JP2012166716A - Vehicle light distribution control device and light distribution control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly decide a timing of changing an irradiation range of a lighting device, based on information of another vehicle obtained by communication with the external, while avoiding an increase of communication load or the like.SOLUTION: A vehicle light distribution control device includes: a lighting device for illuminating front of an own vehicle; a communication means for acquiring another vehicle information from the external by wireless communication; an another vehicle location estimation means for estimating the location of another vehicle, based on the another vehicle information; an irradiation range estimation means for three-dimensionally estimating the irradiation range of a high beam after a predetermined time from the present time point; a determination means for determining whether the location of the another vehicle after the predetermined time from the present time point enters the irradiation range of the high beam after the predetermined time from the present time point, in a state where the front of the own vehicle is illuminated with the high beam; and a first light distribution control means for limiting the irradiation range of the high beam of the lighting device or for switching the high beam of the lighting device to the low beam, when affirmatively determined by the determination means.

Description

  The present invention relates to a vehicle light distribution control device and a light distribution control method for controlling the light distribution of a lighting device that illuminates the front of the vehicle.

  Considering the case where other vehicles cannot be detected by radar or camera due to the shape of the road near the top of the curve or uphill road, etc. Detecting the presence and position of the vehicle and irradiating the other vehicle's headlamp with the vehicle's headlamp at the timing when the other vehicle enters the irradiation region of the vehicle's headlamp, etc. As described above, by changing the irradiation state of the headlamp (for example, the irradiation direction, the irradiation region, etc.), it is possible to prevent other vehicles from being deteriorated in the visibility in front of the driver of the own vehicle in the traveling direction. There is known a technique for preventing the driver of the vehicle from being dazzled (see, for example, Patent Document 1).

JP 2006-021706 A

  However, other vehicle information obtained by communication with the outside such as inter-vehicle communication with another vehicle does not accurately represent the position of the other vehicle at the present time due to the passage of time after the acquisition. In some cases, the timing at which another vehicle enters the irradiation area of the headlamp of the host vehicle cannot be detected with high accuracy. In such a case, the control of the irradiation state of the headlamp may be performed after the other vehicle has already entered the irradiation area of the headlamp of the own vehicle, and glare may be given to the driver of the other vehicle. There are cases where it cannot be prevented. On the other hand, a configuration in which vehicle-to-vehicle communication is repeatedly performed in a short cycle or an infrastructure such as a beacon can be installed at every short distance. However, there is a problem that communication load and infrastructure cost increase.

  Also, in a road environment with a height difference such as the vicinity of the top of a climbing road, the other vehicle will be able to move by simply considering the relationship between the irradiation area of the headlight of the own vehicle and the other vehicle in one or two dimensions. There is a case where the timing of entering the irradiation area of the headlamp of the car cannot be detected with high accuracy, and the timing of changing the irradiation state of the headlamp may be inappropriate.

  Therefore, the present invention provides a vehicle light distribution control device capable of appropriately determining the change timing of the illumination range of the lighting device based on other vehicle information obtained by communication with the outside while avoiding an increase in communication load and the like. An object is to provide a light distribution control method.

In order to achieve the above object, according to one aspect of the present invention, an illumination device that illuminates the front of the vehicle;
Communication means for acquiring other vehicle information including position information and speed information of other vehicles in front of the host vehicle from outside by wireless communication;
Other vehicle position estimation means for estimating the position of the other vehicle after a predetermined time from the current time based on the other vehicle information;
Estimating the vehicle position after a predetermined time from the current time, and based on the estimated vehicle position, irradiation range estimation means for estimating in three dimensions the irradiation range of the high beam by the illumination device after a predetermined time from the current time,
Under the situation where the lighting device is illuminating the front of the host vehicle with a high beam, the position of the other vehicle after a predetermined time from the current time estimated by the other vehicle position estimating unit is estimated by the irradiation range estimating unit. Determination means for determining whether or not to enter the irradiation range of the high beam after a predetermined time from the current time;
Vehicle light distribution, comprising: first light distribution control means for restricting a high beam irradiation range of the lighting device or switching the high beam of the lighting device to a low beam when an affirmative determination is made by the determination means. A control device is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle light distribution control apparatus which can determine appropriately the change timing of the irradiation range of an illuminating device based on the other vehicle information obtained by communication with the exterior, avoiding the increase in communication load etc. A light distribution control method is obtained.

1 is a main part configuration diagram showing an embodiment of a vehicle light distribution control device 1; FIG. It is a figure showing an example of infrastructure roughly. 2 is a cross-sectional view showing an example of a headlamp 50. FIG. 2 is a perspective view schematically showing an example of a lamp shade 70. FIG. It is a figure which shows the typical example of the light distribution pattern implement | achieved by the lamp shade. It is a figure which shows typically the three-dimensional irradiation range of the headlamp. It is a figure which shows an example of the estimation method (correction method) of the three-dimensional irradiation range of the headlamp. It is a flowchart which shows an example of the main control implement | achieved by control ECU40 of a present Example. It is a figure which shows an example of the light distribution switching aspect based on front vehicle information. It is a figure which shows an example of the swivel based on the recognition result by the camera 10 and the image recognition part 42, and a light distribution switching aspect. It is a figure which shows typically the switching timing from the high beam pattern to a low beam pattern in the road environment with a height difference.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a main part configuration diagram showing an embodiment of a vehicle light distribution control device 1. FIG. 2 is a diagram schematically illustrating an example of infrastructure. As shown in FIG. 1, the vehicle light distribution control device 1 includes a camera 10, a switch 20, a wireless communication device 30, a GPS receiver 32, a wheel speed sensor 34, and a control ECU (Electronic Control Unit) 40. The headlamp 50 is included.

