Adaptive forward lighting system for vehicle

1. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of photosensor elements, said imaging sensor having a field of view forward of the direction of travel of the controlled vehicle;

wherein said imaging sensor views through a portion of the vehicle windshield that is swept by a windshield wiper of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor;

wherein a beam pattern of a vehicle headlamp of the controlled vehicle is adjusted responsive, at least in part, to said processing of said image data;

wherein said adaptive forward lighting system comprises at least one of (i) a time-based filter and (ii) dynamic segmentation;

wherein said control receives vehicle data via a vehicle communication bus; and

wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement to the use of other sensors of the controlled vehicle.

2. The adaptive forward lighting system of claim 1 , wherein said adaptive forward lighting system comprises a time-based filter.

3. The adaptive forward lighting system of claim 2 , wherein said time-based filter limits adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle.

4. The adaptive forward lighting system of claim 2 , wherein said time-based filter limits adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle when vehicle trajectory data generally oscillates as the controlled vehicle travels along a curve.

5. The adaptive forward lighting system of claim 4 , wherein said vehicle trajectory data is indicative of a vehicle trajectory of the controlled vehicle and wherein said control receives said vehicle trajectory data via said vehicle communication bus, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle responsive, at least in part, to said vehicle trajectory data.

6. The adaptive forward lighting system of claim 5 , wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle responsive to said vehicle trajectory data being indicative of a radius of curvature of the vehicle trajectory.

7. The adaptive forward lighting system of claim 6 , wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle during a period when said radius of curvature of the vehicle trajectory is below a threshold value.

8. The adaptive forward lighting system of claim 1 , wherein said adaptive forward lighting system comprises dynamic segmentation.

9. The adaptive forward lighting system of claim 8 , wherein a region in the field of view ahead of the controlled vehicle is extended in accordance with the trajectory of the controlled vehicle.

10. The adaptive forward lighting system of claim 8 , wherein a region in the field of view ahead of the controlled vehicle is extended in accordance with a radius of curvature of the trajectory of the controlled vehicle.

11. The adaptive forward lighting system of claim 8 , wherein a region in the field of view ahead of the controlled vehicle is extended in accordance with the radius of curvature of the trajectory of the controlled vehicle as determined by a steering wheel angle of the controlled vehicle.

12. The adaptive forward lighting system of claim 1 , wherein adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle is determined responsive to a detection of an object of interest.

13. The adaptive forward lighting system of claim 1 , wherein said control is responsive to a speed signal indicative of a vehicle speed of the controlled vehicle.

14. The adaptive forward lighting system of claim 13 , wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being above a threshold speed level, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being below a threshold speed level.

15. The adaptive forward lighting system of claim 1 , wherein said vehicle communication bus comprises a CAN vehicle communication bus.

16. The adaptive forward lighting system of claim 1 , wherein said control processes said image data to detect an object of interest in the forward field of view of said imaging sensor, and wherein said control processes said image data to obtain information regarding at least one of the location of a detected object of interest and the movement of a detected object of interest.

17. The adaptive forward lighting system of claim 1 , wherein said control processes said image data to determine at least one of (a) a general illumination level, (b) a road condition ahead of the controlled vehicle and (c) an incline of the road ahead of the controlled vehicle.

18. The adaptive forward lighting system of claim 1 , wherein said control processes said image data to determine a general illumination level in the forward field of view of said imaging sensor and, responsive to said processing of said image data, said control is operable to determine the presence of other road users in the region of influence of a vehicle headlamp of the controlled vehicle, and wherein said control is operable to inhibit adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle if other road users are detected within the region of influence of the vehicle headlamp of the controlled vehicle.

19. The adaptive forward lighting system of claim 1 , wherein said adaptive forward lighting system automatically compensates for misalignment of said imaging sensor.

20. The adaptive forward lighting system of claim 1 , wherein adjustment of a beam pattern comprises adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle.

21. The adaptive forward lighting system of claim 20 , wherein adjustment between a first beam pattern and a second beam pattern of a vehicle headlamp of the controlled vehicle comprises selection between a high beam state and a low beam state of a vehicle headlamp of the controlled vehicle.

22. The adaptive forward lighting system of claim 1 , wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle responsive to said vehicle data.

