JP2007099078A - Headlight control device for vehicle - Google Patents

Headlight control device for vehicle Download PDF

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Publication number
JP2007099078A
JP2007099078A JP2005291246A JP2005291246A JP2007099078A JP 2007099078 A JP2007099078 A JP 2007099078A JP 2005291246 A JP2005291246 A JP 2005291246A JP 2005291246 A JP2005291246 A JP 2005291246A JP 2007099078 A JP2007099078 A JP 2007099078A
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Prior art keywords
vehicle
control
light distribution
distribution pattern
headlight
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Pending
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JP2005291246A
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Japanese (ja)
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Hiroko Yokoyama
紘子 横山
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Denso Corp
株式会社デンソー
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Priority to JP2005291246A priority Critical patent/JP2007099078A/en
Publication of JP2007099078A publication Critical patent/JP2007099078A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a headlight control device for a vehicle which can surely irradiate the advancing direction of the vehicle by the headlight, and control to a maximum irradiated state while preventing a driver of an oncoming vehicle or a leading vehicle from being dazzled. <P>SOLUTION: The headlight control device performs (S2) a course prediction processing, when a present place and the own vehicle speed are detected (S1: YES), calculates (S3) the optical axis direction of the headlight based on the course prediction, and controls (S4) the right and left of the headlight. Next, when the control device inputs (S5) the image from the camera, and it is determined (S7: YES) that there is the oncoming vehicle or the leading vehicle from the result (S6) of the image processing, it calculates (S11) the optical axis direction to the headlight, and controls (S12) the vertical and horizontal direction of the headlight, when the relative distance with the oncoming vehicle or the leading vehicle is detected (S10: YES). When it is determined (S7: NO) that there is no oncoming vehicle nor leading vehicle, the device controls (S8) the headlight to the maximum of the upper direction. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle headlamp control apparatus that controls a light distribution pattern of a vehicle headlamp.

By controlling the light distribution pattern of the vehicle headlamps, it is possible to irradiate the vehicle in the direction of travel, and to prevent the driver of an oncoming vehicle or a preceding vehicle located in front from being dazzled. Has been proposed.
JP-A-11-198714 JP 2004-161082 A

As a technique for controlling the light distribution pattern of a vehicle, although it has been proposed to detect the white line of the road and control the direction of the headlamp (see Patent Document 1), the light distribution control is performed after the white line is detected. However, if the light distribution control is not in time, the white line itself may not be detected.
Moreover, although it is proposed that the light distribution technique considering the oncoming vehicle or the preceding vehicle is performed based on the captured image and the steering operation amount in front of the vehicle (see Patent Document 2), the driving of the oncoming vehicle or the preceding vehicle is proposed. The subject that a person cannot control to the irradiation range which is not dazzled remains. Further, when the light distribution pattern of the headlamp is controlled to the minimum range, the driver of the oncoming vehicle or the preceding vehicle is not dazzled, but in that case, the headlamp cannot be effectively irradiated forward.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to reliably irradiate the traveling direction of the vehicle with the headlight and to prevent the driver of the oncoming vehicle or the preceding vehicle from being dazzled. An object of the present invention is to provide a vehicle headlamp control device that can be controlled to a maximum irradiation state.

According to the first aspect of the invention, since the light distribution pattern of the headlamp is controlled based on the map data of the current location of the vehicle, the headlamp can be reliably irradiated in the traveling direction of the vehicle.
In addition, when the imaging means detects the presence of an oncoming vehicle or a preceding vehicle, the headlamp is arranged so that the driver of the oncoming vehicle or the preceding vehicle is not dazzled based on the relative distance and relative speed of the oncoming vehicle or the preceding vehicle. Since the light pattern is controlled, it is possible to always irradiate in the maximum range regardless of whether there is an oncoming vehicle or a preceding vehicle.

  Now, for example, at points where roads branch on the map data, it is impossible to control the light distribution pattern of the headlamps only with the map data. When guided according to the route, the light distribution pattern is controlled by predicting that the route will travel, so the irradiation range of the headlamp can be reliably directed in the traveling direction of the vehicle based on the route. .

