JP4400514B2 - Vehicle headlamp device - Google Patents

Description

  The present invention relates to a vehicle headlamp device configured to be able to execute a swivel operation that changes the optical axis of a headlamp in a horizontal direction in conjunction with a steering operation of the vehicle.

  Conventionally, an AFS (Adaptive Front Lighting System) has been proposed in order to irradiate a driver's desired direction by changing the irradiation direction (that is, the optical axis) of the headlamp. The AFS includes two functions, a leveling function (vertical direction change) and a swivel function (horizontal direction change) based on the difference in the optical axis change direction of the headlamp.

Of these, in the swivel function, a head lamp lighting signal, a vehicle speed, a rudder angle, and the like are input to calculate a target swivel angle, and control to drive an actuator that changes the head lamp optical axis to the target swivel angle is performed. For example, by changing the optical axis of the headlight in the right direction for a right curve and in the left direction for a left curve, the visibility in the vehicle traveling direction is improved when traveling at night (see, for example, Patent Document 1).
JP 2003-72460 A

  Conventionally, the swivel function has been triggered by the headlamp lighting signal to drive the actuator, so the actuator will be driven even if the headlamp lighting time is short, which may cause the driver to feel uncomfortable. There was a point. For example, when a vehicle equipped with an automatic lighting device that automatically lights up the headlamp when the driving environment becomes a predetermined darkness passes through a three-dimensional intersection while moving forward on a right curve, the headlamp is turned on by the automatic lighting device. It automatically lights up and the optical axis of the headlamp changes to the right by driving the actuator to the target swivel angle. However, since the headlamp lighting period by passing under a three-dimensional intersection is as short as 2 to 3 seconds or less, a change in the optical axis of the headlamp is perceived as an unnecessary movement by the driver, and there is a problem of giving a sense of discomfort.

  The present invention has been made in view of the above-described problems, and is a vehicle headlamp device that does not give a driver a sense of incongruity due to a change in the optical axis of the headlamp when passing through a short tunnel or under a three-dimensional intersection. Providing is a problem to be solved.

  Hereinafter, each means suitable for solving the above-described problems will be described with additional effects and the like as necessary.

1. A headlamp that illuminates the front of the vehicle, an actuator that changes the irradiation direction of the headlamp in a horizontal direction, and a target swivel that is obtained based on the traveling state of the vehicle while the headlamp is lit In a vehicle headlamp device comprising swivel control means for driving to a corner,
Dark section information acquisition means for acquiring presence or absence of a dark section in which a predetermined darkness in front of the vehicle continues for a predetermined distance and dark section information related to the distance;
It is determined that the headlamp is lit and that there is a dark section ahead of the vehicle based on the dark section information acquired by the dark section information acquisition means and that the distance of the dark section is less than a predetermined value. And a swivel suppression control unit that suppresses driving of the actuator.

  In the means 1, dark section information acquisition means acquires information on the presence / absence of a dark section where the predetermined darkness in the front of the vehicle continues for a predetermined distance and the distance. Then, when the vehicle enters a dark section such as a tunnel and the headlamp is turned on, the dark section exists in front of the vehicle based on the information acquired by the dark section information acquisition means, and the distance of the dark section is When it is determined that the value is less than the predetermined value (for example, when passing through a three-dimensional intersection, under a bridge, or a short tunnel), the driving of the actuator for changing the irradiation direction of the headlamp in the horizontal direction is a swivel suppression control means. Is suppressed by. Therefore, when the vehicle enters a short dark section, an unnecessary change in the optical axis associated with the lighting of the headlamp for a short time is suppressed, and it is possible to prevent the driver from feeling uncomfortable. On the other hand, when the distance of the dark section acquired by the dark section information acquisition unit is equal to or greater than a predetermined value (for example, when traveling in a long tunnel or the like), the actuator is operated by the swivel control unit (for example, vehicle speed and steering). Driving to the target swivel angle calculated based on the angle), the direction of headlight illumination changes in conjunction with the steering operation of the vehicle. Can be improved. In the present specification, the “dark section” means a section that is a traveling environment in which it is necessary to turn on the headlamp even in the daytime, and includes a three-dimensional intersection, under a bridge, in a tunnel, and the like.

  2. The vehicle headlamp device according to claim 1, wherein the swivel suppression control means drives the actuator to a predetermined angle smaller than the target swivel angle.

