JP2019202580A - Light distribution controller, light projection system, and light distribution control method - Google Patents

Abstract

To provide a light distribution controller, a light projection system, and a light distribution control method that allow a desired subject to be perceived while securing distant visibility.SOLUTION: A light distribution controller 100 includes: visible light irradiation means 30 for radiating visible light; infrared-ray irradiation means 40 for radiating an infrared ray on an upper side above a low beam region, as an infrared-ray irradiation region, out of a region irradiated with visible light by the visible light irradiation means 30; and control means 61 for controlling the visible light irradiation means 30 and the infrared-ray irradiation means 40. The control means 61 divides the infrared-ray irradiation region into an upper region and a lower region, and controls the infrared-ray irradiation means 40 so that an infrared-ray intensity of the upper region is weaker than an infrared-ray intensity of the lower region.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a light distribution control device, a light projecting system, and a light distribution control method.

  2. Description of the Related Art Conventionally, there is a technique for extracting an object from reflected infrared light from a front object with respect to near-infrared light irradiated forward from a projector from an infrared image captured by an imaging unit (see, for example, Patent Document 1). It is determined whether or not the pedestrian candidate image extracted as the object is a structure other than the pedestrian based on the contour shape formed by the density and brightness of the image.

JP 2005-159392 A

  However, with the technique disclosed in Patent Document 1, only the contour shape of the subject can be obtained. For example, a subject such as a traffic sign far away from the host vehicle tends to have uniform brightness throughout its contour. Therefore, there is a possibility that an attribute such as a pattern or a character represented by the traffic sign is not reflected. In addition, traffic signs having a high reflectivity of near-infrared light also have a relatively high brightness at which the near-infrared light is reflected.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a light distribution control device, a light projecting system, and a light distribution control method capable of recognizing a desired subject while ensuring distant visibility. And

  The light distribution control device according to the present invention irradiates with visible light irradiating means for irradiating visible light and infrared light with the visible light irradiating means irradiating the visible light above the low beam region as an infrared irradiating region. An infrared irradiation unit; and a control unit configured to control the visible light irradiation unit and the infrared irradiation unit. The control unit divides the infrared irradiation region into an upper region and a lower region, and the infrared region of the upper region The infrared irradiation means is controlled to make the intensity weaker than the infrared intensity of the lower region.

  The light projection system according to the present invention includes the light distribution control device according to the present invention and the imaging unit.

  The light distribution control method according to the present invention irradiates the visible light irradiation step of irradiating visible light, and irradiates with infrared light with the upper side of the low beam region as an infrared irradiation region among the regions irradiated with the visible light in the visible light irradiation step. An infrared irradiation step, and a control step of dividing the infrared irradiation region into an upper region and a lower region and controlling the infrared intensity of the upper region to be weaker than the infrared intensity of the lower region. Features.

  According to the present invention, it is possible to recognize a desired subject while ensuring distant visibility.

FIG. 3 is a hardware block diagram illustrating hardware elements constituting the light projecting system according to the first embodiment. It is explanatory drawing which shows the process performed with the light distribution control apparatus which concerns on Example 1. FIG. 3 is a flowchart illustrating a flow of a series of processes performed by the light distribution control device according to the first embodiment. It is explanatory drawing which shows the process performed with the light distribution control apparatus which concerns on Example 2. FIG. 10 is a flowchart illustrating a flow of a series of processes performed by the light distribution control device according to the second embodiment. It is explanatory drawing which shows the process performed with the light distribution control apparatus which concerns on Example 3. FIG. 12 is a flowchart illustrating a flow of a series of processes performed by the light distribution control device according to the third embodiment. FIG. 10 is an explanatory diagram illustrating processing performed by a light distribution control device according to a fourth embodiment. 10 is a flowchart illustrating a flow of a series of processes performed by a light distribution control device according to a fourth embodiment.

  Hereinafter, specific embodiments of a light distribution control device, a light projection system, and a light distribution control method according to the present invention will be described with reference to the drawings.

