JP2000033833A - Control method, control device and recording media for headlamp - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control method for a headlamp that automatically irradiates in the direction of a turn regardless of the moving velocity of the vehicle. SOLUTION: Moving speed difference of the left and right positions of the vehicle body is detected with a sensor and calculated (step 101). Next, a headlamp irradiation angle θ required for the headlamp to irradiate the entire side range in the direction of vehicle movement for an arbitrary amount of time is obtained by computation (step 104). Further, an irradiation angle θlamp is calculated in order to irradiate compensating for a range which is outside of the headlamp irradiation range of the vehicle when running straight (steps 106, 108). Then, the irradiation range is modified based on the irradiation angle that is obtained as mentioned above (step 112).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a headlamp control method, a control device, and a recording medium used for a vehicle when traveling on a curved road.

[0002]

2. Description of the Related Art In a conventional vehicle headlamp, an irradiation direction is fixed to a front direction of the vehicle, so that a traveling direction of the vehicle may not coincide with a light irradiation direction. There has been a problem that the driver may not be able to visually confirm the traveling route.

In recent years, a method has been proposed in which a sensor for measuring an angular velocity and a speed is attached to a vehicle and the irradiation direction of a headlamp is operated (Japanese Patent Laid-Open No. Hei 7-186821). Hereinafter, a conventional headlamp control method will be described. FIG. 12 shows a schematic configuration diagram of a conventional headlamp control method. 12, reference numeral 901 denotes an angular velocity sensor; 902, a distance sensor; 903, a microcomputer;
Reference numeral 4 denotes an irradiation range changing unit; and 905, a headlamp.

[0004] The operation of the headlamp control method configured as described above will be described below. First,
An angular velocity ωa when traveling on a curved road is calculated based on the output from the angular velocity sensor 901. At the same time, the vehicle speed va is measured based on the distance pulse from the distance sensor 902. The reciprocal of the turning radius ra is calculated by dividing the angular speed ωa by the vehicle speed va.

[0005] Assuming that the target value of the irradiation angle θa is ra = va / ωa, the irradiation distance Da of the headlamp can be approximated by the following equation. Da ≒ 2ra · sin (θa), sin (θa) = 3θa / π Da ≒ 6ra · θa / π Here, if the constant Ka = π · Da / 6, the reciprocal of the turning radius r is multiplied by the constant K. And the target value θa of the irradiation angle
Can be requested.

The headlamp 905 is controlled by operating the irradiation range changing unit 904 based on the value obtained by the microcomputer 903.

[0007]

Generally, in order for a vehicle to avoid an obstacle, it is desirable that a field of view from a current position to a position to which the vehicle moves after a predetermined time is secured. However, in the above-described conventional configuration, the purpose is to secure a visual field within a certain distance range. Therefore, as the speed of the vehicle increases, the time required to reach the irradiation range decreases, and obstacles are avoided. In some cases, it is impossible

If the above problem is solved by increasing the value of the irradiation distance, an unnecessarily large irradiation angle is set when the speed of the vehicle is low. According to the present invention, a problem is solved by using an information acquisition path and a calculation method different from the above-described conventional configuration, and a movement prediction range of a vehicle after an arbitrary time is determined by a headlamp regardless of the movement speed of the vehicle. An object of the present invention is to provide a headlamp control method, a control device, and a recording medium that can be irradiated.

[0009]

In order to achieve this object, a headlamp control method according to the present invention calculates a predicted traveling range of a vehicle from a difference between a moving speed at a left position and a moving speed at a right position of a vehicle body. And a configuration in which the irradiation range of the headlamp is changed based on the calculated information on the predicted travel range to irradiate the predicted travel range. Further, according to the aspect, a configuration is included in which a left turn or a right turn is determined with the highest priority from the on / off state of the switch of the direction indicator.

[0010] The headlamp control method according to claim 1 is
The irradiation range of the headlamp including the predicted movement range of the vehicle after a certain time is proportional to a value obtained by multiplying a value of a difference between a moving speed of the left position and a moving speed of the right position of the vehicle body with a value of the certain time. By calculating the value of the angle, an irradiation range calculation step to determine, and whether the irradiation range should correct the irradiation range at the right position or the irradiation range at the left position, determine the moving speed. By subtracting an irradiation range determining step of judging from the positive or negative of the difference value and an absolute value of the irradiation angle obtained from the irradiation range calculation step, by subtracting a lateral visual angle caused by light of a headlamp when the vehicle is straight ahead, An irradiation correction value calculation step of calculating a correction irradiation angle to be a correction value of the irradiation range, and a zero irradiation correction of setting the correction value of the irradiation range to zero when neither the right irradiation range nor the left irradiation range needs to be corrected. A calculation step, is intended to include the irradiation range changing step of changing the irradiation range of the headlamp using a correction value of the irradiation range.

According to the headlamp control method of the present invention, it is possible to detect the speed difference between the right and left sides of the vehicle and calculate based on a predetermined formula to predict the destination of the vehicle. Irrespective of the speed of the vehicle, it becomes possible to irradiate the scheduled position at which the vehicle will arrive after a set time.
For this reason, it is possible to irradiate an oblique direction which is a traveling route when traveling on a curved road on a dark road.

According to a second aspect of the present invention, there is provided a headlamp control method.
2. The lamp according to claim 1, wherein the lamp emits light by current, light splitting means for splitting the light of the lamp with a light amount equalized in a horizontal direction, and a part located in front of the lamp between the lamp and the light splitting means. Light-blocking means, which has a movable range that slides horizontally in a limited range to vary the range of blocking the lamp, and has a power source that moves the light-shielding means along the movable range. Things.

According to the headlamp control method of the second aspect, the same effect as that of the first aspect is obtained. According to a third aspect of the present invention, there is provided a headlamp control method according to the second aspect, wherein the light-shielding means has a light scattering mirror having a mirrored surface on a surface of the lamp directly irradiated with the light, and irregularly reflects the light of the lamp. It is.

According to the headlamp control method of the third aspect, in addition to the same effect as the second aspect, the light use efficiency can be improved. According to a fourth aspect of the present invention, in the second aspect, the power amplifier changes an amount of power supplied to the lamp to output a light amount proportional to the correction value of the irradiation range from the lamp.

According to the headlamp control method of the fourth aspect, in addition to the same effects as those of the second aspect, the lamp is provided to an arbitrary position within the irradiation range despite the increase or decrease of the irradiation area due to the change of the irradiation range. It keeps the brightness of the light constant. A headlamp control method according to a fifth aspect is directed to a first aspect.
And a direction indicator-linked irradiation range changing step of preferentially changing the irradiation range to a predetermined irradiation range in accordance with the operation of the direction indicator of the vehicle.

