JP2012101651A - Headlamp control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a headlamp control device that secures a driver's field of vision of own vehicle more effectively without dazzling an occupant of another vehicle.SOLUTION: A position of a traveling azimuth of the another vehicle is obtained by a car-to-car communication, and an irradiation area of the headlamp is enlarged to an area where the irradiation area reaches at the another vehicle when an angle between traveling azimuths of own vehicle and the another vehicle is a predetermined angle or larger. As a result, an area where light of the headlamp of own vehicle reaches is enlarged without dazzling the occupant of the another vehicle, and the driver's field of vision of own vehicle is secured more effectively.

Description

  The present invention relates to a headlamp control device that controls the light distribution of a headlamp of the host vehicle based on information on the other vehicle obtained by the communication between the host vehicle and the other vehicle.

  As a conventional device for controlling the lighting of a vehicle, for example, a device described in Patent Document 1 is known. In this conventional device, communication with other vehicles by the inter-vehicle communication device, detection by the radar, image recognition with respect to the image taken by the camera, and further, depending on the traveling state of the other vehicle received by the road-to-vehicle communication device from the road-side communication device, Recognize vehicle position and speed. Further, the position and speed of the pedestrian are recognized based on the detection by the radar, the image recognition with respect to the image taken by the camera, and the pedestrian information received by the road-to-vehicle communication device from the roadside communication device.

  When the presence of any of the preceding vehicle, the oncoming vehicle, and the opposing pedestrian is detected in the vicinity of the host vehicle (for example, within 100 m), the headlamp is set in the low beam irradiation state. Furthermore, in this low beam irradiation state, by changing the low beam irradiation range based on the inter-vehicle distance with the preceding vehicle or the opponent vehicle, it is possible to secure the driver's field of view range without dazzling surrounding vehicles. I have to.

JP 2007-30739 A

  As described above, the conventional apparatus mainly switches between the high beam irradiation state and the low beam irradiation state or changes the low beam irradiation range according to the distance from the host vehicle to the preceding vehicle or the oncoming vehicle.

  However, for example, when there is an intersection in front of the road on which the host vehicle is traveling, and the preceding vehicle or the oncoming vehicle is about to make a right or left turn toward the road that intersects the road on which the host vehicle is traveling at the intersection, The direction of the preceding vehicle or the oncoming vehicle (traveling direction) and the direction of the host vehicle (traveling direction do not lie along the same direction, but have an angle. Even if the light from the headlamp of the host vehicle reaches the preceding vehicle or the oncoming vehicle, the possibility that the driver of the preceding vehicle or the oncoming vehicle is dazzled by the reflected light or direct light from the mirror is reduced.

  Therefore, in such a case, drivers of other vehicles such as preceding vehicles and oncoming vehicles can be prevented from being dazzled by the headlights even if the high beam irradiation state or the low beam irradiation range is extended. High nature. However, in the conventional device, the headlamp illumination state is mainly controlled by the distance to the other vehicle. Therefore, as long as the other vehicle exists in front of the host vehicle, the headlamp light is transmitted to the preceding vehicle and the oncoming vehicle. It was not possible to achieve such control.

  The present invention has been made in view of the above-described points. By considering the direction of the other vehicle, the field of view of the driver of the host vehicle can be more effectively secured without dazzling the passengers of the other vehicle. It is an object of the present invention to provide a headlamp control device that can be used.

  The headlamp control device according to claim 1 controls the light distribution of the headlamp of the own vehicle based on the communication means for communicating with the other vehicle and the information on the other vehicle obtained by the communication with the other vehicle. Light distribution control means, and the other vehicle information includes position information of the other vehicle for determining the position of the other vehicle with respect to the own vehicle and direction information of the other vehicle for determining the direction of the other vehicle with respect to the own vehicle. And the light distribution control means controls the light distribution of the headlight of the own vehicle so as not to dazzle the passengers of the other vehicle in consideration of the position and orientation of the other vehicle with respect to the own vehicle. To do.

