JP4438716B2 - Irradiation device - Google Patents

Description

  The present invention relates to an irradiation apparatus that irradiates light in front of a host vehicle with a headlamp, an auxiliary lamp, or the like.

Conventionally, as this type of technology, there is one that irradiates light in the traveling direction of the vehicle by changing the irradiation area of the headlamp in the direction steered by the driver (for example, see Patent Document 1).
JP-A-61-207243

That is, in the above conventional technique, the irradiation area of the headlamp has not been changed unless the traveling direction of the host vehicle is changed. This is a matter of course considering common sense that it is most important to irradiate the front of the vehicle in the traveling direction.
On the other hand, for example, when there is a pedestrian waiting for the vehicle to cut off to cross the road, it may be possible to detect the pedestrian and irradiate the pedestrian with a headlamp. . However, in such a situation, if the pedestrian is constantly changed to irradiate with a headlamp, such an operation may be contrary to the driver's intention.
An object of the present invention is to solve the above-mentioned unsolved problems of the prior art, and to provide an irradiation device capable of irradiating light to an object that needs to be watched by a driver. .

  In order to solve the above-described problem, the irradiation apparatus of the present invention detects a headlamp that irradiates a predetermined irradiation range in front of the host vehicle, and an obstacle with a high degree of approach to the host vehicle in the traveling direction of the host vehicle. Obstacle detection means, gaze target discovery detection means for detecting that the driver has found a gaze target, and an obstacle with a high degree of approach by the obstacle detection means while the headlamp irradiates the predetermined range. Irradiation means for irradiating light outside the irradiation range when it is detected that the gaze target object has been detected by the gaze object detection detection means when not detected.

  Therefore, according to the present invention, only when the driver finds a gaze target outside the irradiation range of the headlamp, light is irradiated outside the irradiation range, and as a result, driving without violating the driver's will. It is possible to irradiate light on a subject that needs to be watched by the person (the gaze target).

Hereinafter, an embodiment of an irradiation apparatus of the present invention will be described based on the drawings.
In other words, this irradiation device is used when there is no obstacle (gaze target) that has a high possibility of contact with the host vehicle on the traveling lane of the host vehicle (when it is not necessary to irradiate only the front). When it is detected that the driver has found a gaze target (a vehicle or a pedestrian entering the driving lane of the own vehicle) outside the irradiation range of the headlamp of the own vehicle, the area outside the irradiation range (the area where the gaze target exists) ) The headlamp optical axis. Therefore, the irradiation device can irradiate light on a target that needs to be watched by the driver (the watch target), and as a result, the visibility of the watch target by the driver can be improved.

<Structure of irradiation device>
FIG. 1 is a block diagram showing the internal configuration of the irradiation apparatus of the present embodiment. As shown in FIG. 1, the irradiation device 1 includes a laser radar 2, a camera device 3, an image processing device 4, a control unit 5, a vertical motor control unit 6, a horizontal motor control unit 7, and a lens drive motor control unit 8. And headlamps 9a and 9b.
The laser radar 2 irradiates laser light in the traveling direction of the host vehicle (including within and outside the irradiation range of the headlamps 9a and 9b) and receives reflected light from the obstacle, thereby determining whether there is an obstacle. The distance between the host vehicle and the obstacle and the relative speed (the relative speed of the host vehicle with respect to the obstacle) are detected, and the detection result is output to the control unit 5.
The camera device 3 captures images ahead of the host vehicle (images within the irradiation range of the headlamps 9 a and 9 b and images outside the range), and outputs the imaging results to the image processing device 4.

The image processing device 4 performs image processing on an image output from the camera device 3 (an image ahead of the host vehicle) and determines whether or not a vehicle or a pedestrian (obstacle) is on the traveling lane of the host vehicle. To do. Then, the image processing device 4 outputs the determination result to the control unit 5.
The control unit 5 executes an irradiation process (described later) every time a predetermined time elapses. And when there is no gaze target on the traveling lane of the host vehicle due to the irradiation process (in the situation where it is not necessary to irradiate only the front, specifically, there is an obstacle on the traveling lane of the host vehicle. If there is an obstacle on the driving lane of the host vehicle and the amount of change in the distance to the obstacle and the relative speed is small), the gaze target is placed outside the irradiation range of the headlamps 9a and 9b. When the driver's motion at the time of discovery is detected, a left / right direction drive command (described later) for directing the optical axes of the headlamps 9a, 9b to the left and right sides is output to the left / right motor controller 7.