According to the headlamp control method according to the fifth aspect, in addition to the same effect as the first aspect, the progression in the case of starting to turn left or right which does not apply to the prediction calculation of the first aspect. The path can be illuminated. Claim 6
In the headlamp control method according to claim 1, in the irradiation range calculation step, the irradiation range calculation step calculates a value of a difference between a moving speed at a left position and a moving speed at a right position of the vehicle body from a rotational speed difference between left and right wheels. It has steps.

According to the headlamp control method of the sixth aspect, the same effect as that of the first aspect is obtained. The headlamp control device according to claim 7, wherein the irradiation range of the headlamp including the predicted movement range of the vehicle after a predetermined time is set to the value of the difference between the moving speed of the vehicle body at the left position and the moving speed of the right position at the predetermined time. Means for determining by calculating the value of the irradiation angle in proportion to the value multiplied by the value of (i), and subtracting the lateral visual angle caused by the light of the headlamp when the vehicle is straight ahead from the absolute value of the irradiation angle. Means for calculating a corrected irradiation angle by
When it is not necessary to correct both the right irradiation range and the left irradiation range, a means for setting the correction value of the irradiation range to zero is provided.

According to the headlamp control device of the seventh aspect, the same effect as that of the first aspect is obtained. The headlamp control device according to claim 8, wherein the irradiation range of the headlamp including the predicted movement range of the vehicle after a predetermined time is set to the value of the difference between the moving speed of the vehicle body at the left position and the moving speed of the right position at the fixed time. Has a means to calculate and determine as a value proportional to a value multiplied by the value of the, whether the irradiation range is a value to correct the right irradiation range,
It has means for judging whether the left irradiation range is a value to be corrected from the positive or negative value of the difference of the moving speed, and from the absolute value of the irradiation range, the side by the light when the headlamp is fixed in the straight ahead direction of the vehicle Means for calculating the correction value of the irradiation range by reducing the visual angle to the one side, and means for setting the correction value of the irradiation range to zero when neither the right irradiation range nor the left irradiation range needs to be corrected. A headlamp control unit having a lamp, a lamp that emits light by current, a light dispersing unit that disperses the light of the lamp with a light amount equalized in the horizontal direction, and a lamp that is located between the lamp and the light dispersing unit and is located in front of the lamp. A light-blocking means that partially slides the lamp in a horizontal direction within a limited range, has a movable range that varies the range in which the lamp is blocked, and moves the light-shielding means along the movable range. Have a source, shading Stage, is characterized in that is controlled by the headlamp control means to follow the correction value of the irradiation range.

According to the headlamp control device of the eighth aspect, the same effect as that of the first aspect is obtained. According to a ninth aspect of the present invention, there is provided the headlamp control device according to the ninth aspect, wherein the light-shielding means has a light scattering mirror having a mirrored surface on a surface of the lamp to be directly irradiated with the light to scatter the light of the lamp. It is.

According to the headlamp control device of the ninth aspect, in addition to the same effects as the eighth aspect, the light use efficiency can be improved. 11. The recording medium according to claim 10, wherein the irradiation range of the headlamp including the predicted movement range of the vehicle after a predetermined time is set to a value of a difference between a moving speed of the vehicle body at a left position and a moving speed of a right position and a value at a predetermined time. And an irradiation range calculation step determined by calculating a value of an irradiation angle proportional to a value obtained by multiplying the irradiation range by correcting the irradiation range at the right position or the irradiation range at the left position. An irradiation range determining step of determining whether or not to be required based on the positive or negative of the value of the difference in moving speed;
The irradiation calculating the corrected irradiation angle which becomes the correction value of the irradiation range by subtracting the side visible angle generated by the light of the head lamp when the vehicle is straight ahead from the absolute value of the irradiation angle obtained in the irradiation range calculation step. A correction value calculating step, a zero irradiation correction value calculating step of setting the correction value of the irradiation range to zero when neither the right irradiation range nor the left irradiation range needs to be corrected, and a headlamp using the correction value of the irradiation range. And an irradiation range changing step of changing the irradiation range of the headlamp.

According to the recording medium of the tenth aspect, the same effect as that of the first aspect is obtained. According to an eleventh aspect of the present invention, in the recording medium according to the tenth aspect, the program has a direction indicator-linked illumination range changing step of preferentially changing the illumination range to a predetermined illumination range in accordance with the operation of the direction indicator of the vehicle. Things. According to the recording medium of the eleventh aspect, the same effect as that of the fifth aspect is obtained.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Before describing the embodiments, the basic principle of the present invention will be described. As a parameter of the calculation formula, the moving speed at the left position of the vehicle is d1 (m /
s), the moving speed at the right position of the vehicle is d2 (m / s), the moving speed difference between the left position and the right position of the vehicle is Δd (m / s), and the distance between the speed sensors installed at the left and right positions of the vehicle is When the width W (m), the turning radius of the vehicle is r (m), the angular velocity of the vehicle is ω (rad / s), and the straight traveling direction of the vehicle is 0 degree, the irradiation angle of the headlamp is θ.
(Rad), the time required for the vehicle to move from the current position to the predicted position is used as T (sec).

The moving speeds d1 and d2 are d1 = rω, d2
= (R + W) ω. Therefore, the difference Δd in the moving distance can be expressed by the following equation. When the headlamp irradiation range is tilted to the vehicle position after T seconds, the current vehicle position and the vehicle position after T seconds have the vertex centered on the center of the turning radius, the apex angle is ωT (rad), and the side angles are both ( To draw an isosceles triangle of (π / 2-θ) (rad),
The irradiation angle θ can be expressed by the following equation while ω is between 0 and π / 2.

Θ = ωT / 2 (2) By substituting the angular velocity ω of equation (1) into equation (2), it can be expressed by the following equation, and the difference Δ between the moving distance between the inner circumference and the outer circumference of the vehicle Δ
From d, the irradiation angle θ in the inner circumferential direction can be obtained. Here, the width W is a constant that depends on the speed detection position of the vehicle, and the time T substitutes a value larger than the time required for the vehicle to avoid after finding the obstacle as a constant. It can be said that it is proportional.

Θ = K · Δd (3) (K = T / (2W): constant) As described above, the irradiation angle θ to the predicted movement of the curved road can be obtained by the equation (3). The headlamp irradiation range is changed based on the calculation result of the irradiation angle θ.
However, when the vehicle starts from a stopped state or turns along an orthogonal route, for example, when stopped at an intersection, the traveling direction cannot be predicted in advance from the difference in traveling speed,
From the ON / OFF state of the switch of the direction indicator, it is determined to turn left or right, and the irradiation range of the headlamp is changed according to the direction indicated by the direction indicator.