  The camera 10 captures an image of a landscape in front of the vehicle (a front environment image) with an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 10 is mounted on the vehicle in such a manner that it can capture a landscape in front of the vehicle. For example, the camera 10 is attached to, for example, the back side (front surface of the vehicle) of a rearview mirror. The camera 10 may acquire a front environment image in real time while the vehicle is running, and supply it to the control ECU 40 in a stream format with a predetermined frame period, for example. The camera 10 may be a dedicated sensor for vehicle light distribution control described below, or may be used for other purposes (for example, a front monitoring camera, a lane keeping assist camera, etc.). The camera 10 may be a camera that acquires either a color or a monochrome image.

  The switch 20 includes switches related to headlamp operation such as ON / OFF of the headlamp 50 and light distribution control ON / OFF of the headlamp 50. The switch 20 may be disposed at an appropriate position in the vehicle compartment such as a steering column. The light distribution control of the headlamp 50 may be automatically executed when the headlamp 50 is turned on, or may be automatically executed when the high beam is used.

  The wireless communication device 30 acquires position information and speed information of another vehicle from an external infrastructure by wireless communication. The position information of the other vehicle may be three-dimensional position information, and the speed information of the other vehicle may include each direction component (traveling direction) in three dimensions. The infrastructure may be an infrastructure installed on the roadside as shown in FIG. The infrastructure may be configured to detect each vehicle traveling on the installed road and broadcast the position information and speed information of each vehicle. In addition, the acquisition mode of the position information and speed information of the other vehicle by the wireless communication device 30 is in an arbitrary mode (acquisition timing, type of position information and speed information, etc.) as long as the position information and speed information of the other vehicle are acquired. It may be. The position information and speed information of the other vehicle acquired by the wireless communication device 30 are transmitted to the control ECU 40. In the example shown in FIG. 2, the infrastructure detects the running state of another vehicle by a vehicle detection sensor 92 installed on the road, processes the information by the information processing unit 90, and transmits a subsequent vehicle by a beacon 94 or the like. (Self-vehicle in this example). The vehicle detection sensor 92 may be incorporated in the beacon 94. That is, the beacon 94 and the vehicle detection sensor 92 may be installed on the road side as a set for each predetermined position.

  The wireless communication device 30 may acquire position information and speed information of another vehicle through inter-vehicle communication with another vehicle instead of or in addition to the external infrastructure. In this case, the position information and speed information of the other vehicle may be position information and speed information of the other vehicle that is the partner of the inter-vehicle communication, or other vehicles other than the other vehicle that is the partner of the inter-vehicle communication. The position information and speed information (position information and speed information obtained by the other vehicle that is the partner of the vehicle-to-vehicle communication by the vehicle-to-vehicle communication with the other vehicle) may be included. Similarly, the acquisition mode by the inter-vehicle communication of the position information and the speed information of the other vehicle by the wireless communication device 30 may be any mode (an inter-vehicle communication timing, position information, and the like) as long as the position information and the speed information of the other vehicle are acquired. The type of speed information). However, the inter-vehicle communication timing may be executed at a relatively long cycle in order to suppress the communication load as will be described later. For example, in the case of a passing between the own vehicle and another vehicle, it is only once. It's okay.

  The GPS receiver 32 receives a GPS signal output from a GPS satellite via a GPS antenna, and calculates a current vehicle position (three-dimensional coordinates). The positioning method may be arbitrary, and an interference positioning method or the like may be adopted. In addition to the GPS receiver 32, a gyro sensor (not shown) or a wheel speed sensor 34 may be used for detection of the vehicle position. Moreover, you may correct | amend the present vehicle position etc. which the GPS receiver 32 calculated using the map matching technique.

  The wheel speed sensor 34 is attached to each wheel of the vehicle and outputs a vehicle speed pulse. The control ECU 40 may calculate the speed of the vehicle based on the vehicle speed pulse from the wheel speed sensor 34.

  The control ECU 40 is configured as a microcomputer including a CPU, a ROM, a RAM, and the like connected to each other via a bus (not shown). The control ECU 40 includes an estimation processing unit 41, an image recognition unit 42, a headlamp control unit 44, a lamp shade control unit 46, and a swivel control unit 48 as main functions. Each of these units 41, 42, 44, 46, and 48 may be realized by the CPU executing a program stored in a storage device such as a ROM. Further, for example, the image recognition unit 42 may be realized using a dedicated hardware circuit. Further, these units 41, 42, 44, 46, and 48 are not necessarily incorporated in the same ECU unit, and may be realized in cooperation with a plurality of ECUs. The estimation processing unit 41 includes an other vehicle position estimation unit 41A, an irradiation range estimation unit 41B, and a determination unit 41C.

