JP2010137757A - Failure detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect whether or not a failure occurs in a lamp device without providing a current detection circuit. <P>SOLUTION: Image data photographed by a front camera 21 or a rear camera 23 mounted to a vehicle are analyzed to determine whether or not a head lamp 25, a brake lamp 27, and a reverse lamp 29 that form the lamp device are normally operated. Thereby, whether or not the lamp device normally are operated can be easily determined without providing the current detection circuit separately. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a failure detection device that is applied to a vehicle equipped with a camera for photographing the outside of a passenger compartment and detects a failure of a lighting device mounted on the vehicle.

For example, in the invention described in Patent Document 1, a current detection circuit that detects a current supplied to a lamp of a lighting device is provided in addition to a power supply circuit (lighting circuit) for the lighting device, and a detection value of the current detection circuit Based on the above, failure of the lighting device such as disconnection of the lamp is detected.
JP-A-5-319171

  However, in the invention described in Patent Document 1, in order to detect whether or not a failure has occurred in the lighting device, a current detection circuit that detects current in addition to the power supply circuit (lighting circuit) for the lighting device is required. There is a problem that.

  In view of the above points, an object of the present invention is to detect whether or not a failure has occurred in a lighting device without providing a current detection circuit.

  In order to achieve the above object, the present invention is applied to a vehicle equipped with a camera (21, 23) for photographing the outside of the passenger compartment in the invention according to claim 1, and a failure of a lighting device mounted on the vehicle is achieved. Is a failure detection device for detecting the image data, which is input via the data input unit (3) and the data input unit (3) to which data of an image taken by the camera (21, 23) is input. It comprises image determining means (S3, S25, S33, 9) for determining whether or not the lighting device (25, 27, 29) is operating normally by analyzing the image data.

  Thereby, in invention of Claim 1, without providing an electric current detection circuit separately, using the image data output from the camera (21, 23) previously mounted in the vehicle, the lighting device (25, 27, 29) can be determined whether or not it is operating normally.

  In addition, the cameras (21, 23) previously mounted on the vehicle refer to a front confirmation camera, a rear confirmation camera, or the like, which is mounted in order to enhance the safe driving performance by assisting the driving of the vehicle. .

  The lighting device refers to a headlight device (including those having an optical axis adjustment function), a brake lamp (including an LED type), a reverse lamp (including an LED type), and the like.

  Further, in “determining whether or not the lighting device is operating normally by analyzing image data”, for example, based on whether or not illuminance (luminance) of a predetermined value or more could be detected. Can be determined.

  According to the second aspect of the present invention, a warning is issued when the image determination means (S3, S25, S33, 9) determines that the lighting device (25, 27, 29) is not operating normally. Means (S5, S27, S35, 7, 11) are provided.

  Thereby, in invention of Claim 2, it can alert | report to the vehicle passengers, such as a driver | operator, that the failure has occurred in the lighting device (25, 27, 29).

  According to the third aspect of the present invention, the on-state detection means (S1, S27, 29) for detecting whether or not the switch means (25A, 27A, 29A) for operating the lighting device (25, 27, 29) is on. S29, 9), and the image determination means (S3, S25, S33, 9) is determined by the input state detection means (S1, S27, S29, 9) that the switch means (25A, 27A, 29A) has been input. If the light emitted from the lighting device (25, 27, 29) cannot be detected, it is estimated that a failure has occurred in the light source of the lighting device (25, 27, 29). .

  Thus, in the invention described in claim 3, since the presence / absence of the failure is determined when the switch means (25A, 27A, 29A) is turned on, it is possible to suppress erroneous detection relating to the failure of the light source. Note that “false detection of a light source failure” refers to, for example, detecting that a light source has failed even though the light source has not failed.

  Moreover, in invention of Claim 4, a lighting apparatus (25, 27, 29) has an actuator (33A-33D) for moving the optical axis of the irradiated light, and an actuator (33A-33D) Is provided with an operating state detecting means (S47, S53, S87, S93, 9) for detecting whether or not the operating state is to be operated, and the image determining means (S3, S25, S33, 9) is operated. When it is determined by the state detection means (S47, S53, S87, S93, 9) that the actuators (33A to 33D) are to be operated, light should be emitted by the operation of the actuators (33A to 33D). When light cannot be detected at the position, it is estimated that a failure has occurred in the actuators (33A to 33D).