  In this embodiment, the light distribution control device 100 of the present invention is mounted on a vehicle 1 to constitute a light projecting system 10. Hereinafter, the vehicle 1 on which the light projecting system 10 is mounted is referred to as “own vehicle”.

(Description of the configuration of the light projecting system 10)
FIG. 1 is a hardware block diagram showing hardware elements constituting the light projecting system 10.

  The light projecting system 10 includes a front camera 20 (imaging means), a display device 70, and a light distribution control device 100. The light distribution control device 100 includes a visible light projector 30 (visible light irradiation unit), an infrared light projector 40 (infrared irradiation unit), a control device 60, and a system control unit 80.

  The front camera 20 is attached to the front portion of the host vehicle toward the front of the host vehicle. The front camera 20 is sensitive to both visible light and near infrared light. The front camera 20 images the periphery including the front of the host vehicle irradiated with visible light by the visible light projector 30. Similarly, the front camera 20 images the periphery including the front of the host vehicle irradiated with near infrared rays by the infrared light projector 40.

  The front camera 20 includes an optical system 21 for observing a subject, an image sensor 22 and the like. The optical system 21 includes optical elements such as lenses and mirrors, and guides the light emitted from the subject or the light reflected by the subject to the image sensor 22.

  The imaging element 22 is a photoelectric conversion element such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor or a CCD (Charge Coupled Device) image sensor.

  The image sensor 22 forms an image of a subject observed through the optical system 21, and photoelectrically converts the input light into RAW data corresponding to the luminance. The photoelectrically converted RAW data is digitized through an amplifier (not shown), an AD (Analog-to-Digital) converter, or the like provided inside the image sensor 22.

  In the imaging element 22, pixels indicating the intensity of R (red), G (green), B (blue), and C (transparent) light are arranged on the imaging surface. In the pixel, four types of filters (red filter R, green filter G, blue filter B, and transparent filter C) having different transmission wavelength bands are arranged. The red filter R transmits light in the red wavelength band. The green filter G transmits light in the green wavelength band. The blue filter B transmits light in the blue wavelength band. The transparent filter C transmits all light including near infrared light. Moreover, although the transparent filter C is used as an example of the filter, a near infrared filter Ir that transmits only Ir may be used instead of the transparent filter C.

  The visible light projector 30 includes, for example, a plurality of LED light sources (point light sources), and each LED light source illuminates a corresponding portion of the visible light irradiation region. The visible light irradiation region refers to a region where the visible light projector 30 emits visible light. The visible light projector 30 is attached to the front portion of the host vehicle toward the front of the host vehicle. The visible light projector 30 irradiates the periphery including the front of the host vehicle with visible light.

  The infrared light projector 40 includes, for example, a plurality of LED light sources (point light sources), and each LED light source illuminates a corresponding portion of the infrared irradiation region IR (FIG. 2). The infrared light projector 40 irradiates the periphery including the front of the host vehicle with infrared light. This infrared ray includes a near infrared ray.

  The infrared light projector 40 irradiates with infrared rays the infrared light irradiation region IR (FIG. 2) above the low beam region LR (FIG. 2) in the visible light irradiation region. Here, the visible light irradiation region may be the low beam region LR. Further, the entire visible light irradiation region may be the low beam region LR, or a part of the visible light irradiation region may be the low beam region LR.

  The control device 60 includes, for example, a microprocessor and a program including peripheral devices, a CPU (Central Processing Unit) that executes necessary processing, a RAM (Random Access Memory), a ROM (Read Only Memory), image processing, A module such as a dedicated ASIC (Application Specific Integrated Circuit) that performs signal processing is mounted.

  A display device 70 and a system control unit 80 are connected to the control device 60 via a CAN (Controller Area Network) bus. The front camera 20, the visible light projector 30, and the infrared light projector 40 are connected to the system control unit 80 via a CAN bus. The control device 60 controls the lighting state of the visible light projector 30 and the infrared light projector 40 via the system control unit 80.

  For example, the control device 60 colorizes the RAW data photoelectrically converted by the image sensor 22 by signal processing, or detects a subject such as a traffic sign TS (FIG. 2).

