JP5282642B2 - VEHICLE HEADLAMP OPTICAL AXIS CONTROL DEVICE AND VEHICLE HEADLAMP OPTICAL AXIS CONTROL METHOD - Google Patents

Description

  The present invention relates to an optical axis control device and an optical axis control method for controlling the light distribution direction of a vehicle headlamp.

  A technique for controlling a light distribution direction of a headlamp based on a steering angle value subjected to predetermined hysteresis processing is known (see Patent Document 1).

JP 2007-238072 A

  However, when the light distribution direction of the headlamp is controlled based on the steering angle value subjected to hysteresis processing as in the conventional technique, a region in which the change in the light distribution direction of the headlamp is large is generated. There is a problem that the driver feels uncomfortable.

  The present invention estimates an adjustment target region in which the steering angle processing value subjected to hysteresis processing changes greatly, adjusts the amount of change in the steering angle processing value belonging to this adjustment target region to be less than a predetermined value, and after adjustment. The above-mentioned problem is solved by controlling the light distribution direction of the headlamp based on the steering angle processing value.

According to the present invention, since the amount of change in the steering angle processing value that determines the light distribution direction of the headlamp is adjusted to be less than a predetermined value, the light distribution direction of the headlamp can be changed smoothly, It is possible not to give a sense of incongruity.

It is a block block diagram of the vehicle-mounted apparatus 1 containing the optical axis controller 100 of this embodiment. It is a figure for demonstrating the functional block structure of the optical axis controller 100 of this embodiment shown in FIG. It is a figure for demonstrating the structure of the swivel lamp actuator 410 of this embodiment. It is a figure for demonstrating the sensor output voltage-swivel angle characteristic of the position sensor of this embodiment. It is a 1st figure for demonstrating the relationship between the rotation direction of the rotation output shaft of the stepping motor 411 of this embodiment, and the rotation direction of a swivel lamp. It is a 2nd figure for demonstrating the relationship between the rotation direction of the rotation output shaft of the stepping motor 411 of this embodiment, and the rotation direction of a swivel lamp. In the present embodiment, a process for determining whether the control mode of the headlamp including the swivel lamp 400 is the “vehicle forward movement mode (state 1)” or the “swivel control mode (state 2)” will be described. FIG. It is a figure for demonstrating the acquired steering angle and the steering angle process value which gave the hysteresis process to the steering angle. It is a figure for demonstrating the adjustment object area | region R in this embodiment, and the steering angle process value by which the adjustment process was performed. It is a figure for demonstrating an example of the target swivel angle Map in this embodiment. It is a 1st flowchart figure for demonstrating the procedure of the calculation process of the steering angle process value of this embodiment. It is a 2nd flowchart figure for demonstrating the procedure of the calculation process of the steering angle process value of this embodiment. It is a figure which shows an example of the adjustment process of the steering angle process value of this embodiment. It is a figure for demonstrating an effect | action of an example of the adjustment process of the steering angle process value shown to FIG. 12A.

  Hereinafter, the optical axis controller 100 according to the present embodiment will be described with reference to the drawings. The optical axis controller 100 of this embodiment is a device that controls the operation of the optical axis drive mechanism provided in the variable light distribution headlamp based on the steering angle of the vehicle.

  FIG. 1 is a block configuration diagram of an in-vehicle device 1 including an optical axis controller 100 according to the present embodiment.

  As shown in the figure, the in-vehicle device 1 includes an optical axis controller 100, a vehicle controller 200 that centrally manages the operation of the vehicle and the in-vehicle device 1, and an in-vehicle device that detects operation information of each function of the vehicle and the in-vehicle device. It has a sensor 300 and a swivel lamp 400 that illuminates the front of the vehicle in a variable light distribution. Each of these devices is connected by an in-vehicle LAN such as a CAN (Controller Area Network), and exchanges information with each other.

  As shown in the figure, the optical axis controller 100 of this embodiment includes a ROM (Read Only Memory) 12 in which a program for controlling the operation of the swivel lamp actuator 410 included in the swivel lamp 400 is stored, By executing a program stored in the ROM 12, a CPU (Central Processing Unit) 11 as an operation circuit that functions as the optical axis controller 100 and a RAM (Random Access Memory) 13 that functions as an accessible storage device are provided. Prepare. As an operation circuit, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate Array) is used instead of or together with the CPU (Central Processing Unit) 11. Etc. can be used.

  FIG. 2 is a diagram illustrating a block configuration of functions executed by the optical axis controller 100.

  As shown in the figure, the optical axis controller 100 of the present embodiment uses the steering angle acquisition function 120 that acquires the detected steering angle of the vehicle and a predetermined hysteresis value that is set in advance. The steering angle processing value belonging to the adjustment target area in which the amount of change in the steering angle processing value subjected to the hysteresis processing is larger than a predetermined amount is adjusted, and the adjusted steering angle processing value is calculated. A steering angle processing value calculation function 130 that calculates the light distribution direction of the headlamp based on the obtained steering angle processing value, and the light distribution direction of the headlamp becomes the calculated light distribution direction. A drive control function 150 for controlling the operation of the optical axis drive mechanism of the headlamp. The light control axis controller 100 causes each function to be executed by cooperation of software for realizing these functions and the hardware described above.

