JP5872837B2 - Vehicle spot lamp control device and vehicle spot lamp system - Google Patents

Description

  The present invention relates to a vehicle spot lamp control device and a vehicle spot lamp system, and more particularly, to a vehicle spot lamp control device and a vehicle spot lamp system that emit light toward a pedestrian position.

  Conventionally, using an image captured by a camera that captures the front of the vehicle, for example, the position of an object that should avoid a collision with the vehicle, such as a pedestrian, is obtained, and the object is detected in order for the driver to recognize its presence. An irradiation apparatus that irradiates light toward an object is known (for example, see Patent Document 1 or 2).

JP 2006-21631 A JP 2010-36835 A

  According to the technique described in the above-mentioned patent document, the danger can be avoided more easily by making the driver recognize the position of the pedestrian and the like. However, for example, when light is applied to the position of a pedestrian, the pedestrian can recognize the presence of the vehicle, but there is a possibility that glare will be given to the pedestrian. On the other hand, if the road surface is irradiated with light extending toward the pedestrian without irradiating light to the pedestrian position in order to avoid giving glare to the pedestrian, the driver can recognize the position of the pedestrian. However, it is difficult to make a pedestrian properly recognize the presence of a vehicle. For this reason, there is a technology capable of achieving both suppression of glare given to a pedestrian, making the pedestrian properly recognize the presence of the vehicle, and making the driver appropriately recognize the presence of the pedestrian. Development is required.

  Therefore, the present invention has been made to solve the above-described problems, and its purpose is to allow the pedestrian to appropriately recognize the presence of the vehicle while suppressing glare given to the pedestrian, and to further It is to make the driver recognize the existence appropriately.

  In order to solve the above-described problems, a vehicle spot lamp control device according to an aspect of the present invention includes a pedestrian position acquisition unit that acquires a pedestrian position detected by a position detection device, and a vehicle that can change an irradiation position. And a control unit that controls light irradiation by the spot lamp. When the pedestrian position is acquired, the control unit irradiates the area including the pedestrian position with light, and then irradiates light with the vehicle spot lamp so as to move the upper end of the area irradiated with light downward. Control.

  The pedestrian's face is normally located above the pedestrian. According to this aspect, it is possible to cause the pedestrian to appropriately recognize the presence of the vehicle by once irradiating the pedestrian position with light. Moreover, the possibility of irradiating light to the position of the pedestrian's face can be reduced by moving the upper end of the region irradiated with light downward. For this reason, it is possible to make the driver appropriately recognize the presence of the pedestrian while suppressing the application of glare to the pedestrian.

  The position detection device detects the position of the pedestrian's face, the pedestrian position acquisition unit acquires the position of the face from the position detection device, and the control unit irradiates the face position with light and then irradiates the light. The irradiation of light by the vehicle spot lamp may be controlled so that the upper end of the area that is being moved is moved downward from the face position. According to this aspect, it is possible to more appropriately suppress the application of glare to the pedestrian by using the detected face position.

  The control unit may control the light irradiation by the vehicle spot lamp so that the upper end of the region irradiated with the light is moved downward when the pedestrian position is irradiated with the light for a predetermined time. According to this aspect, since the pedestrian position is irradiated with the light for a predetermined time, the pedestrian can appropriately recognize the presence of the vehicle.

  Another aspect of the present invention is a vehicle spot lamp system. The vehicle spot lamp system includes a vehicle spot lamp whose irradiation position can be changed, a position detection device that detects a pedestrian position, and a control device that controls light irradiation by the vehicle spot lamp. When the pedestrian position is detected, the control device irradiates the area including the pedestrian position with light, and then irradiates light with the vehicle spot lamp so as to move the upper end of the area irradiated with light downward. Control.

  According to this aspect, it is possible to cause the pedestrian to appropriately recognize the presence of the vehicle by once irradiating the pedestrian position with light. Moreover, the possibility of irradiating light to the position of the pedestrian's face can be reduced by moving the upper end of the region irradiated with light downward. For this reason, it is possible to make the driver appropriately recognize the presence of the pedestrian while suppressing the application of glare to the pedestrian.

  The position detection device detects the position of the face of the pedestrian, and the control device irradiates the face position with light, and then moves the upper end of the region irradiated with light below the position of the face. The point that the irradiation of light by the vehicle spot lamp may be controlled is the same as described above.