  As shown in FIG. 1, the control device 60 includes a projector control unit 61 (control unit), an identification unit 62 (identification unit), a boundary line calculation unit 63 (boundary line calculation unit), a memory unit 64, and a signal processing unit 65. Have.

  The projector control unit 61 controls the visible light projector 30 and the infrared light projector 40. The projector control unit 61 divides the infrared irradiation region IR (FIG. 2) into an upper region UR (FIG. 2) and a lower region DR (FIG. 2). The projector control unit 61 controls the infrared light projector 40 so that the infrared intensity of the upper region UR is weaker than the infrared intensity of the lower region DR.

  The identification unit 62 identifies the attribute of the subject based on the image signal output from the front camera 20 that captures the subject irradiated by the visible light projector 30 and the infrared light projector 40. Here, the subject attributes include, for example, whether the subject is a person or a structure, if the subject is a person, features of the whole body, etc., if the subject is a structure, color, size, type, and the like.

  The boundary line calculation unit 63 calculates a boundary line BO (FIG. 2) that divides the infrared irradiation region IR into upper and lower parts based on the attribute identified by the identification unit 62.

  In the signal processing unit 65, various types of signal processing are performed on the RAW data from the image sensor 22. Various signal processing includes, for example, colorization processing, white balance processing, gain processing, gamma processing, and the like.

  Details of the projector control unit 61, the identification unit 62, the boundary line calculation unit 63, the memory unit 64, and the signal processing unit 65 will be described later.

  The display device 70 is, for example, a rectangular flat panel display (liquid crystal, organic EL, plasma, or the like), and is disposed at a position where the driver of the host vehicle can visually recognize.

  The system control unit 80 performs exposure control on the front camera 20 such as a shutter speed and an aperture value.

(A sequence of processing performed in the light distribution control device 100)
Next, a flow of a series of processes performed in the light distribution control device 100 will be described using the flowchart shown in FIG. 3 and the explanatory diagram shown in FIG.

  A series of processing performed in the light distribution control device 100 is performed only during a period in which the infrared light projector 40 irradiates the periphery including the front of the host vehicle with infrared light.

  Here, it is assumed that a person (not shown) exists in the lower region DR (FIG. 2) as a premise. Further, an image obtained by capturing the traffic sign TS (FIG. 2) present in the upper region UR (FIG. 2) with the front camera 20 is not overexposed. On the other hand, it is assumed that an image obtained by capturing the traffic sign TS present in the lower region DR with the front camera 20 is whiteout. Note that the determination of whether or not whiteout is possible can be performed by the identification unit 62 based on a general luminance level.

(Step S1)
First, the identification unit 62 identifies the traffic sign TS and the person as the subject attributes. Various methods are introduced for the identification, and any of them may be used. For example, a pattern matching method using template matching for discriminating the shape and characteristics of the subject from the contour shape of the subject can be used.

(Step S2)
Next, the boundary line calculation unit 63 calculates the boundary line BO based on the traffic sign TS and the coordinate position data of the person so that the traffic sign TS enters the upper area and the person enters the lower area. As the coordinate position data, for example, two-dimensional coordinate position data in an image obtained by the front camera 20 imaging the periphery of the host vehicle can be used.

  The boundary line calculation unit 63 obtains the first average coordinate position from the coordinate position data of each of the three traffic signs TS (FIG. 2) and the second average coordinate position from the coordinate positions of the plurality of persons. In addition to the simple averaging process, an appropriate weighting process, a process taking into account the standard deviation, or the like may be used for this process. And the boundary line calculation part 63 calculates the intermediate point of a 1st average coordinate position and a 2nd average coordinate position as boundary line BO (FIG. 2).

(Step S3)
Based on the boundary line BO (FIG. 2) calculated by the boundary line calculation unit 63, the projector control unit 61 makes the infrared intensity of the upper region UR (FIG. 2) weaker than the infrared intensity of the lower region DR (FIG. 2). Thus, the infrared light projector 40 (FIG. 1) is controlled.