  Thus, in the invention described in claim 4, since the presence or absence of a failure is determined when the actuator (33A to 33D) is in a state to be operated, erroneous detection relating to the failure of the actuator (33A to 33D) is suppressed. it can.

  Note that “false detection of actuator failure” means, for example, that a failure has occurred in the actuators (33A to 33D) even though no failure has occurred in the actuator.

  In addition, the state in which the actuators (33A to 33D) are to be operated is, for example, a state in which steering is operated (a steering angle on a steered wheel) in a vehicle including an actuator that moves an optical axis according to the turning state of the vehicle. State in which the occurrence of the above).

  Incidentally, the reference numerals in parentheses for each of the above means are examples showing the correspondence with the specific means described in the embodiments described later, and the present invention is indicated by the reference numerals in the parentheses of the above respective means. It is not limited to specific means.

  In the present embodiment, the failure detection apparatus according to the present invention is applied to an ordinary passenger car (hereinafter referred to as a vehicle), and the embodiment of the present invention will be described below with reference to the drawings.

(First embodiment)
1. DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a failure detection apparatus according to the present embodiment, FIGS. 2 (a) to 2 (c) are diagrams showing installation locations of cameras and the like, and FIG. 3 is a brake lamp failure. FIG. 4 is a diagram showing a detection flow, FIG. 4 is a diagram showing a lighting determination flow, FIG. 5 is a diagram showing a reverse lamp failure detection flow, and FIG. 6 is a diagram showing a headlamp failure detection flow.

2. Configuration of Failure Detection Device According to this Embodiment As shown in FIG. 1, a failure detection device 1 according to the present invention includes a camera interface 3, a switch (SW) interface 5, a warning light drive circuit 7, and an electronic control device. (ECU) 9 and sensor interface 13 and the like.

  The camera interface 3 is a data input unit to which data of images photographed by the front camera 21 and the rear camera 23 that photograph the outside of the passenger compartment is input, and the switch interface 5 includes a headlamp (headlight) 25, This is a switch information input unit to which an ON (ON) signal or an OFF (OFF) signal of operation switches 25A, 27A, 29A of lighting devices mounted on a vehicle such as a brake lamp 27 and a reverse (back) lamp 29 is input.

  As shown in FIGS. 2A and 2B, the front camera 21 is an imaging unit that is disposed in the rear-view mirror or in the vicinity of the rear-view mirror and captures the front side of the vehicle, and the rear camera 23. FIG. 2A and FIG. 2C are imaging means for photographing the vehicle rear side disposed on the rear end side of the vehicle, as shown in FIGS. Incidentally, the front camera 21 and the rear camera 23 are front and rear confirmation cameras mounted on the vehicle in order to enhance driving safety by assisting driving of the vehicle.

  As shown in FIG. 1, the warning light drive circuit 7 is a driving means for lighting a warning light 11 provided on an instrument panel such as a meter panel based on a control signal issued from the electronic control device 9. The electronic control device 9 issues a control signal to the warning light drive circuit 7 based on signals output from the camera interface 3 and the switch interface 5.

  The electronic control unit 9 is a control unit configured by a well-known microcomputer including a CPU, a RAM, a RAM, and the like, and a control program shown by a flowchart to be described later is stored in a nonvolatile storage device such as a ROM. It is remembered. The electronic control unit 9 (CPU) reads a program stored in a ROM or the like, and controls the warning lamp drive circuit 7 according to the read program.

  Incidentally, although one warning light 11 is shown in FIG. 1, actually, a warning light for notifying the failure of the headlamp 25, a warning light for notifying the failure of the brake lamp 27, and the reverse lamp 29 The warning light drive circuit 7 receives a control signal from the electronic control device 9 and turns on one of the warning lights.

  The illuminance sensor 31 is illuminance detection means for mainly detecting the illuminance around the front side of the vehicle. The output of the illuminance sensor 31 is input to the electronic control unit 9 via the sensor interface 13. Incidentally, the illuminance sensor 31 is installed on a dashboard near the windshield (see FIG. 2A).

3. Operation of failure detection apparatus according to present embodiment 3.1. Brake lamp failure detection (see Figs. 3 and 4)
When an ignition switch (not shown) of the vehicle is turned on by a driver or the like, electric power is supplied from a battery (not shown) mounted on the vehicle to the electronic control unit 9, and the control flow shown in FIG. (Hereinafter, this control flow is referred to as a brake lamp failure detection flow.) After a program for executing the brake lamp failure detection flow is read from the ROM or the like into the electronic control device 9 (CPU), the brake failure in the electronic control device 9 (CPU) A detection flow is executed.

