CN111660918B - Control device and control method for vehicle headlamp and vehicle headlamp system - Google Patents

Abstract

The invention provides a control device and a control method for a vehicle headlamp, and a vehicle headlamp system, which can simultaneously recover the visibility of pedestrians and the like and reduce the discomfort brought to a driver. A control device for a vehicle headlamp for controlling light irradiation by a vehicle headlamp, wherein when the headlamp is made to form a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light, a first time required from the start of the formation until the brightness of the first irradiation light is increased to a prescribed value is longer than a second time required from the start of the formation until the brightness of the second irradiation light is increased to the prescribed value.

Description

Control device and control method for vehicle headlamp and vehicle headlamp system

Technical Field

The present invention relates to a lighting control technique for a vehicle lamp that performs selective light irradiation according to a position of a vehicle ahead.

Background

As a vehicle lamp, a vehicle lamp is known in which a light irradiation range of a running lamp (high beam) emitted from a headlight is variably controlled according to a position of a preceding vehicle or a oncoming vehicle (hereinafter, collectively referred to as a "preceding vehicle") existing in front of a host vehicle. In such a vehicle lamp, the light distribution state of the headlight of the host vehicle is controlled to be: when a preceding vehicle is present, for example, only a range corresponding to the position of the preceding vehicle is shielded from light (or dimmed) and the light is irradiated to a range other than that. Such light distribution control is also called ADB (ADAPTIVE DRIVING Beam: adaptive high Beam) control.

As to the vehicle lamp described above, for example, japanese patent application laid-open No. 2017-81500 (patent document 1) discloses a vehicle lamp system that dynamically controls light distribution so that a vehicle ahead adapts to a non-irradiated region, the vehicle lamp system including: a vehicle lamp capable of forming a plurality of light distribution patterns; a selection unit that selects a light distribution pattern to be formed by the vehicle lamp, based on the plurality of light distribution patterns; and a setting unit that sets at least one switching time parameter that determines a time required for switching from the current light distribution pattern to the new light distribution pattern, based on the current light distribution pattern formed by the vehicle light fixture and the new light distribution pattern newly selected by the selecting unit. The following description is made: in this vehicle lamp system, for example, when a preceding vehicle is to enter an irradiation range (irradiation region), the light distribution pattern is switched rapidly so as to reduce the irradiation range, and when the irradiation region is enlarged, the control of switching the light distribution pattern is performed relatively slowly, whereby both countermeasure against glare of the preceding vehicle and reduction of uncomfortable feeling to the driver of the vehicle can be achieved.

However, when the light distribution pattern is gradually switched while the irradiation region is enlarged, such a problem occurs, for example: it takes time to easily see pedestrians and the like existing at the road side. On the other hand, when the light distribution pattern is switched rapidly to solve the problem, the driver is given a sense of incongruity as described above. Therefore, the following technique is preferred: the requirements of rapid restoration of visibility of pedestrians and the like and reduction of uncomfortable feeling brought to drivers can be satisfied.

Prior art literature

Patent literature

Patent document 1: japanese patent application laid-open No. 2017-81500

Disclosure of Invention

Problems to be solved by the invention

One of the objects of the specific aspects of the present invention is to provide a technique capable of achieving both rapid restoration of visibility of pedestrians and the like and reduction of discomfort to a driver.

Means for solving the problems

[1] One aspect of the present invention is a control device for a vehicle headlamp, wherein (a) the control device is configured to control light irradiation by a vehicle headlamp, and (b) when forming a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light by the headlamp, a first time required from a start of the formation until a brightness of the first irradiation light increases to a predetermined value is longer than a second time required from the start of the formation until the brightness of the second irradiation light increases to the predetermined value.

[2] One aspect of the present invention is a control device for a vehicle headlamp, the control device being configured to control light irradiation by a vehicle headlamp, wherein (b) the control device includes: an instruction unit that instructs the headlight to form a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light; and (c) a lighting control unit that controls, when the instruction from the instruction unit is given, the lighting of the headlight so that a first time required from the start of formation of the first irradiation light until the brightness thereof increases to a predetermined value is longer than a second time required from the start of formation until the brightness of the second irradiation light increases to a predetermined value.

[3] One aspect of the present invention is a control method for a vehicle headlamp, wherein (a) the control method is used for controlling light irradiation by a vehicle headlamp, wherein (b) when forming a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light by the headlamp, a first time required from the start of the formation until the brightness of the first irradiation light increases to a predetermined value is longer than a second time required from the start of the formation until the brightness of the second irradiation light increases to the predetermined value.

