JP2016088283A - Head lamp system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a head lamp system for a vehicle which is hard to provide glare to a leading vehicle.SOLUTION: A head lamp system 100 includes a head lamp 10 for a vehicle equipped with, in a lamp chamber, a light fixture unit 20 for high beam capable of controlling radiation range of light to the front of a vehicle, and a laser radar 120 for scanning the front of an own vehicle, a camera 102 which is provided outside the lamp chamber of the head lamp 10 for a vehicle, for imaging, and a control part 104 which, based on the information acquired with the camera 102 and the information acquired with the laser radar 120, controls radiation range of the light fixture unit 20 for high beam.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicle headlamp system.

  Conventionally, the presence or absence of a preceding vehicle or an oncoming vehicle (hereinafter referred to as “front vehicle” as appropriate) is detected based on an image in front of the vehicle imaged by a camera, and the light distribution pattern is changed based on the detection result. There has been proposed a vehicle headlamp system configured as described above (see, for example, Patent Documents 1 and 2). In such a vehicle headlamp system, the region where the detected front vehicle is present is shielded and the other region is irradiated with a high beam so that the driver's visibility is improved without giving glare to the front vehicle. Improvements can be made. Such a system is also called an ADB (Adaptive Driving Beam) system.

JP 2008-94127 A JP 2008-37240 A

  In the ADB system as described above, the camera is installed on, for example, an inner mirror in a vehicle. Since the camera and the lamp unit are installed at positions separated from each other, there is a possibility that the camera and the lamp unit are attached with a deviation from the normal position. When the mounting position of the camera and the lamp unit is deviated from the normal position, a deviation occurs between the actual light shielding position and the front vehicle position, which may cause glare to the front vehicle.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a vehicle headlamp system that can make it difficult to give glare to a preceding vehicle.

  In order to solve the above-described problems, a vehicle headlamp system according to an aspect of the present invention includes a lamp unit capable of controlling a light irradiation range in front of a vehicle, and a radar that scans the front of the vehicle. Based on the vehicle headlamp provided for, the camera that images the front of the host vehicle provided outside the lamp chamber of the vehicle headlamp, the information acquired by the camera, and the information acquired by the radar, A control unit that controls the irradiation range of the lamp unit.

  The control unit is configured to detect the front vehicle position based on an image captured by the camera, and to irradiate the front vehicle with light based on the first front vehicle position information detected by the front vehicle detection unit. And an irradiation range correction for correcting the irradiation range determined by the irradiation range determination unit based on the second forward vehicle position information acquired by the radar. May be provided.

  The irradiation range correction unit may correct the irradiation range when the distance from the host vehicle to the preceding vehicle does not change for a predetermined time. The irradiation range correction unit may correct the irradiation range when the host vehicle travels.

  The control unit further includes a parallax correction unit that corrects a deviation in the irradiation direction of the lamp unit due to different installation positions of the camera and the lamp unit in the vehicle when the distance from the host vehicle to the preceding vehicle is equal to or less than a predetermined value. You may prepare.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle headlamp system which can make it difficult to give glare to a front vehicle can be provided.

It is a horizontal sectional view of the vehicle headlamp used in the vehicle headlamp system according to the embodiment of the present invention. It is the top view which showed typically the structure of the lamp unit for high beams. FIG. 3A to FIG. 3E are perspective views showing the state of the blade according to the rotation angle of the rotary reflector in the lamp unit according to the present embodiment. FIGS. 3F to 3J are diagrams for explaining that the direction in which the light from the light source is reflected changes corresponding to the states of FIGS. 3A to 3E. . FIG. 4A is a diagram showing a light distribution pattern when a range of ± 5 degrees to the left and right of the optical axis is scanned using the vehicle headlamp according to the present embodiment, and FIG. The figure which shows the luminous intensity distribution of the light distribution pattern shown to Fig.4 (a), FIG.4 (c) is the state which light-shielded one place among the light distribution patterns using the vehicle headlamp which concerns on this Embodiment. FIG. 4 (d) is a diagram showing the luminous intensity distribution of the light distribution pattern shown in FIG. 4 (c), and FIG. 4 (e) is a diagram showing the distribution using the vehicle headlamp according to the present embodiment. FIG. 4F is a diagram illustrating a state where a plurality of portions of the light pattern are shielded from light, and FIG. 4F is a diagram illustrating a luminous intensity distribution of the light distribution pattern illustrated in FIG. It is a functional block diagram for demonstrating the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating the light distribution pattern formed with the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating correction | amendment of the irradiation range in the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating the necessity of parallax correction. It is a figure for demonstrating the parallax correction method in the vehicle headlamp system which concerns on this Embodiment. It is a vertical sectional view of the vehicle headlamp according to the present embodiment.

