JP4434864B2 - Vehicle lamp control device - Google Patents

Description

  The present invention relates to a vehicle lamp control device.

2. Description of the Related Art Conventionally, there is known a device that improves the visibility of a driver by changing the direction of headlight irradiation according to changes in the steering angle, speed, etc. of the host vehicle and irradiating the traveling direction of the host vehicle ( For example, see Patent Document 1).
Further, for example, during follow-up traveling following other vehicles, the detection result of the amount of light reaching the other vehicle by irradiation of the headlamp of the own vehicle is acquired from the other vehicle by communication, and depending on this detection result, or A control device that changes the irradiation amount, irradiation direction, etc. of the headlight of the own vehicle, for example, so as not to dazzle passengers of the other vehicle, according to the detection result of the inter-vehicle distance between the own vehicle and the other vehicle Is known (see, for example, Patent Document 2).
JP-A-8-301005 JP 2001-26236 A

By the way, in the apparatus according to the above prior art, the irradiation direction of the headlamp is simply changed according to the traveling state of the own vehicle. For example, the irradiation direction is changed regardless of the position and traveling state of the other vehicle. Therefore, there is a possibility that the other vehicle such as the preceding vehicle or the oncoming vehicle may be dazzled by the headlamp of the own vehicle.
Further, in the control device according to the above prior art, since the irradiation state of the headlamp is actually changed after the irradiation by the headlamp of the own vehicle reaches the other vehicle, the irradiation of the headlamp of the own vehicle is performed. When passengers of other vehicles are dazzled when they reach the other vehicle, there arises a problem that the occurrence of dazzling cannot be prevented.
In addition, simply changing the headlight illumination state of the vehicle according to the detection result of the distance between the vehicle and the other vehicle, for example, due to the shape of the road near the top of a curve or uphill There arises a problem that it is not possible to deal with a case where there is a possibility that the passenger of the other vehicle is dazzled according to the relative position state between the subject vehicle and the other vehicle. Moreover, when detecting the inter-vehicle distance between the other vehicle and the host vehicle using an external sensor such as a radar or a camera, the other vehicle is detected due to, for example, a curve or a road shape near the top of the uphill road. If the distance between other vehicles and the host vehicle is detected based on a positioning signal such as a GPS (Global Positioning System) signal, for example, a positioning signal is acquired when traveling in a tunnel, for example. It may not be possible, and it may be difficult to appropriately change the irradiation state of the headlamp.
The present invention has been made in view of the above circumstances, and provides a vehicle lamp control apparatus capable of appropriately preventing a passenger of another vehicle from being dazzled by irradiation of a headlamp of the host vehicle. For the purpose.

In order to solve the above-described problems and achieve the object, a vehicle lamp control device according to a first aspect of the present invention is a lamp that can change an irradiation direction (for example, a headlamp in an embodiment). ) And a lamp control means for controlling the irradiation direction of the lamp (for example, the headlamp control apparatus 16 in the embodiment), wherein at least the position of the other vehicle is determined. The communication means (for example, the information transmission / reception unit 12 in the embodiment) that acquires other vehicle information including communication and the relative position state of the host vehicle and the other vehicle are detected based on the other vehicle information acquired by the communication means. Relative position detection means (for example, relative position determination section 28 in the embodiment) and road shape recognition means for recognizing the road shape in the traveling direction of the host vehicle (for example, road shape recognition section 29 in the embodiment) And based on the recognition result of the road shape recognition means. Road shape determination means (for example, road shape determination unit 30 in the embodiment) for determining whether or not a predetermined road shape exists in the traveling direction of the host vehicle, and the lamp control means includes the road shape When the determination means determines that the predetermined road shape exists, the irradiation direction of the lamp is controlled based on the relative position state detected by the relative position detection means , and the other vehicle information is at least the position of the other vehicle. And the steering control angle, and when the road shape determining means determines that the predetermined road shape exists, the lamp control means determines whether the other vehicle is based on the relative position state detected by the relative position detecting means. It is determined whether or not the vehicle is traveling on the predetermined road shape, and the other vehicle information acquired by the communication means when the other vehicle is traveling on the predetermined road shape by the determination. Based on the steering angle of the other vehicle traveling the constant road shape it is characterized by controlling the irradiation direction of the lamp body when the subject vehicle travels the predetermined road shape.