  According to the means 2, when the distance of the dark section acquired by the dark section information acquisition means is less than the predetermined value, the swivel suppression control means drives the actuator to a predetermined angle smaller than the target swivel angle. The optical axis change of the headlamp becomes smaller than that during normal control by the swivel control means, and it is possible to prevent the driver from feeling uncomfortable due to the optical axis change accompanying the lighting of the headlamp for a short time. For example, a predetermined angle smaller than the target swivel angle may be a value obtained by multiplying the target swivel angle by a predetermined ratio (for example, 1/10) of 0 or more and less than 1.

  3. The vehicle headlamp apparatus according to claim 1, wherein the swivel suppression control means does not drive the actuator.

  According to the means 3, when the distance of the dark section acquired by the dark section information acquisition means is less than a predetermined value, the swivel suppression control means does not drive the actuator, so the optical axis of the headlamp does not change. It is possible to prevent the driver from feeling uncomfortable due to the change in the optical axis associated with the lighting of the headlamp for a short time.

  4). The vehicle according to any one of means 1 to 3, wherein the swivel suppression control means implements suppression of driving of the actuator only when it is within a predetermined time after the headlamp is turned on. Headlamp device.

  In the vehicle headlamp device according to any one of the means 1 to 3, when a predetermined time has passed since the headlamp was automatically turned on, for example, when entering a dark section as in night driving Regardless of the headlights, the lighting state continues for a long time even if the distance of the dark section is less than the predetermined value (that is, it does not light for a short time). A situation in which the driver feels uncomfortable due to a change in the optical axis associated with lighting does not occur. According to the means 4, when the predetermined time has passed after the headlamp is automatically turned on, the driving of the actuator is not suppressed by the swivel suppression control means, and the swivel control means is interlocked with the steering operation of the vehicle. The actuator is driven to the target swivel angle, and the traveling direction of the vehicle is reliably irradiated by the headlamp, thereby improving visibility.

  5. The dark section information acquisition means stores in advance road information including information on the position of a dark section such as a tunnel or a three-dimensional intersection and its distance, and relates to the presence or absence of the dark section and its distance corresponding to the predicted position of the vehicle. The vehicle headlamp device according to any one of means 1 to 4, which is a navigation device capable of outputting information.

  According to the means 5, the navigation device stores in advance road information including information on the position of the dark section such as a tunnel or a three-dimensional intersection and its distance, and the presence / absence of the dark section and its distance corresponding to the predicted position of the vehicle. Therefore, it is possible to reliably acquire highly accurate information regarding the presence / absence of the dark section and the distance, and to suppress the driving of the actuator by the swivel suppression control means.

  6). The dark section information acquisition means includes a front imaging device that captures the front of the vehicle, and an image recognition device that can recognize the presence of the dark section and the distance thereof based on a captured image of the front of the vehicle by the front imaging device. The vehicle headlamp device according to any one of means 1 to 4, which is characterized by the above.

  According to the means 6, when the front imaging device captures a landscape in front of the vehicle, the image recognition device recognizes the presence / absence of a dark section and its distance by image processing based on the captured image in front of the vehicle captured by the front imaging device. Therefore, even when traveling through a newly opened tunnel or the like, it is possible to reliably acquire information on the presence or absence of the dark section and its distance, and to suppress the drive of the actuator by the swivel suppression control means.

  7). 7. The vehicle headlamp according to any one of means 1 to 6, further comprising automatic lighting control means for automatically turning on or off the headlamp according to the brightness of the traveling environment of the vehicle. apparatus.

  According to the means 7, when the vehicle enters a short dark section such as a short tunnel or a three-dimensional intersection and the headlamp is automatically turned on by the automatic lighting control means, the information acquired by the dark section information acquisition means Based on the above, it is determined that there is a dark section in front of the vehicle and the distance of the dark section is less than a predetermined value, and driving of the actuator for changing the irradiation direction of the headlamp in the horizontal direction is performed by the swivel suppression control means It is suppressed. Therefore, when the vehicle enters a short dark section, an unnecessary change in the optical axis associated with the lighting of the headlamp for a short time is suppressed, and it is possible to prevent the driver from feeling uncomfortable.

  8). The vehicle headlamp device according to any one of means 1 to 7, wherein the dark section is under a tunnel, a bridge, or a three-dimensional intersection.