[4] One aspect of the present invention is a vehicle headlamp system including: the control device described above; and a vehicle headlamp controlled by the control device to form a first irradiation light and a second irradiation light.

According to the above-described configurations, both the rapid restoration of the visibility of pedestrians and the like and the reduction of the uncomfortable feeling given to the driver can be achieved.

Drawings

Fig. 1 is a block diagram showing a configuration of a vehicle lamp system according to an embodiment.

Fig. 2 is a diagram for explaining an intermediate beam formed by the intermediate beam unit and a high beam formed by the high beam unit.

Fig. 3 is a diagram for explaining the lighting time when the lamp units 14L and 14R are turned on and off.

Fig. 4 is a schematic diagram for explaining a case of lighting control of the vehicle lamp system.

Fig. 5 is a flowchart showing the processing steps of the lighting control of the control device.

Description of the reference numerals

10: An image pickup device; 11: a camera; 12: an image processing section; 13: a control device; 14L, 14R: a lamp unit; 20: a vehicle detection unit; 21: a light distribution setting unit; 22: a lighting time setting unit; 23: a control signal generation unit; 30: a driving circuit; 31: an intermediate beam unit; 32: a high beam unit; 100. 100L, 100R: an intermediate beam; 101: a high beam; 110: front vehicle

Detailed Description

Fig. 1 is a block diagram showing a configuration of a vehicle lamp system according to an embodiment. The illustrated vehicle lamp system includes an imaging device 10, a control device (lighting control device) 13, and a pair of lamp units (vehicle lamps) 14L and 14R.

The imaging device 10 includes a camera 11 and an image processing unit 12. The camera 11 is provided at a predetermined position of the host vehicle (for example, at an upper portion of a windshield in a cabin) and photographs the front of the host vehicle. The image processing unit 12 performs predetermined image processing on the image (video) captured by the camera 11 to detect an object existing in front of the host vehicle. The term "object" as used herein refers to, for example, a road surface sign such as a preceding vehicle, a pedestrian, a bicycle rider, an obstacle, or a white line on a road surface.

In the case where the host vehicle includes a device corresponding to the imaging device 10 for use in a device related to another application (for example, a steering wheel assist function, an automatic brake function, or the like), the imaging device 10 may be omitted by using the output thereof.

The control device 13 is implemented by a computer system having, for example, a CPU (central processing unit), a ROM (read only memory), a RAM (random access memory), or the like, and executing a predetermined operation program in the computer system. The control device 13 includes a vehicle detection unit 20, a light distribution setting unit 21, a lighting time setting unit 22, and a control signal generation unit 23 as functional blocks.

The vehicle detection unit 20 determines whether or not a preceding vehicle is present based on the result of image processing output from the image processing unit 12 of the image pickup device 10, and obtains the position of the preceding vehicle when the preceding vehicle is present.

The light distribution setting unit 21 variably sets a light distribution pattern according to the position of the front vehicle detected by the imaging device 10. The light distribution pattern includes a light irradiation range and a dimming range (non-irradiation range of light). For example, a fixed range set corresponding to a position where the preceding vehicle is located is set as a dimming range, and a range corresponding to a position where the preceding vehicle is not present is set as a light irradiation range.

The lighting time setting unit 22 sets the lighting time when the respective lamp units 14L, 14R are turned on and off. The lighting time referred to herein is a time required for a predetermined state (for example, a turned-off state) in which the brightness of the light emitted from each lamp unit 14L or the like is relatively low to a predetermined state (for example, a lighting state in which the brightness is 100%) in which the brightness is relatively high.

The control signal generating unit 23 generates a control signal (light distribution control signal) for turning on and off the lamp units 14L and 14R according to the light distribution pattern set by the light distribution setting unit 21 and the lighting time set by the lighting time setting unit 22, and outputs the control signal to the lamp units 14L and 14R.

Each of the lamp units 14R and 14L is provided on the left and right sides of the front of the vehicle, and is a unit for performing light irradiation in the front of the vehicle. These lamp units 14R, 14L have a driving circuit 30, an intermediate beam unit 31, and a high beam unit 32, respectively.

The driving circuit 30 drives the intermediate beam unit 31 and the high beam unit 32 according to the control signal supplied from the control signal generating section 23 of the control device 13.

