JP2013079044A - Apparatus and system for controlling light distribution of vehicular lamp - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a light distribution state by the headlamp of own vehicle with a simple structure.SOLUTION: A light distribution control system includes: finding angles θ1 and θ2 showing the positions of each of fellies of an object vehicle based on the detection result of an image processing device; calculating an angle for specifying a flash coverage by the headlamp of the own vehicle, based on the results; and outputting a light distribution signal to control the light distribution state based on the calculation result. The angles for specifying the flash coverage are set by the angle θ1 and angle θ2. The angle for specifying the flash coverage by the right side headlight of the own vehicle is set by subtracting the value that multiplies (θ1-θ2) by a first coefficient from the angle θ2, and the angle for specifying the flash coverage by a left headlamp is set by adding the value that multiplies (θ1-θ2) by a second coefficient to the angle θ1.

Description

  The present invention relates to a technique for controlling a light distribution state of a vehicular lamp.

  2. Description of the Related Art As a vehicular lamp, an ADB (Adaptive Driving Beam) that controls lighting of a driving light (driving beam) of a headlamp of an own vehicle according to the state of a vehicle ahead is known. Such a vehicular lamp controls the light distribution state of the headlamp of the own vehicle when, for example, a vehicle is present ahead, so that only the portion of the vehicle is cut off. A prior example of such a vehicular lamp is disclosed in, for example, JP-A-7-108873 (Patent Document 1).

  The vehicle lamp of the preceding example as described above has a camera installed at a predetermined position in front of the host vehicle (for example, upper center of the front window), and the vehicle body of the target vehicle (preceding vehicle or oncoming vehicle) imaged by the camera, Alternatively, the position of the taillight or headlamp is detected by image processing. Then, light distribution control is performed so that light from the traveling light of the own vehicle is not irradiated to the detected preceding vehicle or oncoming vehicle portion.

  By the way, in the vehicular lamp of the preceding example, it is necessary to obtain the irradiation range by the headlamp of the own vehicle according to the position of the target vehicle detected based on the image captured by the camera. It is necessary to detect the distance to the vehicle. Therefore, the vehicle needs to be equipped with a distance measuring means such as a radar or a stereo camera. However, when a distance measuring means such as a radar is provided, the irradiation range of the headlamp can be calculated more precisely, but there is a disadvantage that the configuration becomes complicated and the cost increases.

JP-A-7-108873

  The specific aspect which concerns on this invention makes it one of the objectives to provide the technique which can control the light distribution state by the headlamp of the own vehicle by simpler structure.

  A light distribution control system according to one aspect of the present invention is for controlling a light distribution state by a vehicular lamp, and (a) an imaging device for imaging a target vehicle existing in front of the host vehicle; (B) An image processing device that detects left and right outer edges of the target vehicle based on image data output from the imaging device, and (c) a light distribution state that is controlled based on a detection result by the image processing device. A light distribution control device that outputs a light distribution signal is included. Then, the light distribution control device (d) shows the angle θ1 indicating the position of the right outer edge of the target vehicle and the position of the left outer edge based on the approximate center of the host vehicle based on the detection result obtained from the image processing device. A vehicle angle detector for obtaining the angle θ2, and (e) based on the angles θ1 and θ2, the angles α1 and α2 defining the irradiation range by the right headlight of the own vehicle and the irradiation range by the left headlight of the own vehicle An irradiation range calculation unit that calculates the prescribed angles β1 and β2, and (f) a light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the angles α1, α2, β1, and β2. . The irradiation range calculation unit (g) defines the angle α1 as the angle θ1 and the angle β2 as the angle θ2, and (h) subtracts the value obtained by multiplying the angle α2 by the first coefficient (θ1−θ2) from the angle θ2. (I) The angle β1 is determined by adding a value obtained by multiplying the second coefficient by (θ1−θ2) to the angle θ1.