  The headlamps 50 are provided on the left and right sides of the front part of the vehicle. In the following description, particularly when the left and right headlamps 50 are distinguished, the left headlamp is denoted by reference numeral 50L, and the right headlamp is denoted by reference numeral 50R. The headlamp 50 includes a low beam and a high beam that irradiate visible light toward the vehicle front area. The low beam and the high beam may be configured by dedicated lamps, respectively, or may be realized by changing the irradiation pattern of a single lamp by a lamp shade (see FIG. 3). The headlamp 50 includes a swivel actuator 52 and a shade driving actuator 54.

  FIG. 3 is a cross-sectional view showing an example of the headlamp 50.

  The illustrated headlamp 50 is a projector-type headlamp, and mainly includes a bulb 80 that is a light source, a projection lens 82, a reflector 84, and a holder 86 that holds these. A lamp shade 70 is provided between the reflector 84 and the projection lens 82. The headlamp 50 reflects the light emitted from the bulb 80 to the reflector 84, blocks a part of the light traveling forward from the reflector 84 with the lamp shade 70, and projects a light distribution pattern in front of the vehicle. The bulb 80 may be an incandescent bulb, a halogen lamp, a discharge bulb, an LED, or the like. The reflector 84 has a substantially elliptical spherical reflecting surface with the optical axis extending in the vehicle longitudinal direction as the central axis. The projection lens 82 is a planoconvex aspherical lens having a convex front surface and a flat rear surface, and is disposed on the optical axis.

  The headlamp 50 includes a swivel actuator 52 that changes the direction of the optical axis of the headlamp 50 in a substantially horizontal plane. The swivel actuator 52 is attached to the lower bottom portion of the holder 86, and supports the holder 86 so as to be rotatable around a shaft 52a.

  The headlamp 50 includes a lamp shade 70 that forms a light distribution pattern that blocks a part of the light emitted from the bulb 80. The lamp shade 70 is composed of sub-shades that are divided into two in the horizontal direction (see FIG. 4). The lamp shade 70 is driven and controlled by the shade driving actuator 54 in its open / closed state. In the illustrated example, a rotating body 72 that is rotationally driven by a shade driving actuator 54 is attached to the lower end of each sub-shade. When both sub-shades are upright, a low beam light distribution pattern is formed. When the rotating body 72 is rotated to tilt both subshades substantially horizontally, a high beam light distribution pattern is formed. The structure and operation of the shade will be described in detail with reference to FIG.

  FIG. 4 is a perspective view schematically showing an example of the lamp shade 70. The lamp shade 70 includes sub-shades 70a and 70b that are divided into two in the horizontal direction. Rotating bodies 72a and 72b that are rotatably supported by a support shaft 71 are attached to the lower ends of the subshades 70a and 70b. The support shaft 71 is connected to the holder 86 and can be swiveled together with the holder 86. Each of the rotating bodies 72a and 72b is rotationally driven by a shade driving actuator 54 provided for each of the rotating bodies 72a and 72b. The sub-shades 70a and 70b may be driven in other manners. The sub-shades 70a and 70b may be switched between an upright state and an inclined state by, for example, a reciprocating movement of a plunger driven by a solenoid (an example of the shade driving actuator 54).

  FIG. 5 is a diagram illustrating a typical example of a light distribution pattern realized by the lamp shade 70. In FIG. 5, the light distribution pattern is shown as a light distribution pattern formed on a virtual vertical screen at a predetermined position in front of the vehicle. A line V indicates a vertical line, and a line H indicates a horizontal line. It is assumed that the center axis of the headlamp 50 is located on the line V.

  FIG. 5A shows an example of the right side partial light shielding pattern. This right side partial light blocking pattern is a pattern including high beam light on the left side. The right side partial light-shielding pattern is such that one of the sub-shades 70a and 70b of the lamp shade 70 (sub-shade on the vehicle inner side) in the left head lamp 50L is inclined substantially horizontally and the other (sub-shade on the outer side of the vehicle) is upright. It is formed by. Alternatively, the right-side partial light-shielding pattern is such that one of the sub-shades 70a and 70b of the lamp shade 70 (sub-shade outside the vehicle) in the right head lamp 50R is inclined substantially horizontally and the other (sub-shade inside the vehicle) stands upright. Is formed.

  FIG. 5B shows an example of the left partial light shielding pattern. This left partial light shielding pattern is a pattern including high beam light on the right side. The left partial shading pattern is such that one of the sub-shades 70a, 70b of the lamp shade 70 (sub-shade inside the vehicle) in the right headlamp 50R is inclined substantially horizontally and the other (sub-shade outside the vehicle) is upright. It is formed by. Alternatively, the left partial light-shielding pattern is such that one of the sub-shades 70a and 70b of the lamp shade 70 (sub-shade outside the vehicle) in the left head lamp 50L is inclined substantially horizontally and the other (sub-shade inside the vehicle) is upright. Is formed.

  FIG. 5C shows an example of a high beam pattern generated by the headlamp 50. The high beam pattern is formed by inclining both subshades 70a and 70b of the headlamp 50 substantially horizontally.