  Note that the brake lamp failure detection flow starts when the ignition switch is turned on and ends (stops) when the ignition switch is turned off. The ignition switch is a means for selecting whether or not a state in which electric power can be supplied from the battery to the electric device mounted on the vehicle is selected.

  When the brake lamp failure detection flow is activated, first, as shown in FIG. 3, is the operation switch 27A (hereinafter referred to as brake SW 27A) for turning on the brake lamp 27 turned on (ON)? If it is determined whether or not (S1) and the brake SW 27A is not applied, that is, it is determined that the brake SW 27A is shut off (OFF) (S1: NO), S1 is executed again.

  On the other hand, if it is determined that the brake SW 27A is turned on (S1: YES), the light emitted from the brake lamp 27 of the vehicle can be detected based on the image data photographed by the rear camera 23. Whether or not the brake lamp 27 of the own vehicle is lit (S3). If it is determined that the brake lamp 27 is not lit (S3: NO), the brake lamp 27 ( After the warning lamp 11 for notifying (warning) of the failure of the light source is turned on (S5), S1 is executed again.

  If it is determined that the brake lamp 27 is lit (S3: YES), S1 is executed again. Whether or not the brake lamp 27 is lit is determined by, for example, a control flow shown in FIG. 4 (hereinafter, this control flow is referred to as a lighting determination flow).

  That is, in the lighting determination flow, first, the image data photographed by the rear camera 23 via the camera interface 3 is taken into the electronic control device 9 (S11), and based on the color change and the luminance change, The area illuminated by the brake lamp 27 is specified (S13).

  Next, after the average luminance of the area illuminated by the specified brake lamp 27 is calculated (S15), it is determined whether or not the calculated average luminance is larger than a predetermined threshold value (S15). S17).

  At this time, if it is determined that the average brightness is greater than the threshold value (S17: YES), a signal indicating that the brake lamp 27 is lit is output to the brake lamp failure detection flow (S19). Is determined not to be larger than the threshold value (S17: NO), a signal indicating that the brake lamp 27 is turned off is output to the brake lamp failure detection flow (S21).

3.2. Reverse lamp failure detection (see Fig. 5)
When the ignition switch of the vehicle is turned on by a driver or the like, electric power is supplied from the battery to the electronic control unit 9, and a control flow shown in FIG. 5 (hereinafter, this control flow is referred to as a reverse lamp failure detection flow) is executed. After the program for reading is read from the ROM or the like into the electronic control unit 9 (CPU), a reverse lamp failure detection flow is executed by the electronic control unit 9 (CPU). The reverse lamp failure detection flow starts when the ignition switch is turned on and ends (stops) when the ignition switch is turned off.

  When the reverse lamp failure detection flow is activated, it is first determined whether or not an operation switch 29A (hereinafter referred to as reverse SW 29A) for turning on the reverse lamp 29 is turned on (S23). ) If it is determined that the reverse SW 29A is not turned on (S23: NO), S23 is executed again.

  Incidentally, the reverse SW 29A is provided in a vehicle transmission (not shown), a shift (change) lever or the like, and when the transmission is in a reverse (retractable) state, the reverse SW 29A is turned on, When it is possible to move forward, the reverse SW 29A is shut off.

  On the other hand, if it is determined that the reverse SW 29A has been turned on (S23: YES), the vehicle's own vehicle is detected in the same manner as the lighting determination flow based on the image data captured by the rear camera 23. It is determined whether or not the reverse lamp 29 is lit (S25).

  When it is determined that the reverse lamp 29 is not lit (S25: NO), after the warning lamp 11 for notifying (warning) the failure of the reverse lamp 29 (light source) is lit (S27). S23 is executed again. On the other hand, if it is determined that the reverse lamp 29 is lit (S27: YES), S23 is executed again.

3.2. Headlamp failure detection (see Fig. 6)
When the ignition switch of the vehicle is turned on by a driver or the like, electric power is supplied from the battery to the electronic control unit 9, and a control flow shown in FIG. 6 (hereinafter, this control flow is referred to as a headlamp failure detection flow) is executed. After the program for reading is read from the ROM or the like to the electronic control unit 9 (CPU), the head lamp failure detection flow is executed by the electronic control unit 9 (CPU). The headlamp failure detection flow starts when the ignition switch is turned on, and ends (stops) when the ignition switch is turned off.