23. The adaptive forward lighting system of claim 22 , wherein said vehicle data comprises at least one of (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data.

24. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of photosensor elements, said imaging sensor having a field of view forward of the direction of travel of the controlled vehicle;

wherein said imaging sensor views through a portion of the vehicle windshield that is swept by a windshield wiper of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor;

wherein a beam pattern of a vehicle headlamp of the controlled vehicle is adjusted responsive, at least in part, to said processing of said image data;

wherein said control receives vehicle data via a vehicle communication bus;

wherein vehicle data received via said vehicle communication bus comprises at least one (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data; and

wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement to the use of other sensors of the controlled vehicle.

25. The adaptive forward lighting system of claim 24 , wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle responsive to said vehicle data.

26. The adaptive forward lighting system of claim 24 , wherein said adaptive forward lighting system comprises a time-based filter that limits adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle when vehicle trajectory data generally oscillates as the controlled vehicle travels along a curve.

27. The adaptive forward lighting system of claim 24 , wherein said adaptive forward lighting system comprises dynamic segmentation.

28. The adaptive forward lighting system of claim 27 , wherein a region in the field of view ahead of the controlled vehicle is extended in accordance with the trajectory of the controlled vehicle.

29. The adaptive forward lighting system of claim 24 , wherein adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle is determined responsive to a detection of an object of interest.

30. The adaptive forward lighting system of claim 24 , wherein said control is responsive to a speed signal indicative of a vehicle speed of the controlled vehicle, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being above a threshold speed level, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being below a threshold speed level.

31. The adaptive forward lighting system of claim 24 , wherein said control processes said image data to determine at least one of (a) a general illumination level, (b) a road condition ahead of the controlled vehicle and (c) an incline of the road ahead of the controlled vehicle.

32. An adaptive forward lighting system for a vehicle, said adaptive forward lighting system comprising:

an imaging sensor, said imaging sensor comprising a two-dimensional array of photosensor elements, said imaging sensor having a field of view forward of the direction of travel of the controlled vehicle;

wherein said imaging sensor views through a portion of the vehicle windshield that is swept by a windshield wiper of the controlled vehicle;

a control, said control processing image data from said imaging sensor;

wherein said control processes said image data to determine, at least in part, at least one of (i) the presence of an object of interest in the forward field of view of said imaging sensor, (ii) the location of an object of interest in the forward field of view of said imaging sensor, and (iii) a characteristic of an object of interest in the forward field of view of said imaging sensor;

wherein a beam pattern of a vehicle headlamp of the controlled vehicle is adjusted responsive, at least in part, to said processing of said image data;

wherein said control receives vehicle data via a vehicle communication bus;

wherein said control, responsive to said processing of said image data, is operable to provide, at least in part, at least one of (a) traffic lane detection, (b) lane departure warning, (c) traffic sign recognition, (d) traffic light status detection, (e) fog detection, (f) rain sensing, (g) adaptive cruise control, (h) pre-crash sensing, (i) pedestrian detection and (j) a supplement to the use of other sensors of the controlled vehicle; and

wherein at least one of (a) said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle responsive to said vehicle data, and (b) adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle is determined responsive to a detection of an object of interest.

33. The adaptive forward lighting system of claim 32 , wherein vehicle data received via said vehicle communication bus comprises at least one (i) vehicle speed data, (ii) vehicle trajectory data, (iii) vehicle pitch data, (iv) vehicle tilt data, (v) vehicle yaw data and (vi) vehicle GPS data.

34. The adaptive forward lighting system of claim 32 , wherein said adaptive forward lighting system comprises a time-based filter that limits adjustment of a beam pattern of a vehicle headlamp of the controlled vehicle when vehicle trajectory data generally oscillates as the controlled vehicle travels along a curve.

35. The adaptive forward lighting system of claim 32 , wherein said adaptive forward lighting system comprises dynamic segmentation.

36. The adaptive forward lighting system of claim 32 , wherein said control is responsive to a speed signal indicative of a vehicle speed of the controlled vehicle, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being above a threshold speed level, and wherein said control adjusts a beam pattern of a vehicle headlamp of the controlled vehicle when said speed signal is indicative of the speed of the controlled vehicle being below a threshold speed level.