According to the lamp control device for a vehicle having the above-described configuration, when the road shape determining unit determines that the predetermined road shape exists, based on the relative position state between the own vehicle and the other vehicle detected by the relative position detecting unit. By controlling the illumination direction of the lamp, it is more accurate that the driver of the other vehicle is dazzled compared to simply changing the illumination direction of the lamp according to the traveling state of the host vehicle. Can be prevented.
Furthermore, according to the lamp control device for a vehicle having the above-described configuration, the communication unit does not need to acquire information on the steering angle of the host vehicle for a predetermined road shape that needs to control the irradiation direction of the lamp. Based on the acquired steering angle of the other vehicle, the irradiation direction of the lamp can be appropriately controlled.

  Furthermore, in the vehicle lamp control device according to the second aspect of the present invention, the lamp control unit is configured such that the host vehicle and the other vehicle are relative to each other based on the relative position state detected by the relative position detection unit. When approaching the vehicle, the illumination direction of the lamp is controlled such that the illumination of the lamp avoids other vehicles.

  According to the lamp control device for a vehicle having the above-described configuration, for example, the driver of another vehicle is dazzled in a state where the irradiation direction of the lamp is changed according to a request generated according to the traveling state of the host vehicle. Even when the host vehicle and other vehicles are relatively close to each other, by controlling the lighting of the lamp to avoid the other vehicles, for example, according to the traveling state of the host vehicle It is possible to prevent the control of the lamp according to the request from being interrupted for an excessive period or at an excessive frequency.

  Furthermore, in the vehicle lamp control device according to the third aspect of the present invention, the predetermined road shape includes at least an ascending slope or a curve.

  According to the vehicle lamp control device having the above-described configuration, it is suitable for a curve or an upslope that is a road shape that is relatively likely to cause dazzling to the driver of the other vehicle due to the lighting of the host vehicle. It is possible to control the irradiation direction of the lamp.

As described above, according to the lamp control device for a vehicle of the present invention described in claim 1, by simply controlling the irradiation direction of the lamp based on the relative position state between the host vehicle and the other vehicle, Compared with the case where the irradiation direction of the lamp is changed according to the traveling state of the host vehicle, it is possible to more accurately prevent the driver of the other vehicle from being dazzled. Furthermore, for a predetermined road shape that requires the lighting direction of the lamp to be controlled, it is not necessary to acquire information on the steering angle of the host vehicle, and based on the steering angle of the other vehicle acquired by the communication means, The irradiation direction can be appropriately controlled.
Furthermore, according to the vehicle lamp control apparatus of the present invention as set forth in claim 2, for example, the lamp control according to a request according to the traveling state of the host vehicle is performed over an excessive period or an excessive frequency. Can be prevented from being interrupted.

Furthermore, according to the vehicle lamp control device of the present invention as set forth in claim 3, the road shape with a relatively high possibility that irradiation by the lamp of the host vehicle will give glare to the driver of another vehicle. It is possible to appropriately control the irradiation direction of the lamp in a certain curve or ascending slope .

Hereinafter, a vehicle lamp control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
The vehicle lighting control device 10 according to the present embodiment includes, for example, an external environment monitoring device 11, an information transmission / reception unit 12, a host vehicle information detection unit 13, a map data storage unit 14, a processing device 15, and a headlight. The lamp control device 16 and the notification device 17 are provided.