  Hereinafter, the present invention will be described based on embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. Further, the embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

  FIG. 1 is a horizontal sectional view of a vehicle headlamp used in a vehicle headlamp system according to an embodiment of the present invention. The vehicle headlamp 10 is a right-hand headlamp mounted on the right side of the front end portion of the automobile, and has the same structure except that it is symmetrical to the headlamp mounted on the left side. Therefore, in the following, the right vehicle headlamp 10 will be described in detail, and the description of the left vehicle headlamp will be omitted.

  As shown in FIG. 1, the vehicle headlamp 10 includes a lamp body 12 having a recess opening forward. The lamp body 12 has a front opening covered with a transparent front cover 14 to form a lamp chamber 16. The lamp chamber 16 functions as a space in which two lamp units (a low beam lamp unit 18 and a high beam lamp unit 20) are accommodated in a row in the vehicle width direction.

  Among these lamp units, in the vehicle headlamp 10 on the right side, the high beam lamp unit 20 disposed on the upper side shown in FIG. 1 is a lamp unit having a lens and irradiates a variable high beam. Is configured to do. On the other hand, among these lamp units, in the vehicle headlamp 10 on the right side, the low beam lamp unit 18 disposed on the lower side shown in FIG. 1 is configured to emit a low beam. .

  The low beam lamp unit 18 includes a reflector 22, a light source bulb (incandescent bulb) 24 supported by the reflector 22, and a shade (not shown). The reflector 22 includes known means (not shown) such as an aiming screw and a nut. It is supported so as to be tiltable with respect to the lamp body 12 by the means used. In this embodiment, a bulb is used as the light source of the low beam lamp unit 18, but the light source of the low beam lamp unit 18 is not particularly limited, and may be an HID, LED, LD, or the like.

  In the present embodiment, the high beam lamp unit 20 is configured to be able to control the irradiation range of light toward the front of the vehicle. As shown in FIG. 1, the high beam lamp unit 20 includes a rotating reflector 26, an LED 28, and a convex lens 30 as a projection lens disposed in front of the rotating reflector 26. In addition, it is also possible to use a semiconductor light emitting element such as an EL element or an LD element as a light source instead of the LED 28. In particular, a light source that can be turned on and off accurately in a short time is preferable for the control for shielding a part of a light distribution pattern described later. The shape of the convex lens 30 may be appropriately selected according to the light distribution characteristics such as a required light distribution pattern and illuminance distribution, but an aspherical lens or a free-form surface lens is used. In the present embodiment, an aspheric lens is used as the convex lens 30.

  The rotary reflector 26 is rotated in one direction around the rotation axis R by a drive source such as a motor (not shown). The rotating reflector 26 includes a reflecting surface configured to reflect the light emitted from the LED 28 while rotating to form a desired light distribution pattern.

  In the high beam lamp unit 20, the LED 28, the rotating reflector 26 and the convex lens 30 are accommodated in a lamp housing (not shown). The lamp housing is attached to the lamp body 12.

  Further, the vehicle headlamp 10 includes a laser radar 120 for scanning the front of the vehicle. This laser radar 120 is used in ADB control in the vehicle headlamp system according to the present embodiment. The laser radar 120 is provided in the lamp chamber 16. In the present embodiment, the laser radar is exemplified as the radar provided in the lamp chamber 16, but the radar provided in the lamp chamber 16 is not limited to the laser radar, and may be, for example, a millimeter wave radar. .

  FIG. 2 is a top view schematically showing the configuration of the high beam lamp unit 20.