  FIG. 5D shows an example of a low beam pattern generated by the left headlamp 50L. This low beam pattern is formed by raising both sub-shades 70a and 70b of the headlamp 50 upright.

  Here, referring to FIG. 1 again, the control ECU 40 of the present embodiment will be described. As described above, the control ECU 40 includes the estimation processing unit 41, the image recognition unit 42, the headlamp control unit 44, the lamp shade control unit 46, and the swivel control unit 48 as main functions.

  The estimation processing unit 41 includes an other vehicle position estimation unit 41A, an irradiation range estimation unit 41B, and a determination unit 41C.

  The other vehicle position estimation unit 41A is the position information and speed information of other vehicles obtained from the wireless communication device 30, and the position information and speed information (hereinafter referred to as the following vehicle) of the preceding vehicle (preceding vehicle or oncoming vehicle) existing in front of the vehicle. Based on the forward vehicle information), the position (three-dimensional) of the forward vehicle after a predetermined time Δt from the present time is estimated. That is, when the forward vehicle information obtained from the wireless communication device 30 represents the position and speed of the forward vehicle at a certain time t1, the other vehicle position estimation unit 41A starts from the time t1 based on the forward vehicle information. The position of the vehicle ahead is estimated at a later time t2 (in this example, a time t2 after a predetermined time Δt from the present time). At this time, the other vehicle position estimation unit 41A assumes that the speed of the preceding vehicle obtained from the preceding vehicle information (the speed at the time t1) is maintained thereafter, and forwards at the time t2 after the time t1. The position of the vehicle may be estimated. Alternatively, when other information (for example, presence or absence of brake operation or accelerator operation, speed history, road shape, etc.) is obtained, a subsequent deceleration or acceleration or a change in traveling direction is estimated based on the other information. The position of the preceding vehicle at time t2 may be estimated.

  The irradiation range estimation unit 41B estimates the position of the own vehicle after a predetermined time Δt from the current time based on the position information and speed information of the own vehicle, and determines the predetermined time Δt from the current time based on the estimated own vehicle position. The irradiation range of the head lamp 50 (here, the irradiation range of the high beam pattern as shown in FIG. 5C) is estimated in three dimensions. For example, the irradiation range estimation unit 41B is based on the position information of the own vehicle based on the GPS receiver 32, the information indicating the traveling direction of the own vehicle, and the vehicle speed information based on the wheel speed sensor 34, after a predetermined time Δt from the present time. Guess the location of your car. At this time, the irradiation range estimation unit 41B may estimate the position of the host vehicle after a predetermined time Δt from the current time, assuming that the vehicle speed based on the host vehicle traveling direction and the vehicle speed information is maintained thereafter. The traveling direction of the host vehicle may be grasped using speed information from the GPS receiver 32. Further, speed information based on the GPS receiver 32 may be used instead of the vehicle speed information based on the wheel speed sensor 34. The speed information based on the GPS receiver 32 includes each direction component (traveling direction) in three dimensions, may be derived using the Doppler frequency of the radio wave from the GPS satellite, or the history of the vehicle position (time differentiation) ). Similarly, after a predetermined time Δt from the present time while estimating subsequent deceleration or acceleration or a change in traveling direction based on other information (for example, presence or absence of brake operation or accelerator operation, speed history, road shape, etc.) You may guess the position of your vehicle.

  Further, the irradiation range of the headlamp 50 after a predetermined time Δt from the current time may be estimated based on the optical axis direction of the headlamp 50 or the like. In this case, the irradiation range of the headlamp 50 may be an irradiation range that can give glare to the driver of the preceding vehicle. For example, the irradiation range in which glare can be given to the driver of the vehicle ahead is determined by the Schmidt-Clausen and Bindels equation (for example, Jinichi Mashiko, Kazumoto Morita, Takeo Okada, Michiaki Sekine “variable light distribution”). It may be determined based on "Analysis of dazzling situation given to oncoming driver by headlight (AFS)", 2002 Annual Conference on Traffic Safety and Environment Research Presentation, p. 79-199 (2002)) . Further, the three-dimensional irradiation range S (see FIG. 6) of the headlamp 50 may be expressed by a mathematical expression (represented by a three-dimensional function) based on design data or experimental data. In the example shown in FIG. 6, the three-dimensional orthogonal coordinate system (the vehicle position (X1, Y1, Z1) after a predetermined time Δt from the present time) has the X direction as the traveling direction of the vehicle and the XY plane as the traveling plane of the vehicle. The three-dimensional irradiation range S of the headlamp 50 is shown in a local coordinate system having the tip of the own vehicle as the origin. The three-dimensional irradiation range S of the headlamp 50 can be uniquely determined according to the optical axis direction of the headlamp 50 when the own vehicle position and the own vehicle traveling direction are determined. For example, as shown in FIG. 7, when the optical axis direction of the headlamp 50 is rotated by θ2 with respect to the nominal direction (vehicle traveling direction) in the XY plane, the three-dimensional irradiation range S of the headlamp 50 is obtained. May be rotated by θ2 around the origin in the XY plane.