  Thus, in the headlamp control device according to the first aspect, the light distribution control of the headlamp is performed in consideration of the direction of the other vehicle in addition to the position of the other vehicle with respect to the own vehicle. Specifically, as described in claim 2, when the angle formed by the direction of the host vehicle and the direction of the other vehicle is equal to or larger than a predetermined angle, the irradiation range of the headlamps reaches the range reaching the other vehicle. To enlarge. Thereby, the reach | attainment range of the light of the headlamp of the own vehicle can be expanded, and the visual field range of the driver of the own vehicle can be effectively ensured without dazzling the driver of the other vehicle.

  According to a third aspect of the present invention, the communication means further receives occupant seating height information related to the seating height of the occupant in the other vehicle, and the light distribution control means also considers occupant seating height information of the other vehicle. Thus, the light distribution of the headlamp of the host vehicle may be controlled. For example, the seating height of an occupant of a high vehicle such as a box car or a minivan is significantly different from the seating height of a occupant of a low vehicle such as a sports car type. For this reason, even when other vehicles are at the same position from the host vehicle, the headlight illumination range that makes the driver of a vehicle with a high vehicle feel dazzling and the driving of a vehicle with a low vehicle height It is different from the irradiation range of the headlamp that makes the person feel dazzling. Therefore, by receiving the occupant seating height information from the other vehicle, more appropriate headlamp light distribution control can be executed within a range in which the occupant of the other vehicle is not dazzled.

  According to a fourth aspect of the present invention, the communication means further receives the boarding position information related to the boarding position of the occupant in the other vehicle, and the light distribution control means takes into account the boarding position information, and the headlamp of the own vehicle The light distribution may be controlled. By receiving information related to the position of the occupant in the other vehicle, for example, when there is no occupant in the passenger seat of the other vehicle, the irradiation range of the headlamp of the own vehicle is set to be less than that of the driver seat of the other vehicle. This is because the light distribution can be controlled to be longer on the seat side.

  According to a fifth aspect of the present invention, road shape acquisition means for acquiring a road shape with another vehicle is provided, and the light distribution control means is arranged in front of the own vehicle in consideration of the road shape with the other vehicle. You may make it control the light distribution of an illumination lamp. For example, if the road shape between other vehicles is changing from flat to uphill, downhill to flat, uphill to downhill, etc., the headlight of the vehicle is in the high beam irradiation state. This is because the driver of the other vehicle may not be dazzled.

  According to the sixth aspect of the present invention, the communication unit further receives, from another vehicle, planned route information related to the planned traveling route of the other vehicle, and the light distribution control unit also considers the planned route information of the other vehicle. The light distribution of the headlamp of the host vehicle may be controlled. By receiving the scheduled route information of the other vehicle, it is possible to grasp in advance whether the other vehicle is traveling on the same road as the own vehicle or is scheduled to deviate to a different road. For this reason, for example, when another vehicle deviates to a different road, the irradiation range can be appropriately controlled without delay.

  As described in claim 7, when the information received by the communication means includes information on the positional relationship and direction of the surrounding vehicle and / or person existing around the other vehicle with respect to the other vehicle. It is preferable that the light control means controls the light distribution of the headlight of the own vehicle in consideration of the position and orientation of the surrounding vehicle and / or the person with respect to the own vehicle. Some vehicles may not have communication means (headlight control device) for inter-vehicle communication. In such a case, the other vehicle equipped with the communication means detects the position and orientation of a surrounding vehicle or a person not equipped with the communication means using a sensing means such as a camera or a radar, and transmits from the other vehicle. Thus, in the own vehicle, in addition to other vehicles, the positions and orientations of surrounding vehicles and / or people can be recognized. For this reason, it is possible to control the light distribution of the headlamps so as not to dazzle other vehicles equipped with communication means and other vehicles and people existing around the other vehicles.

  In order to acquire the position information and the direction information of the other vehicle in the host vehicle, as described in claim 8, the communication means receives the position information and the direction information of the other vehicle from the other vehicle. Alternatively, as described in claim 9, the communication unit receives the position information of the other vehicle from the other vehicle, and calculates the direction of the other vehicle from the received history of the position information of the other vehicle. You may do it.