  In the rotating reflector 26, three blades 26a having the same shape and functioning as a reflecting surface are provided around a cylindrical rotating portion 26b. A rotation axis R of the rotary reflector 26 is inclined with respect to the optical axis Ax, and is provided in a plane including the optical axis Ax and the LED 28. In other words, the rotation axis R is provided substantially parallel to the scanning plane of the light (irradiation beam) of the LED 28 that scans in the left-right direction by rotation. Thereby, thickness reduction of an optical unit is achieved. Here, the scanning plane can be regarded as, for example, a fan-shaped plane formed by continuously connecting the light traces of the LEDs 28 as scanning light.

  The blade 26a has a twisted shape so that the angle formed by the optical axis Ax and the reflecting surface changes as it goes in the circumferential direction about the rotation axis R. As a result, as shown in FIG. 2, scanning using the light of the LED 28 becomes possible. This point will be further described in detail.

  FIG. 3A to FIG. 3E are perspective views showing the state of the blade according to the rotation angle of the rotary reflector 26 in the lamp unit according to the present embodiment. FIGS. 3F to 3J are diagrams for explaining that the direction in which the light from the light source is reflected changes corresponding to the states of FIGS. 3A to 3E. .

  FIG. 3A shows a state where the LED 28 is arranged so as to irradiate the boundary region between the two blades 26a1 and 26a2. In this state, as shown in FIG. 3F, the light of the LED 28 is reflected in a direction oblique to the optical axis Ax by the reflecting surface S of the blade 26a1. As a result, one end region of the left and right ends of the vehicle front region where the light distribution pattern is formed is irradiated. Thereafter, when the rotary reflector 26 rotates and enters the state shown in FIG. 3B, the blade 26a1 is twisted, and therefore the reflection surface S (reflection angle) of the blade 26a1 that reflects the light of the LED 28 changes. As a result, as shown in FIG. 3G, the light of the LED 28 is reflected in a direction closer to the optical axis Ax than the reflection direction shown in FIG.

  Subsequently, when the rotating reflector 26 rotates as shown in FIGS. 3C, 3D, and 3E, the light reflection direction of the LED 28 is an area in front of the vehicle where the light distribution pattern is formed. Of these, it changes toward the other end of the left and right ends. The rotating reflector 26 according to the present embodiment is configured to be able to scan forward in one direction (horizontal direction) once by the light of the LED 28 by rotating 120 degrees. In other words, when one blade 26 a passes in front of the LED 28, a desired area in front of the vehicle is scanned once by the light of the LED 28.

  The number and shape of the blades 26a and the rotational speed of the rotary reflector 26 are appropriately set based on the results of experiments and simulations in consideration of the characteristics of the required light distribution pattern and the flicker of the scanned image. Moreover, a motor is preferable as a drive part which can change a rotational speed according to various light distribution control. Thereby, the scanning timing can be changed easily. As such a motor, a motor capable of obtaining rotation timing information from the motor itself is preferable. Specifically, a DC brushless motor is mentioned. When a DC brushless motor is used, rotation timing information can be obtained from the motor itself, so that devices such as an encoder can be omitted.

  FIG. 4A is a diagram showing a light distribution pattern when a range of ± 5 degrees to the left and right of the optical axis is scanned using the vehicle headlamp according to the present embodiment, and FIG. The figure which shows the luminous intensity distribution of the light distribution pattern shown to Fig.4 (a), FIG.4 (c) is the state which light-shielded one place among the light distribution patterns using the vehicle headlamp which concerns on this Embodiment. FIG. 4 (d) is a diagram showing the luminous intensity distribution of the light distribution pattern shown in FIG. 4 (c), and FIG. 4 (e) is a diagram showing the distribution using the vehicle headlamp according to the present embodiment. FIG. 4F is a diagram illustrating a state where a plurality of portions of the light pattern are shielded from light, and FIG.

  As shown in FIG. 4A, the vehicular headlamp 10 according to the present embodiment reflects the light of the LED 28 with a rotating reflector 26 and scans the front with the reflected light in a substantially horizontal direction. A horizontally elongated high beam light distribution pattern can be formed. In this way, since a desired light distribution pattern can be formed by rotating the rotating reflector 26 in one direction, there is no need for driving by a special mechanism such as a resonant mirror, and the reflecting surface of the reflecting mirror is not required. There are few restrictions on size.