  First, the swivel lamp 400 to be controlled by the optical axis controller 100 of this embodiment will be described. The swivel lamp 400 of this embodiment is a variable light distribution headlamp that changes its light distribution in accordance with the steering of the vehicle. Therefore, as shown in FIGS. 1 and 2, swivel lamp 400 includes right swivel lamp 400R disposed on the right side of the vehicle and left swivel lamp 400L disposed on the left side of the vehicle. The swivel lamp 400 includes swivel lamp actuators 410 (410R, 410L) that drive the left and right swivel lamps 400R and 400L, respectively.

  FIG. 3 is a view for explaining the configuration of the swivel lamp actuator 410. As shown in the figure, swivel lamp actuators 410R and 410L drive the light distribution direction of swivel lamps 400R and 400L used as left and right headlamps of the vehicle to the left and right. Since the left and right swivel lamp actuators 410R and 410L have the same structure and function, the left swivel lamp actuator 410L will be described as an example here. As shown in the figure, the swivel lamp actuator 410L includes a stepping motor 411, a gear mechanism 412, a position sensor 413, a stopper 414, and a rotating shaft 415.

  The stepping motor 411 is an electric motor used for the purpose of converting the number of pulses into an angular displacement. When one input pulse signal is input, the rotor rotates by a certain angle specific to the motor. Therefore, the rotation angle from the reference position of the rotor is proportional to the number of input pulse signals. A driving pulse generated by a driving pulse generation function 153 described later is input to the stepping motor 411.

  The gear mechanism 412 is a combination of several gears in order so that the rotational movement of the rotation output shaft 411 a of the stepping motor 411 is transmitted to the rotation shaft 415. The rotating shaft 415 is rotated by the gear mechanism 412 and the swivel lamp 400L is driven.

  The position sensor 413 detects the swivel angle of the swivel lamp 400L. As the position sensor 413, a known Hall sensor or the like is used. The relationship between the sensor output voltage of the position sensor 413 and the swivel angle of the swivel lamp 400L is measured in advance and stored in the ROM 12 of the optical axis controller 100. FIG. 4 is a diagram illustrating an example of sensor output voltage-swivel angle characteristics. The optical axis controller 100 can obtain the swivel angle of the swivel lamp 400L based on the sensor output voltage output from the position sensor 413 with reference to the sensor output voltage-swivel angle characteristic.

  The stopper 414 limits the rotation of the swivel lamp 400L within a predetermined range. The gear mechanism 412 or the swivel lamp 400L is provided with a protrusion (not shown), and when the rotation of the swivel lamp 400L exceeds the predetermined range, the stopper 414 interferes with the protrusion and the swivel lamp exceeds the predetermined range. Prevents 400L rotation.

  The rotation shaft 415 connects the swivel lamp 400L and the gear mechanism 412, and rotates the swivel lamp 400L to a predetermined swivel angle position as the gear mechanism 412 rotates.

  Subsequently, the relationship between the rotation direction of the rotation output shaft 411a of the stepping motor 411 and the rotation direction of the swivel lamps 400L and 400R will be described with reference to FIGS. 5A and 5B. First, the operation of the swivel lamp 400L on the left side of the vehicle will be described based on FIG. 5A, and the operation of the swivel lamp 400R on the left side of the vehicle will be described based on FIG. 5B. In FIG. 5A, the right side of swivel lamp 400L is the vehicle center side, and the left side is the vehicle outer side. In FIG. 5B, the right side of swivel lamp 400R is the vehicle outer side, and the left side is the vehicle center side.

  When the rotation output shaft 411a rotates in the clockwise direction (CW: Clock Wise direction), the swivel lamp 400L on the left side of the vehicle rotates in the direction toward the center of the vehicle as shown in FIG. 5A. On the other hand, when the rotation output shaft 411a rotates in the counterclockwise direction (CCW: Counter Clock Wise direction), as shown in FIG. 5A, the swivel lamp 400L rotates in the direction outside the vehicle.

  When the rotation output shaft 411a rotates in the clockwise direction (CW direction), the swivel lamp 400R of the swivel lamp actuator 410R on the right side of the vehicle rotates as shown in FIG. 5B. On the other hand, when the rotation output shaft 411a rotates in the counterclockwise direction (CCW direction), as shown in FIG. 5B, the swivel lamp 400R rotates in the vehicle center side direction.

  In this manner, the optical axes of the left and right swivel lamps 400L and 400R are rotated by the drive mechanism of the left and right swivel lamp actuators 410L and 410R, and the light distribution direction is controlled.

  Next, the optical axis controller 100 that controls the light distribution direction of the swivel lamp 400 will be described.