The external environment monitoring device 11 includes, for example, a camera and an image processing unit such as a CCD camera or a C-MOS camera that can be imaged in the visible light region and the infrared region, and a radar and a radar control unit such as a laser beam and a millimeter wave. It is prepared for.
For example, the camera is disposed at a position near the rear-view mirror on the vehicle interior side of the front window, and images the outside of a predetermined detection range in front of the traveling direction of the host vehicle through the front window.
The image processing unit performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera, generates image data including pixels of a two-dimensional array, and supplies the processing device 15 with the image data. Output.
Further, the radar is disposed, for example, near the nose portion of the body of the host vehicle or in the vicinity of the front window in the vehicle interior, and is controlled by the radar control unit according to a control command input from the processing device 15 to the radar control unit. A transmission signal such as a millimeter wave or the like is transmitted in an appropriate detection direction (for example, forward of the traveling direction of the host vehicle), and the transmission signal is reflected by an object (detection target) outside the host vehicle. The reflection signal generated in step S3 is received, the reflection signal and the transmission signal are mixed, and a beat signal is generated and output to the processing device 15.

  The information transmitting / receiving unit 12 transmits and receives various types of information by inter-vehicle communication with an information transmitting / receiving unit mounted on another vehicle. Here, the object information transmitted from the other vehicle includes information related to the vehicle state of the other vehicle, such as speed and position, as well as the yaw angle (rotation angle around the vertical axis of the vehicle center of gravity) and the steering angle (driving). The direction and magnitude of the steering angle input by the user, and the on / off state of the direction indicator and brake.

  The own vehicle information detection unit 13 is, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the own vehicle, or a GPS (Global Positioning System) that measures the position of the vehicle using an artificial satellite, for example. Positioning signals such as signals, position signals transmitted from information transmission devices outside the host vehicle, magnetic action with, for example, a base point marker placed on the road, and further detection results of an appropriate gyro sensor, acceleration sensor, etc. Based on the position sensor that detects the current position and traveling direction of the host vehicle, the yaw angle (rotational angle around the vertical axis of the vehicle center of gravity), yaw rate (rotational angular velocity around the vertical axis of the vehicle center of gravity) and steering angle ( Each sensor detects the direction and magnitude of the steering angle input by the driver, and each sensor detects the turn indicator and the on / off state of the brake.

  The map data storage unit 14 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 14 includes, for example, road width data, intersection angles of a plurality of roads, intersection shapes and positions, and the like as map data for displaying a map on a navigation device (not shown) or a display device. Stores road information.

  The processing device 15 includes, for example, an object position information extraction unit 21, a host vehicle steering angle information extraction unit 22, a host vehicle position information extraction unit 23, a host vehicle speed information extraction unit 24, and a host vehicle attitude information extraction unit. 25, a speed / posture change detection unit 26, a distance detection unit 27, a relative position determination unit 28, a road shape recognition unit 29, a road shape determination unit 30, and an irradiation state calculation unit 31. ing.

The target object position information extracting unit 21 extracts position information of other vehicles (for example, a position, and further a steering angle related to the traveling direction and the front-rear direction) from the target information received by the information transmitting / receiving unit 12. .
Note that the object position information extraction unit 21 corrects fluctuations in the position information and speed information of other vehicles in consideration of, for example, the time required for information reception by the information transmission / reception unit 12 as necessary, and Position information and velocity information can be estimated.

The host vehicle steering angle information extraction unit 22 extracts steering angle information including the direction and magnitude of the steering angle input by the driver of the host vehicle from the host vehicle information detected by the host vehicle information detection unit 13.
The own vehicle position information extraction unit 23 extracts the current position information of the own vehicle from the own vehicle information detected by the own vehicle information detection unit 13.
The own vehicle speed information extraction unit 24 extracts the current speed information of the own vehicle from the own vehicle information detected by the own vehicle information detection unit 13.
The own vehicle attitude information extraction unit 25 determines the current attitude information of the own vehicle from the own vehicle information detected by the own vehicle information detection unit 13, for example, the direction of the own vehicle in the horizontal plane, the inclination angle with respect to the vertical direction, and the vehicle center of gravity. A pitch angle or the like that is a rotation angle around the horizontal axis is extracted.
The own vehicle rudder angle information extracting unit 22, the own vehicle position information extracting unit 23, the own vehicle speed information extracting unit 24, and the own vehicle posture information extracting unit 25 are, for example, used in the own vehicle information detecting unit 13. It is possible to estimate the current position information and speed information of the host vehicle by correcting fluctuations in the position information and speed information of the host vehicle in consideration of the time required for the detection operation.