  Further, the vehicle headlamp 10 including the optical unit according to the present embodiment synchronizes the turn-on / off timing of the LED 28 and the change in luminous intensity with the rotation of the rotary reflector 26, so that FIG. As shown in FIG. 4E, a high beam light distribution pattern in which an arbitrary region is shielded can be formed. In addition, when a high beam light distribution pattern is formed by changing the light emission intensity of the LED 28 in synchronization with the rotation of the rotary reflector 26 (turning on and off), the control is performed such that the light distribution pattern itself is swiveled by shifting the phase of the light intensity change. Is also possible.

  As described above, the vehicle headlamp according to the present embodiment forms a light distribution pattern by scanning the light of the LED, and controls a change in the light emission intensity so as to be a part of the light distribution pattern. A light shielding portion can be arbitrarily formed. Therefore, as compared with the case where a part of the plurality of LEDs is turned off and the light shielding portion is formed, a desired area can be shielded with high accuracy by a small number of LEDs. In addition, since the vehicle headlamp 10 can form a plurality of light shielding portions, even if there are a plurality of vehicles ahead, it is possible to shield a region corresponding to each vehicle. Become.

  Moreover, since the vehicle headlamp 10 can perform the light shielding control without moving the basic light distribution pattern, it is possible to reduce a sense of discomfort given to the driver during the light shielding control. Further, since the light distribution pattern can be swiveled without moving the high beam lamp unit 20, the mechanism of the high beam lamp unit 20 can be simplified. For this reason, the vehicle headlamp 10 only needs to have a motor necessary for the rotation of the rotary reflector 26 as a drive unit for variable light distribution control, which simplifies the configuration, reduces costs, and reduces the size. It is illustrated.

  FIG. 5 is a functional block diagram for explaining the vehicle headlamp system 100 according to the present embodiment. The vehicle headlamp system 100 includes the vehicle headlamp 10 described above, a control unit 104 for controlling the vehicle headlamp 10, a camera 102, a steering sensor 106, and a vehicle speed sensor 108. .

  The vehicle headlamp system 100 according to the present embodiment detects the position of a preceding vehicle such as a preceding vehicle or an oncoming vehicle, shields the area where the preceding vehicle exists, and irradiates other areas with a high beam. This is an optical variable headlamp (ADB) system. Since the area to be shielded from light is automatically adjusted in accordance with the position of the preceding vehicle, the driver of the own vehicle can always obtain a near field of view during high beam irradiation while preventing glare from the preceding vehicle.

  The camera 102 images the front of the vehicle. The camera 102 may be a stereo camera, for example. The camera 102 is installed outside the lamp chamber of the vehicle headlamp 10. The camera 102 may be installed, for example, on the back side (the vehicle front side) of the inner mirror in the vehicle. The inner mirror is disposed at the center front upper position between both front seats in the vehicle. Image data captured by the camera 102 is transmitted to the control unit 104.

  The vehicle headlamp system 100 according to the present embodiment includes a laser radar 120 in addition to the camera 102 as means for detecting a forward vehicle. The laser radar 120 scans the front of the host vehicle using laser light and detects the position of the front vehicle from the time until the laser light is reflected back to the front vehicle. The laser radar 120 may be a relatively inexpensive one-axis (horizontal direction) scanning method or may be capable of highly accurate position detection using a two-axis (vertical and horizontal direction) scanning method. Good.

  As described above, the laser radar 120 is provided in the lamp chamber 16. In this case, it is easy to align the mounting positions of the laser radar 120 and the high beam lamp unit 20, and therefore it is possible to make it difficult for the laser radar 120 and the high beam lamp unit 20 to be displaced. The laser radar 120 and the high beam lamp unit 20 may be attached and fixed to the same structure (for example, a fixing frame (not shown) or the lamp body 12). By mounting and fixing the laser radar 120 and the high beam lamp unit 20 on the same structure, it is possible to make the positional deviation between the laser radar 120 and the high beam lamp unit 20 less likely to occur.

  The control unit 104 controls the irradiation range of the high beam lamp unit 20 based on the information acquired by the camera 102 and the information acquired by the laser radar 120. The control unit 104 includes a forward vehicle detection unit 110, an irradiation range determination unit 112, an irradiation range correction unit 114, and an irradiation control unit 118.