  At this time, the position detection device analyzes the image data captured and generated by the imaging device to identify the pedestrian image, and the portion of the pedestrian image whose width satisfies the predetermined condition is reduced as the face position. It may be detected. According to this aspect, it is possible to easily detect the position of the pedestrian's face using the pedestrian image.

  Further, the position detection device analyzes the image data captured and generated by the imaging device to identify a pedestrian image, and detects an upper part of the pedestrian image that occupies a predetermined ratio in the height direction as a face position. Also good. Also according to this aspect, the position of the pedestrian's face can be easily detected using the pedestrian image.

  According to the present invention, it is possible to cause the pedestrian to appropriately recognize the presence of the vehicle while suppressing glare given to the pedestrian, and further to allow the driver to appropriately recognize the presence of the pedestrian.

It is a vertical sectional view of the spot lamp for vehicles concerning a 1st embodiment. It is the figure which looked at the light emitting element unit which concerns on 1st Embodiment from the lamp fixture back. It is a figure which shows the projection image projected on a road surface with the spot lamp for vehicles which concerns on 1st Embodiment. It is a functional block diagram which shows typically the structure of the spot lamp system for vehicles. It is a figure which shows the detection method of the position of the face of a pedestrian in 1st Embodiment. It is a flowchart which shows the execution procedure of irradiation control in a pedestrian spotlight mode. (A) is a figure which shows an example when a pedestrian position is detected and light is irradiated to the 1st area | region. (B) is a figure which shows an example when predetermined time passes from the state of (a) and light is irradiated to the 2nd area | region. It is a figure which shows the detection method of the position of the face of a pedestrian in 2nd Embodiment.

  Hereinafter, embodiments of the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a vertical sectional view of a vehicle spot lamp 10 according to the first embodiment. The vehicle is provided with this vehicle spot lamp 10 at each of the left front part and the right part. The vehicle spot lamp 10 is provided separately from a low beam light source and a high beam light source which are vehicle headlamps.

  The vehicle spot lamp 10 includes a projection lens 12 and a light irradiation device 14. The projection lens 12 is disposed on the optical axis Ax extending in the vehicle front-rear direction. The projection lens 12 is a plano-convex aspherical lens having a convex front surface and a flat rear surface. The projection lens 12 uses a light source image formed on the rear focal plane F as a reverse image and a virtual vertical position in front of the vehicle spot lamp 10. Project on the screen. Therefore, the projection lens 12 functions as an optical member that collects the light from the light irradiation device 14.

  The light irradiation device 14 includes a light emitting element substrate 16 and a heat sink 18. The light emitting element substrate 16 includes a substrate 20 and a light emitting element unit 22. The light emitting element unit 22 includes a plurality of light emitting elements 24. The light emitting element 24 is configured by an LED which is a semiconductor light emitting element. The light irradiation device 14 is arranged such that the light emitting surfaces of the plurality of light emitting elements 24 are positioned on the rear focal plane F of the projection lens 12. In addition, the light emitting element 24 may be comprised by semiconductor light emitting elements other than LED. Further, instead of the light emitting element 24, for example, a halogen lamp, an incandescent lamp, or a radiator lamp may be used.

  The substrate 20 is a printed wiring board, and power is supplied to the light emitting element 24 through a conductive member formed on the surface of the substrate 20 or the like. The heat sink 18 is formed of a heat dissipation material with high heat dissipation such as aluminum. The heat sink 18 is directly attached to the light emitting element substrate 16 and dissipates heat generated by the light emitting element unit 22 and the substrate 20 to the outside.

  FIG. 2 is a view of the light emitting element unit 22 according to the first embodiment as viewed from the rear of the lamp. As shown in FIG. 2, each of the plurality of light emitting elements 24 constituting the light emitting element unit 22 has a substantially square light emitting surface. Each of the light emitting elements 24 may have a light emitting surface other than a square such as a rectangle. In the first embodiment, 24 light emitting elements 24 are provided and mounted on the substrate 20 so as to be arranged in three rows in the vertical direction and in eight rows in the horizontal direction with no gap therebetween.