  When the headlamp failure detection flow is activated, it is first determined whether or not an operation switch 25A (hereinafter referred to as headlamp SW25A) for turning on the headlamp 25 is turned on (ON). S29) If it is determined that the headlamp SW25A is not turned on (S29: NO), S29 is executed again.

  On the other hand, when it is determined that the headlamp SW25A is turned on (S29: YES), it is determined whether or not the illuminance detected by the illuminance sensor 31 is smaller than a predetermined threshold (S31). If it is determined that the illuminance detected by the sensor 31 is greater than or equal to the threshold (S31: NO), S29 is executed again.

  When it is determined that the illuminance detected by the illuminance sensor 31 is smaller than the threshold (S31: YES), the same method as the lighting determination flow described above is based on the image data captured by the front camera 21. In step S33, it is determined whether or not the headlamp 25 of the vehicle is on.

  When it is determined that the headlamp 25 is not lit (S33: NO), after the warning lamp 11 for notifying (warning) the failure of the headlamp 25 (light source) is lit (S35). S29 is executed again. On the other hand, if it is determined that the headlamp 25 is lit (S33: YES), S29 is executed again.

  In the present embodiment, it is determined whether or not the illuminance detected by the illuminance sensor 31 is smaller than the threshold value when the illuminance detected by the illuminance sensor 31 is large, such as in the daytime. This is because it is difficult to identify the area illuminated by the.

  Therefore, a determination step similar to S31 may be provided also in the brake lamp failure detection flow and the reverse lamp failure detection flow. However, in the present embodiment, by using the illuminance sensor 31 provided in the vehicle in advance to automatically control the lighting of the headlamp 25, the addition of new parts is suppressed and the existing parts are effectively used. Therefore, S31 is provided only in the headlamp failure detection flow.

4). Features of Failure Detection Device According to this Embodiment In this embodiment, a headlamp 25 and a brake that constitute a lighting device are analyzed by analyzing image data taken by a front camera 21 or a rear camera 23 mounted on a vehicle. Since it is determined whether the lamp 27 and the reverse lamp 29 are operating normally, it is possible to easily determine whether the lighting device is operating normally without providing a separate current detection circuit.

  Further, in this embodiment, when it is determined that the head lamp 25, the brake lamp 27, and the reverse lamp 29 constituting the lighting device are not operating normally (S3: NO, S25: NO, S33: NO), a warning is given. Since warnings are issued in S5, S27, and S35, which are means, it is possible to notify a vehicle occupant such as a driver that a failure has occurred in the lighting device.

  Further, in this embodiment, when it is determined that the operation switches 25A, 27A, 29A serving as switch means for operating the head lamp 25, the brake lamp 27, and the reverse lamp 29 are turned on (S1: YES, S23: YES, S29: YES)), when the light emitted from the headlamp 25, the brake lamp 27, and the reverse lamp 29 constituting the lighting device cannot be detected, it is estimated that a failure has occurred in the light source of the lighting device. It is possible to suppress erroneous detection related to failure.

  Note that “false detection of a light source failure” refers to, for example, detecting that a light source has failed even though the light source has not failed.

(Second Embodiment)
In the present embodiment, as shown in FIG. 7, the failure detection device according to the present invention is applied to a lighting device having actuators 33A to 33D for moving the optical axis of light emitted from a light source such as a headlamp 25. Is.

1. FIG. 7 is a block diagram of the failure detection apparatus according to the present embodiment, FIG. 8 is a view showing an installation location of a camera and the like, and FIG. 9 is a view showing a swivel actuator failure detection flow. 10 (a) to 10 (c) are explanatory diagrams of the determination principle, FIG. 11 is a diagram showing a control flow for executing the determination principle, and FIG. 12 is a diagram showing a leveling actuator failure detection flow. 13 is a diagram showing the determination principle of S87 in FIG. 12, and FIG. 14 is a diagram showing details of S87 in FIG.

2. Configuration of Failure Detection Device According to this Embodiment Of the actuators 33A to 33D for moving the optical axis of light emitted from a light source such as the headlamp 25, the left swivel actuator 33A is provided on the left side as shown in FIG. The right swivel actuator 33B is an electric type that moves the optical axis of the right headlamp 25 in the left-right direction. The left leveling actuator 33C is an electric type that moves the optical axis of the left headlamp 25 up and down, and the right leveling actuator 33D is an electric type that moves the optical axis of the right headlamp 25 up and down. Is.

