JP5152019B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that controls an air conditioner based on the direction of the sun.

  Conventionally, as this type of vehicle control device, one that controls an air conditioner based on the solar radiation intensity detected using a solar radiation sensor and the position of the sun detected using a navigation system using GPS is known. (Patent Document 1). In addition, there is known one that controls an air conditioner using a solar radiation sensor that changes output characteristics in accordance with the incident angle of light (Patent Document 2).

Japanese Patent Laid-Open No. 9-13320 (29th to 32nd paragraphs, FIG. 4). Japanese Patent Application Laid-Open No. 11-337405 (22nd paragraph, FIG. 3).

However, the device described in Patent Document 1 described above has a problem that the air conditioner cannot be controlled when the GPS satellite used by the navigation system stops functioning. In addition, the air conditioner is controlled based on the position of the sun regardless of whether the sun is actually coming out, such as when the vehicle is in the shade or when it is cloudy. For this reason, air conditioning cannot be performed with high accuracy.
Further, both of the above-described patent documents 1 and 2 require a solar radiation sensor. In particular, the one described in Patent Document 2 requires a signal processing circuit for detecting the incident angle of light.

  Accordingly, the present invention has been made to solve the above-described problems, and provides a vehicle control device that can detect the position of the sun and control the air conditioner without using a navigation system and a solar radiation sensor. It aims to be realized.

In order to achieve the above object, the first feature of the present invention is that, among the image pickup means (11) for picking up the outside of the own vehicle (2) and the image (15) picked up by the image pickup means, the sun by detecting a high luminance region (15d) having a luminance exceeding a threshold by the light, a high-brightness region detecting means for detecting the position of the sun directly (13), the position of the sun detected by the high-brightness region detecting means And a control means (21, 22) for controlling an air conditioner provided in the host vehicle, wherein the high brightness area detecting means (13) is configured to control the image (15). ) Is divided into a plurality of regions (15e), a high-brightness region (15d) is detected from the plurality of divided regions, and a high-brightness region with particularly high luminance among the detected high-brightness regions is detected. There is to do.

Among the images captured by the imaging means, a high-brightness region having a luminance exceeding a threshold value is detected by sunlight, and the air conditioning provided in the host vehicle is based on the position of the detected high-brightness region in the image. The device can be controlled.
Therefore, it is possible to realize a vehicle control device that can detect the position of the sun and control the air conditioner without using a navigation system and a solar radiation sensor.

In the first feature , the image (15) is divided into a plurality of regions (15e), a high luminance region (15d) is detected from the divided regions, and the detected high more detecting a high luminance region particularly high luminance among luminance region, it is possible to detect the position of the sun with high accuracy.

The second feature of the present invention is that the image pickup means (11) for picking up the outside of the host vehicle (2) and the image (15) picked up by the image pickup means have a luminance exceeding a threshold value by sunlight. Based on the high-luminance area detection means (13) for detecting the high-luminance area (15d) and the position of the high-luminance area detected by the high-luminance area detection means in the image, the air conditioning provided in the vehicle Control means (21, 22) for controlling the apparatus, wherein the high-intensity area detecting means (13) includes at least a part of the image (15) as a plurality of areas (15e). And the average luminance calculation means for calculating the average luminance of each of the divided areas for each area, and the average luminance of the average luminance areas calculated by the average luminance calculation means and exceeding the threshold value. The highest area A region detection unit that outputs the image, and when the region having the highest average luminance is not detected by the region detection unit, the range to be divided of the image is changed to change the average luminance calculation unit and the region detection. The means is to implement.

According to the second feature, a high-luminance region having a luminance exceeding a threshold value by sunlight is detected from images captured by the imaging unit, and based on the position of the detected high-luminance region in the image. The air conditioner provided in the own vehicle can be controlled.
Therefore, it is possible to realize a vehicle control device that can detect the position of the sun and control the air conditioner without using a navigation system and a solar radiation sensor.
And according to the 2nd characteristic, since it is not necessary to scan the whole area | region of an image at once and to detect a high-intensity area | region, a high-intensity area | region can be detected at high speed. Further, when the high brightness area can be detected before scanning all the areas, other processing can be performed in the surplus time, so that the processing efficiency of the CPU can be improved.
According to a third feature of the present invention, in the second feature, the image (15) is divided into a plurality of regions (15e), and a high luminance region (15d) is detected from the plurality of divided regions. Furthermore, it is to detect a high luminance region having a particularly high luminance among the detected high luminance regions.
According to the third feature, the position of the sun can be detected with high accuracy.

  According to a fourth feature of the present invention, in any one of the first to third features, the control means (21, 22) is a luminance of the image (15) picked up by the image pickup means (11). A solar radiation amount calculating means (21) for calculating the solar radiation amount based on the air conditioner, and the air conditioner (30) based on the detection result of the high brightness area detecting means (13) and the calculation result of the solar radiation amount calculating means. ) To control.

According to the fourth feature, since the amount of solar radiation can be calculated based on the luminance of the image captured by the imaging unit, there is no need to separately provide a solar radiation detection device such as a solar radiation sensor.
Therefore, since the solar radiation detection device and the mounting tool for mounting the solar radiation detection device are not required and the mounting work is not required, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. it can.

  According to a fifth feature of the present invention, in any one of the first to fourth features, the outside of the vehicle (2) is based on the luminance of the image (15) picked up by the image pickup means (11). Illuminance calculating means (23) for calculating the illuminance of the other, and when the illuminance calculated by the illuminance calculating means falls below a threshold, the lighting device (31) provided in the vehicle is turned on, and the illuminance is And an illumination control means (24) for turning off the illumination device when the threshold value is exceeded.

According to the fifth feature, since the illuminance outside the host vehicle can be calculated based on the luminance of the image captured by the imaging unit, there is no need to separately provide an illuminance detection device such as an illuminance sensor. .
Therefore, since the illuminance detection device and the mounting tool for mounting the illuminance detection device are not necessary and the mounting work is unnecessary, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. it can.

  According to a sixth feature of the present invention, in any one of the first to fifth features, the imaging means (11) is configured to be able to image a road on which the vehicle (2) travels. Lane recognition means (26, 27) for recognizing an area having a luminance exceeding a threshold in the captured image (15) as a lane drawn on the road when the imaging means images a road on which the vehicle is traveling. It is in having.