  In FIG. 2, the HH line is an imaginary line located on the horizontal line when projected, and the VV line is an imaginary line located on the vertical line passing through the front center of the vehicle when projected. . In the first embodiment, the 24 light emitting elements 24 are arranged such that four columns are on the left side of the VV line and the other four columns are on the right side of the VV line. The 24 light emitting elements 24 are arranged so that the HH line passes through the lowermost light emitting element 24. Thereby, when the lowermost light emitting element 24 is turned on, light is irradiated above the horizontal line. Therefore, when there is a pedestrian whose face is located above the horizon, the face can be irradiated with light, and the pedestrian can be made aware of the presence of the vehicle. Of course, the number and arrangement of the light emitting elements 24 are not limited thereto. For example, all of the plurality of light emitting elements 24 may be disposed above the HH line.

  Hereinafter, as shown in FIG. 2, in order to identify each of the 24 light emitting elements 24, each of the light emitting elements 24 is represented as “light emitting element 24Pxy”. x indicates the number of the column from the right, and y indicates the number of the column from the bottom.

  FIG. 3 is a diagram showing a projected image by the vehicle spot lamp 10 according to the first embodiment. The “region Rxy” shown in each region of the projected image indicates a light distribution pattern formed by the light emitting element 24Pxy. Therefore, for example, “region R11” indicates a light distribution pattern formed by turning on the light emitting element 24P11. FIG. 3 shows a light distribution pattern formed on a virtual vertical screen in front of the vehicle. Although not shown in FIG. 3, since the road surface is usually horizontal, the light distribution pattern projected on the road surface is centered on the vehicle. It is formed to spread radially.

  In the first embodiment, the vehicle spot lamp 10 forms a light distribution pattern extending toward the pedestrian by irradiating light to the area where the pedestrian exists and the area in front of the area. The driver is notified that a pedestrian is present in the extending direction. For example, when the pedestrian position is detected in the region R31, the vehicle spot lamp 10 not only lights the light emitting element 24P31 to form the light distribution pattern of the region R31 but also lights the light emitting element 24P32 and the light emitting element 24P33. The light distribution pattern of the regions R32 and R33 before the region R31 is also formed. Accordingly, a light distribution pattern extending in a straight line with the region R33, the region R32, and the region R31 can be formed, and the direction in which the pedestrian is present can be appropriately notified to the driver.

  FIG. 4 is a functional block diagram schematically showing the configuration of the vehicle spot lamp system 100. FIG. 4 shows functional blocks realized by cooperation of hardware such as CPU, ROM, RAM, and software. Therefore, these functional blocks can be realized in various forms by a combination of hardware and software. The vehicle spot lamp system 100 includes a vehicle electronic control unit (hereinafter referred to as “vehicle ECU (Electronic Control Unit)”) 120, a mode switch 122, an image processing unit 130, a camera 132, a spot lamp electronic control unit (hereinafter referred to as “spot”). 150 ”, a left spot lamp 10L provided at the left front part of the vehicle, and a right spot lamp 10R provided at the right front part.

  The mode switch 122 is provided near the vehicle driver's seat. The driver can instruct the start and end of the pedestrian spotlight mode by operating the mode switch 122.

  The camera 132 as an imaging device includes a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor, and outputs an image obtained by imaging as image data. The camera 132 is installed in the vehicle compartment such as the inside of the windshield so that the front of the vehicle can be imaged. As the camera 132, a stereo camera is employed. Note that another camera may be employed as the camera 132. The camera 132 images the front of the vehicle, generates still image data or moving image data, and outputs the image data to the image processing unit 130.

  The image processing unit 130 includes a CPU that executes various arithmetic processes, a ROM that stores various control programs, and a RAM that is used as a work area for data storage and program execution. The image processing unit 130 acquires image data captured by the camera 132 and performs image processing. It functions as an image data acquisition unit that acquires image data generated by the camera 132.

  The image processing unit 130 includes a pedestrian position detection unit 134. The pedestrian position detection unit 134 specifies a pedestrian image by performing image processing on the image data from the camera 132 that images the front of the vehicle, and thereby detects the pedestrian position. Therefore, the camera 132 and the image processing unit 130 function as a position detection device that detects a pedestrian position. Since a technique for specifying a pedestrian image and a technique for detecting a pedestrian position are well known, description thereof will be omitted. The detected pedestrian position is transmitted to the vehicle ECU 120.

  In the first embodiment, the pedestrian position is detected as the position of the object that should avoid a collision with the vehicle, but the object detected by the camera 132 and the image processing unit 130 is limited to the pedestrian. Of course, this is not possible. For example, instead of the pedestrian position detection unit 134, an object position detection unit that also detects the position of another object such as an animal or an obstacle on the road surface that should avoid a collision with the vehicle may be provided. The object position detection unit may specify an image of such an object by performing image processing on the image data from the camera 132, and thereby detect the position of the object.