It is a block diagram which shows the whole structure of the headlamp control apparatus 10 by 1st Embodiment. 3 is a flowchart showing a control process executed in the headlamp control device 10. It is the figure which showed an example of the positional relationship of a preceding vehicle and an oncoming vehicle with respect to the own vehicle. (A), (b), when the driver of the other vehicle is dazzled by the light from the headlamp of the own vehicle according to the road gradient even if the own vehicle and the other vehicle are in the same positional relationship It is a figure for demonstrating that it may not be dazzled. It is a block diagram which shows the whole structure of the headlamp control apparatus 30 by 2nd Embodiment. 4 is a flowchart showing a control process executed in the headlamp control device 30. It is a figure showing that a surrounding vehicle exists ahead of other vehicles. It is a figure showing that a pedestrian (person) exists diagonally ahead of other vehicles.

(First embodiment)
Hereinafter, a headlamp control apparatus according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an overall configuration of a headlamp control apparatus 10 according to the present embodiment.

  As shown in FIG. 1, the headlamp control device 10 includes a navigation device 12, a vehicle information detection unit 20, a headlamp control unit 22, an inter-vehicle communication device 24, and a headlamp 26. However, the headlamp control device 10 includes at least a position detection unit 14 that detects the position of the vehicle, a planned travel route calculation unit 16 that calculates a planned travel route, and a road map storage unit 18 that stores a road map. The navigation device 12 may not necessarily be provided.

  The position detection unit 14 has a known GPS receiver. This GPS receiver is capable of measuring the position coordinates (latitude, longitude) of the host vehicle based on satellite data received from a plurality of GPS satellites. The position detection unit 14 further includes, for example, a speed sensor and a yaw rate sensor for detecting changes in the travel distance and travel direction of the vehicle, and based on the position coordinates measured by the GPS receiver, The position coordinates (latitude, longitude) of the host vehicle may be calculated.

  When a destination is given by the driver of the host vehicle, the planned travel route calculation unit 16 calculates a planned travel route to the destination based on road map data stored in the map storage unit 18. .

  The map storage unit 18 includes, for example, a hard disk and the like, and a map for performing so-called map matching in which the road map display data for displaying the road map on the display of the navigation device 12 and the position of the host vehicle are aligned on the road. Data for matching, link data for calculating a planned travel route to the destination, and the like are stored.

  The vehicle information detection unit 20 includes, for example, a seating sensor, and detects the seating position of an occupant riding in the vehicle. Further, the vehicle information detection unit 20 stores the occupant seating height information related to the height position when the occupant gets into the vehicle, that is, the occupant seating height, and the headlight control unit 22 stores the information. The passenger seating height information is output. This occupant seating height information includes the height of the seat when the occupant of a standard physique sits on the seat, the seat seating surface height, or the vehicle on which the headlight control device 10 is mounted. Vehicle height information can be used. This is because if the height of the seating surface of the seat is known, the occupant's face position can be roughly estimated. Further, this is because the vehicle height of the vehicle and the height of the seating surface of the occupant generally have a correlation.

  Further, as the vehicle information detection unit 20, a camera that captures the interior of the vehicle may be provided, and an actual seating position of the occupant and an occupant's face position may be detected from an image captured by the camera.

  The inter-vehicle communication device 24 is for performing data communication with another vehicle equipped with the headlamp control device 10 shown in FIG. Specifically, the inter-vehicle communication device 24 includes position coordinates as position information of the host vehicle, a traveling direction as direction information, and a seating position and a seating position of passengers as vehicle information detected by the vehicle information detection unit 20. The seat height is transmitted to the inter-vehicle communication device of another vehicle equipped with the headlight control device 10. On the contrary, the inter-vehicle communication device 24 receives the position coordinates, traveling direction, and vehicle information (occupant's seating position and seating height) of the other vehicle from the inter-vehicle communication device of the other vehicle equipped with the headlight control device 10. Receive. In this way, position information, direction information, and vehicle information are mutually transmitted and received between vehicles equipped with the headlight control device 10.