The speed / posture change detection unit 26 detects time changes in the speed of the host vehicle extracted by the host vehicle speed information extraction unit 24 and the posture of the host vehicle extracted by the host vehicle posture information extraction unit 25.
The distance detection unit 27 detects, for example, another vehicle that travels in a predetermined area ahead of the traveling direction of the host vehicle (for example, an oncoming vehicle that travels in the oncoming lane) with respect to the image data input from the external environment monitoring device 11. Recognition processing such as feature amount calculation and shape determination as an object is performed, and a relative position and a relative distance between the recognized detection target and the host vehicle are calculated. For example, when the camera of the external monitoring device 11 is a stereo camera, or when the camera is configured with a plurality of cameras, the relative position and relative position of the preceding vehicle are determined by triangulation based on a plurality of image data. Calculate the distance.
Further, the distance detection unit 27 calculates a relative distance to the detection target in a predetermined detection area based on, for example, the frequency f (beat frequency) of the beat signal input from the external monitoring apparatus 11.
In the image data recognition processing, in the feature amount calculation processing, for example, extraction and labeling of detection objects based on pixel continuity is performed on the image data after binarization processing, and the extracted detection objects The center of gravity and area of the image, the aspect ratio of the circumscribed rectangle, and the like are calculated. In the shape determination process, for example, a search on image data is performed based on a predetermined pattern (for example, an outline) stored in advance, and a detection target is extracted according to the similarity to the predetermined pattern.

The relative position determination unit 28 includes, for example, the position information of the other vehicle extracted by the object position information extraction unit 21, the position information of the own vehicle extracted by the own vehicle position information extraction unit 23, and the map data storage unit 14. Based on the map data stored in the map, for example, map matching or the like is performed, information on the relative position between the host vehicle and the other vehicle on the road is generated, and is output to the irradiation state calculation unit 31.
Furthermore, the relative position determination unit 28 generates, for example, information on the traveling direction and the front-rear direction of the other vehicle based on the steering angle of the other vehicle extracted by the object position information extraction unit 21, and sends it to the irradiation state calculation unit 31. Output.
The relative position determination unit 28 outputs the distance information to the irradiation state calculation unit 31 when the information on the distance from the host vehicle to the other vehicle detected by the distance detection unit 27 is input. .

The road shape recognition unit 29 recognizes the road shape in the traveling direction of the host vehicle based on the map data stored in the map data storage unit 14 and the image data or the beat signal input from the external monitoring device 11.
The road shape determination unit 30 determines whether or not a predetermined road shape (for example, an uphill slope or a curve) exists among the road shapes recognized by the road shape recognition unit 29.
The irradiation state calculation unit 31 determines whether the other vehicle has a predetermined road shape based on the information on the relative position between the host vehicle and the other vehicle generated by the relative position determination unit 28 and the determination result by the road shape determination unit 30. It is determined whether or not the vehicle is traveling. Further, the irradiation state calculation unit 31 changes the steering angle information of the host vehicle extracted by the host vehicle steering angle information extraction unit 22 and the time change of the speed and posture of the host vehicle detected by the speed / posture change detection unit 26. Based on the above, it is determined whether or not there is a possibility that the irradiation of the headlight of the own vehicle gives glare to the driver of the other vehicle traveling on the predetermined road shape. An irradiation state (for example, an irradiation direction and an irradiation range) is set.