FIG. 3 is a diagram for explaining the irradiation angle θ of the headlamp. FIG. 3A schematically shows the positional relationship. Reference numeral 301 denotes a vehicle at the current position, 302 denotes a predicted vehicle movement position at which the vehicle 301 turns on the concentric orbit and arrives after an arbitrary time T seconds, 303 denotes a center of the concentric orbit on which the vehicle 301 turns, and 304 denotes a turning path of the vehicle 301. , 305 is a forward traveling direction of the vehicle 301, 306 is an irradiation angle inclined from the straight traveling direction 305 to the inner circumferential direction of the vehicle 301, 307 is an irradiation range caused by inclining from the straight traveling direction 305 to the irradiation angle 306, The irradiation angle 306 is changed with the change of the predicted vehicle movement position 302 so that the irradiation range 307 always includes the predicted vehicle movement position 302 within the range.

FIG. 3B shows more detailed angles and distances. Reference numeral 311 denotes a vehicle inner peripheral position; 312, a vehicle outer peripheral position; 313, a vehicle predicted position;
11 and the vehicle outer peripheral position 312 are respectively the position of the vehicle speed sensor located on the inner periphery of the vehicle 301 during turning and the vehicle speed located on the outer periphery of the vehicle 301 among the vehicle speed sensors 203 mounted one each on the left and right sides of the vehicle. The position of the sensor is shown. The predicted vehicle position 313 is the vehicle inner peripheral position 31.
1 is a position predicted to move after T seconds.

When the parameters of the above formula of the present invention correspond to the charts, the distance from the center 303 on the concentric circle where the vehicle 301 turns to the vehicle inner peripheral position 311 is the turning radius r, and the irradiation angle 306 is As for the irradiation angle θ, the distance between the vehicle inner peripheral position 311 and the vehicle outer peripheral position 312 represents the width W. In reality, the position of the vehicle speed sensor arranged on the vehicle 301 and the position of the headlamp do not always overlap. When the position of the left and right vehicle speed sensors and the position of the headlamp are separated by a distance L (m), it is naturally possible to set the predicted movement position of the vehicle 301 in anticipation of the error of the irradiation position. The outline of the irradiation range 307 set by θ is blurred due to the scattering of the headlamp light, so that an uncertain region of the visual field range due to the irradiation of the headlamp light is generated. It is assumed that the range is smaller than the range uncertainty region and can be ignored.

FIG. 4 is a diagram for explaining the irradiation angle of the headlamp. FIG. 4 illustrates the irradiation angle θ of the headlamp and the target value θlamp of the correction angle of the headlamp. 40
Reference numeral 1 denotes an irradiation range of a conventional fixed headlamp.
Reference numeral 402 denotes a headlamp irradiation range to be compensated for a left turn with respect to the fixed headlamp irradiation range 401. 403 is a fixed headlamp irradiation range 40
This is the irradiation range of the headlamp to be compensated when turning right with respect to 1. In this embodiment, when correcting the headlamp,
The leftward correction is performed by the headlamp disposed on the left side of the vehicle, and the rightward correction is performed by the headlamp disposed on the right side of the vehicle.

Here, even when the actual headlamp light is fixed at 0 degree centering on the straight traveling direction of the vehicle, the irradiation range extends to the right and left angles. The visual angle in the left-right direction that can identify an obstacle is θo (rad), and the correction angle θla
The maximum angle that mp can take can be set as θmax (rad). The maximum angle θmax is uniquely determined by the configuration of the irradiation range changing unit and the headlamp. However, since the headlamp irradiation to the side is hardly used in actual use, the maximum irradiation angle θmax + θo from the straight traveling direction of the vehicle.
Set a unique value of 90 degrees or less for.

When the target value of the correction angle of the headlamp to be corrected according to the present invention is θlamp (rad), the target value θ of the headlamp inclination is always θ when turning left (FIG. 4A).
> 0 and θ> θo, the vehicle is predicted to move to a position outside the headlamp irradiation range to the left after T seconds, so the target value of the headlamp correction angle is θlamp = θ
It must be spread to the left by −θo. However, the obtained correction angle target value θlamp is not less than the maximum angle θmax (θmax <
θ−θo), the target value of the correction angle is set to the maximum angle θma
Keep the value of x (θlamp = θmax). In the case of θ ≦ θo, the irradiation range of the headlamp is within the range of the visual angle θo, so that the irradiation of the headlamp is fixed in the straight traveling direction.

When turning right (FIG. 4 (b)), the target value θ of the headlamp inclination is always θ <0, and when θ <−θo, the headlamp irradiation range deviates to the right after T seconds. Since the vehicle is predicted to move to the position, it is necessary to increase the target value of the correction angle of the headlamp to the right by θlamp = −θ−θo. However, if the obtained correction angle target value θlamp is greater than or equal to the maximum angle θmax (θmax <−θ−θo), the correction angle target value is kept at the maximum angle θmax (θlamp).
= Θmax). When θ ≧ −θo, the irradiation range of the headlamp falls within the range of the visual angle θo, so that the irradiation of the headlamp is fixed in the straight traveling direction.

In the embodiment, when correcting the irradiation range using the headlamp, the irradiation range in the left-right direction is individually handled by the headlamps arranged on the left and right sides of the vehicle. One headlamp may irradiate the movement prediction range in both the left and right directions. The present invention is based on the above theory, and will be described below based on the above theory.

FIG. 2 is a schematic block diagram showing an embodiment of the present invention. In FIG. 2, 201 is a microcomputer,
Reference numeral 202 denotes a direction indicator interlocking switch for notifying the microcomputer 201 of the operation state of the direction indicator of the vehicle; 203, a vehicle speed sensor for transmitting information on the vehicle speed of the vehicle to the microcomputer 201;
Is an irradiation range changing unit controlled by the microcomputer 201;
Reference numeral 05 denotes a headlamp having a configuration to be described later, which can change the irradiation range by the irradiation range changing unit 204. The vehicle speed sensor 203, the irradiation range changing unit 204, and the headlamp 205 are symmetrical with the left position of the vehicle. They are placed one at a time on the right.

The microcomputer 201 includes a CPU (Central Processing Unit) 211 for performing a calculation and a control command necessary for changing the irradiation range of the headlamp, and a ROM (Read Only Memory) containing a headlamp control program. 21
2 and RAM used as a work memory at the time of calculation
(Random access memory) 213 and CPU 211
, An input port 214 for inputting information for controlling the headlamp, and an output port 215 for outputting an output necessary for the CPU 211 to control the headlamp.