  When the position detector 14 has two or more GPS receivers, the traveling direction of the vehicle can be calculated in real time from the positioning positions of the two GPS receivers. In addition, for example, a dedicated sensor for detecting the traveling direction of the vehicle, such as a direction magnet, may be provided in the position detection unit 14. Further, the traveling direction of the vehicle may be calculated from a history of position coordinates detected by the position detection unit 14. In this case, when the position coordinates of the other vehicle are received as the information to be communicated without including the traveling direction, the headlamp control device 10 on the receiving side receives the other vehicle from the history of the position coordinates of the other vehicle. It is also possible to calculate the traveling azimuth.

  The headlamp 26 can switch between a high beam and a low beam or change a light distribution profile corresponding to the irradiation range of the low beam in accordance with a drive control signal from the headlamp control unit 22. For example, the headlamp 26 includes a plurality of light emitting units such as LEDs, and the lighting / extinguishing states of the plurality of light emitting units are individually controlled according to the drive control signal from the headlamp control unit 22. Thereby, the light distribution profile of the low beam irradiated from the headlamp 26 can be arbitrarily changed.

  However, the headlamp 26 is not necessarily provided with a plurality of light emitting units as long as the light distribution profile can be changed. For example, the headlamp 26 has one light emitting portion, and a light distribution profile changing portion that can change the shape of a light passage hole through which light passes to an arbitrary shape is provided in front of the light emitting portion. There may be.

  Further, the headlamp 26 may be configured such that the direction of the plurality of light emitting units or the light emitting units and the light distribution profile changing unit can be rotated in the vertical direction so that the beam reaching distance can be changed.

  The headlamp control unit 22 includes a microcomputer having a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these components. In the ROM, a program to be executed by the headlamp control unit 22 is written, and a CPU or the like executes predetermined arithmetic processing according to this program.

  Hereinafter, the control process performed in the headlamp control apparatus 10 performed mainly by the headlamp control unit 22 will be described with reference to the flowchart of FIG. The process shown in the flowchart of FIG. 2 is repeatedly executed when the headlamp 26 is lit.

  First, in step S100, it is determined whether a data signal transmitted from the inter-vehicle communication device 24 of another vehicle has been received. If a data signal is received from another vehicle, the other vehicle equipped with the headlight control device 10 is within a communicable range from the host vehicle, and thus the process proceeds to step S110. On the other hand, if a data signal from another vehicle is not received, the process proceeds to step S160.

  Although not shown in the flowchart of FIG. 2, the position of the host vehicle is also subject to the condition that the headlamp 26 is turned on and the surrounding brightness has decreased to a predetermined value or less. A process of periodically transmitting a data signal including coordinates, traveling direction, and vehicle information (occupant's seating position and seating height) toward the surroundings is performed.

  In step S110, the position coordinates, traveling direction, and vehicle information (occupant's seating position and seating height) of the other vehicle are acquired from the received data signal. In step S120, the road shape between the host vehicle and the other vehicle is acquired from the map storage unit 18. In step S130, based on the position coordinates, traveling direction, and vehicle information of the other vehicle acquired in step S110, and the road shape between the host vehicle and the other vehicle acquired in step S120, the headlight of the host vehicle is obtained. It is determined whether or not the light from the lamp 26 may dazzle the driver of another vehicle.

  Specifically, first, the other vehicle is mapped to the (absolute) coordinate system set in the headlamp control unit 22 based on the acquired position coordinate and traveling direction of the other vehicle. Next, the host vehicle is mapped on the same coordinate system based on the position coordinates and the traveling direction of the host vehicle. Then, as shown in FIG. 3, the positional relationship between the host vehicle and the other vehicle and the traveling direction of the other vehicle with respect to the traveling direction of the host vehicle become clear. Further, the road shape existing between the host vehicle and the other vehicle on the coordinate system described above is acquired from the map storage unit 18.

  And whether the traveling direction of the host vehicle and the traveling direction of the other vehicle are along the same direction for other vehicles existing in the traveling direction of the host vehicle (the longest irradiation range of the headlamp 26), It is determined whether an angle is generated. If an angle is generated, it is determined how much the vehicle is deviated from a straight line along the traveling direction of the host vehicle.