According to the sixth feature, since an area having a luminance exceeding a threshold value among images captured by the imaging unit can be recognized as a lane drawn on a road, it is necessary to provide a road imaging camera separately. Absent.
Therefore, the camera for road imaging and the mounting tool for mounting the camera are not necessary, and the mounting work is not required. Therefore, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. be able to.

  According to a seventh feature of the present invention, in any one of the first to sixth features, the high-intensity region detection means (13) is configured to detect an image (15) captured by the imaging means (11). At least a part of the luminance distribution is distributed, and an area having a high luminance distribution is estimated as the solar position.

  According to the seventh feature, even when the position of the sun is difficult to understand, such as in cloudy weather, at least a part of the image is subjected to luminance distribution, and a region with the high luminance distribution can be estimated as the solar position. it can.

  According to an eighth feature of the present invention, in any one of the fifth to seventh features, the imaging unit (11) determines an exposure time based on the illuminance calculated by the illuminance calculation unit (23). It is to adjust.

  According to the eighth feature, since the exposure time can be adjusted based on the illuminance, it is not necessary to use an imaging unit having a wide dynamic range with respect to the illuminance. For example, imaging can be performed regardless of day or night by changing the exposure time between daytime and nighttime.

  According to a ninth feature of the present invention, in any one of the fifth to eighth features, the imaging unit (11) controls exposure based on the illuminance calculated by the illuminance calculation unit (23). It is to adjust the interval to be performed.

  According to the ninth feature, since the exposure interval can be adjusted based on the illuminance, unnecessary exposure can be eliminated, thereby reducing the processing load on the CPU that causes the imaging means to function. Can do.

  For example, during the daytime when the interval of controlling the air conditioner system according to the position of the sun is short, the temperature change in the passenger compartment is reduced by shortening the interval of exposure. On the other hand, when the influence of temperature due to sunlight is small, such as in the morning and evening, the processing load on the CPU is reduced by making the exposure interval longer than in the daytime.

  According to a tenth feature of the present invention, in any one of the first to ninth features, an output signal from each solid-state imaging device of the imaging means (11) including a plurality of solid-state imaging devices is converted into a red component. RGB separation means for separating the signal, the green component signal and the blue component signal, and the high brightness area detection means (13) uses the red component signal separated by the RGB separation means. The high brightness area (15d) is detected.

  According to the tenth feature, since the high luminance area can be detected using the red component signal separated by the RGB separation means, it is easy to detect the high luminance area caused by sunlight.

  According to an eleventh feature of the present invention, in any one of the first to tenth features, the imaging means (11) is configured to provide a first posture mainly for imaging the sky, and a road in front of traveling. Is configured to be switched to the second posture for imaging.

According to the eleventh feature, the image pickup means can pick up both the sky and the road ahead of the road by switching its posture, so that the image pickup means for picking up the sky and detecting the high luminance region. There is no need to provide two imaging means, that is, an imaging means for imaging a road and detecting a lane.
Therefore, since only one imaging means and one fixture for mounting the imaging means are required and only one mounting operation is required, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. can do.

  A twelfth feature of the present invention is that, in any one of the fifth to tenth features, the first posture for the image pickup means (11) to pick up mainly the sky and the road ahead of the run are picked up. When the illuminance calculated by the illuminance calculation means (23) exceeds the threshold value, the imaging means moves the first imaging means so that the imaging means switches to the second posture for switching. Actuator control means (10c) for controlling the driving of the actuator so that the imaging means changes to the second attitude when the illuminance changes to the second attitude when the illuminance is less than or equal to the threshold value. It is in.

According to the twelfth feature, when the illuminance exceeds the threshold, the imaging unit is changed to the first posture to capture the sky, and when the illuminance is lower than the threshold, the imaging unit is changed to the second posture. Thus, it is possible to image the road ahead of the run.
That is, by driving the actuator in accordance with the illuminance, the posture of the imaging means can be automatically changed and a necessary range can be imaged.
Therefore, there is no need to change the posture of the imaging means as necessary.

  A thirteenth feature of the present invention is that, in any one of the first to tenth features, the imaging range of the imaging means (11) is a first range mainly including the sky, and a road ahead of traveling. And an optical path changing means (11c) for changing the optical path of the light incident on the imaging means so as to switch to the second range including.

According to the thirteenth feature, since the optical path changing means can switch and image the first range mainly including the sky and the second range mainly including the road ahead of the travel, the first range There is no need to provide two image pickup means, that is, an image pickup means for picking up the image and an image pickup means for picking up the second range.
Therefore, since only one imaging means and one fixture for mounting the imaging means are required and only one mounting operation is required, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. can do.

  According to a fourteenth feature of the present invention, in any one of the fifth to tenth features, the imaging range of the imaging means (11) is a first range mainly including the sky and a road ahead of the traveling. The optical path changing means (11c) for changing the optical path of the light incident on the imaging means, and the imaging range of the imaging means mainly includes the sky. The illuminance calculated by the actuator (16) that moves the optical path changing means so as to switch to a range and a second range that mainly includes the road ahead of the run, and the illuminance calculation means (23) exceeds a threshold value. When the optical path changing means changes to the first posture, and when the illuminance is less than or equal to the threshold value, the actuator for controlling the driving of the actuator is controlled so that the optical path changing means changes to the second posture. And Yueta control means (16c), in providing the.

According to the fourteenth feature, when the illuminance exceeds the threshold, the optical path changing means is changed to the first posture to mainly image the sky, and when the illuminance is less than the threshold, the optical path changing means is It is possible to take an image of the road in front of traveling mainly by changing the posture.
That is, by driving the actuator according to the illuminance, the posture of the optical path changing means can be automatically changed and a necessary range can be imaged.
Therefore, there is no need to change the posture of the optical path changing means as necessary.

  According to a fifteenth feature of the present invention, in any one of the first to fourteenth features, the imaging means (11) is configured to pass the visible light removing means (11d) for removing visible light. It is to image the outside.

  According to the fifteenth feature, since only the infrared region of sunlight can be detected, it is possible to correctly detect the amount of solar radiation received from the sun, which causes the vehicle interior temperature to rise.

  According to a sixteenth aspect of the present invention, in the fifteenth aspect, the visible light removing unit (11d) is disposed on the incident side of the imaging unit (11) and the state is not disposed on the incident side. It is provided with the switching means to switch to.

