JP2010064718A - Imaging device and vehicle headlamp device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a technology for properly imaging an image which is long in a horizontal direction while preventing cost increase of an imaging element. <P>SOLUTION: In an imaging device, a first optical system and a second optical system in the imaging element 100 each form images in a first region 100a and a second region 100b arranged in the vertical direction of an image to be formed. Each of the first and second optical systems forms images entering at different angles of view on the imaging element 100. A shade for forming a low beam and a shade for forming a high beam switch a light irradiating region. A headlamp device control part controls operation of the shade for forming the low beam and the shade for forming the high beam by utilizing data of the images imaged and generated by the imaging element 100. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an imaging device and a vehicle headlamp device.

  Currently, for example, the front of the vehicle is imaged with a camera installed inside the windshield cabin of the vehicle, and the obtained image data is used for the presence of obstacles, pedestrians, white lines, preceding vehicles, oncoming vehicles on the road, Development of technology for detecting the position is rapidly progressing. As such a technique, for example, a pre-crash safety system and a lane departure warning system are known. Further, in a vehicle headlamp device, development of a high beam control system that detects the presence of a preceding vehicle or an oncoming vehicle and controls the irradiation of a high beam is being promoted.

  The pre-crash safety system is a technology that detects an object with which the host vehicle may collide, and the lane departure warning system indicates whether or not the host vehicle may depart from the driving lane. This is a technique for determining by detecting the position of. In these techniques, it is necessary to detect an object about 100 meters away from the host vehicle. On the other hand, in the high beam control system, it is necessary to detect a preceding vehicle about 300 meters ahead and an oncoming vehicle about 800 meters ahead.

  Similarly, even in a system that uses imaging data in front of the vehicle, the distance from the host vehicle to the object varies greatly depending on what kind of control is used. Even when only the high beam control system is used, it is necessary to detect not only a distant object but also a close object. Since an image captured as a distant object becomes smaller, in order to detect a distant object, it is required to narrow the angle of view of the camera in order to enlarge the image. For this reason, in the case where an object with a large distance from the host vehicle is picked up by a single image with a single image, the detection range of a close object is large when the angle of view is adjusted to a distant object. It is difficult to properly capture both near and far objects, such as it becomes difficult to enlarge and detect distant objects when the angle of view is narrow and close to the near object. . On the other hand, when providing a plurality of image sensors in accordance with the distance from the host vehicle to the object, it is difficult to avoid an increase in the cost of the image sensor.

Here, for example, a technique for forming an image in the left-right direction on a single image sensor has been proposed (see, for example, Patent Document 1).
JP 2007-15562 A

  For example, when a pre-crash safety system, lane departure warning system, or high beam control system is used to capture an image in front of the host vehicle with a camera, the area where the object may exist is generally wide in the horizontal direction. Become. On the other hand, for example, when a left-right image is formed on a single image sensor as described in the above-mentioned patent document, it is difficult to capture a long image in the horizontal direction. May not be detected.

  Therefore, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide an imaging technique capable of appropriately capturing a long image in the horizontal direction while avoiding an increase in the cost of the imaging element. There is.

  In order to solve the above-described problem, an imaging device according to an aspect of the present invention includes a plurality of imaging elements and a plurality of areas in which images are formed in each of a plurality of regions arranged in the vertical direction in the image to be imaged of the imaging elements. And an optical system.

  According to this aspect, it is possible to take a plurality of images that are long in the horizontal direction with a single imaging device. For this reason, it is possible to capture a plurality of images that are long in the horizontal direction while avoiding an increase in the cost of the image sensor as compared with the case where a plurality of image sensors are used.

  Each of the plurality of optical systems may form images incident on the image sensor at different angles of view. According to this aspect, it becomes possible to appropriately image both near and far objects with a single image sensor. For this reason, even when using a pre-crash safety system or lane departure warning system and a high beam control system at the same time, or when detecting a near object in the high beam control system, an image is captured by a single image sensor. By using the obtained image data, it is possible to appropriately detect the object.

  Each of the plurality of optical systems may form an image of each of the plurality of imaged regions arranged in the horizontal direction on the image sensor.

  For example, when it is desired to capture a single image that is long in the horizontal direction, if an image is captured as it is, it is difficult to obtain a high-definition image by efficiently using the entire image sensor. In addition, as described in the above-mentioned patent document, if the left image is formed on the left region of the image sensor and the right image is formed on the right region of the image sensor, both the left and right images may be elongated in the vertical direction. is there. For this reason, it is difficult to obtain a high-definition image when it is desired to capture left and right images that are both long in the horizontal direction.

  According to this aspect, even when, for example, a single image that is long in the horizontal direction is picked up, for example, the left half image is formed on the upper area of the image sensor, and the right half image is formed below the image sensor. It is possible to form an image on a region. For this reason, it is possible to capture a high-definition image by efficiently using the area of the image sensor.