  Note that the camera 132 may be connected to the vehicle ECU 120. The vehicle ECU 120 may identify a pedestrian image using the image data from the camera 132 and thereby detect the pedestrian position. Further, the camera 132 may be connected to the spot lamp ECU 150. The spot lamp ECU 150 may identify a pedestrian image using the image data from the camera 132 and thereby detect the pedestrian position.

  The vehicle ECU 120 also has a CPU, ROM, and RAM. The vehicle ECU 120 acquires a start request or an end request for the spot lamp mode according to the operation of the mode switch 122.

  Spot lamp ECU 150 is disposed outside the lamp chamber and controls lighting of light emitting elements 24 of left spot lamp 10L and right spot lamp 10R. Therefore, the spot lamp ECU 150 functions as a control unit or a control device that controls light irradiation by the vehicle spot lamp 10.

  The spot lamp ECU 150 includes a pedestrian position acquisition unit 152 and a lighting control unit 154. The vehicle ECU 120 transmits the pedestrian position received from the image processing unit 130 to the spot lamp ECU 150. Pedestrian position acquisition unit 152 acquires the pedestrian position received from vehicle ECU 120. Instead of the pedestrian position acquisition unit 152, an object position acquisition unit that acquires the position of the object that is detected by the above-described object position detection unit and that should avoid a collision with the vehicle may be provided. .

  The lighting control unit 154 outputs an on / off signal to each of the light emitting element substrates 16 of the left spot lamp 10L and the right spot lamp 10R, whereby the plurality of light emitting elements 24 provided in the left spot lamp 10L and the right spot lamp 10R. Each lighting is controlled.

  In the first embodiment, the lighting control unit 154 emits light to the area of the pedestrian position and the area closer to the vehicle than the pedestrian position, that is, the area closer to the vehicle from the pedestrian position. The light emitting element 24 for irradiating the region with light is turned on. For example, when a pedestrian is located in the region R61, the lighting control unit 154 emits light not only in the region R61 but also in the region R62 and the region R63 closer to the vehicle than the region R61, and the light emitting elements 24P61, P62, and P63 is turned on. Thus, by irradiating light not only to the area of the pedestrian position but also to the area near the vehicle from the position of the pedestrian, light that extends linearly toward the pedestrian position can be irradiated onto the road surface.

  However, for example, when light is applied to an area that is a pedestrian position, the pedestrian can be made aware of the presence of the vehicle, but glare may be given to the pedestrian. On the other hand, if light is irradiated to the area below the pedestrian position without irradiating light to the pedestrian position, the road surface can be irradiated with light extending toward the pedestrian, and the position of the pedestrian However, it is difficult to make the pedestrian properly recognize the presence of the vehicle. Therefore, when the pedestrian position is acquired, the lighting control unit 154 irradiates the area including the pedestrian position with light, and then moves the upper end of the area irradiated with the light downward. Controls the irradiation of light.

  Specifically, when detecting the pedestrian position, the pedestrian position detecting unit 134 also detects the position of the pedestrian's face. The pedestrian position acquisition unit 152 acquires the face position from the pedestrian position detection unit 134. When the face position is acquired, the lighting control unit 154 uses a vehicle spot lamp to move the upper end of the region irradiated with light downward from the face position after irradiating the face position with light. Control light irradiation.

  After irradiating light to the position of the pedestrian's face in this way, the pedestrian recognizes the presence of the vehicle by moving the upper end of the area irradiated with light below the position of the pedestrian's face. In addition, the glare given to the pedestrian can be suppressed. In addition, since the light is continuously irradiated toward the pedestrian position even after the upper end of the irradiation area moves below the position of the pedestrian's face, the driver can appropriately recognize the pedestrian position. it can.

  FIG. 5 is a diagram illustrating a method for detecting the position of a pedestrian's face in the first embodiment. The pedestrian position detection unit 134 analyzes image data captured and generated by the camera 132, and identifies a pedestrian image having a human shape as shown in FIG. Since such a method for identifying a pedestrian image is known, the description thereof is omitted. The pedestrian position detection unit 134 detects, as a face position, a portion of the pedestrian image whose width has been reduced by satisfying a predetermined condition.