According to the sixteenth feature, since the visible light removing means can be switched between the state arranged on the incident side of the imaging means and the state not arranged on the incident side, the imaging means provided with the visible light removing means It is not necessary to provide two image pickup means including an image pickup means that is not provided.
Therefore, since only one imaging means and one fixture for mounting the imaging means are required and only one mounting operation is required, the manufacturing cost of the vehicle control device can be reduced and the manufacturing time can be shortened. can do.

  According to a seventeenth feature of the present invention, in any one of the fifth to fourteenth features, the visible light removing means (11d) for removing visible light, and the visible light removing means are connected to the imaging means ( 11) an actuator for moving the visible light removing means so as to switch between the state arranged on the incident side and the state not arranged on the incident side, and the visible light removing means arranged on the incident side of the imaging means. And a control means for controlling the drive of the actuator so as to be switched to a state where it is placed or not placed.

According to this seventeenth feature, for example, when measuring the amount of solar radiation with high accuracy, the above-mentioned control means images the visible light removing means arranged on the incident side of the imaging means, and particularly requires high accuracy. If not, it is possible to take an image with the above-described control means in a state where the visible light removing means is not arranged on the incident side of the imaging means.
That is, by driving the actuator according to the application, it is possible to automatically switch between the state in which the visible light removing unit is arranged and the state in which the visible light removing unit is not arranged to take an image.
Therefore, there is no need to arrange the visible light removing means as required.

  According to an eighteenth feature of the present invention, in any one of the first to seventeenth features, the high luminance region (15d) detected by the high luminance region detecting means (13) is on the image (15). Storage means for associating and storing position data indicating the position of the air conditioner and control data indicating the control content of the air conditioner (30). The control means includes a control associated with the position data. Data is read from the storage means, and the air conditioner is controlled based on the read control data.

According to the eighteenth feature, the position data indicating the position of the high brightness area on the image and the control data indicating the control content of the air conditioner are stored in the storage unit in association with each other. The attached control data can be read from the storage means to control the air conditioner.
Therefore, even if the region or country where the vehicle control device is used is different, and the azimuth and temperature of the sun are different, the position data and control data corresponding to the region or country are stored in the storage means. , It can be ensured that there is no difference in effect depending on the region or country.

  According to a nineteenth aspect of the present invention, in the eighteenth aspect, the air conditioner (30) is configured to individually harmonize air in a plurality of spaces in a vehicle compartment, and the control means ( 22) reads out the control data associated with the position data from the storage means, and controls the air conditioner based on the control content indicated by the read control data, so that the temperature difference between the spaces Is to make it smaller.

  According to the nineteenth feature, the temperature difference between the plurality of spaces constituting the passenger compartment can be reduced.

  According to a twentieth feature of the present invention, in the nineteenth feature, the air conditioner (30) is configured to individually harmonize the air in the right side space and the left side space of the passenger compartment. .

According to the twentieth feature, the temperature difference between the right space and the left space of the passenger compartment can be reduced.
Therefore, the difference between the sensory temperature at the driver's seat and the sensory temperature at the passenger seat can be reduced.

  In addition, the code | symbol in each said parenthesis shows the correspondence with the specific means as described in embodiment mentioned later.

It is explanatory drawing which shows the state by which the camera which comprises the control apparatus for vehicles which concerns on 1st Embodiment of this invention is arrange | positioned at the vehicle. It is explanatory drawing which shows the relationship between the sensor output of a CMOS sensor which comprises the image pick-up element 11b, and a brightness | luminance. It is explanatory drawing which shows the electric structure of the control apparatus for vehicles with a block. It is a graph which shows correlation with illumination intensity and the brightness | luminance of sunlight. It is a figure which shows the image which imaged the scenery ahead of the own vehicle with the camera 10 at the time of fine weather. It is explanatory drawing of a high-intensity area | region. It is a figure which shows the image which imaged the scenery ahead of the own vehicle with the camera 10 at the time of cloudy weather. It is a figure which shows the image which brightness-distributed the image shown in FIG. It is explanatory drawing which shows an image in case the sun exists in the azimuth | direction which remove | deviated from the visual field of the camera 10. FIG. It is a figure which shows the image which brightness-distributed the image shown in FIG. It is explanatory drawing for demonstrating the relationship between the azimuth | direction of a sun and the air volume of the blower outlet of an air-conditioner system, (a) is explanatory drawing of a high-intensity area | region, (b) is explanatory drawing which shows the air volume of a left and right blower outlet. is there. It is a figure which shows the relationship between the sensor output of a CMOS sensor and brightness | luminance in 2nd Embodiment. It is a flowchart which shows the flow of the process which CPU with which the camera 10 was equipped performs in order to switch exposure time. It is explanatory drawing of the image imaged with the camera with which the vehicle control apparatus of 3rd Embodiment was equipped, (a) is a general view of an image, (b) is explanatory drawing of the area | region where the sun is contained. It is explanatory drawing of the camera with which the control apparatus for vehicles of 4th Embodiment was equipped, (a) is explanatory drawing which shows the state with which the camera is arrange | positioned at a vehicle, (b) is the attitude | position which a camera image | photographs a driving | running | working road surface. FIG. 4C shows a state in which the camera has changed to a posture in which the camera captures an image of the sky ahead of the vehicle. It is explanatory drawing which shows the electrical structure of the vehicle control apparatus of 4th Embodiment with a block. It is explanatory drawing which shows the example of a change of 4th Embodiment, (a) is a left view of the state by which the prism is arrange | positioned at the incident side of a camera, (b) is a front view of (a), ( (c) is a front view showing a state in which the prism is moved from the incident side of the camera in (b). It is a left view of the state by which the visible light cut filter is arrange | positioned at the incident side of the camera which comprises the control apparatus for vehicles of 5th Embodiment. It is a figure which shows the image imaged using the fisheye lens.

<First Embodiment>
A first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing a state in which a camera constituting the vehicle control apparatus according to the first embodiment is arranged in a vehicle.

(Imaging means)
A vehicle (hereinafter referred to as a host vehicle) 2 to which the present invention is applied is provided with a camera 10 constituting a vehicle control device. The camera 10 is disposed inside the windshield 3. The camera 10 is disposed at a position for imaging a range including the sky through the windshield 3. The camera 10 includes an imaging lens 11a and an imaging element 11b, and images in black and white or color. The imaging lens 11a is composed of a plurality of types of lenses, and forms an optical image on the light receiving surface of the imaging element 11b.