  Another aspect of the present invention is a vehicle headlamp device. This apparatus includes an imaging element, a plurality of optical systems that each form an image on each of a plurality of areas arranged in the vertical direction in an image to be imaged, and an irradiation area switching unit that switches a light irradiation area. And control means for controlling the operation of the irradiation area switching means using image data picked up and generated by the image pickup device.

  According to this aspect, for example, even in the case of detecting a near object in a high beam control system, the object is appropriately detected by using image data obtained by imaging with a single image sensor. Is possible.

  The control means may associate a plurality of images obtained by simultaneously imaging each of the plurality of regions. According to this aspect, it is possible to perform high beam control by appropriately detecting a target object using a plurality of image data captured simultaneously.

  According to the present invention, it is possible to provide an imaging technique capable of appropriately capturing an image that is long in the horizontal direction while avoiding an increase in the cost of the imaging element.

  Hereinafter, embodiments of the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a schematic vertical sectional view of a vehicle headlamp device 10 according to a first embodiment. The vehicular headlamp device 10 includes a left lamp provided on the left side of the front end of the vehicle body and a right lamp provided on the right side. FIG. 1 illustrates a left lamp 30L. Hereinafter, the left lamp will be described, but the right lamp basically has the same configuration.

  The vehicular headlamp apparatus 10 has a configuration in which a left lamp 30L is accommodated in a lamp chamber formed by a lamp body 12 and a translucent cover 14 attached to a front end opening of the lamp body 12. . The left lamp 30L is attached to the lamp body 12 by a support member (not shown).

  The left lamp 30L is a lamp called a projector type, and includes a bulb 86, a reflector 84, a projection lens 22, a low beam forming shade 24, and a high beam forming shade 26, which are light sources. The left lamp 30L is disposed in front of the lamp by reflecting the light emitted from the bulb 86 to the reflector 84 and shielding a part of the light traveling forward from the reflector 84 with the low beam forming shade 24 or the high beam forming shade 26. A light distribution pattern having a cut-off line is projected onto the virtual vertical screen.

  The reflector 84 has a substantially elliptical spherical reflecting surface with the optical axis Ax extending in the vehicle longitudinal direction as the central axis. The reflecting surface is set so that the cross-sectional shape including the optical axis Ax is an ellipse, and the eccentricity gradually increases from the vertical cross section toward the horizontal cross section. The bulb 86 is disposed at the first focal point of the ellipse that constitutes the vertical cross section of the reflecting surface, so that the light from the light source converges on the second focal point of the ellipse.

  The projection lens 22 is a plano-convex aspheric lens having a convex front surface and a flat rear surface, and is disposed on the optical axis Ax. The projection lens 22 is arranged so that the rear focal point coincides with the second focal point of the reflecting surface of the reflector 84, and is configured to project an image on the rear focal plane as an inverted image on the vertical virtual screen. ing. The periphery of the projection lens 22 is held in the front end annular groove of the holder 36.

  As a light source of the lamp, for example, an incandescent bulb, a halogen lamp, a discharge bulb, an LED, a neon tube, a laser light source, and the like can be used. In the first embodiment, a bulb 86 configured by a halogen lamp is used as an example. Show. The valve 86 is fitted and fixed to an opening formed in the approximate center of the reflector 84.

  The vehicle headlamp device 10 includes a low beam forming shade 24 or a high beam forming shade 26 that can be individually driven, so that both a low beam light distribution pattern and a high beam light distribution pattern can be created. It is a type headlamp. The low beam forming shade 24 is connected to a low shade drive motor 34L and a gear mechanism (not shown). By operating the low shade drive motor 34L, the low beam forming shade 24 can be tilted forward or returned to the upright position, as indicated by an arrow 25 in the figure.

  The high beam forming shade 26 is connected to a high shade drive motor 32 </ b> L by a substantially L-shaped arm 37. The upper end of the arm 37 is fixed to the lower end of the high beam forming shade 26, and the lower end of the arm 37 is attached to the output shaft of the high shade drive motor 32L. When the high shade drive motor 32L operates and rotates as indicated by an arrow 35 in the drawing, the high beam forming shade 26 can turn around the output axis and move in a direction crossing the optical axis Ax. Thus, the low beam forming shade 24, the high beam forming shade 26, the low shade drive motor 34, and the high shade drive motor 32 function as an irradiation region switching means for switching the light irradiation region. This movement will be further described with reference to FIGS.

  FIG. 2 is a conceptual diagram when the low beam forming shade 24 and the high beam forming shade 26 are observed from the direction of the arrow B shown in FIG. As shown in FIG. 2, the low beam forming shade 24 has a right side portion extending horizontally below a horizontal line crossing the optical axis on the right side in the vehicle width direction so that a so-called cut-off line is formed in the low beam light distribution pattern. And a left side portion extending horizontally at a position slightly above the right side portion on the left side in the vehicle width direction has a shape connected by a central portion inclined upward to the left. The inclination angle of the central portion is, for example, 45 °.