  The driver of the host vehicle needs to read characters such as a speed limit displayed on the traffic sign TS that is likely to exist in the upper region UR (FIG. 2). However, when the traffic sign TS is irradiated with more near-infrared light than visible light, the imaging signal in the visible light is relatively small, and attributes such as patterns and characters represented by the traffic sign TS are not reflected. there is a possibility.

  In addition, since the traffic sign TS having a high reflectance of near infrared light has a relatively high luminance for reflecting near infrared light, if the front camera 20 captures it, the traffic sign TS is likely to be overexposed. Then, there is a possibility that attributes such as patterns and characters represented by the traffic sign TS are not reflected.

  In the present embodiment, the projector controller 61 makes the infrared intensity of the upper area UR (FIG. 2) weaker than the infrared intensity of the lower area DR (FIG. 2). By doing so, the amount of near infrared rays irradiated on the traffic sign TS is reduced compared to the amount of visible light irradiated on the traffic sign TS. Thereby, the imaging signal in visible light becomes relatively large. As a result, the attributes such as patterns and characters displayed on the traffic sign TS are easily reflected, and the visibility of the traffic sign TS in the distance is ensured.

  In the present embodiment, the projector controller 61 makes the infrared intensity of the lower region DR (FIG. 2) stronger than the infrared intensity of the upper region UR (FIG. 2), so that it is not illuminated by, for example, the low beam of the headlamp of the host vehicle. An object such as a pedestrian existing in the area can be easily detected by the front camera 20.

  For example, at night, the visible light projector 30 may only illuminate the low beam region LR (FIG. 2). Under this situation, even if a pedestrian or the like is present in the infrared irradiation region IR (FIG. 2) above the low beam region LR (FIG. 2), it is difficult for the driver of the own vehicle to see. On the other hand, if the visible light projector 30 irradiates visible light to the infrared irradiation region IR (FIG. 2), the pedestrian's eyes may be dazzled.

  In this embodiment, the intensity of visible light applied to the lower region DR (FIG. 2) is kept low, and instead, near infrared light can be applied to the lower region DR (FIG. 2). Is possible. Near-infrared light is not dazzling to human eyes, so you can keep it as strong as you like. As the near-infrared intensity increases, the near-infrared light can be irradiated farther from the vehicle. By doing so, the intensity of reflection of near-infrared light also increases, so that if a subject such as a pedestrian is present in the lower region DR (FIG. 2), the subject is easily detected.

  In this embodiment, the light distribution control device 100 of the present invention is mounted on a vehicle 1 to constitute a light projecting system 10. Hereinafter, the vehicle 1 on which the light projecting system 10 is mounted is referred to as “own vehicle”. The same elements as those described in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

(A sequence of processing performed in the light distribution control device 100)
Next, a flow of a series of processes performed in the light distribution control device 100 will be described with reference to a flowchart shown in FIG. 5 and an explanatory diagram shown in FIG.

  The steps S1 and S2 (FIG. 3) of the process according to the first embodiment and the steps S21 and S22 (FIG. 5) of the process according to the second embodiment are the same in order. Therefore, in the present embodiment, a detailed description will be given focusing on the processing in step S23.

  A series of processing is performed only during a period in which the infrared light projector 40 irradiates the periphery including the front of the host vehicle with infrared light.

  After each process of step S21 and S22 is implemented, in step S23, the projector control unit 61 recognizes the traffic sign TS (FIG. 4) recognized by the identification unit 62 in the upper region UR of the boundary line BO (FIG. 4). The infrared light projector 40 (FIG. 1) is controlled so as not to irradiate with infrared rays.

  Specifically, the projector control unit 61 selects an LED light source corresponding to a rectangular area (a hatched area in FIG. 4) including the traffic sign TS among the plurality of LED light sources constituting the infrared light projector 40. Turn off the light. Information necessary for setting the rectangular area (for example, coordinate position data of the four corners of the rectangular area) is read from the memory unit 64 as necessary and used. Further, the light distribution control by the projector control unit 61 can be improved by taking into account the distance information to the traffic sign TS based on the size of the traffic sign TS.