  In this embodiment, a CMOS (Complementary Metal Oxide Semiconductor) sensor is used as the image sensor 11b. The image sensor 11b includes an electronic shutter that controls the exposure time of each CMOS sensor. FIG. 2 is an explanatory diagram showing the relationship between the sensor output of the CMOS sensor constituting the image sensor 11b and the luminance. As shown in the figure, the dynamic range with respect to the luminance of the CMOS sensor that constitutes the image sensor 11b is a wide dynamic range that allows photographing from the road surface at night to the daytime sun. In this embodiment, the dynamic range is about 130 dB.

(Electrical configuration)
FIG. 3 is an explanatory diagram showing the electrical configuration of the vehicle control device in blocks. The vehicle control device 1 includes a camera 10 and a control unit 20. The control unit 20 controls the air conditioner system 30 and the auto light system 31 based on the output signal from the camera 10. The camera 10 includes an imaging unit 11, a screen luminance detection unit 12, a high luminance scanning unit 13, and an exposure time control unit 14.

  The imaging unit 11 includes the imaging lens 11a and the imaging element 11b described above. The screen luminance detection unit 12, the high luminance scanning unit 13, and the exposure time control unit 14 indicate the contents realized by the microcomputer provided in the camera 10 in blocks. The microcomputer includes a CPU, a RAM, and a ROM (not shown), and an input / output interface for performing data communication with the control unit 20.

  The screen brightness detection unit 12 detects the brightness of the image captured by the image sensor 11b. This luminance is detected in units of pixels constituting the image. The detected brightness is temporarily stored in the RAM as brightness data in units of pixels and associated with the coordinate data of the pixels. The high-intensity scanning unit 13 scans the luminance of each pixel stored in the RAM, and reads out the coordinate data of the pixels whose luminance exceeds a threshold value from the RAM.

  The exposure time control unit 14 controls the exposure time of the image sensor 11b according to the brightness around the host vehicle 2. The camera 10 outputs the luminance data stored in the RAM and the coordinate data read from the RAM by the high luminance scanning unit 13 to the control unit 20.

  The control unit 20 includes a solar radiation amount / sun azimuth calculation unit 21, an air conditioner control unit 22, an ambient light illuminance calculation unit 23, a headlight control unit 24, and a display control unit 25. The control unit 20 functions by an ECU (Electronic Control Unit) of the host vehicle 2, and each block constituting the control unit 20 indicates a part of the function.

  The solar radiation amount / sun azimuth calculating unit 21 calculates the solar radiation amount entering from the windshield 3 based on the luminance data output from the camera 10. Illuminance and solar radiation are in a proportional relationship. Moreover, as shown in FIG. 4, since the brightness | luminance and illuminance of sunlight have a substantially proportional relationship, if the brightness | luminance of sunlight is known, the amount of solar radiation can be calculated | required. The ROM that constitutes the ECU stores data in which the brightness and illuminance of sunlight shown in FIG. 4 are associated with each other in a table format or a function that is associated with each other. The average luminance of the image is calculated, and the illuminance associated with the calculated average luminance is read from the ROM.

  Further, the solar radiation amount / sun azimuth calculating unit 21 calculates the relative azimuth of the sun, that is, the azimuth of the sun viewed from the own vehicle 2, based on the coordinate data output from the camera 10. FIG. 5 is a diagram illustrating an image obtained by capturing a scene in front of the host vehicle with the camera 10 in fine weather. An image 15 shown in FIG. 5 represents the road ahead of the traveling vehicle, the scenery around the road, and the sky, and includes an image 4 showing the sun. A mesh-like area indicated by reference numeral 15a in the figure indicates an area obtained by subdividing the image 15 into a plurality of areas.

  FIG. 6 is an explanatory diagram of a high luminance region. As shown in the figure, the periphery of the image 4 showing the sun is a high luminance region 15d. That is, the direction of the sun can be detected by detecting the high luminance region 15d. As described above, the coordinate data output from the camera 10 indicates the coordinates of a pixel whose luminance exceeds the threshold value, and the region specified by the coordinates is the high luminance region 15d. Therefore, the solar radiation amount / solar azimuth calculating unit 21 estimates the detected high brightness area 15d as the azimuth of the sun.

  FIG. 7 is a diagram illustrating an image obtained by capturing a scene in front of the host vehicle with the camera 10 when it is cloudy. During cloudy weather, the brightness of sunlight decreases, making it difficult to detect the high brightness area 15d. Therefore, the high brightness scanning unit 13 converts the signal from the image sensor 11b into a brightness distribution. FIG. 8 is a diagram showing an image obtained by luminance distribution of the image 15 shown in FIG. As shown in the figure, the luminance distribution is highest at the center of the sun and becomes lower as the distance from the center increases. That is, the sun position can be estimated from the luminance distribution.

The solar radiation amount / sun azimuth calculating unit 21 estimates the azimuth of the sun based on a region having a high luminance distribution.
That is, the vehicle control device 1 of this embodiment can estimate the sun's direction regardless of whether it is clear or cloudy.

FIG. 9 is an explanatory diagram showing an image when the sun is present in an orientation deviating from the field of view of the camera 10, and FIG. 10 is a diagram showing an image obtained by distributing the luminance of the image 15 shown in FIG. Even when the sun is present in an orientation that is out of the field of view of the camera 10, a region with high brightness appears in the image due to sunlight. Therefore, as shown in FIG. 10, the image 15 is luminance-distributed, and the region 15c is estimated as the azimuth of the sun from the level of luminance.
That is, the vehicle control device 1 of this embodiment can estimate the azimuth of the sun even when the sun is present in the azimuth that is out of the field of view of the camera 10.

  The air conditioner control unit 22 controls the air conditioner system 30 based on the amount of solar radiation calculated by the solar radiation amount / sun azimuth calculating unit 21 and the direction of the sun. FIG. 11 is an explanatory diagram for explaining the relationship between the azimuth of the sun and the air volume at the air outlet of the air conditioner system 30, (a) is an explanatory diagram of a high-luminance region, and (b) is the air volume at the left and right air outlets. It is explanatory drawing which shows.

  The air conditioner system 30 is a type that can individually harmonize the air in the right and left spaces of the passenger compartment, and at least one of the air volume and the temperature of the air current that exits from the air outlets arranged with respect to the left and right spaces. It can be varied. In a right-hand drive vehicle, the space on the side where the driver's seat is located is the right side space, and the space on the side where the passenger seat is located is the left side space. Hereinafter, the outlet provided in the right space of the passenger compartment is referred to as a right outlet 30a, and the outlet provided in the left space is referred to as a left outlet 30b.