  The high beam forming shade 26 is disposed on the back surface of the low beam forming shade 24, that is, on the light source side. As shown in FIG. 3, the high beam forming shade 26 is disposed below a horizontal line crossing the optical axis, and has a substantially rectangular shape. A vertical cut-off line is formed in the high beam distribution pattern by the vertical portion 26 a of the high beam forming shade 26.

  FIGS. 3A and 3B show a state in which the low beam forming shade 24 is tilted toward the near side with respect to the paper surface by the low shade drive motor 34L. By tilting the low beam forming shade 24, a space through which the light beam reflected by the reflector 84 can pass is created below the horizontal line of the optical axis, and a high beam light distribution pattern can be irradiated.

  The high beam forming shade 26 is movable in a direction crossing the optical axis Ax. As shown in FIG. 3A, in the initial state, the high beam forming shade 26 is arranged so that the vertical portion 26a is located on the right side of the center line of the reflector 84. As shown in FIG. In addition, the vertical portion 26 a is configured to be movable to a position on the left side of the center line of the reflector 84. It is preferable that the vertical portion 26a of the high beam forming shade 26 is continuously movable from the left end to the right end of the reflector 84 in a direction crossing the optical axis Ax.

  Note that the low beam forming shade 24 and the high beam forming shade 26 provided in the right lamp 30R are symmetrical to those of the left lamp 30L. That is, the high beam forming shade 26 provided in the right lamp 30R is arranged so that the vertical portion 26a is located on the left side of the center line of the reflector 84 in the initial state.

  4A to 4C show high beam light distribution patterns formed on a virtual vertical screen arranged at a predetermined position in front of the lamp, for example, at a position 25 m ahead of the lamp.

  FIG. 4A shows a right light distribution pattern RP formed by the right lamp 30R. The right light distribution pattern RP has a shape in which the second quadrant portion of the ellipse is cut out as a whole. The region above the HH line is slightly smaller than the region below the HH line. The three curves in the figure show the difference in illuminance, and the illuminance is higher at the center.

  The vertical line in the drawing represents the cut-off line RC formed in the right side light distribution pattern RP. As shown in FIG. 1, since the projection lens 22 composed of a plano-convex aspherical lens is disposed in front of each high beam forming shade 26 shade, the projected image formed by the high beam irradiation area is displayed on the virtual vertical screen. Note that it is upside down.

  The cut-off line RC can be moved in the horizontal direction across the optical axis Ax as indicated by an arrow in the figure. The cut-off line RC is located on the right side of the VV line in the initial state. The moving range of the cut-off line RC is determined by the movable range of the high beam forming shade 26. In FIG. 4A, it is drawn so as to move only in the first quadrant, but it is preferable that the cut-off line RC can be moved over the major part of the elliptical long axis.

  FIG. 4B shows a left light distribution pattern LP formed by the left lamp 30L. Similarly to the right side light distribution pattern RP, the left side light distribution pattern LP also has a first quadrant portion cut out as a whole, and the region above the HH line is lower than the region below the HH line. The shape is slightly smaller. The vertical cut-off line LC is positioned on the left side of the VV line in the initial state. Other configurations are the same as the cut-off line RC.

  FIG. 4C shows an overall light distribution pattern in which the right light distribution pattern RP and the left light distribution pattern LP are superimposed. The right side light distribution pattern RP and the left side light distribution pattern LP are configured to form an ellipse having the same size. Therefore, in the whole light distribution pattern in which both are superimposed, the illuminance below the HH line is twice as high as that of the single light, and the illuminance above the HH line is the same as that of the single light distribution. In accordance with the positions of the cut-off lines RC and LC of the respective light distribution patterns, a concave light shielding region S is formed above the HH line of the entire light distribution pattern. By changing the position of the cut-off line, the concave light-shielding region can be moved in the horizontal direction along the long axis of the ellipse. This will be described in detail after FIG.

  FIG. 5 is a functional block diagram showing the overall configuration of the vehicle headlamp device 10. Each block shown here can be realized in hardware by an element such as a computer CPU or memory, a mechanical device, and an electric circuit, and in software by a computer program or the like. It is drawn as a functional block realized by the cooperation. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.

  The headlamp device control unit 40 controls the lighting of the left lamp 30L and the right lamp 30R and the operation of each shade provided in the lamp. The headlamp device controller 40 issues a command to the power supply circuit 42 according to the operation of a headlamp switch (not shown) by the driver, and turns on or turns off the left lamp 30L and the right lamp 30R.

  When the driver instructs the low beam with the headlamp switch, the shade driving unit 44 is instructed to move the low beam forming shade 24 to the upright position. The shade driving unit 44 includes the low shade driving motor 34L and the low shade driving motor 34L. Activate 34R. Thereby, irradiation is performed with the light distribution pattern for low beam. When the driver instructs the high beam, the shade driving unit 44 is instructed to incline the low beam forming shade 24, and the shade driving unit 44 operates the low shade driving motors 34L and 34R. As a result, the low beam forming shade 24 is tilted forward, and irradiation is performed with the high beam light distribution pattern.