  The operations of the actuators 33A to 33D are controlled by the electronic control device 9 via the actuator drive circuit 15, and the electronic control device 9 includes a vehicle speed sensor 35, a steering angle sensor 37, a front vehicle height sensor 39, and Based on the detection signal of the rear vehicle height sensor 41 and a program stored in the ROM or the like, a control signal is output to the actuator drive circuit 15 to control the operation of each actuator 33A to 33D.

  The detection signals of the vehicle speed sensor 35, the steering angle sensor 37, the front vehicle height sensor 39, and the rear vehicle height sensor 41 are input to the electronic control unit 9 via the sensor interface 13. The vehicle speed sensor 35 is speed detection means for detecting the traveling speed of the vehicle, and the steering angle sensor 37 is steering amount detection means for detecting a steering amount of a steering device such as a steering wheel or a steering angle of a steering wheel.

  The front vehicle height sensor 39 is vehicle height detection means for detecting the vehicle height on the front side of the vehicle. In the present embodiment, the front vehicle height sensor 39 is provided at the front wheel portion as shown in FIG. ing. The rear vehicle height sensor 41 is vehicle height detection means for detecting the vehicle height on the rear side of the vehicle. In the present embodiment, the rear vehicle height sensor 41 is provided at the rear wheel portion.

3. Operation of failure detection apparatus according to present embodiment 3.1. Basic Actuation of Actuators Actuators 33A to 33D provided in a headlight device that constitutes a lighting device automatically move the optical axis according to the attitude of the vehicle.

  Specifically, when the steering wheel (front wheel) is steered to the right side, the electronic control unit 9 moves the optical axis of at least the right headlamp 25 to the right side according to the steering angle, and conversely steers. When the wheel is steered to the left side, the traveling direction (steering direction) side is illuminated by the headlamp 25 by moving at least the optical axis of the left headlamp 25 to the left according to the steering angle.

  When the steering angle decreases and the vehicle goes straight, the electronic control unit 9 controls the operation of the actuators 33A and 33B so that the optical axis approaches the vehicle longitudinal direction accordingly.

  Further, the electronic control unit 9 moves the optical axis of the headlamp 25 upward when the vehicle is in a posture such that the front side of the vehicle is lowered by the detection values of the front vehicle height sensor 39 and the rear vehicle height sensor 41. On the contrary, when the vehicle is in a posture in which the rear of the vehicle is lowered, the irradiation distance illuminated by the headlamp 25 is substantially reduced regardless of the vehicle posture by moving the optical axis of the headlamp 25 downward. To be constant.

  The above control operation (hereinafter, this control operation is referred to as a basic control operation) is started when the headlamp SW24A is turned on, and is stopped when the headlamp SW24A is shut off.

  Note that a failure relating to the light source of the lighting device such as the headlamp 25 is detected by the same configuration and operation as in the first embodiment.

3.2. Actuator failure detection operation 3.2.1. Failure detection of the swivel actuators 33A and 33B When the ignition switch of the vehicle is turned on by a driver or the like, electric power is supplied from the battery to the electronic control unit 9, and the control flow shown in FIG. A program for executing the failure detection flow is read from the ROM or the like into the electronic control unit 9 (CPU), and then the swivel actuator failure detection flow is executed by the electronic control unit 9 (CPU). The swivel actuator failure detection flow starts when the ignition switch is turned on and ends (stops) when the ignition switch is turned off.

  When the swivel actuator failure detection flow is activated, it is first determined whether or not the headlamp SW25A is turned on (S41). If it is determined that the headlamp SW25A is not turned on (S41: NO), S41 is executed again.

  On the other hand, when it is determined that the headlamp SW25A is turned on (S41: YES), it is determined whether or not the illuminance detected by the illuminance sensor 31 is smaller than a predetermined threshold (S43). When it is determined that the illuminance detected by the above is equal to or greater than the threshold (S43: NO), S41 is executed again.

  When it is determined that the illuminance detected by the illuminance sensor 31 is smaller than the threshold (S43: YES), it is determined whether the vehicle is turning right based on the detection value of the steering angle sensor 37. If it is determined that the vehicle is not turning right (S45: NO), whether or not the vehicle is turning left is determined based on the detected value of the steering angle sensor 37 (S51). .