  The temperature of the passenger compartment changes depending on the amount of solar radiation in the passenger compartment as well as the outside air temperature. In addition, since the amount of solar radiation in different spaces in the passenger compartment varies depending on the relationship between the space and the direction of the sun, the temperature of experience varies depending on the boarding position. Furthermore, when the sun is present above the host vehicle, the area of the shadow created by the roof, pillar, etc. of the host vehicle 2 varies depending on the direction of the vehicle. Furthermore, the greater the amount of solar radiation that is poured into an exposed part such as the occupant's face, the higher the perceived temperature.

In particular, when traveling in a long straight section, the amount of solar radiation with respect to one space is biased, so that the sensible temperature of the occupant riding in that space increases rapidly.
Therefore, in this vehicle control device 1, the amount of air blown from the right outlet 30a and the left outlet 30b is controlled in accordance with the direction of the sun to reduce the temperature difference experienced by the boarding position.

  When the air conditioner system 30 is in the cooling mode, as shown in FIG. 11, when the high brightness area 15d by the sun is located on the left side of the center line P (FIG. 11 (a)) of the image 15, Since it is estimated that the amount of solar radiation received by the occupant riding in the left space of the room is larger than that of the occupant riding in the right space, the amount of air blown from the left air outlet 30b is made larger than that of the right air outlet 30a. . The difference in the thickness of the arrows shown in the figure indicates the difference in the blowout amount. Thereby, the raise of the sensible temperature of the passenger | crew of left side space can be suppressed.

  When the high brightness region 15d is located on the right side of the center line 9 of the image 15, the amount of air blown from the right air outlet 30a is made larger than that of the left air outlet 30b. Thereby, the raise of the sensible temperature of the passenger | crew of right side space can be suppressed.

Moreover, since the amount of solar radiation that pours onto the face increases as the sun is positioned in front, the sensory temperature increases. Therefore, the closer the position of the sun in the image 15 is to the position facing the occupant's face (for example, slightly above the center in the vertical direction), the more the air volume from the air outlet increases, the more the sensible temperature of the occupant increases. Suppress.
That is, by adjusting the air volume from the air outlet according to the position of the sun in the image 15, an increase in the passenger's sensible temperature is suppressed.

  A table in which the air volume data indicating the air volume from the air outlet and the position data indicating the position of the sun on the image 15 are stored in the ROM of the ECU for each of the right air outlet 30a and the left air outlet 30b. The CPU of the ECU reads air volume data corresponding to the detected position data indicating the position of the sun from the table, and instructs the air conditioner control unit 22 on the read air volume data.

  In addition, when the air conditioner system 30 is independent of the left and right spaces and the air temperatures of the left and right spaces can be set individually, the temperature of the airflow that exits from the air outlet instead of the air volume from the air outlet By lowering, the increase in the sensible temperature of the occupant can also be suppressed. It is also possible to control both the air volume and the air temperature.

  Further, when the air conditioner system 30 is in the heating mode, as in the cooling mode, at least one of the air volume from the air outlet and the temperature of the airflow is controlled according to the position of the sun on the image, and the boarding position Reduce the temperature difference due to the sensor.

  As described above, if the vehicle control device 1 of this embodiment is used, the position of the sun can be detected and the air conditioner system 30 can be controlled without using the navigation system and the solar radiation sensor.

  The ambient light illuminance calculation unit 23 calculates the illuminance of the ambient light of the vehicle 2 based on the luminance data detected by the screen luminance detection unit 12 and output from the camera 10. As shown in FIG. 4, the luminance of the sunlight and the illuminance are approximately proportional to each other, so that the illuminance of the ambient light can be calculated based on the luminance of the sunlight.

The headlight control unit 24 actively changes the control signal output to the autolight system 31 to turn on the headlight when the luminance calculated by the ambient light illuminance calculation unit 23 is equal to or less than the threshold value. Thereby, the auto light system 31 lights the headlight, the tail lamp, and the like. The headlight control unit 24 changes the control signal to inactive when the luminance calculated by the ambient light illuminance calculation unit 23 exceeds the threshold value. Thereby, the autolight system 31 turns off the headlight, the tail lamp, and the like.

  Thus, since the autolight system 31 can be controlled without using the solar radiation sensor by using the vehicle control device 1 of this embodiment, the manufacturing cost of the vehicle is reduced as much as the solar radiation sensor is not used. be able to.

  The display control unit 25 controls the display device 32 provided in the vehicle interior. The own vehicle 2 includes, for example, a headlight including an infrared irradiation device that irradiates infrared light forward of traveling. The display device 32 displays an image irradiated by the infrared irradiation device, reflected by the object, and captured by the camera 10.

  The display control unit 25 displays an image acquired from the camera 10 on the screen of the display device 32 when the illuminance calculated by the ambient light illuminance calculation unit 23 is equal to or less than the threshold value. As a result, the driver can recognize the object ahead even at night by looking at the screen of the display device, so that the driver can travel safely.

  As described above, if the vehicle control device 1 of this embodiment is used, the single camera 10 can perform from the detection of the azimuth of the sun to the imaging at night, and thus it is not necessary to provide two cameras 10. Therefore, the manufacturing cost of the vehicle control device 1 can be reduced correspondingly.

Second Embodiment
A second embodiment of the present invention will be described with reference to the drawings. The vehicle control device according to this embodiment is characterized in that it can cope from daytime to nighttime even if the dynamic range of the camera with respect to luminance is narrow. The vehicle control device of this embodiment has the same configuration and function as the vehicle control device of the first embodiment, except that the dynamic range and the control content of the exposure time are different. Simplify or omit.

  FIG. 12 is a diagram illustrating the relationship between the sensor output of the CMOS sensor and the luminance and luminance. As shown in the figure, when the dynamic range with respect to the brightness is normal (for example, about 70 dB), only the brightness at night or daytime can be handled. Therefore, in this embodiment, the exposure time of the image sensor 11b is changed between daytime and nighttime so that it can be used day and night.

A flow of processing executed by the CPU provided in the camera 10 for switching the exposure time will be described. FIG. 13 is a flowchart showing the processing flow.
The CPU provided in the camera 10 resets the exposure time (step (hereinafter abbreviated as S) 1). In this embodiment, the night exposure time is set as an initial setting, and when it is reset, the night exposure time is set. Subsequently, the CPU acquires an image from the image sensor 11b (S2), and scans the luminance of each pixel constituting the image (S3). Subsequently, the CPU calculates an average luminance of the luminance detected by scanning, and determines whether or not the calculated value exceeds a threshold value and the luminance is saturated (S4).