  The cut-off line change unit 50 includes a vehicle position detection unit 52, a cut-off line position determination unit 54, and a shade movement amount instruction unit 56.

  The vehicle position detection unit 52 detects a position occupied by the preceding vehicle in the light distribution pattern based on an image acquired by a CCD (Charge Coupled Device) camera 90 installed in the vehicle so as to capture the front of the vehicle. Specifically, the vehicle position detection unit 52 detects a portion corresponding to the headlight or taillight of the vehicle in an image ahead of the vehicle acquired by the camera 90 according to a known algorithm, and distributes the light distribution pattern. The vehicle position is determined in light of the HH and VV lines. The vehicle position data is output to the cut-off line position determination unit 54. Since a technique for detecting a preceding vehicle from the captured image of such a camera is well known, detailed description is omitted here.

  The cut-off line position determining unit 54 and the left side light distribution pattern RP are arranged on the left side so that a light-shielding region is formed in accordance with the vehicle position detected by the vehicle position detecting unit 52 when a high beam is instructed by the driver. The horizontal position of each cut-off line RC, LC in the light distribution pattern LP is determined. In other words, the cut-off line position is determined so that an appropriate light-shielding region that does not give glare to the preceding vehicle is formed in the entire light distribution pattern in which the right light distribution pattern RP and the left light distribution pattern LP are combined. . The cut-off line is preferably arranged so that the intersection of the cut-off line and the HH line is slightly outside the detected both ends of the preceding vehicle.

  The shade movement amount instruction unit 56 is connected to the right lamp 30R and the left side so that the cut-off lines RC and LC of the right side light distribution pattern RP and the left side light distribution pattern LP are at the horizontal position determined by the cut-off line position determining unit 54. The movement amount of the high beam forming shade 26 in the lamp 30L is calculated, and an instruction is given to the shade driving unit 44. The shade drive unit 44 sends a drive signal to the high shade drive motors 32L and 32R so that the movement amount instructed by the shade movement amount instruction unit 56 is realized.

  FIG. 6 is a diagram illustrating a configuration of the camera 90 according to the first embodiment. FIG. 6 schematically shows a right side view of the camera 90 mounted on the vehicle. The camera 90 is disposed above the inside of the passenger compartment of the windshield 92 and captures an image in front of the vehicle.

  The camera 90 includes an image sensor 100, a first optical system 102, a second optical system 104, and a shielding plate 110. The image sensor 100 is constituted by a CCD (Charge Coupled Device) image sensor. Note that the image sensor 100 may be configured by another image sensor such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

  The first optical system 102 includes a lens 106 and a support member (not shown) that supports the lens 106. The second optical system 104 includes a lens 108 and a support member (not shown) that supports the lens 108. The first optical system 102 and the second optical system 104 each form an image on each of a plurality of regions arranged in the vertical direction in the image to be imaged of the image sensor 100. As a result, a plurality of images that are long in the horizontal direction can be captured by the single image sensor 100.

  In the first embodiment, the second optical system 104 has an angle of view smaller than that of the first optical system 102, and an image in front of the vehicle in a region below the region where the first optical system 102 forms an image in the image sensor 100. Is imaged. Accordingly, the lens 108 that is further away from the image sensor 100 than the lens 106 can be disposed below the lens 106. As shown in FIG. 6, the windshield 92 of a vehicle is generally provided so as to protrude forward as it goes downward. As described above, the camera 90 is also configured such that the lens 108 disposed below protrudes forward from the lens 106 disposed above, so that the camera 90 can be installed using the space in the vehicle cabin effectively. it can.

  A shielding plate 110 is provided between the first optical system 102 and the second optical system 104, and light enters the area below the image sensor 100 from the first optical system 102 and images from the second optical system 104. Incidence of light to the region above the element 100 is suppressed.

  Note that each of the first optical system 102 and the second optical system 104 may form an image of the front of the vehicle on the image sensor 100 via a mirror or a prism. In recent years, downsizing of the image sensor has been promoted. By using the mirror or the prism in this way, even when an image is formed on a small image sensor, it is possible to configure the optical system while avoiding a situation where a space is physically insufficient.

  FIG. 7 is a schematic view of the host vehicle 120 on which the camera 90 according to the first embodiment is mounted as viewed from above. In FIG. 7, θ 1 indicates the angle of view of the first optical system 102, and θ 2 indicates the angle of view of the second optical system 104. Thus, θ2 is set smaller than θ1, and the second optical system 104 is configured to form an image farther than the first optical system 102 on the image sensor 100.