  The optical axis controller 100 includes an ignition switch 301, a vehicle speed sensor 302, a steering angle sensor 303, an acceleration sensor 304, and a headlight switch 401 of the swivel lamp 400 included in the in-vehicle sensor 300, either directly or via the vehicle controller 200. Get information about. Here, the ignition switch (SW) 301 detects the timing when the driver turns on the ignition switch of the vehicle. If the ignition switch is on, it is determined that the control of the swivel lamp 400 is being executed. On the other hand, when the ignition switch is off, the control of the swivel lamp 400 is stopped. The steering angle sensor 303 detects the steering angle aSTR of the steering of the vehicle. The vehicle speed sensor 302 detects the actual vehicle speed sSTR of the vehicle from the number of rotations of the vehicle tire. A headlamp switch (SW) 401 detects the timing when the driver turns on the headlamp switch. The headlamp switch 401 is a switch that activates the headlamp of the vehicle including the swivel lamp 400. When the headlamp switch 401 is on, the control is started so that the light distribution direction of the swivel lamp 400 becomes the target swivel angle obtained from the detected steering angle aSTR and the actual vehicle speed sSTR of the vehicle. On the other hand, when the headlamp switch 401 is off, the light distribution direction of the swivel lamp 400 is returned to the vehicle forward direction. The acceleration sensor 304 detects vertical and lateral acceleration acting on the vehicle body.

  Hereinafter, the functions realized by the above-described optical axis controller 100 will be specifically described.

  First, the state transition determination function 110 of the optical axis controller 100 will be described. The optical axis controller 100 determines whether the vehicle is in “vehicle forward direction movement mode (state 1)” or “swivel control mode (state 2)”. The optical axis controller 100 switches the control of the swivel angles of the left and right swivel lamps 400L and 400R between the “vehicle forward movement mode” or the “swivel control mode” according to the determination result. Here, the “vehicle forward direction movement mode” is a mode in which the light distribution direction of the left and right swivel lamps 400L and 400R is directed in the vehicle straight direction, and the swivel angle at this time is 0 °. On the other hand, the “swivel control mode” is a mode for changing the light distribution direction, and the swivel angle at this time is determined according to the steering angle or the like.

  FIG. 6 is a diagram for explaining processing in which the optical axis controller 100 determines whether the vehicle state is “vehicle forward direction movement mode (state 1)” or “swivel control mode (state 2)”. It is.

  When the optical axis controller 100 receives the ignition switch ON signal from the ignition switch 301, the optical axis controller 100 switches the control mode of the swivel angle from the stop state to the “vehicle forward direction movement mode (state 1)”. At this time, the optical axis controller 100 controls the swivel lamp actuators 410L and 410R so that the light distribution direction of the left and right swivel lamps 400L and 400R is directed in the straight traveling direction of the vehicle. That is, the swivel angle that determines the light distribution direction of the left and right swivel lamps 400L and 400R is 0 °. When the headlamp switch ON signal is received from the headlamp switch 401 after this driving is completed, the optical axis controller 100 changes the swivel angle control mode from “vehicle forward direction movement mode (state 1)” to “swiveling”. Switch to “control mode (state 2)”. At this time, the optical axis controller 100 uses the left and right swivel lamps 400L so as to ensure the visibility of the steering direction of the vehicle based on the steering angle signal acquired from the steering angle sensor 303, the vehicle speed signal acquired from the vehicle speed sensor 302, and the like. , 400R is controlled.

  When the headlight switch OFF signal is received in the “swivel control mode (state 2)”, the optical axis controller 100 changes from the “swivel control mode (state 2)” to the “vehicle forward movement mode (state 1)”. Switch to Further, when the ignition switch OFF signal is received from the ignition switch 301 in the “vehicle forward direction movement mode (state 1)” state, the swivel angle control mode is switched to the stop state.

  The optical axis controller 100 controls the operation of the left and right swivel lamp actuators 410L and 410R and determines the light distribution direction of the left and right swivel lamps 400L and 400R according to the steering angle when it is determined that the swivel control mode (state 2) is set. To change.

  The optical axis controller 100 sends a state transition number (stop state, state 1, state 2) corresponding to the swivel angle control mode as a determination result to the drive control function 150 described later.

  Next, the steering angle acquisition function 120 of the optical axis controller 100 will be described. The optical axis controller 100 acquires the steering angle detected by the vehicle-mounted steering angle sensor 303 at a predetermined cycle. The acquired steering angle is sent to the steering angle processing value calculation function 130.

  Next, the steering angle processing value calculation function 130 of the optical axis controller 100 will be described. The optical axis controller 100 according to the present embodiment has a function of adjusting the steering angle processing value belonging to the adjustment target region in which the amount of change in the steering angle processing value after the hysteresis processing increases, along with the function of performing the hysteresis processing on the acquired steering angle. Is provided.

  First, the optical axis controller 100 according to the present embodiment uses a predetermined hysteresis value set in advance to calculate a steering angle processing value obtained by performing hysteresis processing on the acquired steering angle. The steering angle processing value is a parameter for calculating the target swivel angle, and the target swivel angle is used when controlling the swivel angles of the swivel lamps 400L and 400R. Here, the hysteresis value is arbitrarily set in advance. For example, the hysteresis value can be obtained by experiment, simulation, or the like as a value that does not immediately reflect the minute change in the steering angle that is input to the movement of the swivel lamp 400.

  FIG. 7 is a diagram for explaining the acquired steering angle and a steering angle processing value obtained by performing hysteresis processing on the steering angle.