  In the above system, based on the detection result obtained from the image processing apparatus, the position of each outer edge of the target vehicle (for example, the headlight or the end of the taillight) is determined with reference to the approximate center in the left-right direction of the host vehicle. The detected angles θ1 and θ2 are detected. Then, the angle θ1 is used for the angle α1 that defines the right end of the light that is removed from the right headlamp of the host vehicle, and the left end that is used to delete the light range of the left headlamp of the host vehicle is defined. The angle θ2 is used for the angle β2. On the other hand, the angle α2 that defines the left end where the light irradiation range by the right headlamp of the host vehicle is deleted is determined by subtracting the value obtained by multiplying the first coefficient by (θ1−θ2) from the angle θ2. The angle β1 that defines the right end from which the light irradiation range of the left headlamp of the host vehicle is deleted is determined by adding a value obtained by multiplying the second coefficient by (θ1−θ2) to the angle θ1. Here, the value of the difference between the angles θ1 and θ2 (θ1−θ2) is the distance between the host vehicle and the target vehicle, the horizontal shift amount (lateral shift amount) between the host vehicle and the target vehicle, and the vehicle width of the target vehicle. It can be used as a parameter that changes according to the size. For this reason, the first coefficient and the second coefficient are appropriately set, and the angles θ1 and θ2 are corrected using this (θ1−θ2), so that the distance between the host vehicle and the target vehicle and the host vehicle and the target vehicle are corrected. The angles α2 and β1 can be variably set according to the size of the vehicle without directly measuring the lateral displacement amount and the vehicle width of the target vehicle. Therefore, it is possible to easily set an appropriate light irradiation range that does not irradiate the interior of the target vehicle. In the above system, it is possible to determine the light irradiation range by simple calculation only by detecting the angles θ1 and θ2 indicating the positions of the respective outer edges of the target vehicle. There is no need, and no means for measuring the distance between the host vehicle and the target vehicle is required. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In the light distribution control system described above, for example, each of the first coefficient and the second coefficient is preferably set to a value smaller than 1. Further, the first coefficient and the second coefficient may be set equal to each other. The first coefficient and the second coefficient can be set to a value of about 0.7 to 0.9, for example, and are preferably set to a value of about 0.8.

  By setting each coefficient as described above, a more suitable light distribution within the range of practical values as the distance between the host vehicle and the target vehicle, the lateral deviation amount between the host vehicle and the target vehicle, and the vehicle width of the target vehicle. The angles α2 and β1 that define the state can be calculated.

It is a block diagram which shows the structure of the light distribution control system of the vehicle lamp of one Embodiment. It is a figure for demonstrating the processing content by a vehicle angle detection part. It is a figure for demonstrating the processing content by an irradiation range calculation part. It is a flowchart which shows the operation | movement procedure of a light distribution control system.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a light distribution control system for a vehicle lamp according to an embodiment. A light distribution control system 1 shown in FIG. 1 generates and outputs a signal (hereinafter referred to as “light distribution signal”) for controlling a light distribution state by the vehicular lamp 2, and a camera (imaging device) 11. The image processing device 12 and the light distribution control device 13 are configured.

  The camera 11 is for imaging the front of the host vehicle, and is attached to a predetermined position of the vehicle, for example, the upper center of the front window. The target vehicle (preceding vehicle or oncoming vehicle) existing in front of the host vehicle is imaged by the camera 11, and the image data is output from the camera 11 to the image processing device 12.

  The image processing device 12 performs predetermined image processing on the image data input from the camera 11. For example, the image processing device 12 detects the position of the lamp (headlight or taillight) of the target vehicle by executing image processing such as binarizing the image data and detecting the contour.

  The light distribution control device 13 acquires the image processing result obtained by the image processing device 12, and generates a light distribution signal to be supplied to the vehicle lamp 2 based on the result. The vehicle angle detection unit 21, the irradiation range The calculation unit 22 and the light distribution signal output unit 23 are included. The light distribution control device 13 is realized by executing a predetermined program in a computer system including, for example, a CPU, a ROM, a RAM, and the like.

  Based on the image processing result from the image processing device 12, the vehicle angle detection unit 21 determines the relative position of both end positions of the lamp (headlight or taillight) of the target vehicle based on the traveling direction of the host vehicle based on the angle. Ask. Specifically, the vehicle angle detector 21 obtains the right end angle θ1 and the left end angle θ2 of the target vehicle as viewed from the host vehicle.

  The irradiation range calculation unit 22 calculates parameters for determining the irradiation range of the headlight of the host vehicle based on the angles θ1 and θ2 obtained by the vehicle angle detection unit 21. Details of the parameters will be described later.

  The light distribution signal output unit 23 generates and outputs a light distribution signal for use in light distribution control by the vehicular lamp 2 based on the above parameters calculated by the irradiation range calculation unit 22. The vehicle lamp 2 that has received this light distribution signal operates a built-in actuator or the like (not shown) so as to realize a light irradiation range determined by the light distribution signal.