  In the present embodiment, the projector control unit 61 controls the infrared light projector 40 so as not to irradiate the traffic sign TS with infrared rays in the upper region UR of the boundary line BO (FIG. 4). By doing so, the amount of near infrared rays irradiated on the traffic sign TS is reduced compared to the amount of visible light irradiated on the traffic sign TS. Thereby, the imaging signal in visible light becomes relatively large. As a result, the attributes such as patterns and characters displayed on the traffic sign TS are easily reflected, and the visibility of the traffic sign TS in the distance is ensured.

  In this embodiment, the light distribution control device 100 of the present invention is mounted on a vehicle 1 to constitute a light projecting system 10. Hereinafter, the vehicle 1 on which the light projecting system 10 is mounted is referred to as “own vehicle”. The same elements as those described in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

(A sequence of processing performed in the light distribution control device 100)
Next, a flow of a series of processes performed in the light distribution control device 100 will be described with reference to a flowchart shown in FIG. 7 and an explanatory diagram shown in FIG.

  Note that the steps S1 and S2 (FIG. 3) of the process according to the first embodiment and the steps S31 and S32 (FIG. 7) of the process according to the third embodiment are the same in order. Therefore, in the present embodiment, detailed description will be made with a focus on the processing in step S33.

  A series of processing is performed only during a period in which the infrared light projector 40 irradiates the periphery including the front of the host vehicle with infrared light.

  After each process of step S31 and S32 is implemented, in step S33, the projector control unit 61 receives the traffic sign TS (FIG. 6) recognized by the identification unit 62 in the upper region UR of the boundary line BO (FIG. 6). The visible light projector 30 (FIG. 1) is controlled so as to be irradiated with visible light.

  Specifically, the projector control unit 61 turns on an LED light source corresponding to a rectangular region (a hatched region in FIG. 6) including the traffic sign TS among a plurality of LED light sources constituting the visible light projector 30. Let Information necessary for setting the rectangular area (for example, coordinate position data of the four corners of the rectangular area) is read from the memory unit 64 as necessary and used. Similarly to the second embodiment, the light distribution control by the projector control unit 61 can be improved by taking into account the distance information to the traffic sign TS.

  In the present embodiment, the projector control unit 61 controls the visible light projector 30 so that the traffic sign TS is irradiated with visible light in the upper region UR of the boundary line BO. By doing so, the amount of visible light irradiated to the traffic sign TS is increased compared to the amount of near infrared light irradiated to the traffic sign TS. Thereby, the imaging signal in visible light becomes relatively large. As a result, the attributes such as patterns and characters displayed on the traffic sign TS are easily reflected, and the visibility of the traffic sign TS in the distance is ensured.

  In this embodiment, the light distribution control device 100 of the present invention is mounted on a vehicle 1 to constitute a light projecting system 10. Hereinafter, the vehicle 1 on which the light projecting system 10 is mounted is referred to as “own vehicle”. The same elements as those described in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

(A sequence of processing performed in the light distribution control device 100)
Next, a flow of a series of processes performed in the light distribution control device 100 will be described with reference to a flowchart shown in FIG. 9 and an explanatory diagram shown in FIG.

  Note that steps S1 and S2 (FIG. 3) of the process according to the first embodiment and steps S41 and S42 (FIG. 9) of the process according to the fourth embodiment are the same in order. Therefore, in the present embodiment, a detailed description will be given focusing on the processing in step S43.

  A series of processing is performed only during a period in which the infrared light projector 40 irradiates the periphery including the front of the host vehicle with infrared light.

  After each process of step S41 and S42 is implemented, in step S43, the projector control unit 61 receives the traffic sign TS (FIG. 8) recognized by the identification unit 62 in the upper area UR of the boundary line BO (FIG. 8). The visible light projector 30 (FIG. 1) is controlled so as to be irradiated with visible light.

  Next, in step S44, the projector control unit 61 controls the infrared light projector 40 (FIG. 1) so that the traffic sign TS recognized by the identification unit 62 is not irradiated with infrared light in the upper region UR of the boundary line BO. .