  According to the means 8, the dark section information acquisition means can acquire information on the presence / absence of a tunnel, under a bridge or under a three-dimensional intersection that is a dark section in which a predetermined darkness in front of the vehicle continues for a predetermined distance, and the distance. .

  According to the present invention, when the distance of the dark section acquired by the dark section information acquisition means is less than a predetermined value, for example, when traveling under a three-dimensional intersection, under a bridge, a short tunnel, etc., by the swivel control suppressing means. The driving of the actuator for changing the irradiation direction of the headlamp in the horizontal direction is suppressed. Therefore, when the vehicle enters a short dark section, an unnecessary change in the optical axis associated with the lighting of the headlamp for a short time is suppressed, and it is possible to prevent the driver from feeling uncomfortable.

  Hereinafter, embodiments of a vehicle headlamp device embodying the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a system configuration of a vehicle headlamp device 1 according to the first embodiment.

  In FIG. 1, left and right headlamps 10 </ b> L and 10 </ b> R are disposed on the front surface of the vehicle as headlamps. In addition, an illuminance sensor 11 that detects the brightness of the traveling environment of the vehicle is disposed in the vehicle compartment. When the illuminance sensor 11 detects that the driving environment has become darker than a predetermined level, the headlamps 10L and 10R are automatically turned on via the headlamp lighting switch 17, and the driving environment is brighter than the predetermined level. If this is detected by the illuminance sensor 11, the headlamps 10L and 10R are automatically turned off via the headlamp lighting switch 17. The headlamps 10L and 10R constitute the headlamp of the present invention, and the illuminance sensor 11 and the headlamp lighting switch 17 constitute automatic lighting control means.

  The ECU (Electronic Control Unit: electronic control unit) 20 includes a CPU 21 as a central processing unit that executes various known arithmetic processes, a ROM 22 that stores control programs, a RAM 23 that stores various data, an input / output circuit 25, and the like. It is configured as a control circuit for performing drive control of the actuators 12L, 12R of the headlamps 10L, 10R.

  The navigation device 30 has a storage device (not shown) for storing road information, a touch panel display 30a disposed at a position that is easy to see from the driver's seat in the vehicle compartment, etc., and uses GPS (Global Positioning System, Global Positioning System). This is an apparatus configured to predict the travel position of the vehicle and display the map and the predicted position of the vehicle on the touch panel display 30a. In addition, the road information stored in the navigation device 30 includes information on the position of the dark section where the predetermined darkness continues for a predetermined distance, such as a tunnel, under a bridge, under a three-dimensional intersection, and the distance thereof. Corresponding to the predicted position, it is possible to output information on the presence or absence of a dark section and its distance. In addition, the navigation apparatus 30 comprises the dark area information acquisition means of this invention.

  The ECU 20 includes an output signal from the vehicle speed sensor 14 that detects the vehicle speed, an output signal from the steering angle sensor 16 that detects the steering angle of the steering wheel 15, and an output from the headlamp lighting switch 17 that lights the headlamps 10L and 10R. Signals, information about the position and distance of the dark section output from the navigation device 30, and other various sensor signals are input. The ECU 20 calculates a target swivel angle based on the output signal from the vehicle speed sensor 14 and the output signal from the steering angle sensor 16, and the output signal is used for each actuator 12L of the left and right headlamps 10L, 10R of the vehicle. By being input to and driven by 12R, the optical axis directions of the left and right headlamps 10L and 10R are adjusted in conjunction with the steering operation of the vehicle. Note that a method for obtaining the target swivel angle based on the vehicle speed and the steering angle is the same as a known conventional calculation method, and thus detailed description thereof will be omitted.

  Next, the content of the control process in the vehicle headlamp device 1 executed by the CPU 21 in the ECU 20 will be described with reference to FIGS. 2 and 3. FIG. 2 is a flowchart showing a flow of control processing in the vehicle headlamp device 1. FIG. 3 is a schematic diagram showing changes in the optical axis direction of the headlamps 10L and 10R by driving the actuators 12L and 12R. In FIG. 3, the dotted line indicates the vehicle axial direction. 2 is stored in the ROM 22, and the CPU 21 reads this control program from the ROM 22 and executes it.