  The light distribution control system 1 of the present embodiment has the above configuration, and the operation thereof will be described next.

  FIG. 2 is a diagram for explaining the processing contents by the vehicle angle detection unit 21. In FIG. 2, the positional relationship between the host vehicle 100 and the target vehicle 101 is shown by a schematic plan view. As shown in FIG. 2, the reference axis o is set from the approximate center of the host vehicle 100 toward the traveling direction. Further, when expressing a distance along a direction orthogonal to the reference axis o, the right direction is set to be positive and the left direction is set to be negative with the reference axis o interposed therebetween. At this time, the angles θ1 and θ2 are respectively the left and right ends (the lamp position in this example) of the target vehicle 101 imaged by the camera 11 disposed at the approximate center in the left-right direction of the host vehicle 100 and the reference axis o. The angle between The vehicle angle detector 21 detects these angles θ1 and θ2.

  FIG. 3 is a diagram for explaining the processing content by the irradiation range calculation unit 22. As shown in FIG. 3, the vehicle width of the host vehicle 100 (the distance between the headlamps in this example) is defined as A, the distance between the host vehicle 100 and the target vehicle 101 is defined as B, and the reference A distance (lateral deviation) from the axis o to the right end of the target vehicle 101 (apparent right end seen from the host vehicle 100) is defined as C, and the vehicle width of the target vehicle 101 is defined as D. For example, in the present embodiment, the distance B is defined as the distance B from the position of the headlamp of the host vehicle 100 to the position of the headlamp of the target vehicle 101, and the lateral deviation amount C is an abbreviation of the host vehicle 100. A lateral deviation amount C is defined as a distance from the center (reference axis o) to the right headlight of the target vehicle 101 (the apparent right headlamp viewed from the host vehicle 100). In addition, an angle formed between the right end and the reference axis o that deletes the light irradiation range so that the right headlight of the host vehicle 100 does not irradiate the target vehicle 101 is α1, and an angle formed between the left end and the reference axis o. Is α2, and the angle between the right end and the reference axis o that eliminates the light irradiation range so that the left headlamp of the host vehicle 100 does not irradiate the target vehicle 101 is β1, and the left end and the reference axis o The angle formed is β2. The irradiation range calculation unit 22 calculates these angles (non-irradiation angles) α1, α2, β1, and β2 based on the angles θ1 and θ2 detected by the vehicle angle detection unit 21. These angles α1, α2, β1, and β2 are set to values that do not irradiate the side mirror when the target vehicle 101 is a preceding vehicle and the interior of the vehicle when the target vehicle 101 is an oncoming vehicle.

Specifically, first, the angles α1 and β2 are set as follows using the angles θ1 and θ2 detected by the angle detection unit 21, respectively.
α1 = θ1 (1)
β2 = θ2 (2)
In this case, by setting the angle α1 to be the angle θ1, the right end from which the light irradiation range by the right headlamp of the host vehicle 100 is deleted is ½ of the vehicle width A of the host vehicle from the end of the target vehicle 101. If the vehicle width A of the host vehicle 100 is 1 m, the left end is at a position 0.5 m away from the target vehicle 101. Similarly, by setting the angle β2 to be the angle θ2, the left end from which the light irradiation range by the left headlamp of the host vehicle 100 is deleted is the end of the target vehicle 101 by ½ of the vehicle width A of the host vehicle 100. If the vehicle width A of the host vehicle 100 is 1 m, the left end is at a position 0.5 m away from the target vehicle 101.

Next, the angles α2 and β1 are set as follows using the angles θ1 and θ2 detected by the angle detector.
α2 = θ2-k (θ1-θ2) (3)
β1 = θ1 + k (θ1-θ2) (4)
Here, the coefficient k in each calculation formula is a desired value of the distance L between the left end where the light irradiation range by the right headlamp of the host vehicle 100 is deleted and the end of the target vehicle 101, and the left front of the host vehicle 100. The distance Q between the right end from which the light irradiation range by the lighting is deleted and the end of the target vehicle 101 is also set to a desired value. The basis of each calculation formula will be described below.