The intermediate beam unit 31 includes, for example, a plurality of light emitting elements (LEDs) arranged in a matrix, a lens for condensing and projecting light emitted from the light emitting elements, and the like, and receives driving power from the driving circuit 30 to form an intermediate beam (see fig. 2 described later). Each light emitting element of the intermediate beam unit 31 can be turned on and off independently, and by appropriately turning on and off the light emitting element, a dimming range can be selectively set for a part of the intermediate beam.

The high beam unit 32 includes, for example, a plurality of light emitting elements (LEDs) arranged in a matrix, a lens for condensing and projecting light emitted from the light emitting elements, and the like, and receives driving power from the driving circuit 30 to form a high beam (see fig. 2 described later).

Fig. 2 is a diagram for explaining an intermediate beam formed by the intermediate beam unit and a high beam formed by the high beam unit. Fig. 2 schematically shows the shape and arrangement of each beam on a virtual screen at a predetermined position (for example, a position 25 m in front) in front of the host vehicle. Although not shown here, a low beam as a conventional low beam lamp is also suitably formed on a lower side of the intermediate beam and the high beam.

Fig. 2 (a) shows an intermediate light beam formed by the intermediate light beam unit 31 of the lamp unit 14L. The intermediate beam 100L is formed in a range that is offset to the left with respect to the front surface (horizontal axis 0 °) of the vehicle, and is formed in a range from a position slightly beyond the horizontal line (vertical axis 0 °) (1 ° front-rear) to the lower side.

Likewise, (B) of fig. 2 shows an intermediate light beam formed by the intermediate light beam unit 31 of the lamp unit 14R. The intermediate beam 100R is formed in a range that is offset to the right with respect to the front surface (horizontal axis 0 °) of the vehicle, and is formed in a range from a position (1 ° front-rear) slightly beyond the horizontal line (vertical axis 0 °) to the lower side.

These intermediate light beams 100L and 100R are combined to form one intermediate light beam 100 as shown in fig. 2 (D). The intermediate beam 100 can switch on/off for each of a plurality of areas in the left-right direction (horizontal direction) in the drawing.

Fig. 2 (C) shows the high beam formed by each high beam unit 32 of the lamp units 14L, 14R. The high beam 101 is formed in a range of equal left and right with respect to the front surface (horizontal axis 0 °) of the vehicle, and is formed in a range from a position slightly below the horizontal line (vertical axis 0 °) (-2 ° front-rear position) to a position higher than the horizontal line (vertical axis 5 to 6 °). The high beam 101 is formed by overlapping the light from the high beam units 32.

As shown in fig. 2 (D), the high beam 101 partially overlaps with the intermediate beam 100. In the present embodiment, the lower ends of the intermediate beam 100 and the high beam 101 are substantially at the same position, and the high beam 101 is positioned relatively above the upper end. The high beam 101 is irradiated in the same range as the conventional high beam as the running light, and is irradiated from the host vehicle to a further position.

In contrast, the intermediate beam 100 is formed at a position lower than the conventional high beam and higher than the conventional low beam serving as the low beam. The intermediate beam 100 is formed at a position at a height intermediate between the conventional high beam and the low beam, and is formed wider than the high beam 101. The intermediate light beam 101 is suitable for use in making it easier to see pedestrians, bicycle riders, obstacles, etc. located beside roads, roadside dividing strips, etc.

In the present embodiment, a difference is provided between the brightness of the intermediate beam 100 and the brightness of the high beam 101. Specifically, when the intermediate beam 100 and the high beam 101 are compared, the high beam 101 is made relatively bright compared to the intermediate beam 100. The "difference in brightness" referred to herein may be a difference in brightness of the outgoing light from the intermediate beam unit 31 and the high beam unit 32 (for example, brightness at the outgoing surface of the light emitting element), or may be a difference in illuminance of the intermediate beam 100 and the high beam 101 actually irradiated to the road surface (or virtual screen) by these outgoing lights. The "difference in brightness" may be a difference between brightest portions of the intermediate beam 100 and the high beam 101, or a difference in average value over the entire irradiation ranges of the intermediate beam 100 and the high beam 101.

Fig. 3 is a diagram for explaining the lighting time when the lamp units 14L and 14R are turned on and off. The lighting time is a time required from 0 (lighting rate of 0%) to the highest value (lighting rate of 100%) of the brightness at the time of forming each light beam. In each of fig. 3 (a) and 3 (B), a solid line indicates a temporal change in the lighting rate of the outgoing light from the intermediate beam unit 31, and a one-dot chain line indicates a temporal change in the lighting rate of the outgoing light from the high beam unit 32.