  The forward vehicle detection unit 110 detects the position of the forward vehicle in the imaging range based on the image captured by the camera 102. For example, a forward vehicle detection technique using a stereo camera is well-known, and a detailed description thereof is omitted here.

  Based on the first front vehicle position information detected by the front vehicle detection unit 110, the irradiation range determination unit 112 controls the irradiation range (light distribution pattern) of the high beam lamp unit 20 so that light irradiation to the front vehicle is suppressed. ). That is, the irradiation range determination unit 112 determines the irradiation range of the high beam lamp unit 20 so that the area where the preceding vehicle is located is set as the light shielding area and the other areas are irradiated with the high beam.

  The irradiation range correction unit 114 corrects the irradiation range determined by the irradiation range determination unit 112 based on the second forward vehicle position information acquired by the laser radar 120. In this embodiment, since the laser radar 120 is provided in the lamp chamber 16, the positional deviation between the laser radar 120 and the high beam lamp unit 20 is caused by the positional deviation between the camera 102 outside the lamp chamber 16 and the high beam lamp unit 20. Less likely to occur. Therefore, by correcting the irradiation range determined based on the image of the camera 102 based on the detection result of the laser radar 120, it is possible to shield the existing area of the preceding vehicle with higher accuracy. In order to improve the accuracy of correction of the irradiation range, the correction by the irradiation range correction unit 114 is performed under a predetermined condition. This predetermined condition will be described later.

  The irradiation control unit 118 controls the LED 28 and the rotary reflector 26 of the high beam lamp unit 20 so that the irradiation range determined by the irradiation range determination unit 112 or the irradiation range corrected by the irradiation range correction unit 114 is formed in front of the lamp. Control. That is, the irradiation control unit 118 synchronizes the turn-on / off timing of the LED 28 and the change in luminous intensity with the rotation of the rotary reflector 26, thereby forming a high beam light distribution pattern in which the existing area of the front vehicle is shielded in front of the lamp. .

  The irradiation control unit 118 basically performs control to form the irradiation range determined by the irradiation range determination unit 112, but when the irradiation range correction is performed by the irradiation range correction unit 114 under predetermined conditions. Is controlled to form a corrected irradiation range. By forming the corrected irradiation range in front of the lamp, it is more difficult to give glare to the front vehicle.

  FIG. 6 is a diagram for explaining a light distribution pattern formed by the vehicle headlamp system 100 according to the present embodiment. FIG. 6 is a view showing the front of the vehicle seen through in a perspective view when the vehicle is traveling on a straight paved road with one lane on one side (two lanes on both sides). FIG. 6 is a diagram showing the low beam light distribution pattern PL and the variable high beam light distribution pattern PH formed on a virtual vertical screen disposed at a position 25 m ahead of the vehicle in an overlapping manner. FIG. 6 shows the center line CL, the own lane side line MRL, and the opposite lane side line ORL. The own lane side line MRL extends in the lower left direction from the intersection (referred to as the HV point) of the horizontal line HH and the vertical line VV, which is the vanishing point of the perspective view, and is opposite to the center line CL. The lane line ORL extends in the lower right direction from the HV point.

  The low beam light distribution pattern PL is formed by irradiation light from the low beam lamp unit 18 shown in FIG. The low-beam light distribution pattern PL shown in FIG. 6 is a light distribution pattern that is designed to prevent glare from oncoming vehicles and pedestrians when traveling in urban areas or the like in areas where traffic regulations are on the left. It has cut-off lines CL1, CL2, CL3 with different left and right steps at the edge. The cut-off line CL1 is formed on the right side of the VV line of the vehicle headlamp 10 so as to extend in the horizontal direction as an oncoming lane side cut-off line. The cut-off line CL2 is formed on the left side of the VV line so as to extend in the horizontal direction at a position higher than the cut-off line CL1 as the own lane side cut-off line. The cut-off line CL3 is formed as an oblique cut-off line that connects the end of the cut-off line CL2 on the VV line side and the end of the cut-off line CL1 on the VV line side. The cut-off line CL3 extends from the intersection of the cut-off line CL1 and the VV line obliquely upward to the left with an inclination angle of 45 °.

