Method and headlamp assembly for compensation of alignment errors a headlamp

The method involves generating a light marking on object (40) located outside a vehicle (10) using a headlight (36). The image of the light marking and surrounding area is recorded using a camera (18). The target illumination related to image of the surrounding area is determined under consideration of illumination rules. The light-marking-related target illumination is determined using determined target illumination related to image of the surrounding area and recorded image of light marking. The beam pattern of headlight is adjusted using the light-marking-related target illumination. An independent claim is included for head light system for vehicle.