  The vehicle position detection unit 52 acquires images of both the first optical system 102 and the second optical system 104 in order to obtain a correspondence relationship between the imaging position by the first optical system 102 and the imaging position by the second optical system 104. The first reference point A1 and the second reference point A2 are specified in the corner. In the first embodiment, since the angle of view of the second optical system 104 is set to be smaller, the vehicle position detection unit 52 includes the first reference point A1 and the first reference point A1 within the angle of view of the second optical system 104. 2 A reference point A2 is specified. The first reference point A1 and the second reference point A2 are preferably around the corner portion of the rectangular imaging range on the image sensor 100 by the second optical system 104.

  As described above, each of the first optical system 102 and the second optical system 104 forms images incident on the image sensor 100 at different angles of view θ1 and θ2. Thereby, it becomes possible to appropriately image both near and far objects with the single image sensor 100. Therefore, even in the case of detecting a near object in the high beam control described later, it is possible to appropriately detect the object by using image data obtained by imaging with the single image sensor 100. Become.

  FIG. 8 is a front view of the image sensor 100 according to the first embodiment. In FIG. 8, a first region 100 a indicates a region where an image is formed by the first optical system 102, and a second region 100 b indicates a region where an image is formed by the second optical system 104. As described above, the first optical system 102 forms an image of the front of the vehicle in the first area 100a that is an upper area long in the horizontal direction of the image sensor 100. In addition, the second optical system 104 forms an image of the front in the second region 100b which is a lower region long in the horizontal direction in the image sensor 100.

  In the first embodiment, an image sensor having a width to height ratio of 4: 3 is used as in a general image sensor. On the other hand, in high beam control, which will be described later, for example, only an image formed in a horizontally long region having a width of at least twice the height with a single optical system is used for control. For this reason, regions that are not used for control are generated above and below the captured image, and it is difficult to effectively use the entire image sensor 100. In this manner, the first optical system 102 and the second optical system 104 each form an image on each of a plurality of regions arranged in the vertical direction of the image to be imaged in the image sensor 100, whereby the image sensor 100. Can be used effectively.

  In FIG. 8, a third region 100c indicates a region where an image formed in the second region 100b is imaged in the first region 100a. As described above, the first optical system 102 includes an image formed by the second optical system 104 and forms an image of a wider range than the image on the image sensor 100.

  FIG. 9 is a diagram illustrating points at which the first reference point A1 and the second reference point A2 are imaged on the front view of the image sensor 100 according to the first embodiment. The vehicle position detection unit 52 defines the position of the image formed with the lower left corner of the image sensor 100 as the origin. Here, an axis extending in the horizontal direction is an x axis, and an axis extending in the vertical direction is a y axis.

The positions of the first reference point A1 and the second reference point A2 imaged on the image sensor 100 by the first optical system 102 are defined as the first reference point P1 and the second reference point P2, and the respective coordinates are P1 (x _P1 , _yP1 ) and P2 ( _xP2 , _yP2 ). The positions of the first reference point A1 and the second reference point A2 imaged on the image sensor 100 by the second optical system 104 are defined as the first reference point Q1 and the second reference point Q2, and the respective coordinates are defined as Q1. Let (x _Q1 , y _Q1 ), Q2 (x _Q2 , y _Q2 ). Since the field angle of the second optical system 104 is smaller than the field angle of the first optical system 102, the distance between the first reference point Q1 and the second reference point Q2 is the first reference point P1 and the second reference point P2. It becomes larger than the interval.

  In the first embodiment, when the presence of a far front object and a relatively near front object existing in a long range in the horizontal direction are detected, the irradiation light to the position where the presence of the object is detected The low beam forming shade 24 and the high beam forming shade 26 are driven so that the illuminance becomes lower than the illuminance of the irradiation light to the position where the presence of the object is not detected. At this time, the vehicle position detection unit 52 uses the image imaged in the first region 100a among the image data captured by the image sensor 100, and a relatively close front object that exists in a long range in the horizontal direction. Detect the presence of an object. In addition, the vehicle position detection unit 52 detects the presence of an object far ahead using an image formed in the second region 100b among the image data captured by the image sensor 100. As described above, in order to detect the presence of the object in different regions of the image sensor 100, the vehicle position detection unit 52 acquires a correspondence relationship between the measurement points in the first region 100a and the measurement points in the second region 100b.

によって算出される。 Specifically, the vehicle position detection unit 52 calculates the distance (P1P2) between the first reference point P1 and the second reference point P2 using an image formed in the first region 100a. In addition, the vehicle position detection unit 52 calculates the distance (Q1Q2) between the first reference point Q1 and the second reference point Q2 using the image formed in the second region 100b. The magnification M of the second optical system 104 with respect to the first optical system 102 is calculated from the ratio of Q1Q2 and P1P2. Q1Q2, P1P2, and magnification M are

Is calculated by

The vehicle position detection unit 52 associates a plurality of image data obtained by forming images simultaneously on each of the first region 100a and the second region 100b. Specifically, the vehicle position detecting section 52, a first measurement point _Pn (x _{Pn, y Pn)} is first and the first reference point P1 as a reference to calculate the position of the. Next, the vehicle position detection unit 52 calculates the magnification M of the second region 100b with respect to the first region 100a by the above-described method, and multiplies the position of the first measurement point Pn with respect to the first reference point P1 by M. , Added to the coordinates of the first reference point Q1. Thus, the vehicle position detection unit 52 can calculate the second measurement point Qn (x _Qn , y _Qn ) that is a point corresponding to the first measurement point Pn in the second region 100b.