  When the other vehicle is traveling in the same direction in front of the host vehicle, when the light from the headlamp 26 of the host vehicle reaches the side mirror or rearview mirror of the other vehicle (preceding vehicle), the reflected light The driver of another vehicle may be dazzled. Further, when there is another vehicle (an oncoming vehicle) that travels from the opposite direction along the same direction as the traveling direction of the host vehicle, the light from the headlamp 26 is reflected on the face position of the driver of the other vehicle. If it reaches, the driver of another vehicle may be dazzled by the light.

  On the other hand, for example, there is an intersection or curve in front of the road on which the host vehicle is traveling, and another vehicle (preceding vehicle or oncoming vehicle) is directed to the road that intersects the road on which the host vehicle travels at the intersection or curve. When making a left turn or turning a curve, the traveling direction of the other vehicle and the traveling direction of the host vehicle are not in the same direction but have an angle. For example, FIG. 3 shows a state in which the traveling direction of the oncoming vehicle is along the same direction as the traveling direction of the host vehicle, but the traveling direction of the preceding vehicle is different from the traveling direction of the host vehicle. Yes.

  When the angle formed by the traveling direction of the host vehicle and the traveling direction of the other vehicle is a predetermined angle (for example, 20 to 30 degrees) or more, as shown in FIG. Even if the vehicle reaches the oncoming vehicle, the possibility that the driver of the preceding vehicle or the oncoming vehicle is dazzled by the reflected light or direct light from the mirror is reduced.

  Therefore, in the determination process of step S130, first, for other vehicles having a traveling direction that is greater than a predetermined angle with the traveling direction of the host vehicle, the other vehicle exists within the longest irradiation range of the headlamp 26. In addition, the vehicle is excluded from a dazzling prevention target vehicle in which the driver may be dazzled by the light from the headlamp 26 of the own vehicle. As a result, by the light control described later, as illustrated in FIG. 3, it is possible to irradiate light from the headlamp 26 with a light distribution profile that reaches another vehicle excluded from the dazzling prevention target vehicle.

  Moreover, in the determination process of step S130, the road shape between the other vehicle and the host vehicle is confirmed for another vehicle in which the driver may be dazzled by the light from the headlamp 26 of the host vehicle. . For example, as shown in FIG. 4 (a), the road shape between other vehicles is flat to uphill, and the slope is halfway from downhill to flat and uphill to downhill. If it is changed, the driver of the other vehicle may not be dazzled even if the headlamp 26 of the host vehicle is in a high beam state. FIG. 4B shows that the other vehicle exists at a position defined by the same distance and direction with respect to the own vehicle, and the road between the other vehicle and the own vehicle is flat. It is shown that the light from the headlamp 26 of the vehicle is dazzled.

  For this reason, in the determination process of step S130, in view of the positional relationship, the road shape with the other vehicle is confirmed with respect to the other vehicle that may obscure the driver by the light from the headlamp 26 of the own vehicle. To do. If the road shape is determined to prevent the light from the headlamp 26 of the own vehicle from reaching the other vehicle, the driver of the other vehicle is also caused by the light from the headlamp 26 of the own vehicle. Exclude from dazzling prevention vehicles that may be dazzled. In this case, even when the headlamp 26 of the own vehicle is in the high beam state, which is the longest irradiation state, when the light from the headlamp 26 does not reach the other vehicle, the other vehicle is removed from the dazzling prevention target vehicle. It is preferable to exclude.

  In addition, the travel schedule route of the other vehicle is acquired by communication, and when it is known that the other vehicle and the host vehicle are planning to travel on the same road, from the extending direction or inclination of the road, When it is determined that the state in which the angle between the traveling direction of the host vehicle and the traveling direction of the other vehicle is equal to or greater than a predetermined angle continues for a predetermined time or longer, the other vehicle may be excluded from the dazzling prevention target vehicle. As a result, it is possible to reliably prevent the driver of the other vehicle from being dazzled by the light of the headlamp of the host vehicle and to change the light distribution profile of the headlamp frequently in a short time. This can be suppressed.