  If an affirmative determination is made (S4: Yes), the exposure time for daytime is set for nighttime, so the exposure time for daytime is set (S5). That is, when the brightness is saturated, the sun's direction cannot be detected, so the daytime exposure time with a short exposure time is set. Subsequently, the CPU again acquires an image from the image sensor 11b (S2), scans the high luminance region (S3), and determines whether the average luminance of the high luminance region is saturated (S4). Here, if a negative determination is made (S4: No), the process proceeds to a process of detecting the azimuth of the sun (S6).

  Moreover, since the relative position of the own vehicle 2 and the sun changes every moment, the solar radiation amount / sun azimuth calculating unit 21 detects the solar radiation amount and the solar azimuth at short intervals (for example, intervals of 1 second to several seconds), By precisely controlling the air conditioner system 30, the interior of the vehicle can always be maintained at a constant temperature. In addition, at night, since it is not necessary to detect the amount of solar radiation and the direction of the sun until the next morning, the amount of solar radiation and solar direction calculation unit 21 sets the solar radiation amount and the direction of the sun at long intervals (for example, intervals of 30 seconds to several minutes). If it detects by, it can reduce the extra load of CPU.

  As described above, if the vehicle control device 1 of the second embodiment is used, it is possible to use a generally wide dynamic range camera without using a wide dynamic range camera. High versatility.

<Third Embodiment>
A third embodiment of the present invention will be described with reference to the drawings. The vehicle control device according to this embodiment is characterized in that the relative direction of the sun with respect to the host vehicle 2 can be detected at high speed. The vehicle control device of this embodiment has the same configuration and function as the vehicle control device of the first embodiment, except that the dynamic range and the control content of the exposure time are different. Simplify or omit.

  FIG. 14 is an explanatory diagram of an image captured by a camera provided in the vehicle control device of this embodiment, (a) is an overall view of the image, and (b) is an explanatory diagram of a region including the sun. is there. The vehicle control device of this embodiment divides at least a part of the image 15 captured by the camera 10 into a plurality of regions, scans the high luminance region in units of the divided regions, and performs the high luminance region by the scanning. When the image cannot be detected, the high brightness area is scanned with respect to the next divided area. That is, if the high brightness area is scanned over the entire image at once, the processing time becomes long, so the image is divided and the high brightness area is scanned in units of the divided areas.

  The region into which the image 15 is divided is a region with a high probability that a high luminance region exists. As shown in FIG. 14, when the upper part is an image showing the sky, the image of the upper part is divided into a plurality of regions 15e. The CPU functioning as the high-intensity scanning unit 13 scans the high-brightness region with respect to the region 15e in the upper left corner, and if the average luminance value in the region 15e does not exceed the threshold value, the CPU 15 functions as On the other hand, the high brightness area is scanned.

  That is, the CPU performs scanning while moving the area to be scanned in the directions indicated by the arrows F1 and F2 in the drawing until the high luminance area is detected. Then, the scanning is stopped when the high luminance area is detected. By scanning in this way, it is not necessary to scan the entire image at once, so that a high luminance region can be detected at high speed. In addition, since the CPU can execute other processing after detecting the high luminance area, the processing efficiency of the CPU can be improved.

  The area where scanning is started may be other than the upper left corner, and can be set to an arbitrary area. Further, the order of the areas to be scanned may be all in the forward direction as described above, or may be the order in which the area is turned back from the lower area when reaching the end area. Moreover, the up-down direction may be sufficient and random may be sufficient.

  Further, by detecting an area with higher luminance in the high luminance area 15d, it is possible to detect the azimuth of the center of the sun or a position close to the center. For example, as shown in FIG. 14B, the detected high brightness area 15d is scanned in units of further subdivided areas 15a, and exceeds a threshold higher than the threshold used when the high brightness area 15d is detected. A region 15a is detected.

  If this method is used, the sun's direction can be specified even when the range of the high brightness area is wide, such as when it is cloudy, so the temperature difference due to the difference in the boarding position is controlled by controlling the air conditioner system 30. It can be corrected.

<Fourth embodiment>
A fourth embodiment of the present invention will be described with reference to the drawings. The vehicle control apparatus according to this embodiment is characterized in that a single camera controls an air conditioner system, an auto light system, and a lane departure warning system.

  As shown in FIG. 15, the camera included in the vehicle control device of this embodiment can change the angle. The side surface of the camera 10 is pivotally supported by a support member 10b, and the shaft of the motor 10a is inserted into the pivot shaft. The motor 10a is connected to the motor control device 10c and is driven by a control signal from the motor control device 10c.

  The camera 10 is rotated by driving the motor 10a, and as shown in FIG. 15 (b), the posture for imaging the traveling road surface and the posture for imaging the sky in front of the traveling as shown in FIG. 15 (c). To change.

  As shown in FIG. 16, the vehicle control device of this embodiment includes a road surface brightness determination unit 26, a lane recognition unit 27, and a lane departure warning system 33. The road surface luminance determination unit 26 determines whether or not the luminance of each pixel exceeds a threshold value in the image of the traveling road surface imaged by the camera 10. The lane recognition unit 27 recognizes the lane based on the determination result of the road surface luminance determination unit 26. The lane departure warning system 33 generates an audible alarm and / or an alarm display when the host vehicle 2 deviates from the traveling lane, and notifies the occupant that the host vehicle 2 deviates from the traveling lane.

  In the white line that defines the lane on the road surface and the asphalt portion other than the white line, the white line has higher reflected light brightness than the asphalt. Therefore, the brightness of the white line is set as a threshold value, and the road surface brightness determination unit 26 determines whether or not the brightness of each pixel exceeds the set threshold value. The lane recognition unit 27 recognizes an area formed by a set of pixels determined by the road surface luminance determination unit 26 as exceeding a threshold value as a lane. The lane recognition unit 27 outputs the recognition result to the lane departure warning system 33. The lane departure warning system 33 operates when the recognition result output from the lane recognition unit 27 is a recognition result indicating that it is not a lane.

  Normally, it is in the first control mode in which the air conditioner system 30 is controlled based on the sun direction, and the camera 10 is controlled to an angle that captures the sky in front of the traveling as shown in FIG. Yes. And when it switches to the 2nd control mode which uses the lane departure warning system 33, the camera 10 is controlled to the angle which images a driving | running road surface, as shown in FIG.15 (b).