  On the other hand, if it is determined that the vehicle is turning right (S45: YES), whether or not the optical axis of the headlamp 25 is directed to the right is determined based on the image data captured by the front camera 21. If it is determined (S47) and it is determined that the optical axis of the headlamp 25 is directed to the right (S47: YES), whether or not the vehicle is turning left based on the detected value of the steering angle sensor 37 is determined. Is determined (S51). The details of determining whether or not the optical axis of the headlamp 25 is directed to the right will be described later.

  If it is determined that the optical axis of the headlamp 25 is not directed to the right side (S47: NO), it is determined that the actuator 33B is not operating according to the basic control operation, and a failure of the actuator 33B is notified (warning). ) Is turned on (S49), it is determined whether the vehicle is turning left based on the detection value of the steering angle sensor 37 (S51).

  If it is determined that the vehicle is not turning left (S51: NO), S41 is executed again. On the other hand, if it is determined that the vehicle is turning left (S51: YES), S47 and It is determined whether or not the optical axis of the headlamp 25 is directed to the left side by a similar method (S53), and when it is determined that the optical axis of the headlamp 25 is directed to the left side (S53: YES), S41 is executed again.

  On the other hand, when it is determined that the optical axis of the headlamp 25 is not directed to the left side (S53: NO), it is determined that the actuator 33A is not operating according to the basic control operation, and a failure of the actuator 33A is notified (warning). ) Is turned on (S55), S41 is executed again.

3.2.2. Determination of whether or not the optical axis of the headlamp 25 is directed to the right or left side <Determination principle>
FIG. 10A to FIG. 10C show image images of image data taken by the front camera 21, and an area (hereinafter, referred to as “white” portion of the image image illuminated by the headlamp 25). This area is referred to as an irradiation area), and a black portion is an area that is not illuminated by the headlamp 25 (hereinafter, this area is referred to as a non-irradiation area).

  When the vehicle is not turning, as shown in FIG. 10 (a), the irradiation area has a substantially right and left trapezoidal shape, whereas the vehicle turns and the basic control operation is normally performed. In the case of being present, as shown in FIG. 10B or FIG.

  That is, in FIG. 10A to FIG. 10C, the optical axis direction indicated by the two-dot chain line is a virtual connecting the midpoint of the upper base portion and the midpoint of the lower base portion of the substantially trapezoidal irradiation region. When the vehicle is not turning, the optical axis direction is substantially orthogonal to the upper or lower base portion of the irradiation area.

  When the vehicle is turning right, the optical axis direction is tilted to the right as compared to when the vehicle is not turning. On the other hand, when the vehicle is turning left, the optical axis direction is that the vehicle is turning. It leans to the left compared to when it is not.

  Therefore, in the present embodiment, any one of the angles formed by the lower bottom portion of the irradiation region and the hypotenuse portion of the irradiation region in the boundary portion between the irradiation region and the non-irradiation region (hereinafter referred to as an edge portion). The angle (in this embodiment, the right-hand corner) is the optical axis angle θ, and when the optical axis angle θ becomes larger than the optical axis angle θo when the vehicle is not turning (θ> θo). As shown in FIG. 10B, it is determined that the optical axis direction is tilted to the right, and when the optical axis angle θ is smaller than the optical axis angle θo (θ <θo), FIG. As shown in (c), it is determined that the optical axis direction is tilted to the left.

  If the steering angle in the right direction increases, the optical axis angle θ increases accordingly. If the steering angle in the left-right direction increases, the optical axis angle θ decreases accordingly, the optical axis angle θ. And the steering angle, it can be determined whether or not the basic control operation is operating normally according to the steering angle.

<Determination control flow>
FIG. 11 is a flowchart showing a control flow for executing the above-described determination principle. When this determination control flow is activated, first, image data captured by the front camera 21 is taken into the electronic control unit 9. After that (S61), an edge portion is detected (S63).

  Next, the optical axis angle θ is calculated based on the detected edge portion (S65), and whether or not the calculated optical axis angle θ is the same as the optical axis angle θo when traveling straight (when not turning). Is determined (S67).

  The “optical axis angle θo during straight travel (non-turning)” is determined by a test at the time of development (including simulation by numerical calculation), etc., and stored in a ROM or the like together with a program for executing a determination control flow It is a stored value.

  In addition, in the present embodiment, “the calculated optical axis angle θ is the same as the optical axis angle θo at the time of straight traveling (non-turning)” is the same as the case where the optical axis angle θo is exactly the same. When the calculated optical axis angle θ is within a predetermined range (for example, a range of about ± 5% to 10%) as the center, it is determined that the same.