  In the present embodiment, the projector control unit 61 controls the visible light projector 30 and the infrared light projector 40 so that the traffic sign TS is irradiated with visible light and not irradiated with infrared light. Thereby, compared with Example 2, 3, the imaging signal in visible light becomes comparatively larger further. As a result, the attributes such as patterns and characters displayed on the traffic sign TS are easily reflected, and the visibility of the traffic sign TS in the distance is ensured.

  As mentioned above, although the Example of this invention was explained in full detail with drawing, since an Example is only an illustration of this invention, this invention is not limited only to the structure of an Example. Of course, changes in design and the like within a range not departing from the gist are included in the present invention.

  In the first to fourth embodiments, the boundary line calculation unit 63 uses the boundary line BO so that the traffic sign TS enters the upper area and the person enters the lower area based on the traffic sign TS and the coordinate position data of the person. An example of calculating is shown. The present invention is not limited to this mode. For example, the boundary line calculation unit 63 is based on the traffic sign TS and the coordinate position data of the person so that all the traffic signs TS are irradiated with infrared rays weaker than a predetermined threshold. The boundary line BO may be calculated.

  In Examples 1-4, although the example which comprises the visible light projector 30 with a some point light source was shown, this invention is not restricted to this aspect, The visible light projector 30 may be comprised with a some surface light source. Similarly, in Examples 1 to 4, the example in which the infrared light projector 40 is configured by a plurality of point light sources has been shown, but the present invention is not limited to this aspect, and the infrared light projector 40 is configured by a plurality of surface light sources. May be.

  In the first to fourth embodiments, the identification unit 62 uses the pattern matching method to identify the traffic sign TS and the person as subject attributes. The present invention is not limited to this aspect, and the identification unit 62 may identify the traffic sign TS and the person as the attributes of the subject by using a block matching method based on motion vector detection.

  In Examples 2-4, the example which sets the area | region containing the traffic sign TS to the rectangular area was shown. The present invention is not limited to this aspect. For example, the region including the traffic sign TS can be set in various shapes such as a circular shape or an elliptical shape.

  In Examples 2 and 4, the example in which the LED light source corresponding to the rectangular region including the traffic sign TS among the plurality of LED light sources constituting the infrared light projector 40 is turned off is shown. The present invention is not limited to this mode. For example, among the plurality of LED light sources constituting the infrared light projector 40, the LED light source corresponding to the traffic sign TS may be turned off.

  In Examples 3 and 4, an example in which an LED light source corresponding to a rectangular region including the traffic sign TS among a plurality of LED light sources constituting the visible light projector 30 is turned on is shown. The present invention is not limited to this mode. For example, among the plurality of LED light sources constituting the visible light projector 30, an LED light source corresponding to the traffic sign TS may be turned on.

  In Examples 1-4, although the example which comprises the visible light projector 30 with a some LED light source was shown, this invention is not restricted to this aspect, Even if comprised with a halogen light source, a HID light source, etc. other than an LED light source. good.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 10 ... Projection system 20 ... Front camera (imaging means)
30 ... Visible light projector (visible light irradiation means)
40: Infrared light projector (infrared irradiation means)
61 ... Projector control section (control means)
62... Identification part (identification means)
63 ... Boundary line calculation unit (boundary line calculation means)
100 ... Light distribution control device BO ... Boundary line DR ... Lower region IR ... Infrared irradiation region LR ... Low beam region TS ... Traffic sign UR ... Upper region

Claims (17)

