Adaptively steered vehicle headlamps using driver gaze direction and head direction
A vehicle for travelling on a roadway with a driver has a driver monitor, a head lamp system, and a controller. The driver monitor senses a driver gaze angle relative to a vehicle heading along the roadway and senses a driver head angle relative to the vehicle heading. The a headlamp system has a steerable headlamp configured to illuminate the roadway with a light beam along a selectable projection angle. The controller is configured to compare the driver gaze angle to a first threshold angle, determine a difference between the driver gaze angle and the driver head angle, and when the driver gaze angle is greater than the first threshold angle and the difference is less than a second threshold angle, then adjust the projection angle to a target angle based on the driver gaze angle.
1. A vehicle for travelling on a roadway with a driver, comprising:
a driver monitor sensing a driver gaze angle relative to a vehicle heading along the roadway and sensing a driver head angle relative to the vehicle heading;
a headlamp system having a steerable headlamp configured to illuminate the roadway with a light beam along a selectable projection angle; and
a controller configured to:
compare the driver gaze angle to a first threshold angle;
determine a difference between the driver gaze angle and the driver head angle;
when the driver gaze angle is greater than the first threshold angle and the difference is less than a second threshold angle, then adjust the projection angle to a target angle based on the driver gaze angle;
detect a succeeding sightline when the driver gaze angle and the driver head angle move away from the target angle by at least a predetermined angle;
determine whether the driver gaze angle and the driver head angle return to the target angle within a predetermined time; and
terminate the adjusting of the projection angle to the target angle if the driver gaze angle and the driver head angle do not return to the target angle within the predetermined time.
2. The vehicle of claim 1 wherein the controller is further configured to maintain the projection angle at the target angle for a predetermined delay regardless of a change in the driver gaze angle or the driver head angle.
3. The vehicle of claim 1 wherein the succeeding sightline is comprised of a driver gaze angle and a driver head angle coinciding with the vehicle heading.
4. The vehicle of claim 1 wherein terminating the adjusting of the projection angle is comprised of restoring the projection angle to an angle it had prior to the adjusting.
5. The vehicle of claim 1 wherein the controller is further configured to adjust the projection angle only when the driver gaze angle coincides with the driver looking within a predetermined elevation of the roadway.
6. The vehicle of claim 1 wherein the vehicle heading is comprised of an instantaneous steering trajectory in which the vehicle is travelling on the roadway.
7. The vehicle of claim 1 wherein the driver gaze angle and the driver head angle are determined as respective azimuth angles.
8. A vehicle for travelling on a roadway with a driver, comprising:
a driver monitor sensing a driver gaze angle relative to a vehicle heading along the roadway and sensing a driver head angle relative to the vehicle heading;
a headlamp system having a steerable headlamp configured to illuminate the roadway with a light beam along a selectable projection angle; and
a controller configured to:
compare the driver gaze angle to a first threshold angle;
determine a difference between the driver gaze angle and the driver head angle; and
when the driver gaze angle is greater than the first threshold angle and the difference is less than a second threshold angle, then adjust the projection angle to a target angle based on the driver gaze angle; and
wherein the controller is further configured to adjust the projection angle only when the driver gaze angle coincides with the driver looking within a predetermined elevation of the roadway.
9. The vehicle of claim 8 wherein the driver gaze angle and the driver head angle are determined as respective azimuth angles.
10. The vehicle of claim 8 wherein the vehicle heading is comprised of an instantaneous steering trajectory in which the vehicle is travelling on the roadway.