The lighting times illustrated in fig. 3 (a) and 3 (B), respectively, each have the following basic characteristics: the middle beam has a light-up rate of relatively short time up to 100%, and the far beam has a light-up rate of relatively long time up to 100%. In addition, various methods of continuously varying the lighting rate have been considered, for example, in the present embodiment, the light emitting elements of the intermediate beam unit 31 and the high beam unit 32 are driven by pulse width modulation (PWM control) and the duty ratio thereof is increased or decreased.

In the example shown in fig. 3 (a), it is instructed (judged) that each light emitting element of the intermediate beam unit 31 and the high beam unit 32 should be turned on at a time point of 0, and a waiting time T0 is set between the time point 0 and a time point T1 at which the actual lighting rate starts to increase. The waiting time may be set to, for example, about 100 ms. The intermediate beam unit 31 is subjected to lighting control such that the lighting rate increases from 0% to 100% between time t1 and time t2 at which the lighting rate starts to increase. The time required from the time t1 to the time t2 can be set to, for example, about 100 ms. In contrast, from time t1 when the lighting rate starts to increase, the high beam unit 32 is controlled to light so that the lighting rate increases from 0% to 100% until time t 3. The time required from the time t1 to the time t3 can be set to, for example, about 1200ms (1.2 s).

In the example shown in fig. 3 (B), the lighting is started without providing a waiting time from the time 0 when the lighting of each light emitting element of the intermediate beam unit 31 and the high beam unit 32 is instructed (judged) to be performed at the time 0. The intermediate beam unit 31 is controlled to be lighted such that the lighting rate increases from 0% to 100% during a period from time t0, at which the lighting rate starts to increase, to time t 21. The time required from the time t0 to the time t21 can be set to, for example, about 1000ms (1.0 s). In contrast, the high beam unit 32 is controlled to turn on such that the lighting rate increases from 0% to 100% during a period from time t0 when the lighting rate starts to increase to time t 3. The time required from the time t0 to the time t3 is, for example, about 3000ms (3.0 s).

Here, in each of the above examples, it is desirable that the time difference between the time when the lighting rate of the intermediate beam unit 31 reaches 100% and the time when the lighting rate of the high beam unit 32 reaches 100% is set to be time T1, and the time T1 is set to be 200ms or more. In the case of fig. 3 (a), the time T1 is 1100ms (1.1 s), and in the case of fig. 3 (B), the time T1 is 2000ms (2.0 s). By setting the time T1 in this way, the intermediate beam and the high beam can be recognized as different lights when the driver or the like sees the respective light beams.

Regarding the setting of the time T1, the experimental result of the Wei Tehai mer spot blinking is based. Specifically, the Wei Tehai-mer spot flicker test was performed by using an experimental apparatus in which two spots flicker alternately to examine how the visual perception of a viewer changed after the interval of flicker was changed, and the results were as follows:

(a) In the case where the interval of spot blinking is about 30ms (about 33 frames/second) or less, two spots are perceived to be lit simultaneously (at the same time).

(B) In the case where the interval of spot flickering is about 60ms (about 16 frames/second), two spots are perceived to move smoothly (most suitable phase).

(C) In the case where the interval of spot flickering is about 200ms (about 5 frames/second) or more, two spots are seen as different spots, respectively, and no motion (continuous phase) is perceived.

In addition, the method of changing the lighting rates of the intermediate beam unit 31 and the high beam unit 32 is not limited to the above-described example. That is, in the above example, there is a variation method of: the degree of increase in the lighting rate at the beginning is small, and the degree of increase in the lighting rate increases gradually as the time increases, but the method of such a change may be the opposite: the increase degree of the lighting rate is large at the beginning, and the longer the time, the smaller the increase degree of the lighting rate is, and the more gradually increases. The lighting rate may be increased linearly with the lapse of time or may be increased stepwise.

Fig. 4 is a schematic diagram for explaining a case of lighting control of the vehicle lamp system. Fig. 4 schematically shows a case in front of the host vehicle. As shown in fig. 4 (a), when the preceding vehicle 110 (in this example, the opposing vehicle) is detected, a dimming range is set on the right side in the drawing in accordance with the position of the preceding vehicle 110 in the intermediate beam 100, and the dimming range turns off the lamp. In addition, the high beam 101 also lights out. Next, as shown in fig. 4 (B), when the preceding vehicle 110 is away and undetected, the intermediate beam 100 is rapidly turned on in the range that is turned off as the dimming range, and the lighting rate reaches 100%. At this time, the high beam 101 starts to turn on, but since there is a difference in the lighting time, it is in a darker state than the intermediate beam 101. Then, as shown in fig. 4 (C), the turn-on rate also gradually increases with respect to the high beam 101, and after a predetermined turn-on time has elapsed, the turn-on rate reaches 100%.