Visible light irradiation means for irradiating visible light;
Infrared irradiation means for irradiating the visible light irradiating means with infrared rays with an infrared irradiation area on the upper side of the low beam area among the areas where the visible light is irradiated,
Control means for controlling the visible light irradiation means and the infrared irradiation means,
The control means divides the infrared irradiation area into an upper area and a lower area, and controls the infrared irradiation means to make the infrared intensity of the upper area weaker than the infrared intensity of the lower area. Characteristic light distribution control device. The light distribution control device according to claim 1,
An identification unit for identifying the attribute of the subject based on an image signal output from an imaging unit that images the subject irradiated by the visible light irradiation unit and the infrared irradiation unit;
Boundary line calculating means for calculating a boundary line for dividing the infrared irradiation region vertically based on the attribute identified by the identifying means;
The control means controls the infrared irradiation means so as to make the infrared intensity of the upper area lower than the infrared intensity of the lower area based on the boundary calculated by the boundary calculation means. A light distribution control device. The light distribution control device according to claim 2,
The identification means identifies a traffic sign and a person as the attribute,
The boundary line calculating means calculates the boundary line based on the traffic sign and the coordinate position data of the person so that the traffic sign enters the upper area and the person enters the lower area. Characteristic light distribution control device. The light distribution control device according to claim 3.
The boundary line calculating means obtains a first average coordinate position from each coordinate position data of the plurality of traffic signs and a second average coordinate position from each coordinate position of the plurality of persons, and the first average coordinate position A light distribution control device that calculates an intermediate point between a position and the second average coordinate position as the boundary line. The light distribution control device according to claim 2,
The identification means identifies a traffic sign and a person as the attribute,
The boundary line calculating means calculates the boundary line based on coordinate position data so that all the traffic signs are irradiated with weak infrared rays. In the light distribution control device according to claim 3 or 4,
The light distribution control device, wherein the control unit controls the infrared irradiation unit so that the traffic sign recognized by the identification unit is not irradiated with the infrared ray in an upper region of the boundary line. In the light distribution control device according to any one of claims 3 to 6,
The light distribution control device, wherein the control means controls the visible light irradiation means so that the traffic sign identified by the identification means is irradiated with visible light in an upper region of the boundary line. In the light distribution control device according to any one of claims 1 to 7,
The infrared irradiation unit includes a plurality of point light sources, and the plurality of point light sources illuminate corresponding portions of the infrared irradiation region. The light distribution control device according to any one of claims 1 to 8,
The visible light irradiating means includes a plurality of point light sources, and the plurality of point light sources illuminate corresponding portions of a visible light irradiation region. The light distribution control device according to any one of claims 1 to 9,
A light projecting system comprising the imaging means. A visible light irradiation step for irradiating visible light;
An infrared irradiation step of irradiating with an infrared ray as an infrared irradiation region above the low beam region of the region irradiated with the visible light in the visible light irradiation step;
And a control step of dividing the infrared irradiation area into an upper area and a lower area and controlling the infrared intensity of the upper area to be lower than the infrared intensity of the lower area. Control method. The light distribution control method according to claim 11,
An identification step of identifying attributes of the subject based on an image signal output from an imaging unit that images the subject irradiated with the visible light and the infrared light;
A boundary line calculating step for calculating a boundary line that divides the infrared irradiation region vertically based on the attribute identified in the identifying step;
In the control step, based on the boundary line calculated in the boundary line calculation step, the infrared intensity in the upper area is controlled to be weaker than the infrared intensity in the lower area. Light control method. The light distribution control method according to claim 12,
In the identification step, a traffic sign and a person are identified as the attribute,
In the boundary line calculating step, the boundary line is calculated based on the traffic sign and the coordinate position data of the person so that the traffic sign enters the upper area and the person enters the lower area. A characteristic light distribution control method. The light distribution control method according to claim 13,
In the boundary line calculating step, a first average coordinate position is obtained from the coordinate position data of each of the plurality of traffic signs, and a second average coordinate position is obtained from the coordinate positions of the plurality of persons. A light distribution control method, wherein an intermediate point between a position and the second average coordinate position is calculated as the boundary line. The light distribution control method according to claim 12,
In the identification step, a traffic sign and a person are identified as the attribute,
In the boundary line calculating step, the boundary line is calculated based on coordinate position data so that all the traffic signs are irradiated with weak infrared rays. The light distribution control method according to claim 13 or 14,
In the control step, in the upper region of the boundary line, control is performed so that the traffic sign recognized in the identification step is not irradiated with the infrared rays. The light distribution control method according to any one of claims 13 to 16,
In the control step, control is performed so that the traffic sign identified in the identification step is irradiated with visible light in an upper region of the boundary line.