The microcomputer 201 detects the operation state of the turn signal of the vehicle from the turn signal interlocking switch 202.
In addition, information on the vehicle speed at the left position of the vehicle and information on the vehicle speed at the right position of the vehicle are received from the vehicle speed sensor 203. Details of the vehicle speed information will be described later. The difference between the moving speed at the left position and the moving speed at the right position of the vehicle body is calculated by the internal calculation of the microcomputer 201, and the value of the obtained difference in the moving speed or the turn signal interlocking switch is activated when the turn signal interlocking switch 202 is turned on. The irradiation range changing unit 204 is controlled by a control method described later according to the direction indicated by the switch 202 to change the irradiation angle of the headlamp 205. The change of the irradiation angle will be described later in detail.

FIG. 1 shows a flowchart of a headlamp control method according to an embodiment of the present invention. First, a moving speed difference Δd between the left and right positions of the vehicle is determined (step 101). Here, the moving speed difference Δd is set as a value obtained by subtracting the speed at the vehicle left position from the speed at the vehicle right position.

When the switch of the right or left direction indicator is on (step 102), the magnitude of the target value θlamp of the headlamp correction angle is changed to the maximum angle θmax.
And the irradiation direction is the same as the direction in which the switch of the direction indicator is turned on (step 103). When the switch of the direction indicator is off, the target value θlamp of the headlamp correction angle is obtained by the following procedure. The irradiation angle θ is obtained from the equation θ = TΔd / (2W) (step 104).

Hereinafter, a target value θlamp of the headlamp correction angle is obtained from the irradiation angle θ. If the irradiation angle θ is larger than θo (step 105), the vehicle is turning left, so that the headlamp irradiation range is set to the left in order to turn the headlamp irradiation range to the left.
Is substituted (step 106). Irradiation angle θ is -θo
If it is smaller (step 107), the vehicle is turning right, so that the headlamp irradiation range is directed to the right, the irradiation direction is set to the right, and the headlamp correction angle target value θlamp is −θ
-Θo is substituted (step 108).

When the irradiation angle θ is equal to or more than −θo and equal to or less than θo, the headlamp irradiation range may be in the state of irradiating in the straight traveling direction.
Is substituted (step 109). Θla is always out of condition
Except when mp is 0 (step 109), if the target value θlamp of the headlamp correction angle is equal to or larger than the maximum angle θmax (step 110), the maximum angle θmax is substituted into θlamp (step 111) and θlamp is set to the upper limit. Limit not to exceed the value.

The headlamp irradiation range is changed based on the target value θlamp of the headlamp correction angle of the irradiation direction set in accordance with any of the above conditions (step 11).
2). FIG. 5 is a diagram showing a change in each parameter on a curved road. As shown in FIG. 5, when the vehicle starts to enter a curved road, the reciprocal of the turning radius of the vehicle in FIG. 5A gradually increases, and the vehicle speed v in FIG. 5B decreases due to braking. . When the vehicle starts to escape from the curved road, the reciprocal of the turning radius of the vehicle gradually decreases, and the vehicle speed v increases by depressing the accelerator. The angular velocity ω in FIG. 5C is always ω = v
/ R is displaced by the value of the formula, and the difference Δd in the moving distance and the irradiation angle θ
Is also proportional to the angular velocity ω, the same displacement is made.

The target value θlamp of the headlamp correction angle in FIG. 5E is set to θlamp = 0 when θo ≧ θ,
When θo <θ, the vehicle 301 obtains an irradiation angle of θlamp + θo in FIG. 5D by setting the value of θlamp = θ−θo using the irradiation angle θ obtained from Expression (3). It can be used to change the irradiation range. In the description of FIG. 5, the values of Δd, θ, and θlamp are described by assuming only magnitudes and assuming that they are all positive numerical values. However, even if Δd, θ, or θlamp is a negative value, the directions are left-right reversed. Just the same can be said.

Hereinafter, the present invention will be described in detail based on one embodiment. FIG. 6 is a diagram illustrating an example of the direction indicator interlocking switch. As shown in FIG. 6, the turn signal interlocking switch 202 has the following configuration. The existing direction indicator switch 601 is connected to the lamp blinker 602, and the lamp blinker 602 blinks the direction indicator light 603 when the direction indicator switch 601 is turned on.

The turn signal interlock switch 202 includes a turn signal interlock switch 611 that operates in conjunction with the turn signal switch 601 of the vehicle, and a chattering preventing device 612 that suppresses noise entering the switch. The operation state of the direction indicator switch 601 is detected by the direction indicator link switch 611, and the direction indicator link switch 6
The detection result of No. 11 is read by the microcomputer 201 after removing the switch noise through the chattering prevention device 612. The above-mentioned turn signal interlocking switches 202 are provided for two circuits, one for a leftward switch and one for a rightward switch.

FIG. 7 is a diagram showing an example of a vehicle speed sensor.
As shown in FIG. 7, the vehicle speed sensor 203 has the following configuration. 700 is an axle, 701 is a torque transmitting unit, 710
Is a disk, 711 is a slit, 720 is a photo interrupter, 721 is an infrared light emitting unit, 722 is an infrared light receiving unit, 7
30 is a waveform shaping circuit, 740 is a decoder counter IC,
741 is an input terminal, 742 is an output terminal, 743 is a counter hold terminal, and 744 is a counter reset terminal.

The torque transmitting unit 701 determines the number of revolutions of the axle 700, which is directly connected to the wheels of the vehicle and rotates, by a ratio N based on the gear ratio.
The disk 710 rotates at the number of rotations transmitted by the rotational force transmission unit 701. The disc 710 is made of a material through which light does not pass, and is viewed from the center.
At least one or more Nw slits 711 which are windows through which light can pass are provided at equal angular intervals on the plane of 10.

The photo interrupter 720 has a configuration in which the infrared light emitting section 721 and the infrared light receiving section 722 are arranged in a pair, and the photo interrupter 720 is installed at a slit between the infrared light emitting section 721 and the infrared light receiving section 722. 711 is fixed at a position where the disk 710 passes when rotating. The infrared light emitting unit 721 continuously emits infrared light at least while the vehicle is moving forward, and the infrared light receiving unit 7
22 receives the infrared light emitted by the infrared light emitting section 721 and outputs the received light energy to the waveform shaping circuit 730 as a signal. Here, the photo interrupter 720 is configured to transmit infrared light from a portion other than the infrared light emitting portion 721 to the infrared light receiving portion 722.
Needless to say, it is shielded from the outside so as not to reach.