  Here, the predetermined time Δt is a margin necessary for switching the high beam pattern of the headlamp 50 to the low beam pattern (or a partial light shielding pattern) until the vehicle ahead actually enters the three-dimensional irradiation range S of the headlamp 50. Corresponds to time. The predetermined time Δt may be set in such a manner that the estimation error of the other vehicle position estimation unit 41A and the irradiation range estimation unit 41B is absorbed as well as the time required for simple switching control. In particular, since the estimation by the other vehicle position estimation unit 41A is based on the forward vehicle information (position information and speed information of the preceding vehicle) obtained from the wireless communication device 30, it corresponds to the passage of time from the acquired time point. Accuracy can be worse. Therefore, the predetermined time Δt is preferably set in consideration of an estimation error that may occur in the other vehicle position estimation unit 41A. In this case, the estimation error that may occur in the other vehicle position estimation unit 41A may be derived at the design stage based on the test result or the like. Further, the predetermined time Δt may be a fixed time, but may be varied so as to become longer as time elapses from the acquisition time point of the preceding vehicle information from the wireless communication device 30.

  In the situation where the headlamp 50 illuminates the front of the host vehicle with the high beam pattern, the determination unit 41C determines the position (three-dimensional) of the vehicle ahead after a predetermined time Δt estimated by the other vehicle position estimation unit 41A. Then, it is determined whether or not to enter the irradiation range S (see FIG. 6) of the headlamp 50 after a predetermined time Δt from the current time estimated by the irradiation range estimation unit 41B. Note that such determination is performed by using the same coordinates for the position of the preceding vehicle (three-dimensional) estimated by the other vehicle position estimation unit 41A and the irradiation range S of the headlamp 50 estimated by the irradiation range estimation unit 41B. You may implement | achieve by converting into a system and comparing. The determination unit 41C determines that the position (three-dimensional) of the preceding vehicle estimated by the other vehicle position estimation unit 41A is within a predetermined distance with respect to the irradiation range S of the headlamp 50 estimated by the irradiation range estimation unit 41B. When located, an affirmative determination may be made.

  The image recognition unit 42 performs image processing on the forward environment image obtained from the camera 10 and detects a forward vehicle (preceding vehicle or oncoming vehicle) that may exist in front of the vehicle. There are various methods for detecting the forward vehicle in the image, and any method may be adopted. Typically, the front vehicle is a moving body, and includes a reflection part (reflector) that emits light from a brake lamp (or tail lamp) or a head lamp and reflects light received from the rear at the rear part of the vehicle. Therefore, you may detect the front vehicle in an image based on the characteristic of this light. For example, when the characteristics of light in the image satisfy a predetermined condition (brightness, color, size, pattern, movement, etc.), the image related to the light may be detected (specified) as a forward vehicle. More specifically, as an example of the forward vehicle detection method, the front environment image obtained from the camera 10 is subjected to image processing, light in the image (pixels having a predetermined luminance or more) is detected, and the detected light is Brightness, movement of light (for example, speed of light object, direction of travel, etc.), color (for example, light emission color of brake lamp, reflected light color of reflection part, etc.), directionality, attribute (for example, whether two pairs or not Or, based on factors such as continuity, it may be determined whether the light is from a preceding vehicle or disturbance light other than the preceding vehicle (reflected light from a reflector of a road sign, etc.). In this case, other factors other than other vehicles such as the speed of the own vehicle, acceleration / deceleration, yaw rate, the type of headlamp of the own vehicle, and the driving environment (for example, whether or not the vehicle is driving in a bright city area) are considered. May be. When detecting the presence of the preceding vehicle, the image recognition unit 42 may calculate the position, the traveling direction, and the like of the preceding vehicle.

  The headlamp control unit 44 performs ON / OFF switching control of the headlamp 50 based on the state of the switch 20. The headlamp control unit 44 may execute control to automatically turn on the headlamp 50 when the surroundings are dark based on the output signal of the sunshine sensor or the like.

  Based on the state of the switch 20, the lamp shade control unit 46 controls the light distribution pattern via the shade driving actuator 54 when the light distribution control of the headlamp 50 is on, for example. Specifically, the lamp shade control unit 46 controls the light distribution pattern of the headlamp 50 by controlling the lamp shade 70 by the shade driving actuator 54 based on the detection state of the vehicle ahead of the image recognition unit 42. . Basically, the lamp shade control unit 46 controls the open / closed state of the sub-shades 70a and 70b based on the position and direction of the preceding vehicle by the image recognition unit 42 so that the preceding vehicle is not irradiated by the high beam. Thereby, for example, various light distribution patterns as shown in FIG. 5 are selectively realized. An example of the control method by the lamp shade control unit 46 will be described later with reference to FIG.

  The swivel control unit 48 controls the irradiation direction of the light distribution pattern (the swivel angle of the headlamp 50) via the swivel actuator 52 based on the state of the switch 20, for example, when the light distribution control of the headlamp 50 is on. To do. Specifically, the swivel control unit 48 controls the optical axis direction of the headlamp 50 by the swivel actuator 52 based on the detection state of the vehicle ahead of the image recognition unit 42. Basically, the swivel control unit 48 controls the direction of the optical axis of the headlamp 50 so that the front vehicle is not irradiated with a high beam based on the position and direction of the front vehicle by the image recognition unit 42. An example of a control method by the swivel control unit 48 will be described later with reference to FIG.