  Specifically, the pedestrian position detection unit 134 sets the length L1 in the extending direction of the pedestrian image, and provides measurement points for each predetermined length in parallel with L1. The pedestrian position detector 134 calculates the width in the direction perpendicular to L1, that is, the width W2 of this portion, from the lower measurement point. The pedestrian position detection unit 134 determines whether (the width W2 / the width W1 of the pedestrian image) is equal to or less than a predetermined value. In the first embodiment, this predetermined value is set to 0.7. Of course, the predetermined value may be a value other than 0.7, and the predetermined value may be set to a value greater than zero and less than 1. The pedestrian position detection unit 134 repeats this determination while moving the measurement point upward. When (the width W2 of the portion / the width W1 of the pedestrian image) is equal to or less than the predetermined value, the pedestrian position detection unit 134 determines the portion L2 above the measurement point as the position of the pedestrian's face. .

  FIG. 6 is a flowchart showing an execution procedure of irradiation control in the pedestrian spotlight mode. The processing in this flowchart starts when the mode switch 122 is operated and a start request for the pedestrian spotlight mode is acquired. The process that has been started is repeatedly executed at predetermined time intervals until the mode switch 122 is operated and an end request for the pedestrian spotlight mode is acquired.

  The lighting control unit 154 determines whether or not the pedestrian position is detected by determining whether or not the pedestrian position is acquired by the pedestrian position acquisition unit 152 (S10). When the position of the pedestrian is not detected (N in S10), it is determined that there is no pedestrian in front of the vehicle, and the process in this flowchart is temporarily ended. In addition, when the light emitting element 24 corresponding to the area | region where the pedestrian position is not detected is lighted by the pedestrian moving from the inside of the irradiation possible area | region by the spot lamp 10 for vehicles, etc., the lighting control part 154 Turns off the light emitting element 24.

  When the pedestrian position is detected (Y in S10), the lighting control unit 154 determines whether or not a predetermined time has elapsed since the pedestrian position was detected (S12). When the predetermined time has not elapsed (N in S12), the lighting control unit 154 irradiates the first region with light (S16). In the first embodiment, the “first region” refers to a region obtained by combining the region of the pedestrian position and the region closer to the vehicle from the pedestrian position. In the first embodiment, 0.5 seconds is set as the predetermined time. Of course, the predetermined time is not limited to this.

  When the predetermined time has elapsed (Y in S12), the lighting control unit 154 irradiates the second region with light (S14). In the first embodiment, the “second area” refers to an area obtained by deleting an area including the position of the pedestrian's face from the first area. As described above, the pedestrian position detection unit 134 also detects the position of the pedestrian's face when the pedestrian position is detected. The pedestrian position acquisition unit 152 acquires the face position from the pedestrian position detection unit 134. The lighting control unit 154 delimits the second region by deleting the region including the acquired face position from the first region. Thus, the lighting control unit 154 controls the irradiation of light by the vehicle spot lamp so as to move the upper end of the region irradiated with light downward from the position of the face after irradiating the face position with light.

  In addition, the lighting control unit 154 controls the light irradiation by the vehicle spot lamp so that the upper end of the region irradiated with the light is moved downward when the pedestrian position is irradiated with the light for a predetermined time. In this way, by irradiating the pedestrian position with light for a predetermined time, the pedestrian can be made to appropriately recognize the presence of the vehicle. In addition, the predetermined time which irradiates light to a pedestrian position may be fixed, for example, may be changed according to a pedestrian position or a vehicle speed.

  Further, the pedestrian position acquisition unit 152 may not acquire the face position. The lighting control unit 154 may irradiate light to the second area obtained by deleting the uppermost area from the first area after irradiating the first area with light. The position of the pedestrian's face is normally located at the top of the pedestrian position. For this reason, by deleting the uppermost area from the first area, the possibility of irradiating the pedestrian's face with light can be reduced, and glare given to the pedestrian can be suppressed.

  FIG. 7A is a diagram illustrating an example when the pedestrian position is detected and the first region is irradiated with light. In the example of the pedestrian H1, the pedestrian position extends over the regions R61 and R62. For this reason, the first region includes regions R61 and R62 that are pedestrian positions, and a region R63 that is a region closer to the vehicle than the pedestrian positions. The lighting control unit 154 turns on the light emitting elements 24P61, P62, and P63 so as to irradiate the first region with light.

