An illumination device comprises one or several lasers emitting light of a first wavelength or wavelength range, a wavelength converting member converting at least part of the light of the first wavelength or wavelength range into light of a second wavelength or wavelength range, a scanning unit adapted to scan one or several laser beams of said one or several lasers across said wavelength converting member in order to generate an illumination pattern formed at least of the light of the second wavelength or wavelength range, and, optionally, an imaging optics imaging said illumination pattern to the far field. A first light guiding structure is arranged on a light emitting side of said wavelength converting member, said first light guiding structure forming a grid of first light guiding channels. The illumination device can be used as an adaptive headlamp of a vehicle and achieves a high contrast between illuminated and dark regions as well as a high efficiency with a small projection optics.