  FIG. 8 is a flowchart showing an example of main control realized by the control ECU 40 of this embodiment. The process shown in FIG. 8 may be started when the headlamp 50 is on and the light distribution control of the headlamp 50 is on based on the state of the switch 20.

  In step 800, it is determined whether or not the headlamp 50 is illuminating the front of the vehicle with a high beam pattern. If the pattern is a high beam pattern, the process proceeds to step 802. If the pattern is not a high beam pattern (for example, a low beam pattern), the process waits until a high beam pattern is formed.

  In step 802, the forward vehicle information acquired by the wireless communication device 30 via the communication with the infrastructure or the inter-vehicle communication is input. In a situation where communication with the infrastructure or vehicle-to-vehicle communication has not yet been executed, the wireless communication device 30 waits until the front vehicle information is acquired. Note that when the vehicle 10 is on standby (when the vehicle information is not acquired via inter-vehicle communication or the like) and the vehicle 10 is detected by the camera 10 and the image recognition unit 42 (see step 804), step 818 is performed. It is also possible to proceed to. After the standby, when the forward vehicle information is acquired via communication with the infrastructure or inter-vehicle communication by the wireless communication device 30, the forward vehicle information is input to the control ECU 40, and the process proceeds to step 804.

  In step 804, it is determined whether or not a preceding vehicle (a preceding vehicle related to the preceding vehicle information obtained in step 802) has been detected by the camera 10 and the image recognition unit 42. If the front vehicle is detected by the camera 10 and the image recognition unit 42, the process proceeds to step 818, and if not detected, the process proceeds to step 806. In general, in the case of communication with infrastructure or vehicle-to-vehicle communication, it is possible to acquire forward vehicle information related to a distant forward vehicle that cannot be detected by the camera 10 and the image recognition unit 42.

  In step 806, the other vehicle position estimation unit 41A estimates the position (three-dimensional) of the forward vehicle after a predetermined time Δt from the current time based on the forward vehicle information obtained in step 802.

  In step 808, as described above, the irradiation range estimation unit 41B estimates the position of the own vehicle after a predetermined time Δt from the current time based on the latest position information and speed information of the own vehicle, and the estimated own vehicle position. Based on the above, the irradiation range of the headlamp 50 after a predetermined time Δt from the present time is estimated in three dimensions.

  In step 810, the determination unit 41C determines that the position (three-dimensional) of the forward vehicle after a predetermined time Δt from the current time estimated in step 806 is the head after the predetermined time Δt from the current time estimated in step 808. It is determined whether or not the irradiation range S (see FIG. 6) of the lamp 50 is entered. When the position of the preceding vehicle after the predetermined time Δt falls within the irradiation range of the headlamp 50 after the predetermined time Δt, the routine proceeds to step 812, where the position of the preceding vehicle after the predetermined time Δt is the headlamp 50 after the predetermined time Δt. If the irradiation range is not entered, the process returns to step 804.

  In step 812, the lamp shade control unit 46 controls the lamp shade 70 to change the light distribution pattern from the high beam pattern (initial pattern) to the low beam pattern. That is, the high beam pattern as shown in FIG. 5C is changed to the low beam pattern as shown in FIG.

  In step 814, it is determined whether or not a preceding vehicle (a preceding vehicle related to the preceding vehicle information obtained in step 802) has been detected by the camera 10 and the image recognition unit 42. If the front vehicle is detected by the camera 10 and the image recognition unit 42, the process proceeds to step 818, and if not yet detected, the process proceeds to step 816.

  In step 816, the low beam pattern switched in step 812 is maintained, and the process returns to step 814. In this way, the low beam pattern is maintained until the front vehicle is moved ahead by the camera 10 and the image recognition unit 42.

  In step 818, the lamp shade control unit 46 and the swivel control unit 48 execute light distribution control based on the detection result of the preceding vehicle by the camera 10 and the image recognition unit 42. An example of a control method by the lamp shade control unit 46 and the swivel control unit 48 will be described later with reference to FIG.

  In step 820, it is determined whether or not the preceding vehicle detected by the camera 10 and the image recognition unit 42 has entered a predetermined disappearance state. That is, it is determined whether or not the light distribution control is unnecessary because the passing or overtaking of the preceding vehicle and the own vehicle is completed. When the preceding vehicle is in a predetermined disappearance state, the vehicle may return to the high beam pattern and be terminated. When the preceding vehicle is not in the predetermined disappearance state, the process returns to step 818, and the light distribution control by the lamp shade control unit 46 and the swivel control unit 48 is continued.

  FIG. 9 is a diagram illustrating an example of light distribution control realized by the lamp shade control unit 46 of the present embodiment in relation to step 814 of FIG. In FIG. 9, the light distribution pattern by the left headlamp 50L is indicated by the symbol PL, and the light distribution pattern by the right headlamp 50R is indicated by the symbol PR. In this example, as shown in FIG. 9, it is assumed that the high beam pattern and the low beam pattern of the left and right headlamps 50L and 50R and the irradiation areas thereof are substantially the same.