The vertical motor control unit 6 controls the vertical motor 13 (described later) of the headlamps 9a and 9b based on a command to swing the optical axes of the headlamps 9a and 9b in the vertical direction.
The left / right direction motor control unit 7 controls the left / right direction motor 14 (described later) of the headlamps 9 a, 9 b based on the left / right direction drive command output from the control unit 5.
The lens drive motor control unit 8 controls a lens drive motor 15 (described later) of the headlamps 9a and 9b based on a drive command for the lenses 10 of the headlamps 9a and 9b.

  As shown in FIG. 2, the headlamps 9 a and 9 b include a lens 10, a reflector 11, a headlamp bulb 12, a vertical motor 13, a horizontal motor 14, and a lens driving motor 15. The headlamps 9a and 9b reflect the light from the headlamp bulb 12 by the reflector 11, pass through the lens 10, and irradiate the front of the vehicle.

  The vertical motor 13 is controlled by the vertical motor controller 6 and drives the optical axes of the headlamps 9a and 9b in the vertical direction. Specifically, the lens 10, the reflector 11, the left / right direction motor 14, and the lens driving motor 15 are attached to the bracket 16. The bracket 16 is supported by a fulcrum 16a on the upper rear side of the vehicle so as to be rotatable in the vertical direction (vertical direction in FIG. 2). In addition, a gear 17 having a screw portion 17a formed on the outer periphery is screwed to the bracket 16 on the lower rear side of the vehicle. The gear 17 is rotationally driven by a vertical motor 13 fixed to a vehicle body (not shown) via a shaft 18. That is, when the vertical motor 13 rotates the gear 17 through the shaft 18, the lens 10, the reflector 11, and the headlamp bulb 12 together with the bracket 16 rotate about the fulcrum 16a in the vertical direction of the vehicle. As a result, the optical axes of the headlamps 9a and 9b are driven in the vertical direction of the vehicle.

  The left-right direction motor 14 is controlled by the left-right direction motor control unit 7 and drives the optical axes of the headlamps 9a, 9b in the left-right direction. Specifically, the reflector 11 is supported by a pair of upper and lower shafts 19 each shown as an axis on the bracket 16 so as to be rotatable in the left-right direction of the vehicle (the front and back direction of the paper surface of FIG. 3). The shaft 19 is driven to rotate by the left-right motor 14. That is, when the left-right motor 14 rotates the shaft 19, the reflector 11 rotates about the shaft 19, and the optical axes of the headlamps 9a, 9b are driven in the left-right direction of the vehicle.

  The lens driving motor 15 is controlled by the lens driving motor control unit 8 and drives the lens 10 in the optical axis direction of the headlamps 9a and 9b. Specifically, in the lens 10, the internal thread portion 20 formed on the inner periphery is screwed to the external thread portion 21 formed on the outer periphery of the reflector 11. A gear 22 is formed on the outer periphery of the female screw portion 20 of the lens 10. The gear 22 meshes with a gear 24 that is rotationally driven by the lens driving motor 15 via the shaft 23. That is, when the lens drive motor 15 rotates the gear 24, the lens 10 rotates, and the lens 10 moves relative to the reflector 11 in the optical axis direction (left-right direction in FIG. 2). Thereby, the focal distance of the light emitted through the lens 10 changes, and the light distribution range is changed. Therefore, for example, when the optical axis is driven downward, the lens 10 can be moved in a direction approaching the headlamp bulb 12 to shorten the focal length and widen the irradiation range.

<Operation of control unit>
Next, the irradiation process executed by the control unit 5 will be described based on a flowchart. This irradiation process is a process executed every predetermined time (for example, 10 msec.), And as shown in FIG. 3, first, in step S1, based on the output of the image processing device 4, the traveling lane of the host vehicle It is detected whether or not there is an obstacle. And when there is no obstacle (Yes), it transfers to step S3, and when there is an obstacle (No), it transfers to step S2.