  As shown in FIG. 7, in this embodiment, the steering angle is clockwise (right direction) as the + direction, the steering angle is counterclockwise (left direction) as the − direction, and the hysteresis value A in two directions as a pair. And B or hysteresis values C and D are defined. A range from a reference value, which is an intermediate value between two paired hysteresis values, to hysteresis values A and B or hysteresis values C and D is expressed as a hysteresis width. The hysteresis value may be changed as appropriate according to the state of the vehicle, the state of the road on which the vehicle is traveling, the brightness when the vehicle is traveling, and the like. For example, as shown in FIG. 7, hysteresis widths A and B and hysteresis widths C and D may be defined according to the steering angle.

  Specifically, the optical axis controller 100 of this embodiment performs a hysteresis process based on the following conditions to obtain a steering angle process value.

1) When (steering angle−steering angle processing value) ≧ hysteresis width: Steering angle processing value = steering angle−hysteresis width In other words, when steering is greatly performed in the right direction (for example, region P in FIG. 7), the hysteresis is changed from the steering angle. A value obtained by subtracting the width is set as a steering processing value.

2) When (steering angle−steering angle processing value) <− hysteresis width Steering angle processing value = steering angle + hysteresis width In other words, when steering largely to the left, the value obtained by adding the hysteresis width to the steering angle is steered. The processing value.

  Furthermore, the optical axis controller 100 of this embodiment performs a process based on the following conditions in cases other than the above 1) and 2) to obtain a steering angle processing value.

3) When the deviation between the hysteresis width and the steering angle is equal to or greater than a predetermined threshold value Steering angle processing value = previous value That is, when the deviation between the steering angle and the hysteresis width is equal to or greater than the predetermined threshold value (for example, the region Q in FIG. 7) That is, when the steering angle is smaller than the hysteresis value by a predetermined value or more, the steering angle processing value calculated in the previous processing is adopted as the current steering angle processing value. As shown in FIG. 7, when the deviation between the acquired steering angle and the hysteresis width is equal to or greater than a predetermined threshold value, a reference value (for example, 0 °: straight traveling direction) serving as a reference for the hysteresis value is set. The predetermined value serving as a reference for comparison with the hysteresis value can be arbitrarily set.

  By the way, when only the hysteresis processing is performed on the steering angle, as shown in FIG. 7, the change amount of the steering angle processing value after the hysteresis processing becomes relatively large in the region A in the vicinity of the timing at which the steering angle exceeds the hysteresis width. . When the steering angle processing value changes abruptly in this way, the amount of rotation of the swivel lamp 400 driven based on the steering angle processing value also changes abruptly, so that the smoothness of the movement of the swivel lamp 400 is impaired. In this case, the swivel lamp 400 does not operate continuously, but becomes a discontinuous operation that pauses at predetermined intervals.

  In order to smooth the movement of the swivel lamp 400 in this region, in the present embodiment, a region where the smoothness of the swivel lamp 400 is impaired when the hysteresis process is performed is predicted, and the steering angle belonging to this region is predicted. Adjustments are made so that the amount of change in processing value, that is, the rate of change does not exceed a predetermined amount.

  The optical axis controller 100 according to the present embodiment estimates an adjustment target region in which the change amount of the steering angle processing value is larger than a predetermined amount based on the acquired steering angle, and the steering angle belonging to the estimated adjustment target region. A steering angle processing value is obtained by adjusting the operation angle processing value belonging to the adjustment target region so that the change amount of the processing value is less than the predetermined value.

  FIG. 8 is an enlarged view of the region A shown in FIG. 7, and is a diagram for explaining the adjustment target region and the steering angle processing value subjected to the adjustment processing in the present embodiment.

  As illustrated in FIG. 8, the optical axis controller 100 according to the present embodiment estimates, as the adjustment target region R, a region where the amount of change in the steering angle processing value is greater than a predetermined amount based on the acquired steering angle.

  In this adjustment target region estimation process, the optical axis controller 100 of the present embodiment estimates a region including the timing Y at which the acquired steering angle exceeds a predetermined hysteresis value set in advance as the adjustment target region R. There is a high possibility that the change amount of the steering angle processing value is larger than the predetermined amount at the timing before and after the timing Y at which the steering angle exceeds a predetermined hysteresis value set in advance. By adjusting the steering angle processing value belonging to the adjustment target region R including the timing Y at which the steering angle exceeds a predetermined hysteresis value set in advance, it is possible to prevent the steering angle processing value from changing suddenly, The movement of the swivel lamp 400 can be made smooth.

  Furthermore, the optical axis controller 100 of the present embodiment estimates an area where the deviation between the acquired steering angle and a predetermined hysteresis value set in advance is less than a predetermined threshold as the adjustment target area R. When the steering angle changes to the right or left, the difference between the steering angle and the hysteresis width tends to gradually decrease or increase. Using this tendency, the optical axis controller 100 of the present embodiment sets the steering angle in advance when the deviation between the acquired steering angle and a predetermined hysteresis value that is set in advance is less than a predetermined threshold value. It is determined that the timing Y exceeding the predetermined hysteresis value is near, and adjustment of the steering angle processing value is executed. Accordingly, it is possible to predict an adjustment target region in which the change amount of the steering angle processing value is larger than the predetermined amount before the timing Y when the steering angle actually exceeds a predetermined hysteresis value set in advance. By adjusting the steering angle processing value belonging to this adjustment target region, it is possible to prevent the steering angle processing value from changing suddenly, and to make the swivel lamp 400 move smoothly.