  In the subsequent step S140, the light control data is set so that the driver of the other vehicle does not feel dazzling for the remaining other vehicle without being excluded from the dazzling prevention target vehicle in step S130. Specifically, based on the positional relationship between the host vehicle and the other vehicle, the whole or one of the light distribution profiles of the light from the headlamp 26 is prevented so that the light from the headlamp of the host vehicle does not reach the other vehicle. Adjust the section. FIG. 3 shows an example in which a part of the light distribution profile is adjusted so that the light from the headlamp 26 does not reach the oncoming vehicle. However, since the preceding vehicle is excluded from the dazzling prevention target vehicle, the light from the headlamp 26 of the own vehicle reaches the preceding vehicle by the light distribution profile.

  When setting the light control data, by utilizing the vehicle data received from the other vehicle, it is possible to obtain a light distribution profile that can obtain a wide irradiation range as much as possible within a range that does not dazzle the driver of the other vehicle. It becomes possible. Specifically, it is preferable to set the light control data in consideration of passenger seating height information of other vehicles. For example, the seating height of an occupant of a high vehicle such as a box car or a minivan is significantly different from the seating height of a occupant of a low vehicle such as a sports car type. For this reason, when it is assumed that these other vehicles existed at the same position from the host vehicle, the irradiation range of the headlight that makes the driver of the vehicle with high vehicle height feel dazzling and the vehicle height is low It is different from the irradiation range of the headlamp that makes the driver feel dazzling. Therefore, by setting the light control data in accordance with the occupant seating height information received from the other vehicle, a light distribution profile that provides a wider headlamp illumination range in a range that does not dazzle occupants of the other vehicle, and can do. In this case, as a matter of course, the light distribution profile is changed so that the irradiation range of the headlamp is further expanded as the passenger seating height increases.

  It is also preferable to set the light control data in consideration of the boarding position information related to the boarding position of the occupant in the other vehicle. Thereby, for example, when there is no passenger in the passenger seat of the other vehicle, a light distribution profile in which the irradiation range of the headlight of the own vehicle is longer on the passenger seat side than on the driver seat side of the other vehicle is obtained. Write control data can be set.

  Furthermore, when the planned route information related to the planned travel route of the other vehicle is received from another vehicle and the light control data is set, the light control data is set in consideration of the planned route information of the other vehicle. You may do it. By receiving the scheduled route information of the other vehicle, it is possible to grasp in advance whether the other vehicle is traveling on the same road as the own vehicle or is scheduled to deviate to a different road. For this reason, for example, when another vehicle deviates to a different road, the irradiation range can be appropriately controlled without delay.

  In subsequent step S150, the headlamp control unit 22 controls the headlamp 26 in accordance with the light control data set in step S140. Thereby, in the headlamp 26, the irradiation state of the high beam and the low beam is switched, the light distribution profile in the low beam irradiation state is changed, or the irradiation distance is changed, so that the distribution of the headlamp can be changed. Control the light. Accordingly, it is possible to effectively secure the range of visibility of the driver of the host vehicle by expanding the reach range of the headlight of the host vehicle without dazzling the driver of the other vehicle.

  In addition, in step S160 executed when there is no other vehicle that can communicate around the own vehicle, the irradiation range according to the setting operation (switching between the low beam and the high beam, etc.) of the driver of the own vehicle is set. Perform light control.

(Second Embodiment)
Next, a headlamp control device 30 according to a second embodiment of the present invention will be described with reference to the drawings. In addition, about the structure similar to the headlamp control apparatus 10 by 1st Embodiment mentioned above, description is abbreviate | omitted by attaching | subjecting the same reference number.

  FIG. 5 is a configuration diagram showing the configuration of the headlamp control device 30 according to the present embodiment. As shown in FIG. 5, the headlamp control device 30 according to the present embodiment is structurally different from the headlamp control device 10 according to the first embodiment in that it includes a peripheral object detection device 32. Other configurations are the same as those of the headlamp control apparatus 10 according to the first embodiment.

  The peripheral object detection device 32 performs image recognition processing on, for example, a camera that captures the front, side, or rear of the vehicle, and an image captured by the camera, and detects objects existing around the vehicle. It comprises an image recognition processing unit for recognition. At this time, by using a so-called stereo camera as a camera or using a TOF (time of flight) type distance image sensor capable of measuring the distance to the object, the distance to the object is also detected. Is preferred. However, distance measuring means such as a radar (millimeter wave, laser, etc.) or ultrasonic sensor that can measure the distance to the object may be provided separately from the camera. Further, the distance and direction to the target may be detected while recognizing the target from the detection result by the radar (the size, shape, received wave level, etc. of the target).