  However, at the point where the road branches when the route is not set, it is impossible to control the light distribution pattern of the headlamps. However, according to the invention of claim 3, the vehicle depends on the traveling direction of the vehicle. Vehicle information such as the driving lane, turn signal information, and vehicle speed are different, so the traveling direction of the vehicle can be predicted based on the vehicle information, and the irradiation range of the headlamp can be controlled in the traveling direction of the vehicle Become.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of a light distribution pattern control system for a vehicle headlamp. A vehicle headlamp light distribution pattern control system 1 according to the present embodiment includes a car navigation device (corresponding to route guidance means) 2 and a headlamp control device 3.
The car navigation device 2 includes a control circuit 4, a GPS receiver 5, a vehicle body direction sensor 6, a vehicle speed sensor 7, an operation switch group 8, a display device 9, and a magnetic disk device (HDD) 10.

The control circuit 4 has a function of controlling the overall operation of the car navigation apparatus 2 and is mainly composed of a microcomputer. Inside the CPU, RAM, ROM, I / O interface (not shown) are connected. It has a bus to do.
The GPS receiver 5 receives signals from a plurality of GPS artificial satellites and transmits them to the control circuit 4. Based on the information, necessary arithmetic processing is performed in the control circuit 4, and the current position of the vehicle is determined. Calculated. The vehicle body orientation sensor 6 includes a geomagnetic sensor, a vibration gyro, and the like, and detects the vehicle body orientation. The vehicle speed sensor 7 is for detecting the vehicle speed, and outputs a vehicle speed signal obtained by converting the rotation of the transmission into an electric signal, for example.

  The operation switch group 8 is a means for inputting commands and data to the control circuit 4, and is constituted by, for example, a touch switch or a remote control switch formed on a color liquid crystal display. The display device 9 is for displaying a road map, the current position of the vehicle, a guide route, and the like, and is configured by, for example, a color liquid crystal display.

Various programs for operating the car navigation device 2 are stored in the magnetic disk device 10 in advance. This program includes a program for executing a general car navigation function in addition to a program for exerting the functions of the present invention to be described later, for example, a function for calculating a current position based on a signal from the GPS receiver 5 A map matching processing function that positions the calculated current position on the map, a route search function that searches for a route from the current position to the destination in response to designation of the destination or waypoint, and a guidance route according to the route search result A program for executing a route guidance function for displaying and guiding on a map screen, a function for receiving road traffic information from VICS (Vehicle Information & Communication System (registered trademark)) and notifying the driver is included.
In addition to the devices as described above, the car navigation device 2 is attached with an acceleration sensor for detecting the vertical / front / rear direction acceleration of the vehicle, a vehicle body inclination angle sensor for detecting the vehicle body inclination angle, and the like as necessary.

  The headlamp control device 3 changes the shape, brightness, and irradiation direction of the light beam that is the light distribution pattern by mechanically and electrically controlling the headlamps mounted on the left and right of the front part of the vehicle body. It is something to be made. The headlamp control device 3 includes a control calculation unit (corresponding to a control unit and an acquisition unit) 20 and an operation unit 21.

  The operation unit 21 has a function of receiving the operation signals MV1 to MV8 output from the control calculation unit 20 as input command signals and controlling the left and right headlamps 30 and 31 as commanded. As the configuration of the operation unit 21, various configurations exist depending on the lamp configuration of the headlamps 30 and 31 to be controlled, the reflector configuration, and the configuration of the drive mechanism. The operation unit 21 of the present embodiment corresponds to a left headlamp illumination intensity drive circuit 22, a left headlamp horizontal turning drive mechanism 23, a left headlamp elevation drive mechanism 24, a left headlamp beam spread drive mechanism 25, and a right headlamp. The same drive circuit 26 and drive mechanisms 27 to 29 are configured.