  FIG. 9A shows a state (initial state) where the front of the vehicle is irradiated with a high beam pattern. In this state, when it is determined that the position of the vehicle ahead after the predetermined time Δt falls within the irradiation range of the headlamp 50 after the predetermined time Δt (see YES in Step 810 in FIG. 8), the lamp shade control unit 46 By controlling the lamp shade 70 of the right headlamp 50R, the light distribution pattern of the right headlamp 50R and the left headlamp 50L is changed from a high beam pattern (the initial pattern of FIG. 9A) to a low beam pattern (FIG. 9B). Change to Thereafter, the lamp shade control unit 46 maintains the low beam pattern (FIG. 9B) until, for example, the front vehicle is detected by the camera 10 and the image recognition unit 42 (see step 816 in FIG. 8). In this way, it is possible to appropriately prevent glare from being given to the driver of the preceding vehicle.

  FIG. 10 is a diagram illustrating an example of light distribution control realized by the lamp shade control unit 46 and the swivel control unit 48 of the present embodiment in relation to Step 818 of FIG. In FIG. 10, the light distribution pattern by the left headlamp 50L is indicated by the symbol PL, and the light distribution pattern by the right headlamp 50R is indicated by the symbol PR. In this example, it is assumed that the left and right headlamps 50L, 50R have substantially the same high beam pattern, low beam pattern, and irradiation areas.

  FIG. 10A shows a state (initial state) where the front of the vehicle is irradiated with a high beam pattern. In this state, when the preceding vehicle is detected by the camera 10 and the image recognition unit 42 (see YES in step 804 in FIG. 8), the swivel control unit 48 is based on the position of the preceding vehicle obtained from the image recognition unit 42. The target swivel angle is determined, and the optical axis direction of the headlamp 50 is changed by the swivel actuator 52 so that the target swivel angle is realized. Here, as an example, the target swivel angle includes the front vehicle in the blocking portion of the partial light shielding pattern, and the cutoff lines CL and CR of the partial light shielding pattern (FIGS. 5A and 5B). Is determined to be at a position (direction) that is a predetermined distance away from the near side end of the preceding vehicle. The blocking portion of the partial light shielding pattern corresponds to a portion obtained by subtracting the partial light shielding pattern (see FIGS. 5A and 5B) from the high beam pattern (see FIG. 5C). Further, the lamp shade control unit 46 controls the lamp shade 70 of the right head lamp 50R to change the light distribution pattern of the right head lamp 50R from the high beam pattern (the initial pattern in FIG. 10A) to the left side partial light shielding pattern. Change to (FIG. 10B). Similarly, the lamp shade 70 of the left headlamp 50L is controlled to change the light distribution pattern of the left headlamp 50L from the high beam pattern (the initial pattern of FIG. 10A) to the right part of the light shielding pattern (FIG. 10B). ). Thereafter, the swivel control unit 48 maintains the state where the lamp central axis of the right headlamp 50R substantially coincides with the right end of the preceding vehicle according to the change in the position of the preceding vehicle until the preceding vehicle is in a predetermined disappearance state. In this way, the swivel angle of the right headlamp 50R may be controlled and adjusted. In this way, it is possible to appropriately prevent glare from being given to the driver of the preceding vehicle. The light distribution control modes are various, and any mode may be adopted. For example, the aspect which uses only any one of the swivel actuator 52 and the shade drive actuator 54 may be sufficient.

  According to the vehicle light distribution control device 1 of the present embodiment described above, the following excellent effects are achieved, among others.

  According to the vehicle light distribution control device 1 of the present embodiment, irradiation of the headlamp 50 is performed based on the forward vehicle information obtained by the first communication without performing communication again after obtaining the forward vehicle information by communication. Since the positional relationship between the range and the preceding vehicle is estimated, glare that can be given to the driver of the preceding vehicle can be prevented while suppressing the communication load. Further, when the predetermined time Δt is set in consideration of the estimation error, it is possible to prevent delay in switching from the high beam pattern to the low beam pattern due to the estimation error. This is particularly effective in a situation where the vehicle information cannot be obtained through forward vehicle information and high-frequency communication (for example, a situation where infrastructure cannot be installed at a high density or a situation where communication load is desired to be reduced). In such a situation, infrastructure maintenance is not required or communication load can be suppressed, but on the other hand, the acquisition / update cycle of forward vehicle information becomes longer, and the estimation error can be increased accordingly. In the above-described embodiment, communication is performed only once for a passing or overtaking scene, but it is also possible to perform a plurality of times if possible.