  Specifically, the optical axis controller 100 of this embodiment adjusts the steering angle processing value belonging to the adjustment target region based on the following conditions in cases other than the above 1) to 3).

4) When the deviation between the hysteresis width and the steering angle is less than the predetermined threshold (right direction of steering is positive)
(Steering direction: Left) Steering angle processing value = Previous value−Adjustment amount (Steering direction: Right) Steering angle processing value = Previous value + Adjustment amount As described above, the optical axis controller 100 of the present embodiment Instead of adopting the value as it is, a predetermined adjustment amount is adjusted. By this adjustment processing, the steering angle processing value after the hysteresis processing is brought close to the acquired steering angle, and the change amount of the steering angle processing value after the hysteresis processing is adjusted to be less than a predetermined value. As a result, a steering angle processing value that does not include a sudden change can be obtained.

  Further, the optical axis controller 100 according to the present embodiment calculates the adjustment amount of the steering angle processing value belonging to the estimated adjustment target area according to the deviation between the acquired steering angle and a predetermined hysteresis value set in advance. Then, the operation angle processing value belonging to the adjustment target area is adjusted based on the calculated adjustment amount.

  The adjustment amount calculated in this adjustment process is set to a larger value as the deviation between the hysteresis width and the steering angle becomes smaller. However, it should not be larger than the change speed of the steering angle.

  That is, the optical axis controller 100 of this embodiment calculates the amount of change based on the following equation.

Adjustment amount = (deviation ratio with respect to hysteresis width) × steering angular velocity However, the deviation ratio is obtained by the following equation.

Deviation ratio = (Hysteresis width−Hysteresis width (+) and steering angle deviation) / Hysteresis width In addition, the optical axis controller 100 according to the present embodiment sets an area where the acquired steering angular velocity is a predetermined value or more as an adjustment target area. Guess as. When the steering angular velocity is large and the steering angle changes greatly, there is a high possibility that the amount of change in the steering angle processing value becomes an adjustment target region that is larger than a predetermined amount.

  Furthermore, the optical axis controller 100 according to the present embodiment calculates the adjustment amount of the steering angle processing value belonging to the adjustment target region estimated according to the acquired steering angle speed, and adjusts based on the calculated adjustment amount. The operation angle processing value belonging to the target area is adjusted.

  The adjustment amount calculated in this adjustment process is set to a larger value as the change speed of the steering angle is faster.

  In addition, the adjustment amount may be calculated based on the lateral acceleration and yaw rate of the vehicle and the corner radius of the road on which the vehicle is running.

  Next, the drive control function 150 of the optical axis controller 100 will be described. The optical axis controller 100 calculates the light distribution direction of the swivel lamp 400 based on the steering angle processing value after the adjustment processing, and the swivel lamp 400 so that the light distribution direction of the swivel lamp 400 becomes the calculated light distribution direction. The operation of the swivel lamp actuator 410 is controlled.

  The drive control function 150 of the optical axis controller 100 further includes three functions: a target swivel angle calculation function 151, a target step number calculation function 152, and a drive pulse generation function 153.

  The target swivel angle calculation function 151 of the optical axis controller 100 obtains the target swivel angle of the swivel lamp 400 based on the steering angle processing value when the switching instruction to the swivel control mode (state 2) is acquired from the state transition determination function 110. calculate. The optical axis controller 100 stores a target swivel angle map illustrated in FIG. The target swivel angle map includes a target swivel angle curve defined for each predetermined vehicle speed and / or for each hysteresis value. As shown in the target swivel curve illustrated in FIG. 9, the swivel angle increases as the steering angle processing value increases. The optical axis controller 100 refers to a target swivel angle curve corresponding to a preset hysteresis value and / or the acquired vehicle speed, and calculates a target swivel angle based on the steering angle processing value. The calculated target swivel angle is used for processing of the target step number calculation function 152.

  The target step number calculation function 152 of the optical axis controller 100 calculates the number of steps of the stepping motor 411 provided in the swivel lamp actuators 410L and 410R based on the previously calculated target swivel angle (step angle). The swivel lamp actuators 410L and 410R are driven by the calculated number of steps. As a result, the swivel lamps 400L and 400R rotate according to the previously calculated swivel angle and illuminate the light distribution direction corresponding to the target swivel angle.

  The optical axis controller 100 calculates the target number of steps using the following equation.

Number of steps = swivel angle / (resolution / gear ratio)
Here, the resolution is the resolution of the stepping motor 411 provided in the swivel lamp actuators 410L and 410R, and the gear ratio is the gear ratio of the gear mechanism 412 provided in the swivel lamp actuators 410L and 410R. The number of steps calculated in this process is used in the process of the drive pulse generation function 153.

  The optical axis controller 100 generates a drive pulse for driving the stepping motor 411. The generated drive pulses are output to the swivel lamp actuators 410L and 410R, and rotate the swivel lamps 400L and 400R to the swivel angle control value.

  Subsequently, a control procedure of the optical axis controller 100 of the present embodiment will be described based on FIGS. 10 to 12 (A and B).

  FIG. 10 is a first flowchart for explaining the procedure of the calculation process of the steering angle processing value of this embodiment, and FIG. 11 is the second flowchart for explaining the procedure of the calculation process of the steering angle processing value of this embodiment. FIG.