  The high beam light distribution pattern PH is formed by irradiation light from the high beam lamp 20H. The high beam light distribution pattern PH is formed in addition to the low beam light distribution pattern PL. The high beam light distribution pattern PH mainly covers a region above the horizontal line HH. In the vehicle headlamp system 100 according to the present embodiment, the high beam light distribution pattern PH is shielded from the region LS where the front vehicle FV exists. Accordingly, the driver of the own vehicle can obtain a near field of view when the complete high beam light distribution pattern is irradiated while suppressing glare given to the driver of the front vehicle FV. The high beam light distribution pattern PH is also called a “split light distribution pattern”.

  FIG. 7 is a diagram for explaining correction of the irradiation range in the vehicle headlamp system 100 according to the present embodiment. As shown in FIG. 7, the first forward vehicle position of the forward vehicle FV detected by the camera 102 is “A ° −A ′ °”. The light shielding position determined by the irradiation range determining unit 112 based on the first front vehicle position A ° -A ′ ° is “C ° -C ′ °”. Here, it is assumed that the first front vehicle position A ° -A ′ ° and the light-shielding position C ° -C ′ ° are shifted due to the mounting positions of the camera 102 and the high beam lamp unit 20 being shifted. . If the high beam lamp unit 20 is irradiated at the light shielding position C ° -C ′ ° as it is, glare is given to the front vehicle FV. Therefore, it is necessary to correct the irradiation range (that is, the light shielding position).

  The second forward vehicle position of the forward vehicle FV detected by the laser radar 120 is “B ° −B ′ °”. At this time, assuming that there is no displacement between the positions of the laser radar 120 and the high beam lamp unit 20, the shift amount α ° between the light shielding position C ° -C ′ ° and the first front vehicle position A ° -A ′ ° based on the camera is , C ° -B ° or C ′ ° -B ′ °. Therefore, the front vehicle FV can be shielded with high accuracy by correcting the light shielding position C ° -C ′ ° by this shift amount α °.

Hereinafter, conditions for correcting the irradiation range will be described.
(1) When the distance from the own vehicle to the preceding vehicle does not change for a predetermined time The irradiation range correction unit 114 corrects the irradiation range when the distance from the own vehicle to the preceding vehicle does not change for a predetermined time. For example, when the vehicle is running at the same speed as the preceding vehicle, or when both the host vehicle and the preceding vehicle are stopped. The distance from the host vehicle to the preceding vehicle can be detected based on the image captured by the camera 102. The predetermined time is set to 1 second or more, for example.
(2) When the host vehicle is traveling The irradiation range correction unit 114 corrects the irradiation range when the host vehicle is traveling. More preferably, the irradiation range correction unit 114 corrects the irradiation range when the host vehicle travels in a straight line. Whether or not the host vehicle is traveling can be determined based on information from the vehicle speed sensor 108. Further, whether or not the vehicle is traveling in a straight line can be determined based on information from the vehicle speed sensor 108 and information from the steering sensor 106. For example, when the steering angle is within a preset angle range (for example, within ± 5 °), it is determined that the host vehicle is traveling straight.
(3) When the distance from the own vehicle to the preceding vehicle is equal to or less than the predetermined distance The irradiation range correction unit 114 corrects the irradiation range when the distance from the own vehicle to the preceding vehicle is equal to or less than the predetermined distance. The predetermined distance is set to 50 m or less, for example. The irradiation range correction unit 114 may change the predetermined distance according to the traveling speed of the host vehicle. For example, the faster the traveling speed, the longer the predetermined distance.

  Due to the difference between the data acquisition timing at the camera 102 and the data acquisition timing at the laser radar 120, the error of the shift amount α ° may increase. Therefore, it is preferable to use an average value for a certain period as acquired data.

  In the vehicle headlamp system 100 according to the present embodiment, the control unit 104 may further include a parallax correction unit 116. When the distance from the host vehicle to the preceding vehicle is equal to or less than a predetermined value, the parallax correction unit 116 irradiates the irradiation direction of the high beam lamp unit 20 due to the different installation positions of the camera 102 and the high beam lamp unit 20 on the vehicle. Deviation (this is called “parallax”) is corrected.

  FIG. 8 is a diagram for explaining the necessity of parallax correction. As shown in FIG. 8, a camera 102 that images the forward vehicle FV is provided at the front center of the host vehicle 50, and a left vehicle headlamp 10 </ b> L and a right vehicle headlamp 10 </ b> R are provided at the left and right ends, respectively. ing.