  A difference (θ1−θ2) between the angles θ1 and θ2 detected by the angle detector 21 is defined as an opening angle. The values of the opening angles (θ1−θ2) are respectively the sizes of the distance B between the host vehicle 100 and the target vehicle 101, the lateral shift amount C between the host vehicle 100 and the target vehicle 101, and the vehicle width D of the target vehicle 101. Will change accordingly. For this reason, by correcting the angles θ1 and θ2 using the opening angle (θ1−θ2), the angle α2 according to the magnitudes of the distance B, the lateral displacement C, and the vehicle width D may be directly measured without being measured directly. , Β1 can be set variably, and an appropriate light irradiation range can be set.

Specifically, assuming the arrangement shown in FIG. 3, the distance L between the left end where the light irradiation range by the right headlamp of the host vehicle 100 is deleted and the end of the target vehicle 101 is expressed by the following calculation formula. be able to.
L = A / 2 + D + B × tan (α2) −C
= A / 2 + D + B.times.tan (.theta.2-k (.theta.1-.theta.2))-C (5)
Here, the angles θ1 and θ2 can be expressed as follows.
θ1 = arctan (C / B)
θ2 = arctan ((C−D) / B)
Therefore, if these angles θ1 and θ2 are substituted into the equation (5) and a preferable value (for example, 0.3 m) is set as L, the coefficient k can be obtained based on the equation (5). For example, the vehicle width A of the host vehicle 100 is set to 1 m, the distance B is variably set between 5 m and 300 m, and the lateral deviation C is set variably between −1 m and +50 m. When the width D is variably set between 1 m and 2 m and the value of the coefficient k is simulated such that the distance L is 0.3 m or more, the coefficient k in the above equation (3) is set to 0.7 to 0.9. A reasonable value can be obtained as the angle α2 by setting the value to about 0.8, more preferably about 0.8.

Similarly, assuming the arrangement shown in FIG. 3, the distance Q between the right end from which the light irradiation range by the left headlamp of the host vehicle 100 is deleted and the end of the target vehicle 101 can be expressed by the following calculation formula. it can.
Q = −A / 2 + B × tan (β1) −C
= −A / 2 + B × tan (θ1 + k (θ1−θ2)) − C (6)
Here, as described above, the angles θ1 and θ2 can be expressed as follows.
θ1 = arctan (C / B)
θ2 = arctan ((C−D) / B)
Therefore, if these angles θ1 and θ2 are substituted into the equation (6) and a preferable value (for example, 0.3 m) is set as L, the coefficient k can be obtained based on the equation (6). For example, the vehicle width A of the host vehicle 100 is set to 1 m, the distance B is variably set between 5 m and 300 m, and the lateral deviation C is set variably between −1 m and +50 m. When the value of the coefficient k is set such that the width D is variably set between 1 m and 2 m and the distance L is 0.3 m or more, the coefficient k in the above equation (4) is set to 0.7 to 0.9. An appropriate value can be obtained as the angle β1 by setting to a value of about 0.8, more preferably about 0.8.

  In summary, the irradiation range setting unit 22 of the present embodiment determines the angle α1 as the angle θ1 and the angle β2 as the angle θ2 based on the angles θ1 and θ2 detected by the angle detection unit 21. Further, the angle α2 is determined by setting the coefficient k as an example in the above equation (3) to 0.8 and calculating θ2−0.8 × (θ1−θ2). In equation (4), the coefficient k is set to 0.8 as an example, and is determined by calculating θ1 + 0.8 × (θ1−θ2).

  FIG. 4 is a flowchart showing an operation procedure of the light distribution control system 1.

  When the target vehicle existing in front of the host vehicle is imaged by the camera 11 (step S11), the image processing device 12 performs predetermined image processing on the image data output from the camera 11 (step S12).

  Next, the vehicle angle detection unit 21 detects the above angles θ1 and θ2 based on the image processing result by the image processing device 12 (step S13).

  Next, the irradiation range calculation unit 22 uses the angles α1, α2, and the like necessary to set the irradiation range of the light from the headlight of the host vehicle based on the angles θ1, θ2 detected by the vehicle angle detection unit 21. Each of β1 and β2 is calculated. Specifically, the irradiation range calculation unit 22 sets the angle α1 to the angle θ1 and sets the angle β2 to θ2 (step S14). Moreover, the irradiation range calculation part 22 calculates | requires opening angle ((theta) 1- (theta) 2), and calculates angle (alpha) 2, (beta) 1 based on an above-described calculation formula using this (step S15).