The waveform shaping circuit 730 connected to the infrared light receiving section 722 is in the Hi state while the output signal from the infrared light emitting section 721 passes through the slit 711 and the infrared light receiving section 722 receives the infrared light. Is shaped into a low-level pulse waveform and output to the decoder counter IC 740. The decoder counter IC 740 includes a mechanism for counting the number of pulse waveforms by a counter, and includes an input terminal 741, an output terminal 742, and a counter hold terminal 7.
43, and a counter reset terminal 744. Each terminal performs the following operation by the decoder counter IC 740. FIG. 9 is a timing chart of the decoder counter IC.

When the input pulse waveform to input terminal 741 is Hi
When the state changes to the low state, the counter value is incremented by +1. The output terminal 742 always outputs the result of the counter value as a binary value. Counter hold terminal 743 is Hi
Suspend the addition of the counter value when entering the state. When the counter reset terminal 744 is set to the Hi state, the counter value is cleared to 0.

The input terminal 741 is connected to the waveform shaping circuit 730,
The output terminal 742 is connected to the input port 214 of the microcomputer 201.
The counter hold terminal 743 and the counter reset terminal 744 are connected to the output port 215 of the microcomputer 201 so that the input terminal 741 has a waveform shaping circuit 730.
The counter value is added each time a pulse waveform is input from the microcomputer 201, the microcomputer 201 reads the counter value from the output terminal 742, and sets the counter hold terminal 743 to H level.
The counter value can be set to the stable state by setting the state to i, and the counter value can be cleared to 0 by setting the counter reset terminal 744 to the high state. The counter value is 0 in the initial state
To be cleared.

With the above configuration, when the vehicle moves and the axle 700 rotates, a value Nt × Nw times the rotation speed of the axle 700 is output to the output terminal 742 as a counter value. The microcomputer 201 reads the output value of the output terminal 742 at regular time intervals Ts (s), performs an operation of clearing the counter value to 0 by sending a pulse waveform to the counter reset terminal 744 immediately after the reading is completed, and repeats the above operation. As a result, information proportional to the number of rotations of the wheels 11 described below is transmitted to the microcomputer 201 at every fixed time interval Ts (s).

Here, assuming that the radius of the vehicle wheel is R (m), the rotational speed of the vehicle wheel and the axle 700 is n (rps), and the moving speed of the vehicle is d, the rotational speed n of the axle is calculated as follows. It can be represented by an equation. d = 2πRn (4) Assuming that the counter value read from the output terminal 742 by the microcomputer 201 is nscan, nscan = Nt · Nw · Ts · n
Therefore, the relationship between the moving speed d of the vehicle and the counter value nscan can be expressed by the following equation from equation (4).

D = K ′ · nscan (5) (K ′ = 2πR / (Nt · Nw · Ts): constant) The counter value obtained from the left wheel of the vehicle is nscan1, and the counter value obtained from the right wheel is Is nscan2, the difference Δnscan between the left and right wheel counter values is Δnscan = nscan1-nsc
an2, and the following equation holds.

Δd = K ′ · Δnscan (6) (K ′ = 2πR / (Nt · Nw · Ts): constant) That is, in step 101 of the flowchart of FIG.
From nscan1 and nscan2 obtained from the vehicle speed sensor 203, the following calculation is performed to obtain the value of Δd.

Δd = 2πR (nscan1-nscan2) / (Nt · Nw · Ts) (6 ′) By substituting equation (4) into equation (6), it can be expressed by the following equation. From the rotation speed difference Δn, the irradiation angle θ in the inner circumferential direction of the curve can be obtained. (K ″ = πRT / (W · Nt · Nw · Ts): constant) As described above, the difference Δ between the counter values of the left and right wheels as shown in Expression (7).
It can be seen that the irradiation angle θ in the inner circumferential direction of the curve can be obtained from nscan.

Hereinafter, as an example, a constant R = 0.3 (m),
Nt = 20 (times), Nw = 16 (pieces), Ts = 0.1 (se)
c) Consider a case where W = 1.4 (m) and T = 2 (s). The constant K ′ ≒ 0.0589 of the equation (5) is obtained. Similarly, the constant K ″ ≒ 0.0421 in equation (7) is obtained. When the counter value nscan is a 10-bit counter, nscan can count up to the maximum value 1023, and when nscan takes the maximum value 1023, From equation (5), d ≒ 60.3 (m / sec) ≒ 21
7 (km / h) is obtained. Since it is impossible to corner a sharp curve which is a problem in this embodiment on a public road at a speed exceeding 200 km / h, it is sufficient to store the counter value of the decoder counter IC 740 in a 10-bit length. It can be said that there is. In addition,
In order to increase the upper limit of the corresponding speed or to increase the accuracy of the counter value, change the bit length of the decoder counter IC 740 to an IC having a longer bit length, and change the value of K 'by changing the magnification Nt according to the gear ratio. By doing so.

In this embodiment, the rotation speed of the wheels is used to measure the speed, but other known speed sensors may be used. For example, if the vehicle turns left on a curve with a radius of 10 (m) at d1 = 10 (m / sec),
At this time, d2 = 11.4 (m / sec), and the equation (5) applies. Therefore, nscan1 = 169 and nscan2 = 193 are measured by the vehicle speed sensor 203.

Δnscan = n by the operation of the microcomputer 201
Since scan1−nscan2 = 24 is obtained, from equation (7),
θ = 1.01 (rad) = 57.8 (degrees) is obtained. According to the calculation result of the microcomputer 201, when the visual angle in the left-right direction by the conventional headlamp is θo = 30 (degrees),
The visible range by the irradiation of the headlamp is determined in step 106.
Based on the above, the vehicle forward left θlamp = θ−θo = 27.8 (degrees)
It turns out that it is necessary to spread and secure.

The oblique irradiation range to be compensated is from 30 degrees in the horizontal direction to a maximum of 8 degrees, assuming that the straight traveling direction of the vehicle is 0 degrees.
If it is between 0 degrees, the maximum angle θmax = 80-30 = 50
(Degree) is required. When considering the flow chart of FIG. 1, the equation (6 ′) is calculated from nscan1 and nscan2 obtained from the vehicle speed sensor 203, and the moving speed difference Δd = 1.41.
(m) can be obtained (step 101). If the turn signal is off (step 10)
2), the irradiation angle θ is calculated from the equation θ = TΔd / (2W) by Δ
From the value of d, θ = 57.8 (degrees) is obtained (step 1)
04).