  2, first, the target swivel angle θ is calculated from the vehicle speed output from the vehicle speed sensor 14 and the steering angle output from the steering angle sensor 16 (step 1. Hereinafter, abbreviated as S1. Other steps are also shown. The same.) Next, the front dark section information is acquired from the navigation device 30 (S2). Here, the forward dark section information includes information on the position and distance of the dark section such as a tunnel or a three-dimensional intersection.

  Next, based on the output signal from the headlamp lighting switch 17, it is determined whether or not the headlamps 10L and 10R are being lit (S3). When the headlamps 10L and 10R are turned off (S3: No), the actuators 12L and 12R are driven to the front (S4).

  When the headlamp is lit in S3 (S3: Yes), it is determined whether or not it is within a predetermined time (for example, 0.5 seconds) after the headlamps 10L and 10R are automatically lit (S5). When the predetermined time has passed since the headlamps 10L and 10R are automatically turned on (S5: No), the actuators 12L and 12R are driven to the target swivel angle θ (S9, see FIG. 3). 3 and 4 and the following description, the content of S9 is referred to as "normal swivel control".

  If it is within a predetermined time after the headlamps 10L and 10R are automatically turned on in S5 (S5: Yes), it is determined whether or not there is a dark section ahead based on the forward dark section information acquired in S2 ( S6). When there is a dark section ahead (S6: Yes), the distance information of the dark section is acquired from the front dark section information acquired at S2 (S7), and when there is no dark section ahead (S6: No), Proceed to S8.

  Next, it is determined whether or not the dark section distance is equal to or greater than a predetermined value Lth (S8). When the dark section distance is equal to or greater than the predetermined value Lth (S8: Yes), the actuators 12L and 12R are driven to the target swivel angle θ (S9, see FIG. 3). The predetermined value Lth can be set to a value of about several meters to several tens of meters, for example.

  On the other hand, if the dark section distance is less than the predetermined value L in S8 (S8: No), the actuators 12L and 12R are driven to an angle θ ′ that is 1/10 of the target swivel angle (S10, see FIG. 3). 3 and 5 and the following description, the content of S10 is referred to as “swivel suppression control”.

  Here, the process of step S9 functions as swivel control means of the present invention, and the process of step S10 functions as swivel suppression control means.

  Next, the state change of the headlamp when the vehicle passes through the long tunnel T1 (distance L1 ≧ Lth of the tunnel T1) in the daytime and when the vehicle passes through the short tunnel T2 (distance L2 <Lth of the tunnel T2) is illustrated in FIG. Description will be made with reference to FIGS. S in parentheses indicates a step in the flowchart of FIG.

  First, the case where the vehicle passes through the long tunnel T1 in the daytime will be described with reference to FIG. (1) Since the traveling environment is sufficiently bright before the vehicle enters the tunnel T1, the headlamps 10L and 10R of the vehicle are in the off state. When the vehicle approaches tunnel T1, forward dark section information is acquired by navigation device 30 (S2).

  (2) When the vehicle enters the tunnel T1, it is detected that the illuminance sensor 11 has become a predetermined darkness, and the headlamps 10L and 10R are automatically turned on by the headlamp lighting switch 17. At this time, it is determined whether or not the distance L1 (dark section distance) of the tunnel T1 is equal to or greater than a predetermined value Lth based on the forward dark section information (S8). In the example of FIG. 4, since the distance L1 of the tunnel T1 is equal to or greater than Lth, normal swivel control is performed (S9). That is, the actuators 12L and 12R are driven to the target swivel angle θ using the calculation result of S1 (see FIG. 3).

  (3) When the vehicle exits the tunnel T1, the illuminance sensor 11 detects that the vehicle has reached a predetermined brightness, and the headlamps 10L and 10R are automatically turned off by the headlamp lighting switch 17.

  Next, a case where the vehicle passes through the short tunnel T2 in the daytime will be described with reference to FIG. (1) Since the driving environment is sufficiently bright before the vehicle enters the tunnel T2, the headlamps 10L and 10R of the vehicle are in the off state. When the vehicle approaches tunnel T2, forward dark section information is acquired by navigation device 30 (S2).