The headlamp control device 16 controls the headlamp of the host vehicle according to the irradiation state set by the irradiation state calculation unit 31, and outputs information on the control content of the control being executed to the notification device 17.
The notification device 17 includes, for example, a visual transmission device and an audio transmission device.
The visual transmission device is, for example, a display device or the like, and displays information on the display device or blinks a predetermined display light, for example, according to the control content information input from the headlamp control device 16.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined notification sound, voice, or the like according to the control content information input from the headlamp control device 16.

  The vehicle lamp control device 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle lamp control device 10 will be described with reference to the accompanying drawings.

First, for example, in step S01 shown in FIG. 2, it is determined whether or not the communication state of the inter-vehicle communication between the host vehicle and the other vehicle is normal.
If this determination is “YES”, the flow proceeds to step S 03 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 02.
In step S02, among the own vehicle information detected by the own vehicle information detection unit 13, for example, based on each time change of the steering angle and speed (vehicle speed) and posture of the own vehicle, for example, a predetermined region in the traveling direction of the own vehicle. , The irradiation state of the headlamp is set, and the series of processes is completed.

In step S03, it is determined whether there is another vehicle (approaching vehicle) that approaches the host vehicle.
If this determination is “NO”, the flow proceeds to step S 02 described above.
On the other hand, if this determination is “YES”, the flow proceeds to step S 04 to acquire map data around the current position of the host vehicle.
In step S05, for example, it is determined whether a specific section such as an uphill exists ahead of the traveling direction of the host vehicle as a road shape in which the approaching vehicle cannot be detected by the external environment monitoring device 11 of the host vehicle. .
If this determination is “NO”, the flow proceeds to step S 07 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S 06.
In step S06, on the basis of the communication acquisition information, that is, the object information received by the information transmission / reception unit 12, particularly the position information of the approaching vehicle, the position information of the own vehicle, and the map data, In order to prevent the illumination by the headlight of the host vehicle from being dazzled, for example, a dazzling avoidance control for changing the irradiation direction in the vertical direction is performed, and information on this control content is notified to the driver of the host vehicle. Terminate the process.

In step S07, for example, it is determined whether or not a specific section such as a curve exists ahead in the traveling direction of the host vehicle as a road shape in which the approaching vehicle cannot be detected by the external environment monitoring device 11 of the host vehicle.
If this determination is “NO”, the flow proceeds to step S 02 described above.
On the other hand, if the determination is “YES”, the flow proceeds to step S08.
In step S08, for the driver of the approaching vehicle, based on the communication acquisition information, that is, the object information received by the information transmitting / receiving unit 12, particularly the location information of the approaching vehicle, the location information of the host vehicle, and the map data. In order to prevent the illumination by the headlight of the host vehicle from being dazzled, for example, a dazzling avoidance control for changing the irradiation direction in the left-right direction is executed, and information on the contents of the control is notified to the driver of the host vehicle. Terminate the process.

As a result, for example, as shown in FIG. 3, as the host vehicle P turns right at the intersection in front of the traveling direction, the headlamp of the host vehicle P is added to the front area of the traveling path of the host vehicle P, This intersection is used when setting the illumination state of the headlamp (for example, the illumination direction and the illumination area Q) so as to illuminate the intersection road on which the vehicle P is scheduled to travel after a right turn. When there is an approaching vehicle R that climbs so that the opposite lane of the downhill curve that is in front of the vehicle approaches the host vehicle P, first, the approaching vehicle R is detected by the outside monitoring device 11 of the host vehicle P. Even in a state where the vehicle cannot be detected, the presence and position of the approaching vehicle R can be detected by inter-vehicle communication between the host vehicle P and the approaching vehicle R.
For example, at the timing when the approaching vehicle R enters the irradiation area Q of the headlamp of the host vehicle P, the irradiation of the headlamp of the host vehicle P does not dazzle the driver of the approaching vehicle R. In addition, by changing the irradiation state of the headlamp (for example, the irradiation direction and the irradiation region Q), the visibility of the driver of the host vehicle P in front of the traveling direction is prevented from being lowered while approaching. It is possible to prevent the driver of the vehicle R from being dazzled.