  Next, control processing executed in the headlamp control device 30 according to the present embodiment will be described with reference to the flowchart of FIG. The process shown in the flowchart of FIG. 6 is also repeatedly executed when the headlamp 26 is lit.

  First, in step S200, as in step S100 of the flowchart of FIG. 2, it is determined whether or not the data signal transmitted from the inter-vehicle communication device 24 of the other vehicle is received, and the data signal from the other vehicle is received. If not, the process proceeds to step S210. If not received, the process proceeds to step S260.

  In the present embodiment, when the host vehicle and other vehicles periodically transmit data signals including position coordinates, traveling direction, and vehicle information (occupant's seating position and seating height) toward the surroundings, surrounding objects Detection information relating to the peripheral object (peripheral vehicle and / or person) detected by the detection device 32 is also transmitted. The detection information includes the type, position (distance, direction), traveling direction, and the like of the surrounding object. The position of the surrounding object may be a relative position based on the own vehicle or the other vehicle, or the absolute position of the surrounding object may be calculated from the absolute position of the own vehicle or the other vehicle. Further, in the case where the peripheral object detection device 32 includes a camera, the traveling direction can be determined from the shape or the like displayed on the image captured by the camera, or the position of the peripheral object The traveling direction of the surrounding object may be calculated from the history of changes.

  In step S210, in addition to obtaining the position coordinates, traveling direction, and vehicle information (occupant's seating position and seating height) of the other vehicle from the received data signal, the received data signal includes the surrounding object of the other vehicle. When the detection information is included, the detection information of the surrounding objects is also acquired. Then, the other vehicle is mapped to the (absolute) coordinate system set in the headlamp control unit 22 based on the acquired position coordinate and traveling direction of the other vehicle. Further, the peripheral object is also mapped on the same coordinate system based on the acquired detection information of the peripheral object. By mapping the host vehicle to this coordinate system, as shown in FIG. 7 and FIG. 8, in addition to the positional relationship between the host vehicle and the other vehicle and the traveling direction of the other vehicle relative to the traveling direction of the host vehicle, The positional relationship and the direction of travel are also clarified. FIG. 7 is a diagram showing that a surrounding vehicle is present in front of the other vehicle, and FIG. 8 is a diagram showing that a pedestrian (person) is present obliquely in front of the other vehicle.

  In step S220, the road shape which exists between the own vehicle and the other vehicle and between the own vehicle and the surrounding object on the coordinate system described above is acquired from the map storage unit 18. Note that the road shape acquired from the map storage unit 18 includes the gradient and height information of each road, and the road gradients that exist between the host vehicle and other vehicles and between the host vehicle and surrounding objects. Changes can be detected.

  In the subsequent step S230, the dazzling determination process is executed for other vehicles and surrounding objects as in the first embodiment described above. Subsequent processing in steps S240 and S250 is the same as the processing in steps S140 and S150 in the first embodiment, and a description thereof will be omitted.

  In step S260, the surrounding object detection device 32 installed in the own vehicle is used to detect surrounding vehicles and people existing around the own vehicle so that the passengers and people of the surrounding vehicles do not feel dazzling. As described above, the light control is performed by determining the irradiation range (light distribution profile).

  According to the headlight control device 30 according to the second embodiment described above, when the data signal received from the other vehicle includes detection information related to the surrounding vehicle and / or person existing around the other vehicle, The light distribution of the headlamps of the own vehicle is controlled in consideration of the position and orientation of the surrounding vehicles and / or people with respect to the vehicle.

  It is conceivable that the headlamp control device according to the present invention is not widely used before, or even if the headlamp control device according to the present invention is spread, the headlamp control device according to the present invention may not be provided. In such a case, another vehicle equipped with a headlight control device detects the position and orientation of a surrounding vehicle or a person not equipped with the headlight control device using a sensing means such as a camera or a radar. By transmitting from another vehicle, in addition to the other vehicle, the position and orientation of the surrounding vehicle and / or the person can be recognized in the own vehicle. For this reason, it becomes possible to control the light distribution of the headlamps so as not to dazzle other vehicles equipped with the headlamp control device and other vehicles and people existing around the other vehicles.