  When it is determined that the calculated optical axis angle θ is not the same as the optical axis angle θo (S67: NO), it is determined that the actuators 33A and 33B are operating, and a signal to that effect is sent to the swivel actuator. If it is determined that the calculated optical axis angle θ is the same as the optical axis angle θo (S67: YES), the actuators 33A and 33B are not operating. And a signal to that effect is output to the swivel actuator failure detection flow (S71).

3.2.3. Failure detection of leveling actuators 33C and 33D When the ignition switch of the vehicle is turned on by a driver or the like, electric power is supplied from the battery to the electronic control unit 9, and the control flow shown in FIG. 12 (hereinafter this control flow is referred to as leveling actuator). After the program for executing the failure detection flow is read from the ROM or the like into the electronic control unit 9 (CPU), the leveling actuator failure detection flow is executed by the electronic control unit 9 (CPU). The leveling actuator failure detection flow starts when the ignition switch is turned on and ends (stops) when the ignition switch is turned off.

  When the leveling actuator failure detection flow is activated, it is first determined whether or not the headlamp SW25A is turned on (S81). If it is determined that the headlamp SW25A is not turned on (S81: NO), S81 is executed again.

  On the other hand, when it is determined that the headlamp SW25A is turned on (S81: YES), it is determined whether or not the illuminance detected by the illuminance sensor 31 is smaller than a predetermined threshold (S83). If it is determined that the detected illuminance is equal to or greater than the threshold (S83: NO), S81 is executed again.

  When it is determined that the illuminance detected by the illuminance sensor 31 is smaller than the threshold (S83: YES), the front side of the vehicle sinks based on the detection values of the front vehicle height sensor 39 and the rear vehicle height sensor 41. Is determined, that is, whether or not a value obtained by subtracting the vehicle height detected by the front vehicle height sensor 39 from the vehicle height detected by the rear vehicle height sensor 41 is equal to or greater than a predetermined value (S85). .

  If it is determined that the front side of the vehicle is not sinking (S85: NO), it is determined whether the rear side of the vehicle is sinking (S91), while the front side of the vehicle is sinking. Is determined (S85: YES), it is determined whether or not the irradiation distance by the headlamp 25 is smaller than the threshold value X (S87). Details of S87 will be described later.

  At this time, when it is determined that the irradiation distance by the headlamp 25 is not smaller than the threshold value X (S87: NO), it is determined whether or not the rear side of the vehicle is depressed (S91). When it is determined that the irradiation distance is less than the threshold value X (S87: YES), it is determined that the actuators 33C and 33D are not operating according to the basic control operation, and the failure of the actuators 33C and 33D is notified (warned). After the warning lamp 11 is turned on (S89), S91 is executed.

  In S91, the rear side of the vehicle sinks based on whether or not the value obtained by subtracting the vehicle height detected by the rear vehicle height sensor 41 from the vehicle height detected by the front vehicle height sensor 39 is equal to or greater than a predetermined value. If it is determined whether or not the rear side of the vehicle is not depressed (S91: NO), S81 is executed again.

  On the other hand, if it is determined that the rear side of the vehicle is sinking (S91: YES), whether or not the irradiation distance by the headlamp 25 is larger than the threshold Y (≧ X) is determined by the same method as in S87. It is determined (S93).

  At this time, when it is determined that the irradiation distance by the headlamp 25 is not larger than the threshold Y (S93: NO), S81 is executed again, while it is determined that the irradiation distance by the headlamp 25 is larger than the threshold Y. If it is determined (S93: YES), it is determined that the actuators 33C and 33D are not operating in accordance with the basic control operation, and the warning lamp 11 for notifying (warning) the failure of the actuators 33C and 33D is turned on. (S95), S81 is executed again.

3.2.4. Detailed Description of S87 FIGS. 13 (a) to 13 (c) show image images of image data taken by the front camera 21 when the vehicle is not turning, and the irradiation distance is substantially trapezoidal. The height dimension of the irradiated area.

  When the actuators 33C and 33D are operating normally, the headlamp is set so that the irradiation distance L is in the range of X to Y and not more than Y (Y ≧ L ≧ X) even if the posture of the vehicle fluctuates. 25 optical axes are controlled (see FIGS. 13A and 13B). However, when the actuators 33C and 33D are not operating normally, if the attitude of the vehicle changes, the irradiation distance fluctuates accordingly, and the irradiation distance falls outside the range of X to Y. 13 (c)).