  In step S2, it is determined whether the positional relationship with the obstacle is stable (whether there is an obstacle with a high degree of approach). If the obstacle is stable, i.e., there is no obstacle with a high degree of approach (Yes), the process proceeds to step S3. If the obstacle is not stable, i.e., there is an obstacle with a high degree of approach (No), this calculation process Exit. Here, as a method for determining whether or not the positional relationship with the obstacle is stable, whether or not the output of the laser radar 2 (relative speed between the host vehicle and the obstacle) is equal to or less than a threshold value. Determine whether. Here, the threshold value is calculated according to the control map of FIG. 4 based on the distance between the host vehicle and the obstacle. Note that the control map of FIG. 4 is determined experimentally and empirically, and the threshold is set to be smaller as the distance between the host vehicle and the obstacle is smaller.

Further, when the vehicle has a follow-up running control function for running following the preceding vehicle, it may be determined whether or not the host vehicle is approaching the preceding vehicle (front obstacle) according to the operation state of the follow-up control.
In step S3, the operation of the driver when a gaze target is found outside the irradiation range of the headlamps 9a and 9b is detected. And when the said operation | movement is detected (Yes), it transfers to step S4, and when the said operation | movement cannot be detected (No), this arithmetic processing is complete | finished.
Here, as the detection method of the operation, there is a method of detecting based on a driver's brake pedal operation state. Specifically, a stroke sensor (not shown) is provided in the brake pedal, and the moving speed (depressing speed) of the brake pedal is detected, and the depressing speed is determined by a first threshold (experimental and empirical). It is detected whether it is equal to or greater than (threshold).

  In step S4, it is determined whether there is an obstacle on the left or right side of the traveling lane of the host vehicle. If there is an obstacle (Yes), the process proceeds to step S4, and if there is no obstacle (No), the calculation process is terminated. Here, as a method for detecting the presence of an obstacle on the left or right side of the traveling lane of the host vehicle, a method for detecting based on the detection result of the laser radar 2 or the image processing device 4 may be mentioned. Specifically, when it is detected by the laser radar 2 that there is an obstacle on the right or left side deviating from the traveling direction of the own vehicle, or there is an obstacle on the left or right side of the traveling lane of the own vehicle. When it is detected by the image processing apparatus 4, it is determined that there is an obstacle on the left side or the right side.

In step S5, an operation of dividing the irradiation area of the headlamps 9a and 9b in the left-right direction is started. Specifically, as shown in FIG. 5, a left / right drive command for directing the optical axis of the left headlamp 9a to the left in plan view and the optical axis of the right headlamp 9b to the right in plan view is left / right. Output to the motor control unit 8.
Next, the process proceeds to step S6, and it is determined whether or not the driver's action when the gaze target is found outside the irradiation range of the headlamps 9a and 9b is not detected. If the operation is no longer detected (Yes), the process proceeds to step S7. If the operation is detected (No), the process proceeds to step S5. Here, as a method for determining that the operation is no longer detected, there is a method for determining that the operation is no longer detected when the depression speed of the brake pedal by the driver is smaller than a first threshold value. .
In step S7, a command for directing the optical axes of the headlamps 9a and 9b in the direction before the start of the operation of changing the irradiation area of the headlamps 9a and 9b in step S5 is output to the left and right motor control unit 7 (see above). This calculation process is terminated after the change operation is stopped).

<Specific operation of irradiation apparatus>
Next, operation | movement of the irradiation apparatus of this invention is demonstrated in detail based on a specific condition.
First, when traveling on a straight road without obstacles while irradiating the headlamps 9a, 9b in front of the host vehicle, the left side of the travel lane (own lane) of the host vehicle (the headlamps 9a, 9b). Assume that a pedestrian appears outside the irradiation range. Then, it is determined by the image processing device 4 that there is no obstacle in the traveling lane of the own vehicle, and the driver's brake is used in order for the driver to find the pedestrian and decelerate and watch the own vehicle. Assume that the pedal depression speed has increased.

  At that time, it is assumed that the irradiation process is executed by the control unit 5. Then, as shown in FIG. 3, first, when the step S1 becomes “Yes” and it is detected that the stepping speed of the driver is equal to or higher than the first threshold value, the determination at Step S3 is “Yes”. Since there is a pedestrian on the left side of the own lane, the determination in step S4 is also “Yes”. Next, in step S <b> 5, the left / right direction drive command is output to the left / right direction motor control unit 8. Then, the determination in step S6 is “No”, the flow of steps S5 and S6 is repeatedly executed, and the left / right direction drive command is continuously output to the left / right direction motor control unit 8.