  In addition, when performing light control based only on the detection result by the surrounding object detection apparatus 32, for example, when using a camera, a reflector such as a delineator installed on the side of the road is used as a light of a preceding vehicle or an oncoming vehicle. When there is a mistake, there is a possibility that various installations on the road or on the side of the road may be mistaken as surrounding vehicles or the like when using a laser.

  On the other hand, in the headlamp control apparatus according to the first and second embodiments described above, the light distribution of the headlamp is controlled based on the other vehicle information acquired through communication with other vehicles in principle. Therefore, it is possible to execute light distribution control with higher accuracy. However, in the second embodiment, even when other vehicle information is acquired by communication, it does not prevent the light distribution control from being performed with reference to the detection result by the peripheral object detection device 32. For example, when there are surrounding vehicles or people detected only by the surrounding object detection device 32 of the own vehicle, the surrounding vehicles detected by the own vehicle in addition to other vehicles and surrounding vehicles obtained by communication As an object, light control may be performed by determining an irradiation range (light distribution profile) so that passengers and pedestrians of these vehicles do not feel dazzling.

DESCRIPTION OF SYMBOLS 10, 30 ... Headlamp control apparatus 12 ... Navigation apparatus 20 ... Vehicle information detection part 22 ... Headlamp control part 24 ... Inter-vehicle communication apparatus 26 ... Headlamp 32 ... Surrounding object detection apparatus

Claims (9)

Communication means for communicating with other vehicles;
A light distribution control means for controlling the light distribution of the headlamp of the own vehicle based on the information of the other vehicle obtained by communication with the other vehicle,
The other vehicle information includes position information of the other vehicle for determining the position of the other vehicle with respect to the host vehicle and direction information of the other vehicle for determining the direction of the other vehicle with respect to the host vehicle. Included,
The light distribution control means controls the light distribution of the headlight of the host vehicle so as not to dazzle passengers of the host vehicle in consideration of the position and orientation of the host vehicle with respect to the host vehicle. Headlight control device to do.   When the angle formed by the direction of the host vehicle and the direction of the other vehicle is equal to or greater than a predetermined angle, the light distribution control means expands the irradiation range of the headlamp to the range reaching the other vehicle. The headlamp control apparatus according to claim 1, wherein The communication means further receives occupant seating height information related to the occupant seating height in the other vehicle,
The headlight control according to claim 1 or 2, wherein the light distribution control means controls the light distribution of the headlight of the host vehicle in consideration of the occupant seating height information. apparatus. The communication means further receives boarding position information related to a boarding position of an occupant in the other vehicle,
The headlamp according to any one of claims 1 to 3, wherein the light distribution control means controls the light distribution of the headlamp of the host vehicle in consideration of the boarding position information. Control device. Comprising road shape acquisition means for acquiring a road shape with the other vehicle,
5. The light distribution control unit controls light distribution of a headlamp of the host vehicle in consideration of a road shape with the other vehicle. The headlamp control device described. The communication means further receives, from the other vehicle, scheduled route information related to a planned traveling route of the other vehicle,
6. The light distribution control means controls light distribution of a headlamp of the host vehicle in consideration of planned route information of the other vehicle. Headlight control device.   When the information received by the communication means includes information on the positional relationship and direction of a surrounding vehicle and / or a person existing around the other vehicle with respect to the other vehicle, the light distribution control means, Taking into account the position and orientation of the surrounding vehicle and / or person relative to the own vehicle, controlling the light distribution of the headlight of the own vehicle so that passengers and / or people of the surrounding vehicle are not dazzled. The headlamp control device according to any one of claims 1 to 6, wherein   The headlamp control device according to claim 1, wherein the communication unit receives position information and direction information of the other vehicle from the other vehicle. The communication means receives position information of the other vehicle from the other vehicle;
2. The apparatus according to claim 1, further comprising a direction calculating unit that calculates a direction of the other vehicle from a history of position information of the other vehicle received by the communication unit to obtain direction information of the other vehicle. Headlamp control device.

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