The left headlight illumination intensity drive circuit 22 is a circuit that supplies power to the lamp 30a of the left headlamp 30, and supplies power of a value commanded by the operation signal MV1 to the lamp 30a. When there are a plurality of lamps, a plurality of circuits are provided corresponding to each lamp.
The left headlight horizontal turning drive mechanism 23 is a mechanism for controlling the horizontal turning angle of the light beam emitted by the left headlamp 30, and adjusts the horizontal turning angle of the light beam in the direction commanded by the operation signal MV2. This angle adjustment may be performed by feedback control by a servo mechanism using a turning motor or by open loop control using a pulse motor, for example. Regardless of which control method is employed, the final horizontal turning angle is made to coincide with the angle commanded by the operation signal MV2.

The left headlight elevation angle drive mechanism 24 is a mechanism for controlling the elevation angle of the light beam emitted by the left headlamp 30, and adjusts the elevation angle of the light beam to the angle commanded by the operation signal MV3. The drive mechanism is configured in the same manner as the left headlight horizontal turning drive mechanism 23.
The left headlight beam spread drive mechanism 25 is a mechanism for controlling the spread (solid angle) of the light beam emitted by the left headlamp 30, and adjusts the spread of the light beam to the spread commanded by the operation signal MV4. The spread of the light beam is adjusted by changing the distance between the lamp and the reflector provided on the rear surface thereof. If the interval is narrowed, the spread becomes large, and if the interval is widened, the spread becomes small. The interval may be adjusted by a method of moving the lamp or the reflector, but it may be performed by a method of attaching a plurality of lamp filaments at positions where the distance from the reflector is different and switching the energized filaments.

The drive circuit 26 for the right headlamp 31 and the drive mechanisms 27 to 29 are configured in the same manner as for the left headlamp 30. However, the drive circuits and drive mechanisms for the left headlight 30 and the right headlight 31 are controlled by separate operation signals.
The control calculation unit 20 generates and gives the respective operation signals MV1 to MV8 to the drive circuits 22 and 26 and the drive mechanisms 23 to 25 and 27 to 29 in the operation unit 21 described above. The operation signals MV1 to MV8 are generated so that the total light distribution pattern formed by the left headlight 30 and the right headlight 31 matches a predetermined target light distribution pattern. This target light distribution pattern is determined in the control calculation unit 20 based on an input signal input to the control calculation unit 20, and operation signals MV1 to MV8 are generated by calculation according to the determined target light distribution pattern.

In this embodiment, the input signal to the control calculation unit 20 of the headlamp control device 3 is given from the steering angle sensor 11 and the camera (corresponding to the imaging means) 12 in addition to the control circuit 4 of the car navigation device 2. It is done.
Signals input from the control circuit 4 include the vehicle body direction detected by the vehicle body direction sensor 6 and the vehicle speed detected by the vehicle speed sensor 7. The vehicle speed is referred to in order to change the light distribution pattern in accordance with the change of the driver's gaze point depending on the vehicle speed. From the control circuit 4, data such as the direction of the traveling road, the degree of bending, the gradient, and the road width are input to the control calculation unit 20. The input information is read from the map data based on the vehicle position calculated based on the signal from the GPS receiver 5. The direction of the road and the degree of bending are used to determine the direction and spread of the light beam together with the vehicle body direction detected by the vehicle body direction sensor 6.

Further, from the control circuit 4, guidance information provided by the route guidance function of the car navigation device 2 that the right turn and the left turn intersection is approaching the front OOm is also input to the control arithmetic circuit 20. This information is referred to in order to control the direction of the irradiation range immediately before the intersection or within the intersection so that it can be easily driven.
The steering angle sensor 11 is a sensor that detects the steering angle (turning angle) of the vehicle from the rotation angle of the steering wheel. The rudder angle signal from the rudder angle sensor 11 is referred to in order to turn the light beam in a direction to bend so that the traveling direction can be easily recognized when traveling on a curved road such as an intersection.
The camera 12 is attached to the vehicle so that the front of the vehicle is in the visual field range, and the video signal is referred to in order to determine whether an oncoming vehicle or a preceding vehicle is in front of the vehicle.