  (2) When the vehicle enters the tunnel T2, it is detected by the illuminance sensor 11 that the vehicle is in a predetermined darkness, and the headlamp lighting switch 17 automatically turns on the headlamps 10L and 10R. At this time, it is determined whether or not the distance L2 (dark interval distance) of the tunnel T2 is greater than or equal to a predetermined value Lth based on the forward dark interval information (S8). In the example of FIG. 5, since the distance L2 of the tunnel T2 is less than Lth, swivel suppression control is performed. That is, using the calculation result of S1, the actuators 12L and 12R are driven to an angle θ ′ that is 1/10 of the target swivel angle (S10, see FIG. 3).

  (3) When the vehicle exits the tunnel T2, it is detected by the illuminance sensor 11 that the predetermined brightness has been reached, and the headlamps 10L and 10R are automatically turned off by the headlamp lighting switch 17.

  As is clear from the above detailed description, according to the present embodiment, when the distance of the dark section acquired by the navigation device 30 is less than the predetermined value Lth, for example, a three-dimensional intersection, under a bridge, a short tunnel During traveling, the driving of the actuators 12L, 12R for changing the irradiation direction of the headlamps 10L, 10R to the horizontal direction is suppressed to an angle θ ′ that is 1/10 of the target swivel angle. Therefore, when the vehicle enters a short dark section, an unnecessary change in the optical axis associated with the lighting of the headlamps 10L and 10R for a short time is suppressed, and it is possible to prevent the driver from feeling uncomfortable.

  In addition, the drive of the actuators 12L and 12R is suppressed only when it is within a predetermined time after the headlamps 10L and 10R are automatically turned on. That is, when the predetermined time has passed since the headlamps 10L and 10R are automatically turned on, for example, when the headlamps 10L and 10R are turned on regardless of entering the dark section, such as during night driving. Since the lighting state continues for a long time even if the distance of the dark section is less than the predetermined value Lth (that is, it does not light for a short time), the driver feels uncomfortable due to the change of the optical axis accompanying the short time lighting. There is no situation that feels like According to the present embodiment, when the predetermined time has passed since the headlamps 10L, 10R are automatically turned on, the actuators 12L, 12R are interlocked with the steering operation of the vehicle without being inhibited from being driven. 12R is driven to the target swivel angle θ, and the traveling direction of the vehicle is reliably irradiated by the headlamps 10L and 10R, so that the visibility is improved.

  In the present embodiment, since the navigation device 30 is used as a means for acquiring the dark section information, it is possible to reliably acquire highly accurate information regarding the presence / absence of the dark section and the distance, and the actuator 12L, It is possible to suppress the driving of 12R.

  Next, a vehicle headlamp device 101 according to a second embodiment of the present invention will be described with reference to FIG. In addition, the same code | symbol is attached | subjected to the same member as 1st embodiment, and detailed description about them is abbreviate | omitted.

  In the first embodiment described above, an example in which the navigation device 30 is used as a dark section information acquisition unit that acquires information on the presence / absence of a dark section and its distance has been described, but the vehicle headlamp device 101 of the present embodiment is used. Then, it is configured to acquire information on the presence / absence of a dark section and its distance by image recognition.

  As shown in FIG. 6, the vehicular headlamp device 101 includes a charge coupled device (CCD) camera 31 and an image recognition device 32 instead of the navigation device 30 in the first embodiment. It has been. The CCD cameras 31L and 31R constitute the front imaging apparatus of the present invention.

  The CCD camera 31 is a device that is disposed in the middle of the headlamps 10L and 10R provided at the front of the vehicle, and images the front of the vehicle and outputs the captured image data.

  The image recognition device 32 is electrically connected to the CCD camera 31 and is configured as a logical operation circuit including a CPU, a ROM, a RAM, an input / output circuit and the like (not shown). When photographed image data in front of the vehicle is input from the CCD camera 31 to the image recognition device 32, the photographed image data is developed in the RAM, stored in the ROM, and the dark section recognition program is executed. The presence / absence of the dark section and its distance are recognized by the processing.

  And the dark area information recognized by the image recognition apparatus 32 is input into ECU20, and the process of the flowchart of FIG. 2 is performed. Therefore, also in this embodiment, when the vehicle enters a short dark section, an unnecessary change in the optical axis associated with the lighting of the headlamps 10L and 10R for a short time is suppressed, and it is possible to prevent the driver from feeling uncomfortable. .

  Further, according to the present embodiment, even when traveling on a road in which no information is stored in a newly opened navigation device such as a tunnel, information on the presence / absence of a dark section and its distance are reliably acquired and the actuator 12L , 12R can be suppressed.