In either case, a low beam 102 (indicated by a broken line in the figure) is irradiated with another lamp unit (not shown in the figure) at a position relatively lower than the intermediate beam 100 and the high beam 101. The low beam 102 referred to herein is a low beam, and the lower end of the irradiation range is set to be lower than the respective lower ends of the intermediate beam 100 and the high beam 101, and is light that can irradiate a relatively short distance ahead of the vehicle.

By lighting the intermediate light beam 101 relatively quickly in this way, visibility of pedestrians and the like can be ensured. Since the intermediate beam 101 is directed to a relatively low position, the influence on the perception is small, and thus the uncomfortable feeling of the driver or the like can be suppressed to be small. In contrast, the high beam 101, which is light that has reached a relatively high position and is influenced by perception, is lighted relatively slowly to reduce the uncomfortable feeling of the driver or the like.

Further, in the case where the next preceding vehicle 110 is detected in the middle of the increase in the lighting rate of the high beam 101 to 100%, since the high beam 101 is turned off at that point in time, the light-dark difference caused by the turning-on/off of the high beam 101 becomes small, and according to that, the uncomfortable feeling of the driver can also be reduced. As such a situation, for example, a case where there are several preceding vehicles in close proximity, a case where the relative position of the preceding vehicle moves up and down at a slope or the like to repeatedly enter and exit with respect to the object range of image recognition, a case where the preceding vehicle repeatedly appears or disappears when traveling on a curve with many obstacles, and the like can be considered.

Fig. 5 is a flowchart showing the processing steps of the lighting control of the control device. Next, processing steps after the intermediate beam unit 31 and the high beam unit 32 of the respective lamp units 14L, 14R are each turned on by a lighting operation of the lamp switch of the host vehicle and the like will be described in detail with reference to the flowchart. In addition, the illustrated processing may be performed in the order of replacement, unless contradiction or mismatching occurs in the results, and such a configuration is not excluded.

The vehicle detection unit 20 acquires the result of the image processing output from the image processing unit 12 of the image pickup device 10, and determines whether or not a preceding vehicle is present based on the result (step S11). In the case where there is no preceding vehicle, the process is repeated (step S11: NO). When there is a preceding vehicle (yes in step S11), the vehicle detection unit 20 acquires the position of the preceding vehicle.

When the position of the preceding vehicle is acquired by the vehicle detection unit 20, the light distribution setting unit 21 sets a light irradiation range and a dimming range (non-irradiation range) which are light distribution patterns corresponding to the position of the preceding vehicle (step S12). Here, of the total irradiation ranges of the intermediate beam 100, a fixed range corresponding to the position of the preceding vehicle is set as a dimming range, a range corresponding to the position where the preceding vehicle is not present is set as a light irradiation range, and the total irradiation range of the high beam 101 is set as a dimming range, and the formation instruction of each beam is given to the control signal generating section 23 (refer to (a) of fig. 4).

Next, the control signal generating unit 23 generates a control signal (light distribution control signal) for turning on and off the lamp units 14L and 14R based on the light distribution pattern set by the light distribution setting unit 21, and outputs the control signal to the lamp units 14L and 14R. Therefore, the high beam 101 is turned off in the full range, and the intermediate beam 101 is turned off in the dimming range (step S13). The illumination range in the intermediate beam 101 is maintained on.

Next, the vehicle detection unit 20 acquires the result of the image processing output from the image processing unit 12 of the imaging device 10, and determines whether the preceding vehicle is lost or not based on the result (step S14). If the preceding vehicle has not disappeared (step S14: NO), the flow returns to step S12, the irradiation range and the dimming range are set according to the position of the preceding vehicle at the current time (step S12), and the ON/OFF control is performed in accordance with the irradiation range and the dimming range (step S13).

When the preceding vehicle is not present (yes in step S14), the light distribution setting unit 21 sets a light distribution pattern in the case where the preceding vehicle is not present. That is, the dimming range of the intermediate beam 100 is set as the irradiation range, and the full irradiation range of the high beam 101 is set as the irradiation range, and the formation instruction of each beam is given to the control signal generating section 23. The lighting time setting unit 22 sets the lighting time when the lamp units 14L and 14R are turned on and off (step S15), and based on the set lighting time, the control signal generating unit 23 generates a control signal for turning on and off the lamp units 14L and 14R, and outputs the control signal to the lamp units 14L and 14R. Thus, the intermediate beam 100 lights relatively quickly and the high beam 101 lights relatively slowly (step S16).