The signal from the steering angle sensor 11 and the video signal from the camera 12 may be input to the control calculation unit 20 via the control circuit 4.
The control calculation unit 20 first determines an optimal target light distribution pattern based on such an input signal, and calculates operation signals MV1 to MV8 for realizing the determined target light distribution pattern by calculation. The operation signals MV1 to MV8 are determined by a target light distribution pattern, and the target light distribution pattern is determined by an input signal to the control calculation unit 20. Therefore, the operation signals MV1 to MV8 are ultimately determined by the input signal to the control calculation unit 20.

  The vehicle body direction signal is S1, the vehicle speed signal is S2, the information about the forward situation of the traveling road described above is S3, the information from the route guidance function is S4, the steering angle signal is S5, and the information obtained by analyzing the captured image of the camera is If expressed as S6, the operation signals MV1 to MV8 can be expressed as follows.

MV1 = F1 (S1, S2, S3, S4, S5, S6) (1)
MV2 = F2 (S1, S2, S3, S4, S5, S6) (2)
MV3 = F3 (S1, S2, S3, S4, S5, S6) (3)
MV4 = F4 (S1, S2, S3, S4, S5, S6) (4)
MV5 = F5 (S1, S2, S3, S4, S5, S6) (5)
MV6 = F6 (S1, S2, S3, S4, S5, S6) (6)
MV7 = F7 (S1, S2, S3, S4, S5, S6) (7)
MV8 = F8 (S1, S2, S3, S4, S5, S6) (8)
Here, F1 to F8 represent functions having S1, S2, S3, S4, S5, and S6 as variables, the internal structure of the left and right headlamps 30, 31, the height from the road surface to the mounting position, the left and right It depends on the distance between headlamps, etc., and is a function determined for each vehicle type.

  The operation signals MV1 to MV8 calculated by the above formulas (1) to (8) are given to the operation unit 21 as input command signals. The illumination intensity drive circuits 22 and 26, the horizontal turning drive mechanisms 23 and 27, the elevation angle drive mechanisms 24 and 28, and the beam spread drive mechanisms 25 and 29 in the operation unit 21 are provided with lamp illumination intensity according to the given operation signals MV1 to MV8. Control light beam direction and light beam spread. The overall light distribution pattern by the left and right headlamps 30 and 31 as a result of these controls is uniquely determined by the values of the operation signals MV1 to MV8.

Next, the operation of the above configuration will be described.
When the headlamps 30 and 31 of the vehicle are turned on, the vehicle is irradiated from the headlamps 30 and 31 to the front of the vehicle, so that it is possible to travel while confirming the state of the front of the vehicle when traveling at night.
In the present embodiment, the control circuit 4 basically predicts the traveling direction of the vehicle based on the current location and the map data as described above, and the light distribution pattern of the headlamp is based on the prediction. Basically, it is controlled so as to face the traveling direction and to obtain an optimal light distribution pattern.

  FIG. 2 is a flowchart showing the light distribution pattern control operation of the control circuit 4 and is operated when the headlamps 30 and 31 are turned on. In FIG. 2, when the current position and the own vehicle speed are detected (S1), the control circuit 4 executes a route prediction process based on the information (S2).

  FIG. 3 shows the course prediction process of the control circuit 4. As shown in FIG. 3, it is determined whether the route set by the above-described route search function is being guided (S21). If the route is being guided (S21: YES), it is assumed that the vehicle travels on the route. The traveling direction of the vehicle is predicted (S22).

  On the other hand, when the route guidance is not being performed (S21: NO), since the traveling direction of the vehicle cannot be predicted as traveling on the route, vehicle information such as a traveling lane, turn signal information, and vehicle speed detection information is acquired. (S23), the traveling direction is predicted based on the vehicle information (S24). In this case, the traveling lane can be obtained based on the detailed positional relationship between the current position indicated by the detection signal of the GPS receiver 5 and the map data. The blinker information can be obtained based on a signal from the operation switch group 8. Further, the vehicle speed detection information can be obtained based on a vehicle speed signal from the vehicle speed sensor 7.