  FIG. 10 is a flowchart showing a flow of light shielding control in accordance with the vehicle position in the first embodiment. The camera 90 mounted on the vehicle takes an image in front of the vehicle (S10). The vehicle position detection unit 52 detects a position occupied by an object such as a preceding vehicle in the high beam light distribution pattern based on the captured image (S12).

  At this time, the vehicle position detection unit 52 detects the position of the far front object using the image formed in the second region 100b. In addition, the vehicle position detection unit 52 detects the position of the object in the range imaged in the first area 100a without being imaged in the second area 100b, using the image imaged in the first area 100a. At this time, the vehicle position detection unit 52 detects the position of the object ahead of the vehicle using the acquired correspondence relationship between the first measurement point Pn and the second measurement point Qn.

  The cut-off line position determination unit 54 determines the cut-off line positions in the right light distribution pattern RP and the left light distribution pattern LP so that an overall light distribution pattern with the vehicle portion as a light shielding region is formed based on the detected vehicle position. Determine (S14). The shade movement amount instruction unit 56 determines the movement amount of the high beam forming shade 26 in the left lamp 30L and the right lamp 30R according to the determined cut-off line position (S16). The shade drive unit 44 transmits a control signal corresponding to the shade movement amount to the high shade drive motors 32R and 32L (S18). As described above, the vehicle position detection unit 52 operates the low beam forming shade 24 and the high beam forming shade 26 using the image data captured and generated in each of the first region 100a and the second region 100b by the image sensor 100. To control.

  The operation of the first embodiment having the above configuration is as follows. When a preceding vehicle is detected, a high beam is generated in the left and right lamps so that a right light distribution pattern with a cut-off line located at the right end of the vehicle position and a left light distribution pattern with a cut-off line located at the left end of the vehicle are formed. Move the forming shade. By irradiating the entire light distribution pattern in which the left and right light distribution patterns thus created are superimposed, it is possible to achieve a light distribution that does not give glare to the driver of the preceding vehicle.

  Next, the shape of the light shielding area in the light distribution pattern corresponding to the vehicle position of the preceding vehicle will be described with reference to FIGS.

  FIG. 11 shows a state in which the preceding vehicle 70 is observed while the host vehicle is traveling on the straight road 72. The cut-off line position determination unit 54 determines the position of the cut-off line RC of the right side light distribution pattern so that the intersection with the HH line comes to the right end of the preceding vehicle 70, and HH at the left end of the preceding vehicle 70. The position of the cut-off line LC of the left light distribution pattern LP is determined so that the intersection with the line comes.

  FIG. 12 shows an overall light distribution pattern in which the right side light distribution pattern RP having the cutoff line determined by the cutoff line position determination unit 54 and the left side light distribution pattern LP are overlapped. As shown in the drawing, a concave light shielding region S formed by the cut-off lines RC and LC is formed in the entire light distribution pattern in accordance with the position of the preceding vehicle 70. As a result, the road surface is irradiated with a light distribution pattern that does not give glare to the driver of the preceding vehicle 70 and minimizes the light shielding area.

  FIG. 13 shows a state in which the preceding vehicle 70 is observed while the host vehicle is traveling on the curved road 76. In this figure, unlike the case of FIG. 11, the forward vehicle 70 is located on the left side away from the VV line. Even in such a case, the light shielding region can be moved in accordance with the vehicle position.

  The cut-off line position determination unit 54 arranges the intersection of the cut-off line RC and the H-H line according to the right end of the preceding vehicle 70, and also sets the cut-off line LC and the H-H line according to the left end of the preceding vehicle 70. Place the intersection with.

  FIG. 14 shows the overall light distribution pattern in which the right side light distribution pattern RP having the cutoff line determined by the cutoff line position determination unit 54 and the left side light distribution pattern LP are overlapped. As shown in the drawing, even when the horizontal position of the preceding vehicle is shifted to the left, it is possible to form the entire light distribution pattern having the minimum light-shielding region S that matches the vehicle position.

  FIG. 15 shows a state in which the preceding vehicle 70a and the oncoming vehicle 70b are observed while the host vehicle is traveling on the curved road 78. When a plurality of vehicles are captured in the photographed image as in this time, the cut-off line position determining unit 54 arranges the intersection of the cut-off line RC and the HH line according to the right end of the rightmost vehicle. At the same time, the intersection of the cut-off line LC and the HH line is arranged in accordance with the left end of the leftmost vehicle.