  In addition, this invention is not limited to each embodiment mentioned above, A various change is possible in the range which does not deviate from the main point of this invention.

  For example, in each of the embodiments described above, in the flowchart of FIG. 2, when the dark section distance is less than the predetermined value Lth in S8 (S8: No), the actuators 12L and 12R are angled θ ′ that is 1/10 of the target swivel angle. However, the actuators 12L and 12R may not be driven at all in S10. According to this modification, when the dark section distance is less than the predetermined value Lth, the optical axes of the headlamps 10L and 10R do not change, and the driver is caused by the optical axis change accompanying the lighting of the headlamps 10L and 10R for a short time. This can prevent the user from feeling strange

  Further, in the configuration in which the headlamps 10L and 10R are automatically turned on or off according to the brightness of the traveling environment via the illuminance sensor 11 as in the above embodiments, a particularly great effect is achieved. The switch 17 may be manually turned on / off to turn on / off the headlamps 10L, 10R.

  The present invention is applicable to a vehicle headlamp device configured to be able to execute a swivel operation that changes the optical axis of the headlamp in the horizontal direction in conjunction with a steering operation of the vehicle.

It is a block diagram which shows the system configuration | structure of the vehicle headlamp apparatus of 1st embodiment of this invention. It is a flowchart which shows the flow of the control processing in the vehicle headlamp apparatus. It is a schematic diagram which shows an example of the change of the optical axis direction of the headlamp by the drive of an actuator. It is a schematic diagram which shows the state change of the headlamp when passing through a long tunnel. It is a schematic diagram which shows the state change of the headlamp when passing through a short tunnel. It is a block diagram which shows the system configuration | structure of the vehicle headlamp apparatus of 2nd embodiment.

Explanation of symbols

1,101 Vehicle headlamp device 10L headlamp (headlamp)
10R Headlamp (headlight)
11 Illuminance sensor (automatic lighting control means)
12L Actuator 12R Actuator 17 Headlamp lighting switch (automatic lighting control means)
30 Navigation device (dark section information acquisition means)
31 CCD camera (dark section information acquisition means, front imaging device)
32 Image recognition device (dark section information acquisition means)

Claims (8)

A headlamp that illuminates the front of the vehicle, an actuator that changes the irradiation direction of the headlamp in a horizontal direction, and a target swivel that is obtained based on the traveling state of the vehicle while the headlamp is lit In a vehicle headlamp device comprising swivel control means for driving to a corner,
Dark section information acquisition means for acquiring presence or absence of a dark section in which a predetermined darkness in front of the vehicle continues for a predetermined distance and dark section information related to the distance;
It is determined that the headlamp is lit and that there is a dark section ahead of the vehicle based on the dark section information acquired by the dark section information acquisition means and that the distance of the dark section is less than a predetermined value. And a swivel suppression control unit that suppresses driving of the actuator.   The vehicular headlamp device according to claim 1, wherein the swivel suppression control means drives the actuator to a predetermined angle smaller than the target swivel angle.   The vehicle headlamp device according to claim 1, wherein the swivel suppression control unit does not drive the actuator.   The said swivel suppression control means implements suppression of the drive of the said actuator only when it is within predetermined time after the said headlamp is lighted, The Claim 1 thru | or 3 characterized by the above-mentioned. Vehicle headlamp device.   The dark section information acquisition means stores in advance road information including information on the position of a dark section such as a tunnel or a three-dimensional intersection and its distance, and relates to the presence or absence of the dark section and its distance corresponding to the predicted position of the vehicle. The vehicle headlamp device according to any one of claims 1 to 4, wherein the vehicle headlight device is a navigation device capable of outputting information.   The dark section information acquisition means includes a front imaging device that captures the front of the vehicle, and an image recognition device that can recognize the presence of the dark section and the distance thereof based on a captured image of the front of the vehicle by the front imaging device. The vehicle headlamp device according to any one of claims 1 to 4, wherein   The vehicle headlamp according to any one of claims 1 to 6, further comprising automatic lighting control means for automatically turning on or off the headlamp according to the brightness of a traveling environment of the vehicle. Lamp device.   The vehicle headlamp device according to any one of claims 1 to 7, wherein the dark section is under a tunnel, a bridge, or a three-dimensional intersection.

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