JP6384428B2 - Vehicle headlamp device - Google Patents

Description

  The present invention relates to a vehicle headlamp device.

  A technique is known that uses a vehicle headlamp device to notify the oncoming vehicle of the presence of a pedestrian (that is, to notify the oncoming vehicle that travels toward the vehicle). , See Patent Document 1).

JP 2009-143350 A

  By the way, when considering an oncoming lane based on the traveling lane of the own vehicle, a pedestrian (for example, below the lane) trying to cross the traveling lane of the own vehicle passing between two consecutive oncoming vehicles on the oncoming lane. A pedestrian walking in the direction is not aware of the presence of the vehicle, and the risk of collision with the vehicle increases. This is because the pedestrian's feet are illuminated by the headlamps of the following oncoming vehicle of the two oncoming vehicles in addition to being difficult to confirm by directly viewing the own vehicle. This is because it is difficult to recognize the lighting of the own vehicle and to notice the existence of the own vehicle.

  Therefore, an object of the present invention is to provide a vehicular headlamp device that can prompt a pedestrian who can appear from between oncoming vehicles to be alerted about the own vehicle.

In order to achieve the above object, according to the present invention, object information acquisition means for acquiring information of an object in front of the host vehicle;
An illumination device in which the irradiation pattern of light forward of the vehicle is variable;
A control device,
The controller is
An oncoming vehicle specifying unit for specifying a first oncoming vehicle and a second oncoming vehicle following the first oncoming vehicle based on the information of the object from the object information obtaining unit;
An irradiation pattern determining unit that determines an irradiation pattern to be irradiated between the first oncoming vehicle and the second oncoming vehicle specified by the oncoming vehicle specifying unit;
There is provided a vehicle headlamp device including a control unit that controls the illumination device based on the irradiation pattern determined by the irradiation pattern determination unit.

  In the present invention, the oncoming vehicle specifying unit specifies the first oncoming vehicle and the second oncoming vehicle based on the object information from the object information acquisition means. An irradiation pattern determination part determines the irradiation pattern irradiated between the 1st oncoming vehicle and the 2nd oncoming vehicle specified by the oncoming vehicle specific part, and a control part controls an illuminating device based on this irradiation pattern. The irradiation pattern for irradiating between the first oncoming vehicle and the second oncoming vehicle is, for example, an irradiation pattern in which light passes between the first oncoming vehicle and the second oncoming vehicle, or the first oncoming vehicle and the second oncoming vehicle. It is an irradiation pattern which irradiates the road surface between this 1st oncoming vehicle and the 2nd oncoming vehicle, without light passing between. Thereby, it can irradiate between the 1st oncoming car and the 2nd oncoming car, and urges a pedestrian who can appear from between the oncoming car (the 1st oncoming car and the 2nd oncoming car) to call attention about the own car be able to. Note that the irradiation by the irradiation pattern determined by the irradiation pattern determination unit may be accompanied by blinking. In this case, the alerting ability can be further enhanced.

  ADVANTAGE OF THE INVENTION According to this invention, the alerting regarding the own vehicle can be urged | provided with respect to the pedestrian who can appear from between oncoming vehicles.

It is a figure which shows the block diagram of the vehicle headlamp apparatus by one Example of this invention. It is a flowchart which shows an example of the process performed by a control apparatus. It is explanatory drawing of the process of FIG. It is explanatory drawing of a comparative example. It is explanatory drawing of the effect of a present Example.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a diagram showing a configuration diagram of a vehicle headlamp device 1 according to an embodiment of the present invention.

  The vehicle headlamp device 1 includes a control device 7, a laser unit 30, and an image sensor 91 (an example of object information acquisition means).

  The control device 7 is formed by, for example, an ECU (Electronic Control Unit).

  The laser unit 30 is incorporated in a headlamp including a high beam lamp and a low beam lamp. The laser unit 30 may be incorporated in both the left and right headlamps. The laser unit 30 is configured as disclosed in, for example, Japanese Patent Application Laid-Open No. 2015-38885, and is an illumination device including a laser light source, a movable mirror element, and a phosphor (all not shown). The movable mirror element is, for example, a MEMS (Micro Electro Mechanical Systems) mirror. The laser unit 30 reflects the laser light from the laser light source forward of the vehicle while changing each angle around the two axes of the MEMS mirror, so that the laser light (laser from the laser light source that is a point light source) is reflected in front of the vehicle. Light). Note that the region irradiated by the laser unit 30 has the same illuminance as the region irradiated by the high beam lamp or the low beam lamp.

  The image sensor 91 is a camera that acquires an image in front of the host vehicle, and acquires information on an object in front of the host vehicle. The image sensor 91 is attached, for example, to an inner mirror in the passenger compartment in the front direction of the host vehicle.

  The control device 7 includes an oncoming vehicle identification unit 70, a laser irradiation pattern determination unit 72 (an example of an irradiation pattern determination unit), and a control unit 74. Each of these units can be realized by the ECU CPU executing one or more programs stored in the ROM.

  The oncoming vehicle specifying unit 70 specifies two consecutive oncoming vehicles based on information (image) from the image sensor 91. When there are three or more continuous oncoming vehicles on the oncoming lane, the oncoming vehicle specifying unit 70 may be able to specify a plurality of sets of two continuous oncoming vehicles.