  Then, the left and right motor 14 is driven by the left and right motor control unit 7, and as shown in FIG. 5, the optical axis of the left headlamp 9a is directed to the left in plan view, and the optical axis of the right headlamp 9b is Directed to the right in plan view, the irradiation area of the headlamps 9a, 9b is divided in the left-right direction. Therefore, the pedestrian can be illuminated with light emitted from the headlamps 9a and 9b, and as a result, the visibility of the pedestrian by the driver can be improved.

It is assumed that while the above flow is repeated, the own vehicle passes by the pedestrian and the stepping speed of the driver is lowered to a normal level. Then, the determination in step S6 is “Yes”, and in step S7, a command for directing the optical axes of the headlamps 9a and 9b in the direction before the start of the operation is output to the vertical motor control unit 6, and this calculation is performed. The process ends.
Thus, in the present embodiment, when there is no obstacle on the traveling lane of the own vehicle, or there is an obstacle on the traveling lane of the own vehicle and the distance and relative speed between the obstacle and When the amount of change is small (that is, when there is no obstacle on the traveling lane of the own vehicle that has a high possibility of contact with the own vehicle), when the gaze target is found outside the irradiation range of the headlamps 9a, 9b When the operation of the driver is detected, the irradiation area of the headlamps 9a and 9b is divided into left and right. Therefore, it is possible to easily improve the visibility of the area where the gaze target exists.

As described above, in the above embodiment, the control unit 5 in FIG. 1 and step S3 in FIG. 3 constitute the gaze target detection means described in the claims, and the control unit 5 in FIG. The left-right motor 14 and step S5 in FIG. 3 constitute the irradiation means described in the claims.
In addition, the irradiation apparatus of this invention is not limited to the content of the said embodiment, It can change suitably in the range which does not deviate from the meaning of this invention.

  In the above embodiment, when the driver's motion is detected when a gaze target is found outside the irradiation range of the headlamps 9a and 9b, the optical axis of the lens 10 is moved to the left or right, respectively. Although the example which divides | segments the irradiation area of 9a, 9b into right and left was shown, it is not restricted to this. For example, as shown in FIG. 6, the lens 10 may be moved in the optical axis direction without moving the optical axis of the lens 10 to widen the irradiation range of the headlamps 9a and 9b. Moreover, you may make it set the magnitude | size of an irradiation range based on the running speed of the own vehicle.

Further, for example, as shown in FIG. 7, the gaze target may be detected by the laser radar 2 or the image processing device 4, and the detected gaze target may be irradiated with light from the headlamps 9 a and 9 b. By doing so, the visibility of the driver's gaze target can be further improved.
Furthermore, for example, as shown in FIG. 8, the light of the headlamps 9a and 9b may be irradiated to the gaze target, and the irradiation position of the light may be periodically changed in the left-right direction. By doing so, it is possible to alert a gaze target (for example, a pedestrian) due to the approach of the host vehicle.
Further, for example, in step S4 in FIG. 3, detection of the gaze target may be omitted. That is, when the driver's movement is detected in step S3, the process may proceed to step S5, and the irradiation position of the headlamps 9a and 9b may be simply changed in the left-right direction.

  In addition, when the movement speed (depressing speed) of the brake pedal is detected and it is detected that the depressing speed is equal to or higher than the first threshold value, that is, when the driver detects the gaze target In the above example, the irradiation area of the headlamps 9a and 9b is divided into left and right. However, the present invention is not limited to this. When the above is detected, the irradiation area may be divided. Specifically, as described in Japanese Patent Laid-Open No. 9-301054, tension based on the driver's handle gripping force, the driver's heart rate, the driver's skin potential, and the driver's eye movement state. When the degree of tension is equal to or greater than the degree of tension (threshold determined experimentally and empirically) when the driver finds the gaze target, the irradiation area is divided. Also good.

  Furthermore, the direction of the optical axis of the headlamps 9a and 9b may be controlled in consideration of the nose dive of the host vehicle. Specifically, first, the deceleration of the host vehicle is calculated based on the running speed of the host vehicle, and the nose dive amount is calculated from the deceleration. When the calculated nose dive amount is large, the optical axes of the headlamps 9a and 9b are controlled upward. Further, for example, the upward angle may be set larger as the deceleration of the host vehicle is larger.

  At that time, when the depression speed of the brake pedal is equal to or higher than the first threshold value, it is determined that the nose dive amount is large, and the optical axes of the headlamps 9a and 9b may be controlled upward. . That is, when the stepping speed becomes equal to or higher than the first threshold value, the optical axis may be directed upward while expanding the irradiation range of the headlamps 9a and 9b in the left-right direction.