Below, the irradiation control according to the detection state of the steering angle detection apparatus which detects especially the direction and magnitude | size of the steering angle which the driver | operator of the own vehicle input among the own vehicle information detection parts 13 is demonstrated.
First, for example, in step S11 shown in FIG. 4, it is determined whether or not the steering angle detection device that detects the direction and magnitude of the steering angle in the own vehicle information detection unit 13 of the own vehicle is in an abnormal state.
If this determination is “YES”, the flow proceeds to step S 13 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S 12.
In step S12, for example, based on changes in the steering angle and speed (vehicle speed) and posture of the host vehicle among the host vehicle information detected by the host vehicle information detection unit 13, for example, a predetermined region in the traveling direction of the host vehicle. , The irradiation state of the headlamp is set, and the series of processes is completed.

Moreover, in step S13, it is determined whether the communication state of the vehicle-to-vehicle communication between the own vehicle and another vehicle is normal.
If this determination is “YES”, the flow proceeds to step S 15 described later.
On the other hand, if this determination is “NO”, the flow proceeds to step S14.
In step S14, it is determined that it is difficult to execute an appropriate irradiation control according to the traveling state of the host vehicle or another vehicle, the headlamp irradiation control of the host vehicle is stopped, and the details of the control stop are displayed. The driver of the host vehicle is notified, and a series of processing ends.
In step S15, map data around the current position of the host vehicle is acquired.
In step S16, the communication acquisition information, that is, the object information received by the information transmission / reception unit 12, such as information on the position and steering angle of other vehicles such as a preceding vehicle traveling in front of the traveling direction of the own vehicle, Based on the position information of the vehicle and the map data, the dazzling avoidance control for changing the irradiation direction is performed so that the irradiation of the headlight of the own vehicle is not dazzled to the driver of the other vehicle. Information on the contents of the control is notified to the driver of the host vehicle, and the series of processes is terminated.

  As a result, even if it is impossible to detect the steering angle of the host vehicle, for example, a vehicle between the host vehicle and another vehicle such as a preceding vehicle that travels at the front position of the host vehicle in the same direction as the traveling direction of the host vehicle. Based on the information on the steering angle of another vehicle traveling on a predetermined road shape such as a curve obtained by inter-vehicle communication, the steering angle of the host vehicle when the host vehicle actually travels on the predetermined road shape can be accurately estimated. Based on this estimation result, it is possible to accurately determine whether or not the irradiation with the headlamp of the own vehicle may cause dazzling to the driver of the other vehicle.

  As described above, according to the vehicle lamp control device 10 according to the present embodiment, the position, posture, etc. of the host vehicle when controlling the irradiation direction of the headlamp of the host vehicle, the irradiation region, and the like. In addition to the position information of the vehicle, by setting the irradiation state based on the position information of the other vehicle acquired by the inter-vehicle communication, it is possible to suppress the visibility in the forward direction with respect to the driver of the own vehicle from being deteriorated. On the other hand, it is possible to accurately prevent the driver of another vehicle approaching the host vehicle from being dazzled. In particular, since the position information of the other vehicle is acquired by communication, the presence of the other vehicle is present even when the other vehicle is outside a predetermined detection area of the external environment monitoring device 11 of the own vehicle and cannot be detected. For example, it is possible to estimate whether or not another vehicle may enter the irradiation area of the headlamp of the own vehicle.

  In the above-described embodiment, the vehicle lamp control device 10 includes the map data storage unit 14. However, the present invention is not limited to this. For example, the vehicle lamp control device 10 can be appropriately selected from a map data server installed outside the host vehicle. You may provide the map data acquisition part which acquires map data by communication at timing.