Since the irradiation angle θ is larger than θo (step 105), it can be determined that the vehicle is turning left, and in order to turn the irradiation range of the headlamp to the left, the direction of correcting the irradiation range is set to the left direction. Correction angle target value θlamp to θ
By substituting -θo, θlamp = 27.8 (degrees) (step 106). Since the target value θlamp of the headlamp correction angle is equal to or smaller than the maximum angle θmax (step 110), θla
The value of mp is not limited because it does not exceed the maximum value.

From the above results, the headlamp irradiation range was
Irradiation direction left, headlamp correction angle θlamp = 2
It is changed to 7.8 (degrees) (step 112). FIG. 8 is a diagram illustrating an example of an irradiation range changing unit and a headlamp. 810 is a front irradiation head lamp device, 820 is an oblique irradiation head lamp device, 821 is an oblique irradiation lamp, 82
2 is an optical spectroscopy unit, 831 is a light shielding plate, 832 is a power transmission unit, 833 is a stepping motor, 834 is a power amplifier, and 841 is a PWM circuit.

As shown in FIG. 8A, the head lamp 205
Is composed of a conventional front irradiation headlamp device 810 for irradiating the front of the vehicle and an oblique irradiation headlamp device 820 for irradiating the vehicle obliquely, which will be described later. As shown in FIG. 8B, the oblique irradiation headlamp device 820
The input light is made as uniform as possible in the horizontal direction by using an oblique irradiation lamp 821 that emits light by supplying power from the irradiation range changing unit 204 and mirror reflection using an optical fiber or the like. Light dispersing unit 82 that disperses light with a near light amount
2 All the light emitted by the oblique irradiation lamp 821 passes through the optical spectroscopy unit 822, and irradiates the vehicle obliquely forward, which is a blind spot in the conventional front irradiation head lamp device 810.

The irradiation range changing unit 204 includes a light shielding plate control unit 830 that moves between the oblique irradiation lamp 821 and the optical spectroscopy unit 822 to control the irradiation range by blocking light, and an input pulse. It is composed of a PWM (Pulse Wave Modulation) circuit 841 for smoothing the waveform after power amplification and outputting the smoothed waveform. The light-shielding plate control unit 830 transmits the power of the three-phase stepping motor 833 through the power transmission unit 832 to the light-shielding plate 831 that blocks part or all of the light path of the light dispersing unit 822, and A power transmission unit 832 for moving the position and a stepping motor 8
Power amplifier 83 for supplying power for driving
4 The power amplifier 834 is connected to the microcomputer 201
Output port 215.

In the initial state, the light-shielding plate 831 is set so as to be located at a position where all the light of the oblique irradiation lamp 821 is blocked. The light shielding plate 831 includes an oblique irradiation lamp 821.
In order to extend the irradiation range of the oblique irradiation lamp 821 continuously from the front side of the vehicle, the microcomputer 201 moves from a horizontal circle locus around the center of the vehicle, as shown in FIG. As shown in (waveform), the driving waveform of the stepping motor in which the phase of each signal line is shifted is output. Since the signal from the microcomputer 201 does not have enough power to drive the stepping motor, the signal is passed through the power amplifier 834. The power is amplified and a stepping motor 833 serving as a power source is driven. FIG. 10A shows a waveform of a forward rotation, and FIG. 10B shows a waveform of a reverse rotation. As for the driving waveform, a signal is transmitted so that the stepping motor 833 makes one rotation each time the driving waveform is transmitted. When the stepping motor 833 rotates, a rotational force is transmitted to the light shielding plate 831 at the ratio of the gear ratio of the power transmission unit 832, and the rotation speed nstep (rps) of the stepping motor 833.
The light shielding plate 831 moves by an amount proportional to. The movement angle of the light shielding plate 831 causes the correction angle θlamp of the irradiation range of the oblique irradiation lamp 821 to be proportional to the moving distance of the light shielding plate 831. Rotation speed n of stepping motor 833
When the step directs the direction in which the irradiation angle increases to the positive direction, the stepping motor 83
The sum of the rotation speeds Σnstep of 3 is the correction angle θlamp of the irradiation range.
It can be seen that there is a proportional relationship with In this embodiment,
By adjusting the gear ratio of the power transmission unit 832, the ratio of Δnstep (rotation) and θlamp (degree) is set to 1, that is, Δnstep (rotation) = θlamp (degree).

With the above setting, to increase θlamp by one degree, nstep is rotated once in the forward rotation, to decrease θlamp by one degree, nstep is rotated in the reverse direction once, and the microcomputer 201 sets the stepping motor 833 to one rotation. What is necessary is just to send a driving waveform to be rotated. Therefore, the correction angle calculated last time is stored in the RAM 213 of the microcomputer 201, and it is necessary to subtract the previous correction angle from the target value θlamp of the correction angle obtained this time to reach the target correction angle. The change angle, that is, the amount of rotation given to the stepping motor 833 can be calculated.

The change of the headlamp irradiation range is performed by the processing of step 112 in the flowchart of FIG. For example, the previously calculated correction angle stored in the RAM 213 is 26 (degrees), and the correction angle θlamp calculated this time is 2 (degrees).
If it is 7.8 (degrees), the above setting will result in a correction angle θlamp
Can be operated only in units of 1 (degree), so in this embodiment, the correction angle θlamp is rounded off and used.
The previously calculated correction angle 26 (degrees) is subtracted from the rounded correction angle θlamp = 28 (degrees), and the angle 2 that needs correction
(Degree).

It is already known at step 106 in FIG. 1 that the correction angle of the left headlamp should be operated. Since the polarity of the angle that needs to be corrected is positive, the stepping motor 833 sends the pulse waveform of the forward rotation to the correction. Send twice the amount corresponding to the required angle 2 (degrees), and change the irradiation range of the headlamp. Finally, the value of the rounded correction angle is stored in the RAM 213 again as the previously calculated correction angle.

In this embodiment, the microcomputer 201
Directly driven the stepping motor 833,
Naturally, the load on the microcomputer may be reduced by using the stepping motor control circuit. The light shielding plate 831 is moved with a light torque of １ ／ or less of the maximum torque of the stepping motor 833.

The surface of the light-shielding plate 831 on which the direct light of the oblique irradiation lamp 821 shines has a mirror surface with unevenness so that the light shielded by the light-shielding plate 831 is dispersed and guided to the light dispersing unit 822. A mirror 851 is provided. A stopper 852 is provided at the end of the movable range of the light shielding plate 831 so that the light shielding plate 831 does not move more than necessary.