Specifically, as shown in FIG. 4, when it is determined that the vehicle is traveling in the lane A on the sidewalk among the lanes (two lanes in this embodiment) entering the intersection based on the current location and the map data, Since it is not possible to determine whether to make a straight line or to turn left as it is, in such a case, the determination is made based on the blinker information. In this case, when the blinker information cannot be acquired, the vehicle speed is detected, and when traveling at a normal speed without reducing the speed, it is predicted that the vehicle goes straight. On the other hand, when the vehicle speed decreases as approaching the intersection, it is predicted that the vehicle will turn left. Moreover, when driving on the lane B on the center line side among the lanes entering the intersection, it is predicted to turn right.
When the course prediction process is completed as described above, the headlamp 30 is arranged so that the light distribution pattern of the headlamps 30 and 31 faces the predicted traveling direction of the vehicle as described above, as shown in FIG. , 31 are calculated (S3), and then the optical axes of the headlamps 30, 31 are controlled left and right (S4).

  Next, an image from the camera 12 is input (S5), image processing is performed on the image (S6), and it is determined whether there is an oncoming vehicle or a preceding vehicle based on the image data (S7). Such a determination is made based on a comparison between image data and patterns of various automobiles stored in advance. At this time, if it is determined that there is no oncoming vehicle or preceding vehicle (S7: NO), the headlamps 30 and 31 are controlled to face the maximum in the upward direction (S8).

  By the above operation, when there is no oncoming vehicle or preceding vehicle, the light distribution pattern of the headlamps 30 and 31 is controlled to the high beam state (corresponding to the farthest irradiation state). (See FIG. 5A, C in the figure indicates the irradiation range). In this case, when traveling on a curved road, the beam is controlled to a high beam in a state where the irradiation direction is controlled so as to face the traveling direction as described above (see FIG. 6A).

  On the other hand, when there is an oncoming vehicle or a preceding vehicle (S7: YES), if the relative distance to the oncoming vehicle or the preceding vehicle can be detected (S10: YES), the optical axis direction of the headlamps 30, 31 is calculated. Then (S11), the vertical and horizontal ranges of the light distribution pattern by the headlamps 30 and 31 are controlled (S12). The control of the light distribution pattern in this case is intended to prevent the driver of the oncoming vehicle or the preceding vehicle from being dazzled, and the vertical illumination range of the headlamps 30 and 31 and the driver's face (oncoming vehicle) In other words, the position of the rearview mirror (in the case of a preceding vehicle) is predicted, and control is performed in real time so that the driver's face or rearview mirror is not located in the irradiation range of the headlamp based on the predicted position.

  With the above operation, when there is an oncoming vehicle or a preceding vehicle, the light distribution pattern of the headlamps 30 and 31 is controlled to the far irradiation state (corresponding to the maximum range irradiation state) in the low beam state, so the traveling direction The state of a wide range can be confirmed (see FIGS. 5B and 6B). Further, as the distance between the oncoming vehicle and the preceding vehicle becomes shorter, in addition to controlling the irradiation range of the headlamps 30 and 31 in the vertical direction as described above, the left and right sides are expanded by expanding the irradiation range. The direction is also controlled simultaneously (see FIGS. 5C and 6C).

When the oncoming vehicle or the preceding vehicle disappears (S7: NO), the headlamps 30, 31 are controlled to the maximum in the upward direction (S8), so that the farthest distance can be confirmed again. become.
When the headlamps 30 and 31 are turned off (S9: YES), the light distribution pattern control is terminated.

  According to such an embodiment, when controlling the light distribution pattern of the headlamps 30 and 31 to face the traveling direction of the vehicle based on the current location of the vehicle and the map data, it is based on the video image taken by the camera 12. When it is determined that there is no oncoming vehicle or preceding vehicle, the light distribution pattern is controlled so that the light is emitted in the farthest state, and when there is an oncoming vehicle or preceding vehicle, the light distribution pattern is controlled so that the driver is not dazzled. Since it did in this way, it can prevent that the driver of an oncoming vehicle or a preceding vehicle will be dazzled.