  In the example of the pedestrian H2, the pedestrian position is a region R41. For this reason, the first region is configured by a region R41 that is a pedestrian position and regions R42 and R43 that are regions closer to the vehicle than the pedestrian position. The lighting control unit 154 turns on the light emitting elements 24P41, P42, and P43 so as to irradiate the first region with light.

  In the example of the pedestrian H3, the pedestrian positions are regions R21, R22, and R23. For this reason, the 1st field is constituted by field R21, R22, and R23 which are pedestrian positions. The lighting control unit 154 turns on the light emitting elements 24P21, P22, and P23 so as to irradiate the first region with light.

  FIG. 7B is a diagram showing an example when a predetermined time has elapsed from the state of FIG. 7A and the second region is irradiated with light. In the example of the pedestrian H1, the pedestrian position extends over the region R61 and the region R62, but the position of the pedestrian's face is the region R61. Therefore, the lighting control unit 154 sets the regions R62 and R63 obtained by deleting the region R61 including the face position from the regions R61, R62, and R63 which are the first regions as the second regions. The lighting control unit 154 avoids turning off the light emitting elements 24P62 and P63 in order to continue the light irradiation to the regions R62 and R63, and continues to turn on the light. However, to stop the light irradiation to the region R61, the light emitting element 24P61. Turn off the light.

  As a result, the face of the pedestrian H1 can be irradiated with light for a predetermined time, so that the pedestrian can appropriately recognize the presence of the vehicle. In addition, even after the predetermined time has elapsed, light can be applied to the portion below the face of the pedestrian H1 and the road surface closer to the vehicle from the pedestrian H1. For this reason, it is possible to allow the driver to appropriately recognize the position of the pedestrian H1 while suppressing the application of glare to the pedestrian H1.

  In the example of the pedestrian H2, the pedestrian position and the face position are the region R41. For this reason, the lighting control unit 154 sets the regions R42 and R43 obtained by deleting the region R41 including the face position from the regions R41, R42, and R43 that are the first regions as the second regions. The lighting control unit 154 avoids turning off the light emitting elements 24P42 and P43 in order to continue the light irradiation to the regions R42 and R43, and continues to turn on the light. However, to stop the light irradiation to the region R41, the light emitting element 24P41. Turn off the light.

  Thereby, since the light of the pedestrian H2 can be irradiated for a predetermined time, the pedestrian can appropriately recognize the presence of the vehicle. Moreover, light can be irradiated to the road surface near the vehicle from the pedestrian H2 even after the predetermined time has elapsed. For this reason, it is possible to allow the driver to appropriately recognize the position of the pedestrian H2 while suppressing the application of glare to the pedestrian H2.

  In this case, it is difficult to irradiate light to a lower part from the face of the pedestrian H2 after a predetermined time has elapsed. For this reason, when the area including the pedestrian position and the area including the face position are the same, the pedestrian position detection unit 134 prioritizes that the driver can visually recognize the pedestrian. May be avoided. In this case, although possibility of giving glare to a pedestrian increases, a pedestrian can be irradiated with light continuously and a driver can be made to recognize existence of a pedestrian appropriately.

  In the example of the pedestrian H3, the pedestrian position extends over the regions R21, R22, and R23, and the position of the pedestrian's face also extends over the regions R21 and R22. Therefore, the lighting control unit 154 sets a region R23 obtained by deleting the regions R21 and R22 including the face position from the regions R21, R22, and R23 that are the first regions as the second region. The lighting control unit 154 avoids turning off the light emitting element 24P23 in order to continue the light irradiation to the region R23, and continues the lighting, but in order to stop the light irradiation to the regions R21, R22, the light emitting elements 24P21, P22. Turn off the light.

  Also in the example of the pedestrian H3, light can be irradiated to the part below the face of the pedestrian H3 and the road surface closer to the vehicle from the pedestrian H3 even after a predetermined time has elapsed. For this reason, it is possible to allow the driver to appropriately recognize the position of the pedestrian H3 while suppressing the application of glare to the pedestrian H3.

