry in the initial detection zone of the lighting model. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the dataset relating to the position of the objects comprises, for each object, an initial position of the object at a time when the object was detected by the object detection system. ### Claim 3 (depends on 2) The method as claimed in claim 2, wherein modeling the first detection zone of a type of object implements a machine learning algorithm to determine the first detection zone based on the initial positions of the objects of said type of object. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein, in determining the lighting model, said initial photometry of the light beam is determined based on at least one of the types of objects of the set of types of objects. ### Claim 5 (depends on 4) The method as claimed in claim 4, the method further comprising providing at least one range of values of a parameter relating to a behavior of the motor vehicle or to the environment, and wherein determining the lighting model associated with said set is a step of determining a lighting model, associated with said set, that is variable based on said values of the parameter. ### Claim 6 (depends on 1) The method as claimed in claim 1, further comprising: defining at least three sets of types of objects including a first set comprising at least objects of ground marking type, a second set comprising at least objects of road user type and a third set comprising at least objects of traffic sign type; determining three lighting models each associated with one of the at least three sets, including a first lighting model associated with the first set, a second lighting model associated with the second set and a third lighting model associated with the third set; and controlling the lighting system based on the determined lighting models to emit a first light beam having the initial photometry of the first lighting model in the initial detection zone of the first lighting model, a second light beam having the initial photometry of the second lighting model in the initial detection zone of the second lighting model and a third light beam having the initial photometry of the third lighting model in the initial detection zone of the third lighting model. ### Claim 7 (depends on 1) The method as claimed in claim 1, the method further comprising: the object detection system of the motor vehicle detecting an object of a given type from among said set of types of objects; and controlling the lighting system to modify the light beam based on a type of the detected object. ### Claim 8 (depends on 7) The method as claimed in claim 7, wherein controlling the lighting system comprises generating a zone in a light beam level with the detected object, the zone having a photometry adapted to the type of the detected object, and moving said zone based on a movement of the detected object in a reference frame of the image acquisition system. ### Claim 9 (depends on 1) The method as claimed in claim 1, wherein the motor vehicle is equipped with an autonomous driving system for partially or fully autonomous driving, wherein an implementation of controlling the lighting system is conditional on an activation of the autonomous driving system, and the method further comprises: receiving, by an occupant of the motor vehicle, an instruction to take back manual control of the motor vehicle; and controlling the lighting system to emit at least one predetermined regulatory lighting and/or signaling beam. ### Claim 10 (depends on 1) A motor vehicle comprising the object detection system comprising the image acquisition system for acquiring the images of all or part of the environment of the motor vehicle, the lighting system, an autonomous driving system for partially or fully autonomous driving, and a controller for the lighting system, the controller being configured to implement the method according to claim 1. ### Claim 11 (depends on 2) The method as claimed in claim 2, wherein, in determining the lighting model, said initial photometry of the light beam is determined based on at least one of the types of objects of the set of types of objects. ### Claim 12 (depends on 2) The method as claimed in claim 2, further comprising: defining at least three sets of types of objects including a first set comprising at least objects of ground marking type, a second set comprising at least objects of road user type and a third set comprising at least objects of traffic sign type; determining three lighting models each associated with one of the at least three sets, including a first lighting model associated with the first set, a second lighting model associated with the second set and a third lighting model associated with the third set; and controlling the lighting system based on the determined lighting models se as to emit a first light beam having the initial photometry of the first lighting model in the initial detection zone of the first lighting model, a second light beam having the initial photometry of the second lighting model in the initial detection zone of the second lighting model and a third light beam having the initial photometry of the third lighting model in the initial detection zone of the third lighting model. ### Claim 13 (depends on 2) The method as claimed in claim 2, the method further comprising: detecting, via the object detection system of the motor vehicle, an object of a given type from among said set of types of objects; and controlling the lighting system to modify the light beam based on a type of the detected object. ### Claim 14 (depends on 2) The method as claimed in claim 2, wherein the motor vehicle is equipped with an autonomous driving system for partially or fully autonomous driving, wherein controlling the lighting system is conditional on an activation of the autonomous driving system, and the method further comprises: receiving, by an occupant of the motor vehicle, an instruction to take back manual control of the motor vehicle; and controlling the lighting system to emit at least one predetermined regulatory lighting and/or signaling beam. ### Claim 15 (depends on 2) The method as claimed in claim 2, wherein, in determining the lighting model, said initial photometry of the light beam is determined based on at least one of the types of objects of the set of types of objects. ### Claim 16 (depends on 2) The method as claimed in claim 2, further comprising: defining at least three sets of types of objects including a first set comprising at least objects of ground marking type, a second set comprising at least objects of road user type and a third set comprising at least objects of traffic sign type; determining three lighting models each associated with one of the sets, including a first lighting model associated with the first set, a second lighting model associated with the second set and a third lighting model associated with the third set; and controlling the lighting system based on the determined lighting models se as to emit a first light beam having the initial photometry of the first lighting model in the initial detection zone of the first lighting model, a second light beam having the initial photometry of the second lighting model in the initial detection zone of the second lighting model and a third light beam having the initial photometry of the third lighting model in the initial detection zone of the third lighting model. ### Claim 17 (depends on 2) The method as claimed in claim 2, the method further comprising: detecting, via the object detection system of the motor vehicle, an object of a given type from among said set of types of objects; and controlling the lighting system se as to modify the light beam based on a type of the detected object. ### Claim 18 (depends on 2) The method as claimed in claim 2, wherein the motor vehicle is equipped with an autonomous driving system for partially or fully autonomous driving, wherein controlling the lighting system is conditional on an activation of the autonomous driving system, and the method further comprises: receiving, by an occupant of the motor vehicle, an instruction to take back manual control of the motor vehicle; and controlling the lighting system to emit at least one predetermined regulatory lighting and/or signaling beam. ### Claim 19 (depends on 3) The method as claimed in claim 3, wherein, in determining the lighting model, said initial photometry of the light beam is determined based on at least one of the types of objects of the set of types of objects.