  Moreover, the light distribution pattern of the headlamps 30 and 31 is prevented from being dazzled by the driver of the oncoming vehicle or the preceding vehicle based on the distance from the oncoming vehicle or the preceding vehicle. Since the irradiation range is controlled in the horizontal direction in addition to the vertical direction, the headlamps 31, 31 can always be irradiated in the maximum range.

  Further, when route guidance is performed by the car navigation device 2, the road distribution direction is controlled because the traveling direction of the vehicle is predicted based on a preset route and the light distribution pattern is controlled. Even if it is a case, it can control reliably so that the headlamps 30 and 31 may face the advancing direction of a vehicle.

  Further, even when the route guidance by the car navigation device 2 is not performed, the light distribution pattern is controlled by predicting the traveling direction of the vehicle based on the vehicle information such as the vehicle lane, turn signal information, and vehicle speed. Therefore, even when the road is branched, it is possible to control the light distribution pattern of the headlamps 30 and 31 so as to face the traveling direction of the vehicle.

The present invention is not limited to the above embodiment, but can be modified or expanded as follows.
If the light distribution pattern controlled by the presence of an oncoming vehicle or a preceding vehicle is not appropriate, a correction means that can arbitrarily correct it may be provided.
The current position of the preceding vehicle or the oncoming vehicle may be acquired by inter-vehicle communication, and the light distribution pattern may be controlled based on the acquired position.

The figure which shows the electrical structure of the car navigation apparatus and headlamp control apparatus in one Example of this invention. Flow chart showing operation of headlamp control device Flow chart showing the course prediction process of the headlamp control device Diagram for explaining the direction of travel prediction when there is no route The figure which shows the light distribution pattern according to the presence or absence of the preceding vehicle The figure which shows the light distribution pattern according to the presence or absence of the oncoming vehicle

Explanation of symbols

  In the drawings, 1 is a light distribution pattern control system, 2 is a car navigation device (route guidance means), 3 is a headlight control device, 4 is a control circuit, 12 is a camera (imaging means), and 20 is a control calculation unit (control). Means, acquisition means), 21 an operation unit, 30 a left headlamp, and 31 a right headlamp.

Claims (3)

  1. In a vehicle headlamp control device comprising a control means for controlling a light distribution pattern of a vehicle headlamp,
    Acquisition means for acquiring map data corresponding to the current location of the vehicle;
    Imaging means for imaging the front of the vehicle,
    The control unit predicts the traveling direction of the vehicle based on the map data acquired by the acquiring unit, controls the light distribution pattern so that the farthest irradiation state is achieved in the traveling direction, and the imaging unit. When it is determined that there is an oncoming vehicle or a preceding vehicle based on the imaging of the vehicle, the driver of the oncoming vehicle or the preceding vehicle is in a maximum irradiation state that is not dazzled based on the relative distance and relative speed of the oncoming vehicle or the preceding vehicle. A vehicle headlamp control device that controls the light distribution pattern.
  2. Route guidance means for guiding according to a preset route,
    2. The vehicle headlamp control device according to claim 1, wherein when the route by the route guidance unit is set, the control unit predicts the traveling direction of the vehicle based on the route.
  3. The said control means predicts the advancing direction of a vehicle based on vehicle information, such as a travel lane of a vehicle, turn signal information, and a vehicle speed, when the route by the said route guidance means is not set. The vehicle headlamp control device described.

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US8145413B2 (en) 2007-08-10 2012-03-27 Toyota Jidosha Kabushiki Kaisha Perimeter monitor
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CN104349937A (en) * 2012-05-28 2015-02-11 株式会社电装 Device and method for controlling illumination range of vehicle light
US9469240B2 (en) 2012-05-28 2016-10-18 Denso Corporation Apparatus for controlling illumination range of vehicle lights
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