  Switching means such as a switch for switching the control mode between the first and second control modes is disposed in the vehicle interior, and the control mode can be switched by operating the switch by the occupant. In addition, the control mode can be automatically switched according to the traveling situation. For example, when the vehicle 2 has a function of detecting that the vehicle 2 is traveling on an automobile road such as an expressway, the first control is performed when it is detected that the vehicle 2 is traveling on an automobile road. The mode can be switched to the second control mode.

As described above, by using the vehicle control device of the fourth embodiment , it is possible to control the air conditioner system, the auto light system, and the lane departure warning system with a single camera.
Therefore, the manufacturing cost of the vehicle control device can be greatly reduced. In addition, since there is no need to arrange a plurality of cameras, the number of wires can be reduced.
Note that the posture of the camera 10 can be controlled using an actuator such as a solenoid instead of the motor and a control device for controlling the actuator.

<Modification Example of Fourth Embodiment>
FIG. 17 is an explanatory diagram showing a modification of the fourth embodiment. The vehicle control device according to this modification is characterized in that the first and second control modes are switched using a prism.
The camera 10 includes a prism 11c on the incident surface of the lens 11a. A plunger 16b of a solenoid 16 is attached to the prism 11c. The solenoid 16 is connected to the solenoid control device 16c and is driven by a control signal from the solenoid control device 16c.

  Usually, it is in the first control mode in which the air conditioner system 30 is controlled based on the sun direction. At this time, the solenoid 16 is in a non-driven state, and as shown in FIG. 17B, the plunger 16b is in an extended state, and the prism 11c is disposed on the incident surface of the lens 11a. That is, as shown in FIG. 17A, the prism 11c mainly receives light from above the traveling road, refracts the incident light, and takes it into the lens 11a.

  When the second control mode using the lane departure warning system 33 is switched, the solenoid 16 is driven by a control signal from the solenoid control device 16c, and the plunger 16b is connected to the housing 16a as shown in FIG. The prism 11c moves away from the incident surface of the lens 11a. Thereby, the lens 11a mainly receives light from the road ahead of the traveling.

  Switching between the first and second control modes may be performed by switching means such as the above-described switch, or may be performed automatically. Further, the movement of the prism 11c can be controlled using an actuator such as a motor instead of the solenoid and a control device for controlling the actuator.

<Fifth Embodiment>
A fifth embodiment of the present invention will be described with reference to the drawings. The vehicle control apparatus according to this embodiment is characterized in that a visible light cut filter is used when detecting the sun direction.
As shown in FIG. 18, a visible light cut filter 11 d is arranged on the incident surface of the lens 11 a of the camera 10. The visible light cut filter 11d removes visible light incident on the lens 11a. That is, since visible light contained in sunlight can be removed and only the infrared region of sunlight can be detected, it is possible to correctly detect the amount of solar radiation received from the sun, which causes the vehicle interior temperature to rise.

  The imaging element 11b can image a wide range from the sky in front of traveling to the traveling road surface. The visible light cut filter 11d is moved using an actuator such as a solenoid and a control device that controls driving thereof, like the prism 11c in the modification of the fourth embodiment.

In the daytime, it is in the first control mode for controlling the air conditioner system 30 based on the sun direction. At this time, the visible light cut filter 11d is disposed on the incident surface of the lens 11a, removes visible light, and allows infrared light to pass.
At night, the visible light cut filter 11d moves and moves away from the incident surface of the lens 11a. Thereby, visible light sensitivity can be prevented from deteriorating.

  Control for moving the visible light cut filter 11d can be performed based on the illuminance calculated by the ambient light illuminance calculator 23 (FIG. 16). When the calculated illuminance exceeds the threshold, it is determined that it is daytime, and the visible light cut filter 11d is moved to the incident surface of the lens 11a. When the calculated illuminance is less than or equal to the threshold value, it is determined that it is dusk from the evening when it is not necessary to detect the amount of solar radiation, and the visible light cut filter 11d is moved to a position where it is removed from the incident surface of the lens 11a.

As described above, in the daytime when it is necessary to measure the amount of solar radiation with high accuracy, the above control device moves the visible light cut filter 11d to the incident surface of the lens 11a to capture an image, like at night. When the accuracy is not particularly required, the above-described control device can move the visible light cut filter 11d to a position where the visible light cut filter 11d is removed from the incident surface of the lens 11a.
That is, by driving the actuator according to the application, it is possible to automatically switch between the state in which the visible light cut filter 11d is disposed on the incident surface of the lens 11a and the state in which the visible light cut filter 11d is not disposed.
Therefore, there is no need to arrange the visible light cut filter 11d as necessary.

<Other embodiments>
(1) A lens capable of imaging a wide range, such as a wide-angle lens or a fish-eye lens, can also be used as the lens 11a. FIG. 19 is a diagram illustrating an image captured using a fisheye lens. If these lenses are used, the position of the sun can be detected over a wide range.

(2) A mechanism for rotating the camera 10 also in the left-right direction is provided, the azimuth of the sun on the side of the vehicle 2 is detected, and the air volume from the air outlet of the air conditioner system 30 is controlled according to the azimuth of the sun. You can also.

(3) It is during the daytime rather than morning and evening that the direction of the sun has a greater effect on the temperature and the temperature of the passenger compartment. Therefore, in the daytime, the interval at which the camera 10 is exposed is shorter than in the morning and evening, and the air conditioner 30 is finely controlled to reduce the temperature difference due to the difference in the boarding position. On the other hand, in the morning and evening, the processing load on the CPU is reduced by making the interval at which the camera 10 is exposed longer than in the daytime.

(4) RGB separation means for separating the output signals from the plurality of CMOS sensors constituting the image sensor 11b into a red component signal, a green component signal, and a blue signal component is provided, and the high brightness scanning unit 13 performs RGB separation. The configuration may be such that the high luminance region is detected using the luminance of the red component signal separated by the means. If this structure is used, since a high-intensity area | region is detected based on the red brightness | luminance which shows the characteristic of sunlight, the azimuth | direction of the sun can be detected with high precision.

1 .... Vehicle control device 2 .... own vehicle 3 .... windshield 4 .... image showing the sun,
10..Camera, 11a..Lens, 11b..Image sensor, 15..Image,
15d ··· High brightness region, 20 ·· Control unit.