  Here, when the front vehicle FV (vehicle width W2) exists at the front distance L of the host vehicle 50 (vehicle width W1), and the left vehicle headlamp 10L forms a split light distribution pattern with respect to the front vehicle FV. Consider parallax correction. Let α be the angle formed by the line segment OC connecting the position C of the camera 102 and the point O in front of it, and the line segment CM connecting the position C of the camera 102 and the center portion M of the forward vehicle FV. Further, the angle formed by the line segment CM and the line segment connecting the position C of the camera 102 and the left end portion FL of the forward vehicle FV is defined as θ1. Further, an angle formed by the line segment CM and a line segment connecting the position C of the camera 102 and the right end FR of the forward vehicle FV is defined as θ2. The left vehicle headlamp 10L is located to the left by W1 / 2 from the position C of the camera 102.

  In the position information of the forward vehicle detected based on the image captured by the camera 102, the left end of the forward vehicle FV is directed to each of the angles θ1 and θ2 with reference to the direction of the angle α from the front of the host vehicle 50. It is recognized that the part FL and the right end part FL exist. When the split light distribution pattern is formed using this information as it is, an appropriate light distribution pattern cannot be formed, and there is a possibility that glare will be given to the forward vehicle FV. In other words, the direction forming the angle α from the line connecting the left vehicle headlamp 10L and the point O ′ in front of the left vehicle headlight 10L is set as the reference direction, and from there, the left irradiation part PL of the split light distribution pattern in the directions of angles θ1 and θ2 When the split light distribution pattern is formed so that the boundary of the irradiation part PR is located, as shown in FIG. 8, the boundary of the left side irradiation part PL is located on the left outer side by an angle θ1 from the left end part FL of the forward vehicle FV. The boundary of the right irradiation part PR is located on the right outside (that is, near the center of the front vehicle FV) by an angle θ2 from the left end FL of the front vehicle FV. As can be seen from FIG. 8, in this state, the right irradiation part PR gives glare to the front vehicle FV, and there is a non-irradiation region between the left irradiation part PL and the front vehicle FV, and the front vehicle FV. The surrounding area is not properly illuminated. Such an event is caused by a difference in installation positions of the camera 102 and the left vehicle headlamp 10L.

FIG. 9 is a diagram for explaining a parallax correction method in the vehicle headlamp system according to the present embodiment. First, the parallax correction of the left irradiation unit PL will be described. When the vehicle width of the host vehicle 50 and the forward vehicle FV is approximated to be the same (that is, W1 = W2 = W), the following relational expression (1) is derived geometrically.
θ1 = α−tan ⁻¹ {tan α− (W / 2L)} (1)
If α can be ignored (that is, the vehicle 50 and the forward vehicle FV are in a straight line), the following relational expression (2) is obtained.
θ1 = tan ⁻¹ (W / 2L) (2)

  The parallax correction unit 116 calculates the angle θ1 using the above relational expression (1) or (2). The angle θ1 calculated by the parallax correction unit 116 is given to the irradiation control unit 118. The irradiation control unit 118 sets the left irradiation unit PL in the irradiation range of the high beam lamp unit determined by the irradiation range determination unit 112 or the left irradiation unit PL in the irradiation range corrected by the irradiation range correction unit 114 to the right by the angle θ1. Move to. Thereby, as shown in FIG. 9, the boundary of the left side irradiation part PL can be located in the left end part FL of the front vehicle FV.

Next, the parallax correction of the right irradiation unit PR will be described. Let Δθ be the movement angle of the right irradiator PR required to position the boundary of the right irradiator PR at the right end FR of the forward vehicle FV. When the vehicle width of the host vehicle 50 and the forward vehicle FV is approximately the same (that is, W1 = W2 = W), the following relational expression (3) is geometrically derived.
Δθ = tan ⁻¹ {tan α + (W / L)} − (α + θ2) (3)
If α can be ignored (that is, the own vehicle 50 and the forward vehicle FV are in a straight line), the following relational expression (4) is obtained.
Δθ = tan ⁻¹ (W / L) −θ2 (4)