  FIG. 16 shows an overall light distribution pattern in which the right side light distribution pattern RP having the cutoff line determined by the cutoff line position determination unit 54 and the left side light distribution pattern LP are overlapped. As shown in the figure, when there are a plurality of preceding vehicles, the light shielding region S has a horizontally long rectangular shape. However, even at this time, it is possible to irradiate the road surface with a light distribution pattern that does not give glare to any driver of the preceding vehicle and minimizes the light shielding area.

  As described above, according to the first embodiment, in the headlamp device that creates a high beam light distribution pattern by superimposing the right light distribution pattern and the left light distribution pattern, the right lamp and the left lamp By driving the high beam forming shade, the cutoff line position can be moved in the horizontal direction within the light distribution pattern. Accordingly, the light shielding region can be freely moved in the horizontal direction by a combination of the left and right cut-off lines. Therefore, an overall light distribution pattern in which only the front vehicle position is the light shielding region can be created. If the shade is configured so that it can move continuously, the cut-off line position also moves continuously within the light distribution pattern, so depending on the horizontal position and size of the preceding vehicle, and the number of vehicles Can be set optimally. Therefore, the illuminance on the road surface can be ensured with the light shielding range being minimized without giving glare to the driver of the preceding vehicle.

  When the cut-off line is moved within the high beam light distribution pattern to form the light shielding region as in the first embodiment, there are the following advantages. That is, when switching from a high beam to a low beam so as not to give glare to the preceding vehicle, it becomes impossible to irradiate both sides of the preceding vehicle, resulting in a decrease in forward visibility. In the embodiment, the forward visibility is hardly impaired.

  In addition, if the lamp is swiveled so as to avoid the preceding vehicle, the light-shielding area will become larger than necessary, or both sides of the road will be unnecessarily illuminated in a wide range, and the vehicle will run on the left and right sides. There is a possibility of glare on vehicles and pedestrians. On the other hand, in the first embodiment, since the direction of the light beam emitted from the lamp is unchanged, there is no such fear.

  In addition, when the lamp is swiveled, the light distribution on the road surface changes greatly, which may cause trouble for the driver. However, in the first embodiment, at least regardless of the presence of the preceding vehicle and its position, at least Since the illuminance does not change in the region below the HH line, the light shielding can be controlled with a natural feeling.

(Second Embodiment)
FIG. 17 is a diagram illustrating an area to be imaged by the first optical system and the second optical system according to the second embodiment. In the second embodiment, each of the first optical system and the second optical system displays the images of the left imaging region 130L and the right imaging region 130R aligned in the horizontal direction, and the first region 100a and the first imaging region 100 in the imaging device 100. An image is formed on each of the second regions 100b. At this time, each of the first optical system and the second optical system forms an image on the image sensor 100 that is incident at the same angle of view. The number of optical systems may be three or more. In this case, each of the plurality of optical systems forms an image of each of the two imaged regions arranged in the horizontal direction on the plurality of regions arranged in the vertical direction on the image sensor 100.

  FIG. 18 is a diagram illustrating a state in which an image of the left imaged region 130L is formed on the first region 100a and an image of the right imaged region 130R is formed on the second region 100b. As described above, even in the image of the imaged region aligned in the horizontal direction, a high-definition image can be obtained by efficiently using the area of the image sensor 100 by forming each image in an area aligned in the vertical direction in the image sensor 100. Imaging can be performed.

  The present invention is not limited to the above-described embodiments, and an appropriate combination of the elements of each embodiment is also effective as an embodiment of the present invention. Various modifications such as design changes can be added to each embodiment based on the knowledge of those skilled in the art, and embodiments to which such modifications are added can also be included in the scope of the present invention. Here are some examples.

  The present invention is not limited to the above-described embodiments, and various modifications such as design changes can be added based on the knowledge of those skilled in the art. The configuration shown in each drawing is for explaining an example, and can be appropriately changed as long as the configuration can achieve the same function.

  For example, the lamp 30 in each embodiment is a so-called reflection type, but the lamp 30 may be a direct-light type in which the projection lens 22 is directly irradiated with light from the bulb 86.

  The cut-off line formed in the right light distribution pattern and the left light distribution pattern may be a curved line or an inclined line. Thereby, a U-shaped or V-shaped light shielding region can be formed in the entire light distribution pattern.

  In the embodiment, it has been described that the right lamp forms the right light distribution pattern and the left lamp forms the left light distribution pattern, but this relationship may be reversed. That is, the right lamp may form the left light distribution pattern, and the left lamp may form the right light distribution pattern.

  In the embodiment, the right lamp and the left lamp have been described as being switchable between the low beam and the high beam, but these may be lamps dedicated to the high beam. That is, a configuration in which only the high beam forming shade is provided in the lamp may be employed.

  In the embodiment, it has been described that the cut-off line in the light distribution pattern is moved by driving the high beam forming shade in a direction crossing the optical axis. However, instead of this configuration, a so-called rotary shade in which a plurality of high beam forming shades, each having a different shielding area, are attached to the circumferential side surface of the rotating shaft with a space therebetween is provided in the lamp, and the shaft is rotated to either one of them. The cut-off line in the light distribution pattern may be moved by adjusting the shade to the focus of the reflector.