  Prior to this process, the optical axis controller 100 performs a hysteresis process on the acquired steering angle using a preset hysteresis value to obtain a steering angle process value. In the hysteresis processing in this example, if the acquired steering angle belongs to a predetermined hysteresis value (hysteresis width), the reference value of the hysteresis value is set as the steering angle processing value. In the example shown in FIGS. 7 and 8, the obtained steering angle is indicated by a one-dot chain line, and the steering angle processing value obtained by performing hysteresis processing on the steering angle is indicated by a solid line.

  As shown in FIG. 10, in step S001, the optical axis controller 100 determines whether or not the difference between the acquired steering angle and the steering angle processing value is equal to or greater than a preset hysteresis width.

  When the optical axis controller 100 determines that the difference between the acquired steering angle and the steering angle processing value is greater than or equal to a preset hysteresis width, the process proceeds to step S003. As described above, when it is determined that the difference between the acquired steering angle and the steering angle processing value is equal to or larger than a preset hysteresis value, the steering amount in the right direction is large.

  In step S003, when the optical axis controller 100 determines that the difference between the acquired steering angle and the steering angle processing value is equal to or greater than a preset hysteresis value, a value obtained by subtracting the hysteresis value from the steering angle is set as the steering angle. The processing value. For example, the steering angle processing value in the region P in FIG. 8 is a value obtained by subtracting the hysteresis value from the steering angle.

  Returning to step S001, if the optical axis controller 100 determines that the difference between the acquired steering angle and the steering angle processing value is less than a preset hysteresis value, the process proceeds to step S002. In step S002, the optical axis controller 100 determines whether or not the difference between the steering angle and the steering angle processing value is less than the (−) hysteresis value. When the optical axis controller 100 determines that the difference between the acquired steering angle and the steering angle processing value is less than a preset (−) hysteresis value, the process proceeds to step S004. As described above, when the difference between the acquired steering angle and the steering angle processing value is less than the preset (−) hysteresis value, the steering amount in the left direction is large.

  In step S004, if the difference between the acquired steering angle and the steering angle processing value is less than a preset (−) hysteresis value, the optical axis controller 100 sets a value obtained by adding the steering angle and the hysteresis value. Steering angle processing value.

  Returning to step S002, if the optical axis controller 100 determines that the difference between the steering angle and the steering angle processing value is equal to or greater than the (−) hysteresis value, the processing proceeds to processing 1 in FIG.

  In step S011 shown in FIG. 11, the optical axis controller 100 determines whether or not the deviation between the steering angle and the hysteresis width is less than a predetermined threshold value set in advance. If the deviation between the steering angle and the hysteresis width is not less than the predetermined threshold value, the process proceeds to step S016, and the current steering angle processing value is set to the same value as the value obtained in the previous processing. In other words, if the difference between the steering angle and the hysteresis width is equal to or greater than the predetermined threshold, it is determined that the possibility that the steering angle exceeds the hysteresis width is low, and the value obtained in the previous processing is the current steering angle processing value. And For example, the steering angle processing value in the region Q of FIG. 9 is the same value as the steering angle processing value obtained in the previous processing.

  On the other hand, when the deviation between the steering angle and the hysteresis width is less than a predetermined threshold value set in step S011 shown in FIG. 11, the process proceeds to step S012. Here, if the deviation between the steering angle and the hysteresis width is less than a predetermined threshold value set in advance, the steering angle is likely to exceed the hysteresis width at a timing close to this determination, and the amount of change in the steering processing value is increased. Is expected to grow.

  The optical axis controller 100 estimates a region where the deviation between the steering angle and the hysteresis width is less than a predetermined threshold value as the adjustment target region. Then, the optical axis controller 100 adjusts the steering angle processing value so that the amount of change in the steering angle processing value belonging to this adjustment target region is less than a predetermined value.

  In subsequent step S012, the optical axis controller 100 calculates an adjustment amount used for the adjustment process. The optical axis controller 100 calculates an adjustment amount of the steering angle processing value belonging to the estimated adjustment target area according to the deviation between the acquired steering angle and a predetermined hysteresis value set in advance, and calculates the calculated adjustment. The operation angle processing value belonging to the adjustment target area is adjusted based on the amount.

  In step S013, the optical axis controller 100 determines whether the steering direction of the vehicle is the right direction or the left direction. When the steering direction of the vehicle is the right direction, the process proceeds to step S015, and when the steering direction of the vehicle is the left direction, the process proceeds to step S014.

  In step S014, the optical axis controller 100 sets a value obtained by subtracting the adjustment amount calculated in step S012 from the steering angle processing value obtained in the previous processing as the steering angle processing value. By this processing, the steering angle processing value can be brought close to the detected steering angle value, and the change amount of the steering angle processing value can be made less than a predetermined value.

  On the other hand, when the steering direction of the vehicle is the right direction, in step S015, the optical axis controller 100 calculates a value obtained by adding the adjustment amount calculated in step S012 from the steering angle processing value obtained in the previous processing. The processing value. By this processing, the steering angle processing value can be brought close to the detected steering angle value, and the change amount of the steering angle processing value can be made less than a predetermined value.