  The parallax correction unit 116 calculates the angle Δθ using the above relational expression (3) or (4). The angle Δθ calculated by the parallax correction unit 116 is given to the irradiation control unit 118. The irradiation control unit 118 sets the right irradiation unit PR in the irradiation range of the high beam lamp unit determined by the irradiation range determination unit 112 or the right irradiation unit PR in the irradiation range corrected by the irradiation range correction unit 114 to the right by the angle Δθ. Move to. Thereby, as shown in FIG. 9, the boundary of the right side irradiation part PR can be located in the right end part FR of the front vehicle FV. In this way, the surroundings of the forward vehicle FV can be suitably illuminated without giving glare to the forward vehicle FV.

  As can be seen from the equation (1) or (2), the angles θ1 and Δθ increase as the inter-vehicle distance L between the host vehicle 50 and the forward vehicle FV decreases. Therefore, it is preferable to perform the parallax correction when the inter-vehicle distance L between the host vehicle 50 and the forward vehicle FV is equal to or less than a predetermined value.

  FIG. 10 is a vertical sectional view of the vehicle headlamp according to the embodiment of the present invention. As described above, the high beam lamp unit 20 and the laser radar 120 are provided in the lamp chamber 16 of the vehicle headlamp 10. The high beam lamp unit 20 and the laser radar 120 are fixedly attached to the same fixing frame 122. The fixing frame 122 is attached to the lamp body 12 via an aiming screw 124. The fixing frame 122 supports the high beam lamp unit 20 so as to be tiltable with respect to the lamp body 12. As described above, by attaching and fixing the laser radar 120 and the high beam lamp unit 20 to the same fixing frame 122, it is possible to make the positional deviation between the laser radar 120 and the high beam lamp unit 20 less likely to occur.

  The present invention has been described above based on the embodiment. It should be understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to the combination of each component and each processing process, and such modifications are also within the scope of the present invention.

  For example, in the above-described embodiment, a blade type ADB system using a blade is illustrated, but the ADB system is not particularly limited to the blade type. For example, a large number of LEDs mounted in an array are individually turned on and off. Alternatively, an LED array system that forms a light distribution or a shade system that uses a rotary shade may be used.

  DESCRIPTION OF SYMBOLS 10 Vehicle headlamp, 12 Lamp body, 16 Lamp chamber, 18 Low beam lamp unit, 20 High beam lamp unit, 26 Rotating reflector, 28 LED, 30 Convex lens, 100 Vehicle headlamp system, 102 Camera, 104 Control , 106 steering sensor, 108 vehicle speed sensor, 110 forward vehicle detection unit, 112 irradiation range determination unit, 114 irradiation range correction unit, 116 parallax correction unit, 118 irradiation control unit, 120 laser radar, 122 fixing frame.

Claims (5)

A vehicle headlamp provided with a lamp unit capable of controlling a light irradiation range in front of the vehicle, a radar that scans the front of the vehicle, and a lamp chamber;
A camera for imaging the front of the vehicle, provided outside the lamp chamber of the vehicle headlamp;
Based on the information acquired by the camera and the information acquired by the radar, a control unit that controls the irradiation range of the lamp unit;
A vehicle headlamp system comprising: The controller is
A forward vehicle detector for detecting a forward vehicle position based on an image captured by the camera;
An irradiation range determination unit that determines an irradiation range of the lamp unit based on the first front vehicle position information detected by the front vehicle detection unit, so that irradiation of light to the front vehicle is suppressed;
An irradiation range correction unit that corrects the irradiation range determined by the irradiation range determination unit based on the second forward vehicle position information acquired by the radar;
The vehicle headlamp system according to claim 1, further comprising:   The vehicle headlamp system according to claim 2, wherein the irradiation range correction unit corrects the irradiation range when the distance from the host vehicle to the preceding vehicle does not change for a predetermined time.   The vehicle headlamp system according to claim 3, wherein the irradiation range correction unit corrects the irradiation range when the host vehicle travels.   The control unit corrects a deviation in an irradiation direction of the lamp unit caused by a difference in installation position of the camera and the lamp unit in the vehicle when a distance from the own vehicle to the preceding vehicle is equal to or less than a predetermined value. The vehicle headlamp system according to claim 2, further comprising a correction unit.