  Moreover, you may use the lamp | ramp which has the structure which can move the high beam formation shade which concerns on embodiment in combination with a well-known swivel mechanism. Thereby, the irradiation control according to the curve of the vehicle can be performed while preventing glare to the driver of the preceding vehicle.

  In a modification, the vehicle on which the vehicle headlamp device 10 is mounted includes a vehicle control unit (not shown) having a CPU, a ROM, a RAM, and the like. The vehicle position detection unit 52 of the headlamp device control unit 40 uses a video image formed in the second region 100b or a video image formed in both the first region 100a and the second region 100b. The above-described high beam control is carried out by detecting the presence of. The vehicle control unit performs vehicle control in a safety pre-crash, a lane departure warning system, an auto cruise control system (a preceding vehicle automatic follow-up traveling system), and the like, using an image formed in the first region 100a. Since these control methods are well-known, description is abbreviate | omitted. As described above, the images formed in the first region 100a and the second region 100b can be used for different types of control.

  In another modification, an optical filter is provided in one or both of the first optical system and the second optical system. This optical filter may be, for example, an infrared filter that transmits infrared light and blocks visible light. By using the optical filter in this way, it is possible to pick up an image with a single image pickup element even when picking up images in various image pickup forms.

1 is a schematic vertical sectional view of a vehicle headlamp device according to an embodiment of the present invention. It is a conceptual diagram when the shade for low beam formation and the shade for high beam formation are observed from the arrow B shown in FIG. (A), (b) is a figure which shows a mode when the shade for low beam formation inclines to the near side with respect to the paper surface. (A)-(c) is a figure which shows the light distribution pattern for high beams formed on the virtual vertical screen ahead of a lamp. It is a functional block diagram which shows the whole structure of the vehicle headlamp apparatus. It is a figure which shows the structure of the camera which concerns on 1st Embodiment. It is the schematic diagram which looked at the own vehicle carrying the camera concerning a 1st embodiment from the upper part. It is a front view of the image sensor which concerns on 1st Embodiment. It is the figure which showed the point where each of 1st reference point A1 and 2nd reference point A2 is imaged in the front view of the image pick-up element in 1st Embodiment. It is a flowchart which shows the flow of the light-shielding control according to a vehicle position. It is a figure which shows a mode that the preceding vehicle was observed while the own vehicle drive | worked the straight road. It is a figure which shows a mode when the right side light distribution pattern shown in FIG. 11 and the left side light distribution pattern are irradiated. It is a figure which shows a mode that the front vehicle was observed while the own vehicle drive | worked the curved road. It is a figure which shows a mode when the right side light distribution pattern shown in FIG. 13 and the left side light distribution pattern are irradiated. It is a figure which shows a mode that the preceding vehicle and the oncoming vehicle were observed while the own vehicle drive | worked the curved road. It is a figure which shows a mode when the right side light distribution pattern shown in FIG. 15 and the left side light distribution pattern are irradiated. It is a figure which shows the to-be-imaged area | region by the 1st optical system and 2nd optical system which concern on 2nd Embodiment. It is a figure which shows the state in which the image | video of the left imaging region was imaged in the 1st area | region, and the image | video of the right imaging region was imaged in the 2nd area | region.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Vehicle headlamp apparatus, 24 Low beam formation shade, 26 High beam formation shade, 32L and 32R High shade drive motor, 34L and 34R Low shade drive motor, 40 Headlamp apparatus control part, 44 Shade drive part, 50 Cut-off line change unit, 52 Vehicle position detection unit, 54 Cut-off line position determination unit, 56 Shade movement amount instruction unit, 90 Camera, 92 Windshield, 100 Image sensor, 102 First optical system, 104 Second optical system, 106 Lens , 108 lens, 110 shielding plate, 100a first region, 100b second region.

Claims (5)

An image sensor;
A plurality of optical systems that each form an image on each of a plurality of regions arranged in the vertical direction in the image to be imaged of the image sensor;
An imaging apparatus comprising:   2. The imaging apparatus according to claim 1, wherein each of the plurality of optical systems forms images incident on the imaging element at different angles of view.   The imaging apparatus according to claim 1, wherein each of the plurality of optical systems forms an image of each of a plurality of imaging regions arranged in a horizontal direction on the imaging element. An image sensor;
A plurality of optical systems that each form an image on each of a plurality of regions arranged in the vertical direction in the image to be imaged of the image sensor;
Irradiation area switching means for switching the light irradiation area;
Control means for controlling the operation of the irradiation area switching means using image data imaged and generated by the imaging device;
A vehicle headlamp device comprising:   The vehicle headlamp device according to claim 4, wherein the control unit associates a plurality of images obtained by simultaneously imaging each of the plurality of regions with each other.

Images