(Second Embodiment)
FIG. 8 is a diagram illustrating a method for detecting the position of a pedestrian's face in the second embodiment. Unless otherwise specified, the configuration and operation of the vehicle spot lamp 10 according to the second embodiment are the same as those in the first embodiment. Hereinafter, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The pedestrian position detection unit 134 detects, as a face position, an upper part that occupies a predetermined ratio in the height direction among pedestrian images specified by analyzing image data captured and generated by the camera 132. Specifically, the pedestrian position detection unit 134 detects an upper part occupying a third of the pedestrian image as a face position. Of course, the predetermined ratio is not limited to one-third, and may be set to another ratio that is greater than zero and less than one, such as one-fourth or one-fifth. For example, even if a pedestrian is crouching, if the upper part occupies one third of the pedestrian image, the face is likely to be located. For this reason, the position of the face can be detected more easily by detecting the position of the face in this way.

  The present invention is not limited to the above-described embodiments, and an appropriate combination of the elements of each embodiment is also effective as an embodiment of the present invention. Various modifications such as design changes can be added to each embodiment based on the knowledge of those skilled in the art, and embodiments to which such modifications are added can also be included in the scope of the present invention. Here are some examples.

  In a modification, the vehicle spot lamp is provided such that the inclination angle can be changed by operating an actuator such as a motor, and thereby the irradiation direction can be changed in the vertical direction. In addition, since the technique which can change an irradiation direction to an orthogonal | vertical direction by an actuator in this way is well-known, detailed description about the structure is abbreviate | omitted. In this case, the light source may be constituted by, for example, a single halogen lamp, a discharge lamp, or a semiconductor light emitting element, instead of the light emitting element unit 22 including light emitting elements arranged in a plane.

  In this case, the spot lamp ECU 150 includes an irradiation direction control unit that controls the vertical irradiation direction of the light from the vehicle spot lamp by controlling the operation of the actuator. When the irradiation direction control unit acquires the pedestrian position, the irradiation direction control unit irradiates the light in the first direction in which the pedestrian position is irradiated with light, and then moves the irradiation direction downward from the first direction. Controls the irradiation direction of the spot lamp. Also by this, the possibility of irradiating light to the position of the pedestrian's face can be suppressed by moving the light irradiation direction downward, and glare given to the pedestrian can be suppressed.

  Specifically, the pedestrian position detection unit 134 detects the position of the pedestrian's face. The face position detection method is the same as described above. When the detection of the face is acquired, the irradiation direction control unit irradiates light in the first direction so as to include the face position, and then avoids irradiation of light from the first direction to the face position. The irradiation direction of the vehicle spot lamp is controlled so as to move the irradiation direction downward. Also in this case, the irradiation direction control unit controls the irradiation direction of the vehicle spot lamp so that the irradiation direction is moved downward from the first direction when light is irradiated in the first direction for a predetermined time.

  In another variation, the vehicle spot lamp is provided so that the upper end of the region irradiated with light can be moved downward by driving the shade by driving an actuator. Also in this case, the spot lamp ECU 150 has an irradiation control unit that controls the downward movement of the upper end of the region irradiated with light by controlling the operation of the actuator. When the pedestrian position is acquired, the irradiation control unit irradiates the area including the pedestrian position with light, and then operates the actuator to move the upper end of the area irradiated with light downward. Also in this case, after irradiating the face position with light, the irradiation control unit operates the actuator to move the upper end of the area irradiated with light downward from the face position. This also allows the pedestrian to appropriately recognize the presence of the vehicle, and allows the driver to properly recognize the position of the pedestrian while suppressing the pedestrian's glare.

  In another modification, the pedestrian position detection unit 134 detects the position of the pedestrian's feet. Since the method for detecting the position of the pedestrian's foot is known, the description thereof is omitted. The lighting control unit 154 determines whether the pedestrian is moving or stopped. When the pedestrian is moving, the lighting control unit 154 controls lighting of the plurality of light emitting elements 24 so as to irradiate the foot of the pedestrian and avoid light irradiation above the foot. Since it is difficult to accurately detect the upper end of the foot when the pedestrian is stopped, the lighting control unit 154 controls the lighting of the plurality of light emitting elements 24 so as to irradiate the entire pedestrian. .

  In another modification, a vehicle speed sensor is provided in the vehicle. The lighting control unit 154 calculates the degree of risk based on the pedestrian position or the vehicle speed detected by the vehicle speed sensor. For example, the lighting control unit 154 estimates the distance to the pedestrian using the pedestrian position, and calculates the estimated arrival time to the pedestrian by dividing this distance by the vehicle speed. When the estimated arrival time is less than or equal to the predetermined time, it is determined that the degree of risk has increased. When the pedestrian position is detected when the degree of danger is large in the pedestrian spot lamp mode, the lighting control unit 154 emits light toward the pedestrian position as described above, and the degree of danger is not large. Avoids light irradiation toward the pedestrian position even when the pedestrian position is detected.