In the above-described embodiment, for example, as shown in step S05 and step S07, whether one of a specific section such as an uphill or a specific section such as a curve exists ahead in the traveling direction of the host vehicle. However, the present invention is not limited to this, and it may be determined whether or not both a specific section such as an uphill and a specific section such as a curve exist.
In this case, for example, as shown in FIG. 5, if the determination result in step S05 is “NO”, the process proceeds to step S07. On the other hand, if the determination result in step S05 is “YES”, step S21 is performed. Proceed to
In step S21, for example, it is determined whether or not a specific section such as a curve exists ahead in the traveling direction of the host vehicle as a road shape in which the approaching vehicle cannot be detected by the external environment monitoring device 11 of the host vehicle.
If this determination result is “NO”, the process proceeds to step S06, whereas if this determination result is “YES”, the process proceeds to step S22.
In step S22, the driver of the approaching vehicle is notified based on the communication acquisition information, that is, the object information received by the information transmitting / receiving unit 12, in particular, the position information of the approaching vehicle, the position information of the own vehicle, and the map data. On the other hand, in order to prevent the headlights of the vehicle from being dazzled, for example, a dazzling avoidance control that changes the irradiation direction in the vertical direction and the left-right direction is executed, and information on this control content is sent to the driver of the vehicle. To end the series of processes.

1 is a configuration diagram of a vehicle lamp control device according to an embodiment of the present invention. FIG. It is a flowchart which shows operation | movement of the vehicle body control apparatus shown in FIG. An approaching vehicle R that ascends so that the opposite lane of the downhill curve that exists ahead of the intersection and the irradiation area Q of the headlamp of the host vehicle P scheduled to turn right at the intersection ahead of the traveling direction approaches the host vehicle P It is a figure which shows an example of a relative position. Among the vehicle information detection units of the vehicle lamp control device shown in FIG. 1, in particular, according to the detection state of the steering angle detection device that detects the direction and magnitude of the steering angle input by the driver of the vehicle. It is a flowchart which shows the process of irradiation control of an illumination lamp. It is a flowchart which shows operation | movement of the vehicle lamp control apparatus which concerns on the modification of embodiment mentioned above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle lamp control apparatus 12 Information transmission / reception part (communication means)
16 Headlamp control device (lamp control means)
28 Relative position determination unit (relative position detection means)
29 Road shape recognition unit (road shape recognition means)
30 Road shape determination unit (road shape determination means)

Claims (3)

A lamp control device for a vehicle, comprising: a lamp capable of changing the irradiation direction; and a lamp control means for controlling the irradiation direction of the lamp,
Communication means for acquiring other vehicle information including at least a position of another vehicle by communication; and
A relative position detecting means for detecting a relative position state between the own vehicle and the other vehicle based on the other vehicle information acquired by the communication means;
Road shape recognition means for recognizing the road shape in the traveling direction of the host vehicle;
Road shape determination means for determining whether a predetermined road shape exists in the traveling direction of the host vehicle based on the recognition result of the road shape recognition means,
The lamp control means controls the irradiation direction of the lamp based on the relative position state detected by the relative position detection means when the road shape determination means determines that a predetermined road shape exists .
The other vehicle information includes at least a position and a steering angle of the other vehicle,
When the road shape determining means determines that the predetermined road shape exists, the lamp control means causes the other vehicle to travel on the predetermined road shape based on the relative position state detected by the relative position detecting means. When the other vehicle is traveling on the predetermined road shape in the determination, the steering of the other vehicle traveling on the predetermined road shape among the other vehicle information acquired by the communication means is determined. A vehicle lamp control device for controlling a lighting direction of the lamp when the host vehicle travels on the predetermined road shape based on an angle . The lamp control means avoids the irradiation of the lamp when the host vehicle and the other vehicle approach relatively based on the relative position state detected by the relative position detection means. The vehicle lamp control device according to claim 1, wherein an irradiation direction of the lamp is controlled. The vehicle lamp control device according to claim 1, wherein the predetermined road shape includes at least an ascending slope or a curve.

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