  Further, according to the vehicle light distribution control device 1 of the present embodiment, the positional relationship between the irradiation range of the headlamp 50 and the preceding vehicle is determined in three dimensions, so that the switching timing from the high beam pattern to the low beam pattern is appropriately determined. can do. For example, in the comparative configuration in which the switching timing is determined by a two-dimensional distance (relative distance), as shown in FIG. 11A, in a road environment having a height difference such as near the top of an uphill road, a high beam pattern is changed to a low beam. The timing for switching to the pattern cannot be determined appropriately. That is, when the positional relationship between the irradiation range of the headlamp 50 and the vehicle ahead is estimated as shown in FIG. 11A after a predetermined time Δt, the low beam pattern is changed from the high beam pattern based on the relative distance (threshold value) L1. When switching to is performed, switching from the high beam pattern to the low beam pattern is too early. On the other hand, in this embodiment, when the positional relationship between the irradiation range of the headlamp 50 and the preceding vehicle as shown in FIG. 11B is estimated after a predetermined time Δt (L2 <L1), the high beam pattern Since the switching from the low beam pattern to the low beam pattern is executed, it is possible to appropriately determine the switching timing from the high beam pattern to the low beam pattern even in a road environment having a height difference such as near the top of an uphill road.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the light distribution control based on the forward vehicle information (steps 812 and 816 in FIG. 8) is a control for switching from the high beam pattern to the low beam pattern in consideration of the estimation error. 10 and advanced light distribution control similar to the light distribution control based on the detection result by the image recognition unit 42 (see step 818 in FIG. 8 and FIG. 10).

  In the above-described embodiment, the predetermined time Δt is set in consideration of the estimation error, but the setting mode of the predetermined time Δt is arbitrary. For example, the predetermined time Δt is switched from a high beam pattern to a low beam pattern. The fixed time required may be set.

DESCRIPTION OF SYMBOLS 1 Vehicle light distribution control apparatus 10 Camera 20 Switch 30 Wireless communication apparatus 32 GPS receiver 34 Wheel speed sensor 40 Control ECU
DESCRIPTION OF SYMBOLS 41 Estimate processing part 41A Other vehicle position estimation part 41B Irradiation range estimation part 41C Determination part 42 Image recognition part 44 Head lamp control part 46 Lamp shade control part 48 Swivel control part 50 (50L, 50R) Head lamp 52 Swivel actuator 54 Shade drive Actuator 70 lamp shade 70a, 70b subshade 71 support shaft 72 (72a, 72b) rotating body 80 valve 82 projection lens 84 reflector 86 holder 90 information processing unit 92 vehicle detection sensor 94 beacon

Claims (4)

A lighting device that illuminates the front of the vehicle;
Communication means for acquiring other vehicle information including position information and speed information of other vehicles in front of the host vehicle from outside by wireless communication;
Other vehicle position estimation means for estimating the position of the other vehicle after a predetermined time from the current time based on the other vehicle information;
Estimating the vehicle position after a predetermined time from the current time, and based on the estimated vehicle position, irradiation range estimation means for estimating in three dimensions the irradiation range of the high beam by the illumination device after a predetermined time from the current time,
Under the situation where the lighting device is illuminating the front of the host vehicle with a high beam, the position of the other vehicle after a predetermined time from the current time estimated by the other vehicle position estimating unit is estimated by the irradiation range estimating unit. Determination means for determining whether or not to enter the irradiation range of the high beam after a predetermined time from the current time;
Vehicle light distribution, comprising: first light distribution control means for restricting a high beam irradiation range of the lighting device or switching the high beam of the lighting device to a low beam when an affirmative determination is made by the determination means. Control device. The first light distribution control means switches the high beam of the illumination device to a low beam at that time when an affirmative determination is made by the determination means,
The vehicle light distribution control device according to claim 1, wherein the predetermined time is a design value that takes into account an estimation error that may occur in the other vehicle position estimation means. Other vehicle detection means for detecting the other vehicle in front of the own vehicle by performing image processing on a captured image obtained by a camera for photographing the front of the vehicle and identifying light from the other vehicle in front of the own vehicle in the captured image; ,
In the situation where the lighting device is illuminating the front of the host vehicle with a high beam, when another vehicle is detected by the other vehicle detection means, the detection is performed based on the detection result of the other vehicle detection means. A second light distribution control means for limiting a high beam irradiation range of the lighting device so that other vehicles in front of the host vehicle are not irradiated by the high beam of the lighting device;
The said 1st light distribution control means switches the high beam of the said illuminating device to a low beam when the affirmative determination is carried out by the said determination means in the condition where the other vehicle is not detected by the said other vehicle detection means. Vehicle light distribution control device. A light distribution control method for a lighting device that illuminates the front of the vehicle,
Acquiring other vehicle information including position information and speed information of other vehicles ahead of the host vehicle from outside by wireless communication;
Based on the other vehicle information, another vehicle position estimating step for estimating the position of the other vehicle after a predetermined time from the present time;
Estimating the vehicle position after a predetermined time from the current time, and based on the estimated vehicle position, an irradiation range estimation step for estimating the irradiation range of the high beam by the illumination device after a predetermined time from the current time in three dimensions,
In a situation where the lighting device is illuminating the front of the host vehicle with a high beam, the position of the other vehicle after a predetermined time from the current time estimated in the other vehicle position estimating step is estimated in the irradiation range estimating step. A determination step of determining whether to enter the irradiation range of the high beam after a predetermined time from the current time;
And a step of restricting a high beam irradiation range of the illuminating device or switching the high beam of the illuminating device to a low beam when an affirmative determination is made in the determining step.

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