  Next, the light distribution signal output unit 23 uses a light distribution signal to be used for light distribution control by the vehicular lamp 2 based on the angles α1, α2, β1, and β2 calculated by the irradiation range calculation unit 22. Generate and output (step S16).

  As described above, in the light distribution control system of the present embodiment, by using the opening angle (θ1−θ2) as a parameter and correcting the angles θ1 and θ2, the distance between the host vehicle and the target vehicle, the host vehicle and the target vehicle. The angles α2 and β1 can be variably set in accordance with these sizes without directly measuring the lateral displacement amount and the vehicle width of the target vehicle. Therefore, it is possible to easily set an appropriate light irradiation range that does not irradiate the interior of the target vehicle. In the above system, it is possible to determine the light irradiation range by simple calculation only by detecting the angles θ1 and θ2 indicating the positions of the respective outer edges of the target vehicle. There is no need, and no means for measuring the distance between the host vehicle and the target vehicle is required. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In addition, this invention is not limited to the content of embodiment mentioned above, In the range of the summary of this invention, it can change and implement variously.

  For example, in the above-described embodiment, the light distribution control system is configured including the camera, the image processing device, and the light distribution control device. However, when the host vehicle is equipped with the camera and the image processing device in advance, A light distribution control system may be constructed by combining the camera and the like with a light distribution control device. Further, the camera and the image processing apparatus may be configured integrally.

DESCRIPTION OF SYMBOLS 1 ... Light distribution control system 2 ... Vehicle lamp 11 ... Camera (imaging device)
DESCRIPTION OF SYMBOLS 12 ... Image processing apparatus 13 ... Light distribution control apparatus 21 ... Vehicle angle detection part 22 ... Irradiation range calculation part 23 ... Light distribution signal output part

Claims (4)

A light distribution control system for controlling a light distribution state by a vehicle lamp,
An imaging device for imaging a target vehicle in front of the host vehicle;
An image processing device that detects left and right outer edges of the target vehicle based on image data output from the imaging device;
A light distribution control device that outputs a light distribution signal for controlling the light distribution state based on a detection result by the image processing device;
Including
The light distribution control device includes:
Based on the detection result obtained from the image processing apparatus, vehicle angle detection for obtaining an angle θ1 indicating the position of the right outer edge of the target vehicle and an angle θ2 indicating the position of the left outer edge with respect to the approximate center of the host vehicle. And
Irradiation for calculating angles α1 and α2 that define the irradiation range of the vehicle's right headlight and angles β1 and β2 that define the irradiation range of the vehicle's left headlight based on the angles θ1 and θ2. A range calculator;
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the angles α1, α2, β1, and β2.
Have
The irradiation range calculation unit
The angle α1 is defined as the angle θ1, and the angle β2 is defined as the angle θ2.
The angle α2 is determined by subtracting a value obtained by multiplying the first coefficient by (θ1−θ2) from the angle θ2.
The angle β1 is determined by adding a value obtained by multiplying the second coefficient by (θ1−θ2) to the angle θ1.
Light distribution control system for vehicular lamps.   The light distribution control system according to claim 1, wherein each of the first coefficient and the second coefficient is set to a value smaller than one.   The light distribution control system according to claim 1 or 2, wherein the first coefficient and the second coefficient are set to be equal. A light distribution control device for controlling a light distribution state by a vehicular lamp,
The result of detecting the left and right outer edges of the target vehicle existing in front of the host vehicle is input, and an angle indicating the position of the right outer edge of the target vehicle based on the approximate center of the host vehicle based on the detection result a vehicle angle detector for obtaining θ1 and an angle θ2 indicating the position of the left outer edge;
Irradiation for calculating angles α1 and α2 that define the irradiation range of the vehicle's right headlight and angles β1 and β2 that define the irradiation range of the vehicle's left headlight based on the angles θ1 and θ2. A range calculator;
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the angles α1, α2, β1, and β2.
Have
The irradiation range calculation unit
The angle α1 is defined as the angle θ1, and the angle β2 is defined as the angle θ2.
The angle α2 is determined by subtracting a value obtained by multiplying the first coefficient by (θ1−θ2) from the angle θ2.
The angle β1 is determined by adding a value obtained by multiplying the second coefficient by (θ1−θ2) to the angle θ1.
A light distribution control device for a vehicle lamp.

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