In addition, the control gain of the irradiation area changing operation may be changed according to the state of the driver and the degree of approach to the gaze target. Specifically, when the operating speed of the brake pedal is fast or when the driver's tension is high, it is estimated that the degree of approach to the gaze target is high. For this reason, the illuminance in an area close to the host vehicle may be increased, and when the irradiation range of the headlamps 9a and 9b is divided, the division speed may be increased, or the headlamps 9a and 9b When changing the irradiation position to the left and right, the change period may be shortened. Furthermore, the example in which the light of the headlamps 9a and 9b is irradiated to the area where the gaze target exists is shown, but the present invention is not limited to this. . For example, you may make it irradiate the light of an auxiliary lamp.

It is a block diagram which shows the internal structure of one Embodiment of the irradiation apparatus of this invention. It is a principal part enlarged view which fractures | ruptures and shows the headlamp of FIG. It is a flowchart which shows the operation | movement of an irradiation process. It is a control map used by irradiation processing. It is explanatory drawing for demonstrating operation | movement of an irradiation apparatus. It is explanatory drawing for demonstrating the modification of an irradiation apparatus. It is explanatory drawing for demonstrating the modification of an irradiation apparatus. It is explanatory drawing for demonstrating the modification of an irradiation apparatus.

Explanation of symbols

1 is an irradiation device, 2 is a laser radar, 3 is a camera device, 4 is an image processing device, 5 is a control unit, 6 is a vertical motor control unit, 7 is a horizontal motor control unit, 8 is a lens drive motor control unit, 9a and 9b are headlamps, 10 is a lens, 11 is a reflector, 12 is a headlamp bulb, 13 is a vertical motor, 14 is a horizontal motor, 15 lens drive motor, 16 is a bracket, 16a is a fulcrum, 17 is a gear, 17a is a threaded portion, 18 and 19 are shafts, 22 is a female threaded portion, 21 is a male threaded portion, 22 is a gear, 23 is a shaft, and 24 is a gear.

Claims (9)

A headlamp that illuminates a predetermined irradiation range in front of the host vehicle;
Obstacle detection means for detecting an obstacle with a high degree of approach to the own vehicle in the traveling direction of the own vehicle;
Gaze target discovery detecting means for detecting that the driver has found the gaze target;
When it is detected that the gaze target is detected by the gaze target detection means when the obstacle detection means does not detect an obstacle with a high degree of approach while the headlamp irradiates the predetermined range. And an irradiating means for irradiating light outside the irradiation range.   The gaze target detection means is based on at least one of a driver's brake pedal operation state, a driver's handle gripping force, a driver's heart rate, a driver's skin potential, and a driver's eye movement state. The irradiation apparatus according to claim 1, wherein it detects that a gaze target has been found.   3. The obstacle detection unit according to claim 1, wherein the obstacle detection unit includes a follow-up travel control unit that causes the host vehicle to follow the preceding vehicle, and determines the approach degree based on a follow-up state of the preceding vehicle. Irradiation equipment.   When it is detected that the gaze target has been found, the irradiation means expands the irradiation area of the headlamp or changes the irradiation area so that the irradiation area of the headlamp is divided into left and right The irradiation apparatus according to any one of claims 1 to 3, wherein   4. The irradiation according to claim 1, wherein, when it is detected that the gaze target is found, the irradiation unit irradiates light from an auxiliary lamp outside the irradiation range. 5. apparatus.   Gaze target detection means for detecting the gaze target, and the obstacle detection means irradiates the gaze target detected by the gaze target detection means when detecting that the gaze target is found. The irradiation apparatus according to any one of claims 1 to 5, wherein:   The irradiation apparatus according to claim 6, wherein the irradiation unit periodically changes the irradiation position of the light in the left-right direction when it is detected that the gaze target is found.   The irradiation unit controls a change state of the irradiation area based on a degree of approach of the obstacle detected by the obstacle detection unit or a state of the driving operation detected by the gaze target detection unit. The irradiation apparatus according to claim 4.   9. The irradiation unit according to claim 1, wherein the irradiation unit terminates the irradiation of light outside the irradiation range when the gaze target detection unit does not detect that the gaze target has been detected. The irradiation apparatus of Claim 1.

Images