  Based on FIG. 12A and FIG. 12B, an example of the optical axis control of this embodiment is demonstrated. FIG. 12A is a diagram illustrating an example of the adjustment processing of the steering angle processing value according to the present embodiment, and FIG. 12B is a diagram for explaining the operation of the example of the adjustment processing of the steering angle processing value illustrated in FIG. 12A.

  FIG. 12A is a diagram illustrating an example of adjustment processing of the steering angle processing value of the present embodiment when the driver steers in the right direction after holding the steering angle at substantially the same value. As shown in FIG. 12A, when the steering angle is steered to the right, the difference between the hysteresis width A and the steering angle tends to be reduced. FIG. 12B is an enlarged view of a region A where the deviation between the steering angle and the hysteresis width is less than a predetermined threshold value. As shown in FIG. 12A, the steering angle when the deviation between the steering angle and the hysteresis width is less than a predetermined threshold is equal to or greater than a predetermined value.

  As shown in FIG. 12B, the optical axis controller 100 estimates an adjustment target region R in which the deviation between the steering angle and the hysteresis width is less than a predetermined threshold, and determines the steering angle processing value belonging to the adjustment target region R as the steering angle. And adjust according to the deviation between the hysteresis value (+). When the deviation between the steering angle and the hysteresis width becomes less than a predetermined threshold, the optical axis controller 100 adds or subtracts the adjustment amount to the previous steering angle processing value and gradually changes the steering angle processing value. Since the steering angle processing value does not change suddenly when the hysteresis value is exceeded, it is possible to prevent the swivel angle from fluctuating rapidly.

  Since the optical axis controller 100 of the present embodiment is configured as described above and operates as described above, the following effects can be obtained.

  The optical axis controller 100 of the present embodiment adjusts the steering angle processing value belonging to the region where the light distribution direction of the swivel lamp 400 is predicted to change greatly, so that the light distribution direction of the swivel lamp 400 can be changed smoothly. It is possible to prevent the driver from feeling uncomfortable.

  That is, the optical axis controller 100 according to the present embodiment has a steering angle processing value belonging to the adjustment target region in which the amount of change in the steering angle processing value obtained by performing hysteresis processing on the steering angle acquired from the vehicle is greater than a predetermined amount. Since the light distribution direction of the headlamp is controlled based on the steering angle processing value adjusted so that the amount of change is less than the predetermined value, the light distribution direction of the swivel lamp 400 can be changed smoothly, and the driver can It is possible not to give a sense of incongruity.

  In addition, the hysteresis process can prevent the swivel lamp 400 from following the minute steering operation, and can prevent the driver's line of sight from being guided by the swivel lamp 400 movement.

  By the way, in the AFS (Adaptive Front-Lighting System) that changes the light distribution direction of the headlamp, if the swivel lamp follows the minute steering operation, the driver is bothered. A technique is known in which a hysteresis process is performed on a corner and the swivel angle is controlled in accordance with the steering angle after the hysteresis process. However, if hysteresis processing is applied to the steering angle, the swivel lamp starts to move suddenly at the moment when the steering angle exceeds the hysteresis width. )give. On the other hand, the optical axis controller 100 according to the present embodiment operates the steering angle processing value belonging to the adjustment target region where the change amount of the steering angle processing value is larger than the predetermined amount so that the change amount becomes less than the predetermined value. Since the angle processing value is adjusted, the swivel angle does not change following the driver's minute steering operation, and when the steering angle exceeds the hysteresis value, the swivel angle of the swivel lamp 400 changes rapidly. Can be prevented.

  In addition, since the optical axis controller 100 of the present embodiment estimates an area including a timing at which the acquired steering angle exceeds a predetermined hysteresis value set in advance as an adjustment target area, the steering angle processing value may change. At the predicted timing, the steering angle subjected to the hysteresis process can be gradually changed.

Further, according to the present process, the swivel angle does not change following the driver's minute steering operation, and the swivel lamp 400 can move smoothly when steered greatly. For this reason, it is possible to prevent the driver's line of sight from being induced by fluctuations in the light distribution direction of the headlamps, and to prevent the driver from feeling bothersome or uncomfortable (feeling of catching or sudden fluctuations). The optical axis controller 100 according to the present embodiment estimates a region where the deviation between the acquired steering angle and a predetermined hysteresis value set in advance is less than a predetermined threshold as the adjustment target region, so that the steering angle processing value is The change timing can be accurately predicted, and the steering angle subjected to the hysteresis process can be gradually changed at this timing.

In other words, the hysteresis width and the steering angle are compared, and if the deviation becomes smaller than the predetermined threshold, it is estimated that the steering angle exceeds the hysteresis width, and the steering angle processing value after performing the hysteresis processing is gradually steered. Since the swivel lamp 400 can be smoothly moved when it is steered greatly because it is close to the corner, it is possible to prevent the driver from feeling bothersome and uncomfortable (feeling of catching or sudden fluctuation).
Further, the optical axis controller 100 according to the present embodiment calculates the adjustment amount of the steering angle processing value belonging to the estimated adjustment target area according to the deviation between the acquired steering angle and a predetermined hysteresis value set in advance. In addition, since the operation angle processing value of the adjustment target region is adjusted based on the calculated adjustment amount, the steering angle processing value can be gradually changed by a change amount corresponding to the variation of the steering angle.