  In another modification, the lighting control unit 154 determines whether or not the pedestrian is a child using the vertical length of the pedestrian image. When it is determined that the pedestrian is a child, the lighting control unit 154 avoids light irradiation to the area including the pedestrian position, and emits a plurality of lights so that only the area near the vehicle is irradiated from the pedestrian position. The lighting of the element 24 is controlled. When the lighting control unit 154 determines that the pedestrian is a child, the lighting control unit 154 avoids light irradiation to the area including the position of the face of the pedestrian, and moves from the position of the face to the area from the vehicle. You may control lighting of the several light emitting element 24 so that only light may be irradiated.

  In another modification, the horizontal length of each of the plurality of light emitting elements 24 is formed to be narrower than that of the light emitting element 24 described above. The lighting control unit 154 controls the light intensity of each of the plurality of light emitting elements 24 by controlling the power supplied to each of the plurality of light emitting elements 24. The lighting control unit 154 controls the light intensity of each of the plurality of light emitting elements 24 so that the intensity pattern is provided in the horizontal direction. For example, the lighting control unit 154 may provide a strength pattern with the luminous intensity of the plurality of light emitting elements 24 arranged in the horizontal direction as strong, weak, strong, weak, or the like.

  DESCRIPTION OF SYMBOLS 10 Vehicle spot lamp, 10L Left spot lamp, 10R Right spot lamp, 12 Projection lens, 14 Light irradiation apparatus, 16 Light emitting element substrate, 18 Heat sink, 20 Substrate, 22 Light emitting element unit, 24 Light emitting element, 100 Vehicle spot lamp System, 120 vehicle ECU, 122 mode switch, 124 vehicle speed sensor, 130 image processing unit, 132 camera, 134 pedestrian position detection unit, 150 spot lamp ECU, 152 pedestrian position acquisition unit, 154 lighting control unit.

Claims (7)

A pedestrian position acquisition unit for acquiring a pedestrian position detected by the position detection device;
A control unit for controlling light irradiation by a vehicle spot lamp capable of changing the irradiation position;
With
When the pedestrian position is acquired, the control unit irradiates the area including the pedestrian position with light, and then moves the upper end downward while leaving the lower end of the area irradiated with light unchanged. A vehicle spot lamp control device that controls light irradiation by a spot lamp for a vehicle. The position detection device detects the position of a pedestrian's face,
The pedestrian position acquisition unit acquires the position of the face from the position detection device,
The control unit controls light irradiation by the vehicle spot lamp so as to move an upper end of a region irradiated with light downward from the face position after irradiating the face position with light. The vehicle spot lamp control device according to claim 1.   The control unit controls light irradiation by the vehicle spot lamp so as to move an upper end of a region irradiated with light downward when the pedestrian position is irradiated with light for a predetermined time. The vehicle spot lamp control device according to claim 1 or 2. A vehicle spot lamp capable of changing the irradiation position;
A position detection device for detecting a pedestrian position;
A control device for controlling light irradiation by the vehicle spot lamp;
With
When the pedestrian position is detected, the control device is configured to irradiate the area including the pedestrian position with light, and then move the upper end downward while leaving the lower end of the area irradiated with light unchanged. Vehicle spot lamp system that controls light irradiation by a spot lamp for automobiles. The position detection device detects the position of a pedestrian's face,
The control device controls light irradiation by the spot lamp for the vehicle so as to move an upper end of a region irradiated with light downward from the position of the face after irradiating the face position with light. The vehicle spot lamp system according to claim 4.   The position detection device analyzes image data captured and generated by an image pickup device to identify a pedestrian image, and a portion of the pedestrian image whose width satisfies a predetermined condition is reduced and the position of the face is reduced. The vehicle spot lamp system according to claim 5, wherein the spot lamp system is detected as follows.   The position detecting device analyzes image data captured and generated by an imaging device to identify a pedestrian image, and detects an upper part of the pedestrian image that occupies a predetermined ratio in a height direction as a face position. The vehicle spot lamp system according to claim 5.

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