When the light shielding plate 831 reaches the end of the movable range,
The power transmission unit 832 is too large. When the stepping motor 833 receives a load equal to or more than ／ of the maximum torque, the power transmission unit 832 causes the rotation to slip so as to disperse as unnecessary torque torque. With the above configuration, by keeping the stepping motor 833 rotating when the power is turned on in the initial state, the light-shielding plate 831 is initialized to a position corresponding to the stopper 852 where the irradiation range of the headlamp to be compensated is zero. Became possible.

The PWM circuit 841 has an input terminal connected to the output port 215 of the microcomputer 201,
When the clock waveform is input from the controller, the power proportional to the duty ratio of the clock waveform (the ratio of the signal in the Hi state of the clock waveform) is supplied to the oblique irradiation lamp 821. When the power consumption of the oblique irradiation lamp 821 is proportional to the output light amount, the maximum light amount of the oblique irradiation lamp 821 is set to と し て max,
In the setting for irradiating the entire irradiation range that can be corrected at the maximum angle θmax at the maximum light amount, the light amount Δlamp required for the oblique irradiation lamp 821 is represented by the following value.

Ψlamp = ψmax · θlamp / θmax (8) Here, the clock waveform input to the PWM circuit 841 is obtained by setting the wavelength of one cycle of the clock to T2 and Hi in one clock.
Assuming that the wavelength of the state is T1, the duty ratio is T1 / T2.
The light amount Δlamp emitted by the oblique irradiation lamp 821 is represented by the following value, and is as shown in FIG.

Ψlamp = ψmax · T1 / T2 (9) The microcomputer 201 controls the necessary light quantity by giving the length of the wavelength T1 at which the equations (8) and (9) for obtaining the light quantity are equivalent to each other. become able to. T1 = T2..theta.lamp / .theta.max (10) In the flowchart of FIG. 1, the control of the light amount is performed by the process of step 112. Here, T2 = 50 (KHz) = 20 (μ
s), and θmax = 50 (degrees). For example, θlamp =
At 27.8 (degrees), it can be seen from equation (10) that the wavelength of T1 = 11.1 (μs) should be given from the microcomputer 201 to the PWM circuit 841.

At this time, the light amount of the oblique irradiation lamp 821 is
From equation (9), it becomes 0.555 · ψmax. In this embodiment, a single lamp is used for spectrally irradiating an oblique direction of the vehicle. However, the irradiation range may be changed by tilting a headlamp, or a plurality of lamps may be illuminated horizontally. May be arranged so as to output light at different irradiation angles, and the respective lamps are turned on at different timings to change the irradiation range.

As described above, according to this embodiment,
By providing the vehicle with the speed difference detection unit and the firing range changing unit, it is possible to create a system that can calculate the predicted movement range after an arbitrary time, change the headlamp irradiation range, and secure the visibility of the traveling route. Become like Further, a computer-readable recording medium that records a program for executing the headlamp control method of the above-described embodiment by a computer or a program for realizing the headlamp control device by a computer is used.

[0076]

According to the headlamp control method according to the first aspect, it is possible to detect the speed difference between the right and left sides of the vehicle and predict the destination of the vehicle by calculating based on a predetermined equation. In addition, it becomes possible to irradiate the scheduled position where the vehicle will arrive after a set time regardless of the speed of the vehicle. For this reason, it is possible to irradiate an oblique direction which is a traveling route when traveling on a curved road on a dark road.

According to the headlamp control method of the second aspect, the same effect as that of the first aspect is obtained. According to the headlamp control method of the third aspect, in addition to the same effect as the second aspect, the light use efficiency can be improved. According to the headlamp control method of the fourth aspect, in addition to the same effects as the second aspect, the brightness of the lamp light applied to an arbitrary position within the irradiation range despite the increase or decrease of the irradiation area due to the change of the irradiation range. Is to keep it constant.

According to the headlamp control method according to the fifth aspect, in addition to the same effect as the first aspect, the progression in the case of starting a left or right turn which does not apply to the prediction calculation of the first aspect. The path can be illuminated. Claim 6
According to the headlamp control method described above, the same effect as that of the first aspect can be obtained.

According to the headlamp control device of the seventh aspect, the same effect as that of the first aspect is obtained. According to the headlamp control device of the eighth aspect, the same effect as that of the first aspect is obtained. According to the headlamp control device of the ninth aspect,
In addition to the same effect as the eighth aspect, the light use efficiency can be improved.

According to the recording medium of the tenth aspect, the same effect as that of the first aspect is obtained. According to the recording medium of the eleventh aspect, the same effect as that of the fifth aspect is obtained.

[Brief description of the drawings]

FIG. 1 is a flowchart of a headlamp control method according to an embodiment of the present invention.

FIG. 2 is a schematic block diagram showing one embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating an irradiation angle of a headlamp.

4A and 4B are diagrams for explaining a target value θlamp of a correction angle of a headlamp, wherein FIG. 4A is an explanatory diagram for a left turn, and FIG. 4B is an explanatory diagram for a right turn.

FIG. 5 is a graph showing changes in parameters on a curved road.

FIG. 6 is an explanatory diagram showing an example of a direction indicator interlocking switch.

FIG. 7 is an explanatory diagram showing an example of a vehicle speed sensor.

8A and 8B show an example of an irradiation range changing unit and a headlamp, wherein FIG. 8A is a perspective view of the outer shape of the headlamp, and FIG.
FIG. 2 is an explanatory view of an irradiation range changing unit and a cross-sectional view of a headlamp, and FIG.

FIG. 9 is a timing chart of the decoder counter IC.

FIGS. 10A and 10B show three-phase stepping motor control waveforms input to the power amplifier, where FIG. 10A is a forward rotation waveform diagram and FIG. 10B is a reverse rotation waveform diagram.

11A and 11B show a relationship between a duty ratio of a pulse input to a PWM circuit and a lamp light amount. FIG. 11A is a PWM circuit input pulse, and FIG. 11B is a lamp light amount graph.

FIG. 12 is a schematic configuration diagram illustrating a conventional headlamp control method.