  Therefore, in the present embodiment, whether or not the actuators 33C and 33D are operating normally is determined based on whether or not the irradiation distance is in the range of X or more and Y or less.

  The threshold values X and Y are values determined based on the type of vehicle and the regulations of the region where the vehicle is used. These threshold values X and Y are ROM together with a program for executing the following control flow. And so on.

  FIG. 14 is a flowchart showing details of the control executed in S87. When this determination control flow is activated, first, image data photographed by the front camera 21 is taken into the electronic control unit 9. After that (S101), an edge portion is detected (S103). Next, an irradiation distance is calculated based on the detected edge portion (S105), and it is determined whether or not the calculated irradiation distance is smaller than a threshold value X (S107).

4). As described above, in the present embodiment, since the presence or absence of a failure is determined when the actuators 33A to 33D are in a state to be operated, the actuators 33A to 33A are included in the lighting device. The failure of 33D can be reliably detected, and the erroneous detection related to the failure of the actuators 33A to 33D can be suppressed.

(Other embodiments)
In the above-described embodiment, the present invention has been described by taking a headlight device or the like as an example of a lighting device, but the present invention is not limited to this.

  In the above-described embodiment, the occurrence of the failure is notified by the warning lamp 11, but the present invention is not limited to this, and the occurrence of the failure may be notified by, for example, voice or vibration.

  Further, the present invention is not limited to the above-described embodiment as long as it matches the gist of the invention described in the claims.

1 is a block diagram of a failure detection apparatus according to a first embodiment of the present invention. (A)-(c) is a figure which shows the installation locations, such as a camera, in the failure detection apparatus in 1st Embodiment of this invention. It is a figure which shows a brake lamp failure detection flow. It is a figure which shows a lighting determination flow. It is a figure which shows a reverse lamp failure detection flow. It is a figure which shows a headlamp failure detection flow. It is a block diagram of the failure detection apparatus which concerns on 2nd Embodiment of this invention. It is a figure which shows the installation location, such as a camera, in the failure detection apparatus in 2nd Embodiment of this invention. It is a figure which shows a swivel actuator failure detection flow. (A)-(c) is explanatory drawing of the determination principle. It is a figure which shows the control flow for performing the determination principle. It is a figure which shows a leveling actuator failure detection flow. It is a figure which shows the determination principle of S87 of FIG. It is a figure which shows the detail of S87 of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Failure detection apparatus, 3 ... Camera interface, 5 ... Switch interface,
7 ... Warning light drive circuit, 9 ... Electronic control unit, 11 ... Warning light,
13 ... Sensor interface, 15 ... Actuator drive circuit,
21 ... Front camera, 23 ... Rear camera, 25 ... Headlamp,
25A ... operation switch, 27 ... brake lamp, 27A ... operation switch,
29 ... Reverse lamp, 29A ... Operation switch, 31 ... Illuminance sensor,
33A to 33D ... Actuator, 35 ... Vehicle speed sensor, 37 ... Steering angle sensor,
39: Front vehicle height sensor, 41: Rear vehicle height sensor.

Claims (4)

A failure detection device for detecting a failure of a lighting device mounted on a vehicle, applied to a vehicle equipped with a camera that captures the outside of the passenger compartment,
A data input unit for inputting data of an image taken by the camera;
A failure detection device comprising: image determination means for determining whether or not the lighting device is operating normally by analyzing image data input via the data input unit.   The failure detection apparatus according to claim 1, further comprising a warning unit that issues a warning when the image determination unit determines that the lighting device is not operating normally. It includes an on-state detection means for detecting whether or not the switch means for operating the lighting device is on,
In the case where the image determining means determines that the switch means has been turned on by the turning-on state detecting means, and the light emitted from the lighting device cannot be detected, a failure has occurred in the light source of the lighting device. The failure detection apparatus according to claim 1, wherein the failure detection apparatus estimates that the failure has occurred. The lighting device has an actuator for moving the optical axis of the irradiated light,
An operation state detecting means for detecting whether or not the actuator is in a state to be operated;
Furthermore, when the image determination means determines that the actuator is in a state to be operated by the operation state detection means, the light cannot be detected at a position where light should be irradiated by the operation of the actuator. The failure detection apparatus according to claim 1, wherein a failure has occurred in the actuator.