  Moreover, since the optical axis controller 100 of this embodiment estimates the area | region where the acquired steering angular velocity becomes more than predetermined value as an adjustment object area | region, while exhibiting the effect | action and effect mentioned above, when a quick steering operation is performed In addition, the responsiveness of the movement of the swivel lamp 400 can be improved.

  Furthermore, the optical axis controller 100 according to the present embodiment calculates the adjustment amount of the steering angle processing value belonging to the adjustment target region estimated according to the acquired steering angle speed, and adjusts based on the calculated adjustment amount. Since the operation angle processing value belonging to the target area is adjusted, the above-described operations and effects can be achieved, and when quick steering operation is performed, the responsiveness of the swivel lamp 400 movement is improved according to the steering speed. Can do.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, an optical axis controller 100 mounted on a vehicle will be described as an example of the optical axis control device according to the present invention, but the present invention is not limited to this.

  Further, in this specification, as an example of an optical axis control device that controls the operation of the optical axis drive mechanism provided in the variable light distribution type headlamp, the operation of the swivel lamp actuator 410 provided in the variable light distribution type swivel lamp 400 is described. However, the present invention is not limited to this.

  Moreover, in this specification, although the optical axis controller 100 provided with CPU11, ROM12, and RAM13 is demonstrated as an example as one aspect | mode of the optical axis control apparatus which concerns on this invention, it is not limited to this.

Further, in the present specification, as one aspect of the optical axis control device including the steering angle acquisition unit, the steering angle processing value calculation unit, and the control unit according to the present invention, a steering angle acquisition function 120, a steering angle processing value, and the like. The optical axis controller 100 that realizes the calculation function 130 and the drive control function 150 will be described as an example, but the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... In-vehicle apparatus 100 ... Optical axis controller 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 200 ... Vehicle controller 300 ... Vehicle-mounted sensor 301 ... Ignition switch 302 ... Vehicle speed sensor 303 ... Steering angle sensor 304 ... Acceleration sensor 400, 400L, 400R ... Swivel lamp 410, 410L, 410R ... Swivel lamp actuator 401 ... Headlamp switch

Claims (7)

An optical axis control device for controlling the operation of an optical axis drive mechanism mounted on a vehicle and provided in a variable light distribution type headlamp,
Steering angle acquisition means for acquiring the detected steering angle of the vehicle;
Steering angle processing value calculation means for calculating a steering angle processing value obtained by performing hysteresis processing on the steering angle acquired by the steering angle acquisition means using a predetermined hysteresis value set in advance;
The light distribution direction of the headlamp is calculated based on the obtained steering angle processing value, and the optical axis of the headlamp is set so that the light distribution direction of the headlamp is the calculated light distribution direction. Control means for controlling the operation of the drive mechanism,
The steering angle processing value calculation means, based on the steering angle the acquired, the amount of change in the steering angle processing value infer larger adjustment target area than a predetermined amount, belonging to the estimated adjusted regions An optical axis characterized by adjusting the operation angle processing value belonging to the adjustment target area so that the amount of change in the steering angle processing value is less than the predetermined value, and obtaining the adjusted steering angle processing value. Control device. The optical axis control device according to claim 1,
The steering angle processing value calculation unit estimates an area including a timing at which the acquired steering angle exceeds the predetermined hysteresis value set in advance as the adjustment target area. The optical axis control device according to claim 2,
The steering angle processing value calculation means estimates a region where a deviation between the acquired steering angle and the preset predetermined hysteresis value is less than a predetermined threshold as the adjustment target region. Axis control device. The optical axis control device according to any one of claims 1 to 3,
The steering angle processing value calculation means calculates an adjustment amount of a steering angle processing value belonging to the estimated adjustment target area according to a deviation between the acquired steering angle and the predetermined hysteresis value set in advance. And the operation angle processing value belonging to the adjustment target region is adjusted based on the calculated adjustment amount. The optical axis control device according to any one of claims 1 to 4,
The steering angle processing value calculation means further estimates an area where the acquired steering angular velocity is equal to or greater than a predetermined value as the adjustment target area. The optical axis control device according to claim 5,
The steering angle processing value calculation means calculates an adjustment amount of a steering angle processing value belonging to the estimated adjustment target area according to the acquired steering angle speed, and based on the calculated adjustment amount, An optical axis control apparatus that adjusts the operation angle processing value belonging to the adjustment target region. An optical axis control method for controlling the operation of an optical axis drive mechanism mounted on a vehicle and provided in a variable light distribution headlamp,
Using a predetermined hysteresis value set in advance, a steering angle processing value obtained by performing a hysteresis process on the steering angle acquired from the vehicle is calculated ,
Based on the steering angle, an adjustment target region in which the change amount of the steering angle processing value is larger than a predetermined amount is estimated,
Seek adjusted the steering angle processed value such that the change amount of the steering angle processing values belonging to the estimated adjusted regions is less than the predetermined value,
Calculate the light distribution direction of the headlamp based on the calculated steering angle processing value after adjustment,
A headlamp optical axis control method for controlling an operation of an optical axis driving mechanism of the headlamp so that a light distribution direction of the headlamp is the calculated light distribution direction.

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