[Explanation of symbols]

 Reference Signs List 201 microcomputer 202 direction indicator interlocking switch 203 vehicle speed sensor 204 irradiation range changing unit 205 head lamp 211 CPU 212 ROM 213 RAM 214 input port 215 output port 301 vehicle 302 predicted vehicle movement position 303 concentric orbit center 304 turning path 305 straight direction 306 irradiation Angle 307 Inner circumference irradiation range 311 Vehicle inner circumference position 312 Vehicle outer circumference position 313 Vehicle inner circumference position after T seconds 401 Fixed headlamp irradiation range 402 Headlamp irradiation range compensated for left turn 403 Right turn Headlight illumination range to be compensated 601 Existing direction indicator switch 602 Lamp blinker 603 Direction indicator light 611 Direction indicator interlock switch 612 Anti-chattering device 700 Axle 701 Rotational force transmission 710 Disk 711 Slit 720 Photo interrupter 721 Infrared light emitting section 722 Infrared light receiving section 730 Waveform shaping circuit 740 Decoder counter IC 741 Input terminal 742 Output terminal 743 Counter hold terminal 744 Counter reset terminal 810 Forward irradiation head lamp device 820 Oblique irradiation head lamp Apparatus 821 Oblique irradiation lamp 822 Optical spectroscopy unit 830 Light shielding plate controller 831 Light shielding plate 832 Power transmission unit 833 Stepping motor 834 Power amplifier 841 PWM circuit 851 Light scattering mirror 852 Stopper 901 Angular velocity sensor 902 Distance sensor 903 Microcomputer 904 Irradiation range changing unit 905 headlamp

Claims (11)

[Claims] 1. An irradiation range of a headlamp including a predicted movement range of a vehicle after a predetermined time is multiplied by a value of a difference between a moving speed at a left position and a moving speed at a right position of the vehicle body and the value of the fixed time. Calculating the value of the irradiation angle proportional to the calculated value, the irradiation range calculation step to determine, and the irradiation range should correct the irradiation range at the right position or the irradiation range at the left position An irradiation range determining step of determining whether the moving speed difference value is positive or negative; and a side generated by the light of the head lamp when the vehicle goes straight, based on the absolute value of the irradiation angle obtained from the irradiation range calculating step. An irradiation correction value calculation step of calculating a correction irradiation angle that is a correction value of the irradiation range by reducing the visible angle to the right, and it is not necessary to correct any of the right irradiation range and the left irradiation range A headlamp control method, comprising: a zero irradiation correction value calculating step of setting the correction value of the irradiation range to zero; and an irradiation range changing step of changing the irradiation range of the head lamp using the correction value of the irradiation range. 2. A lamp which emits light by an electric current, a light splitting means for splitting the light of the lamp with a light amount equalized in a horizontal direction, and a light emitting means located between the lamp and the light splitting means and in front of the lamp. Light-blocking means for partially blocking the lamp, the light-blocking means has a movable range that slides horizontally in a limited range to vary the range for blocking the lamp, and moves the light-blocking means along the movable range. The headlamp control method according to claim 1, further comprising a power source for moving the headlamp. 3. The headlamp control method according to claim 2, wherein the light shielding means has a light scattering mirror having a mirror surface with irregularities on a surface of the lamp to which the direct light is applied, and irregularly reflects the light of the lamp. 4. The headlamp control method according to claim 2, wherein the power amplifier changes the amount of power supplied to the lamp to output from the lamp an amount of light proportional to the correction value of the irradiation range. 5. The headlamp control method according to claim 1, further comprising a direction indicator-linked illumination range changing step of preferentially changing the illumination range to a predetermined illumination range in accordance with the operation of the direction indicator of the vehicle. 6. The irradiation range calculating step according to claim 1, wherein the irradiation range calculating step includes a speed difference calculating step of calculating a value of a difference between the moving speed at the left position and the moving speed at the right position of the vehicle body from the rotational speed difference between the left and right wheels. Headlamp control method. 7. An irradiation range of a headlamp including a predicted movement range of a vehicle after a predetermined time is multiplied by a value of a difference between a moving speed at a left position and a moving speed at a right position of the vehicle body and the value of the fixed time. Means for determining by calculating the value of the irradiation angle in proportion to the value obtained by the correction, and correcting the irradiation by subtracting, from the absolute value of the irradiation angle, the lateral visual angle caused by the light of the headlamp when the vehicle is straight ahead. A headlamp control device comprising: a means for calculating an angle; and a means for setting a correction value of the irradiation range to zero when neither the right irradiation range nor the left irradiation range needs to be corrected. 8. An irradiation range of a headlamp including a predicted movement range of a vehicle after a predetermined time is multiplied by a value of a difference between a moving speed of a vehicle at a left position and a moving speed of a right position and the value of the predetermined time. Has a means to calculate and determine as a value proportional to the value, the irradiation range is a value to correct the right irradiation range, or a value to correct the left irradiation range of the difference of the moving speed Means for judging from the positive or negative of the value, and correcting the irradiation range by subtracting the visible angle to the side by light when the headlamp is fixed in the vehicle straight ahead direction from the absolute value of the irradiation range. A headlamp control unit having means for calculating a value, and when it is not necessary to correct any of the right irradiation range and the left irradiation range, a headlamp control means having means for setting the correction value of the irradiation range to zero; And the light of the lamp is water A light dispersing unit that disperses light with a light amount equalized in a direction; and a light blocking unit that is located between the lamp and the light separating unit and partially blocks a front of the lamp, wherein the light blocking unit has a limited range. Has a movable range that varies the range in which the lamp is blocked by sliding in the horizontal direction, and a power source that moves the light blocking unit along the movable range. The headlamp control device is controlled by the headlamp control means in accordance with the correction value. 9. The headlamp control device according to claim 8, wherein the light-shielding means has a light scattering mirror having a mirror surface with irregularities on a surface of the lamp to which the direct light is applied to scatter the light of the lamp. 10. An irradiation range of a headlamp including a predicted movement range of a vehicle after a predetermined time is multiplied by a value of a difference between a moving speed at a left position and a moving speed at a right position of the vehicle body and the value of the fixed time. Irradiation range calculation step determined by calculating the value of the irradiation angle in proportion to the value, the irradiation range should correct the irradiation range of the right position, or should correct the irradiation range of the left position An irradiation range determining step of determining whether there is a positive or negative value of the difference between the moving speeds; and an absolute value of the irradiation angle obtained from the irradiation range calculating step, a lateral direction generated by the light of the head lamp when the vehicle is traveling straight. An irradiation correction value calculation step of calculating a correction irradiation angle that is a correction value of the irradiation range by reducing the visible angle to the irradiation range, and it is not necessary to correct any of the right irradiation range and the left irradiation range A program for a headlamp control method including: a zero irradiation correction value calculating step of setting the correction value of the irradiation range to zero; and an irradiation range changing step of changing the irradiation range of the head lamp using the correction value of the irradiation range. Recording medium on which is recorded. 11. The recording medium according to claim 10, wherein the program has a direction indicator-linked irradiation range changing step of preferentially changing the irradiation range to a predetermined irradiation range in accordance with the operation of the direction indicator of the vehicle.