Claims (20)

Imaging means for imaging the outside of the vehicle;
Among the images picked up by the image pickup means, a high-brightness area detection means for directly detecting the position of the sun by detecting a high-brightness area having a luminance exceeding a threshold value by sunlight,
Control means for controlling the air conditioner provided in the vehicle based on the position of the sun detected by the high brightness area detecting means;
A vehicle control device comprising:
The high brightness area detecting means includes
Dividing the image into a plurality of regions, and detects the high-brightness region among the plurality of regions that divide further, the vehicle that detect the high luminance region particularly high luminance even in a high luminance region which the detected Control device. Imaging means for imaging the outside of the vehicle;
Among the images captured by the imaging unit, a high-intensity region detection unit that detects a high-intensity region having a luminance exceeding a threshold value due to sunlight,
Control means for controlling the air conditioner provided in the vehicle based on the position in the image of the high brightness area detected by the high brightness area detection means;
A vehicle control device comprising:
The high brightness area detecting means includes
Average luminance calculating means for dividing at least a part of the image into a plurality of regions and calculating the average luminance of each of the divided regions for each region;
An area detecting means for detecting an area having the highest average brightness among the areas of the average brightness calculated by the average brightness calculating means and exceeding the threshold;
And when the region detecting means does not detect the region with the highest average luminance, the vehicle control for executing the average luminance calculating unit and the region detecting unit by changing the range into which the image is divided. apparatus. The high brightness area detecting means includes
The image is divided into a plurality of regions, the high-brightness region is detected from the plurality of divided regions, and a high-brightness region with particularly high luminance is detected among the detected high-brightness regions. The vehicle control device according to claim 2 .   The control means includes a solar radiation amount calculating means for calculating a solar radiation amount based on the luminance of the image captured by the imaging means, and the detection result of the high luminance area detecting means and the calculation result of the solar radiation amount calculating means The vehicle control device according to any one of claims 1 to 3, wherein the air conditioner is controlled based on the control. Illuminance calculating means for calculating the illuminance outside the host vehicle based on the luminance of the image captured by the imaging means;
Lighting control means for turning on the lighting device provided in the vehicle when the illuminance calculated by the illuminance calculation means is less than or equal to a threshold, and turning off the lighting device when the illuminance exceeds the threshold; ,
The vehicle control device according to any one of claims 1 to 4, further comprising: The imaging means is configured to be able to image a road on which the vehicle is traveling,
A lane recognizing unit that recognizes, when the imaging unit images a road on which the vehicle is traveling, a region of brightness exceeding a threshold value among the captured images as a lane drawn on the road. The vehicle control device according to any one of claims 1 to 5.   7. The high-brightness area detection unit performs luminance distribution on at least a part of an image captured by the imaging unit, and estimates a region having a high luminance distribution as a sun position. The control apparatus for vehicles as described in any one.   8. The vehicle control device according to claim 5, wherein the imaging unit adjusts an exposure time based on the illuminance calculated by the illuminance calculating unit.   9. The vehicle control device according to claim 5, wherein the imaging unit adjusts an exposure interval based on the illuminance calculated by the illuminance calculating unit. RGB separation means for separating an output signal from each solid-state imaging device of the imaging means including a plurality of solid-state imaging devices into a red component signal, a green component signal, and a blue component signal, and
10. The high-brightness area detection unit detects the high-brightness area using a red component signal separated by the RGB separation unit. 11. Vehicle control device. The imaging means includes
11. The apparatus according to claim 1, wherein the first attitude for imaging the sky mainly and the second attitude for imaging the road ahead are mainly switched. The control apparatus for vehicles as described in any one. An actuator that moves the imaging means so that the imaging means switches between a first attitude for mainly imaging the sky and a second attitude for imaging mainly roads ahead of the vehicle;
When the illuminance calculated by the illuminance calculation means exceeds a threshold, the imaging means changes to the first attitude, and when the illuminance is less than or equal to the threshold, the imaging means changes to the second attitude. The vehicle control device according to any one of claims 5 to 10, further comprising actuator control means for controlling driving of the actuator so as to change to   For changing the optical path of the light incident on the imaging means so that the imaging range of the imaging means is switched to a first range mainly including the sky and a second range mainly including the road ahead of the traveling. 11. The vehicle control device according to claim 1, further comprising an optical path changing unit. For changing the optical path of the light incident on the imaging means so that the imaging range of the imaging means is switched to a first range mainly including the sky and a second range mainly including the road ahead of the traveling. An optical path changing means;
An actuator that moves the optical path changing means so that an imaging range of the imaging means is switched to a first range mainly including the sky and a second range mainly including a road ahead of the vehicle;
When the illuminance calculated by the illuminance calculation means exceeds a threshold, the optical path changing means changes to the first posture, and when the illuminance is less than the threshold, the optical path changing means is the second The vehicle control device according to claim 5, further comprising: an actuator control unit that controls driving of the actuator so as to change to a posture of the vehicle.   The vehicle control device according to any one of claims 1 to 14, wherein the imaging unit images the outside via a visible light removing unit for removing visible light.   The vehicle control device according to claim 15, further comprising a switching unit that switches the visible light removing unit between a state in which the visible light removing unit is disposed on the incident side of the imaging unit and a state in which the visible light removing unit is not disposed on the incident side. Visible light removal means for removing visible light;
An actuator that moves the visible light removing means so that the visible light removing means is switched between a state of being arranged on the incident side of the imaging means and a state of being not arranged on the incident side;
Control means for controlling the driving of the actuator so that the visible light removing means is switched to a state where the visible light removing means is arranged on the incident side of the imaging means or a state where it is not arranged;
The vehicle control device according to any one of claims 5 to 14, further comprising: It comprises storage means for storing the position data indicating the position on the image of the high brightness area detected by the high brightness area detection means and the control data indicating the control content of the air conditioner in association with each other,
18. The control unit according to claim 1, wherein the control unit reads control data associated with the position data from the storage unit, and controls the air conditioner based on the read control data. The control apparatus for vehicles as described in any one. The air conditioner is configured to individually harmonize air in a plurality of spaces in a passenger compartment,
The control means reads out control data associated with the position data from the storage means, and controls the air conditioner based on the control content indicated by the read control data, thereby controlling the temperature between the spaces. The vehicle control device according to claim 18, wherein the difference is reduced.   The vehicle control device according to claim 19, wherein the air conditioner is configured to individually harmonize air in a right space and a left space of a vehicle compartment.