When the control signal is output from the control signal generating unit 23 to each of the lamp units 14L, 14R in step S16, the process returns to step S11 described above, and the subsequent processing is executed. Therefore, for example, when the next preceding vehicle appears in a period in which the turn-on rate of the high beam 101 does not reach 100% (step S11), the dimming range is set in accordance with this (step S12), and the high beam 101 is turned off (step S13).

According to the above-described embodiment, both the rapid restoration of the visibility of pedestrians and the like and the reduction of the uncomfortable feeling given to the driver can be achieved.

The present invention is not limited to the above embodiments, and can be implemented by various modifications within the scope of the gist of the present invention. For example, in the above-described embodiment, the non-irradiation (the lighting rate is 0%) is shown as a typical example of the dimming corresponding to the position of the preceding vehicle, but as another example of the dimming, the brightness of the light may be reduced to such an extent that no strong light is given.

In the above-described embodiment, the intermediate light beam unit having a plurality of light emitting elements is exemplified as a configuration example for selectively irradiating light to each portion with respect to the intermediate light beam, but is not limited thereto. For example, a light modulation device (a liquid crystal device or the like) may be employed, which has a light source and a plurality of light shielding elements capable of transmitting and shielding light from the light source for each portion.

In the above embodiment, the intermediate light beam is selectively irradiated with light, but the present invention is not limited to this, and the entire intermediate light beam may be controlled to be either turned off or turned on.

Claims (8)

1. A control device for a vehicle headlamp for controlling light irradiation by a vehicle headlamp, wherein,

When the head lamp is made to form a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light, a first time required from the start of the formation until the brightness of the first irradiation light is increased to a prescribed value is longer than a second time required from the start of the formation until the brightness of the second irradiation light is increased to the prescribed value,

When another vehicle is present in front of the vehicle, the first irradiation light is dimmed, and a partial range of the second irradiation light is dimmed according to the position of the other vehicle, and when the other vehicle disappears, the brightness of the first irradiation light is increased by the first time, and the brightness of the partial range of the second irradiation light is increased by the second time.

2. The control device for a vehicle headlamp according to claim 1, wherein,

The second irradiation light is formed as: at least the upper end thereof is positioned lower than the upper end of the first irradiation light.

3. The control device for a vehicle headlamp according to claim 1 or 2, wherein,

The first time is longer than the second time by more than 200 milliseconds.

4. The control device for a vehicle headlamp according to claim 1 or 2, wherein,

The brightness of the first illumination light gradually increases during the lapse of the first time.

5. The control device for a vehicle headlamp according to claim 1 or 2, wherein,

The first irradiation light and the second irradiation light are formed to partially overlap.

6. A control device for a vehicle headlamp for controlling light irradiation by a vehicle headlamp, wherein,

The control device includes:

an instruction unit that instructs the headlight to form a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light; and

A lighting control unit that controls, when the instruction from the instruction unit is given, the lighting of the headlight so that a first time required from the start of formation of the first irradiation light to the increase in brightness thereof to a predetermined value is longer than a second time required from the start of formation to the increase in brightness of the second irradiation light to the predetermined value,

The lighting control unit reduces the first irradiation light when another vehicle is present in front of the vehicle, reduces a part of the second irradiation light according to the position of the other vehicle, increases the brightness of the first irradiation light by the first time and increases the brightness of the part of the second irradiation light by the second time from when the other vehicle disappears.

7. A control method of a head lamp for a vehicle for controlling light irradiation by the head lamp of the vehicle, wherein,

When the head lamp is made to form a first irradiation light and a second irradiation light at a position relatively lower than the first irradiation light, a first time required from the start of the formation until the brightness of the first irradiation light is increased to a prescribed value is longer than a second time required from the start of the formation until the brightness of the second irradiation light is increased to the prescribed value,

When another vehicle is present in front of the vehicle, the first irradiation light is dimmed, and a partial range of the second irradiation light is dimmed according to the position of the other vehicle, and when the other vehicle disappears, the brightness of the first irradiation light is increased by the first time, and the brightness of the partial range of the second irradiation light is increased by the second time.

8. A vehicle headlamp system, comprising:

The control device according to any one of claims 1 to 6; and

And a vehicle headlamp controlled by the control device to form the first irradiation light and the second irradiation light.