  The laser irradiation pattern determination unit 72 determines a laser irradiation pattern to be irradiated between the two oncoming vehicles specified by the oncoming vehicle specifying unit 70.

  The control unit 74 controls the laser unit 30 based on the laser irradiation pattern determined by the laser irradiation pattern determination unit 72.

  FIG. 2 is a flowchart illustrating an example of processing executed by the control device 7. The process shown in FIG. 2 is repeatedly executed at predetermined intervals, for example, when the illuminance around the vehicle (due to sunlight) is low (for example, when the headlamp is turned on). However, the process shown in FIG. 2 may be repeatedly executed at predetermined intervals, for example, while the vehicle is traveling, regardless of the illuminance around the vehicle.

  In step S <b> 200, the oncoming vehicle identification unit 70 acquires the latest information (image) from the image sensor 91.

  In step S <b> 202, the oncoming vehicle specifying unit 70 determines whether there is an oncoming vehicle based on the image of the image sensor 91. For example, the oncoming vehicle specifying unit 70 searches for a pixel group (a group of white high-luminance pixels) corresponding to the headlamp of the oncoming vehicle. At this time, the oncoming vehicle specifying unit 70 determines whether there is a pixel group corresponding to the pair of left and right headlamps of the oncoming vehicle. If the determination result is “YES”, the process proceeds to step S204. If the determination result is “NO”, the process ends.

  In step S204, the oncoming vehicle specifying unit 70 determines whether there are two or more oncoming vehicles specified in step S202. If the determination result is “YES”, the process proceeds to step S206. If the determination result is “NO”, the process ends.

  In step S206, the oncoming vehicle specifying unit 70 calculates the position and length of the oncoming vehicle specified in step S202. The length of the oncoming vehicle can be calculated based on, for example, the size of the oncoming vehicle that correlates with the distance between the pair of left and right headlamps of the oncoming vehicle. That is, the oncoming vehicle identification unit 70 can calculate the length of the oncoming vehicle based on the map data indicating the relationship between the length of the oncoming vehicle, the position of the oncoming vehicle (distance from the host vehicle), and the headlamp interval. Alternatively, the length of the oncoming vehicle may be calculated as a constant value.

  In step S208, the oncoming vehicle specifying unit 70 sets the value N to a value obtained by subtracting “1” from the number of oncoming vehicles specified in step S202.

  In step S210, the laser irradiation pattern determination unit 72 sets the value k to “1”.

  In step S212, the laser irradiation pattern determination unit 72 selects the k-th oncoming vehicle as an attention oncoming vehicle (an example of a first oncoming vehicle) in order from the closest to the own vehicle, and follows the attention oncoming vehicle and the attention oncoming vehicle. It is determined whether or not the light from the laser unit 30 can pass between the following oncoming vehicle (k + 1-th oncoming vehicle in order of proximity to the own vehicle) (an example of a second oncoming vehicle). That is, can the laser irradiation pattern determination unit 72 irradiate light from the laser unit 30 behind the target oncoming vehicle and ahead of the subsequent oncoming vehicle without irradiating the target oncoming vehicle and the subsequent oncoming vehicle? Determine whether or not. Specifically, the laser irradiation pattern determination unit 72 is based on the geometric relationship between the position of the rear end of the oncoming vehicle of interest, the position of the front end of the subsequent oncoming vehicle, and the position of the laser unit 30. It is determined whether the light from the laser unit 30 can be irradiated between the target oncoming vehicle and the subsequent oncoming vehicle without irradiating the target oncoming vehicle and the subsequent oncoming vehicle with light. The rear end portion of the target oncoming vehicle can be specified based on the length of the target oncoming vehicle (for example, it can be estimated from the headlamp interval of the target oncoming vehicle). If the determination result is “YES”, the process proceeds to step S214, and if the determination result is “NO”, the process proceeds to step S216.

  In step S214, the laser irradiation pattern determination unit 72 sets the light from the laser unit 30 in such a manner that the light from the laser unit 30 does not hit both the target oncoming vehicle and the subsequent oncoming vehicle as the laser irradiation pattern related to the target oncoming vehicle. Determines a laser irradiation pattern (see pattern P1 in FIG. 3) that passes between the oncoming vehicle of interest and the subsequent oncoming vehicle. At this time, the laser irradiation pattern determination unit 72 determines a pattern that can be irradiated with a wide width in the lateral direction as much as possible within a range in which the subsequent oncoming vehicle is not dazzled. Hereinafter, the laser irradiation pattern thus determined in step S214 is referred to as a “first laser irradiation pattern”.

  In step S216, the laser irradiation pattern determination unit 72 sets the light from the laser unit 30 in a mode in which the light from the laser unit 30 does not hit both the target oncoming vehicle and the subsequent oncoming vehicle as the laser irradiation pattern related to the target oncoming vehicle. Determines a laser irradiation pattern (see pattern P2 in FIG. 3) for irradiating the road surface between the oncoming vehicle of interest and the subsequent oncoming vehicle. At this time, the laser irradiation pattern determination unit 72 determines the position in the lateral direction (lane crossing direction) of the road surface irradiated with the light from the laser unit 30 on the right side surface (the vehicle in the lateral direction) of the oncoming vehicle and the subsequent oncoming vehicle. This corresponds approximately to the same position on the side surface. The range of the road surface irradiated with light from the laser unit 30 is, for example, a range corresponding to a general size of a person. Alternatively, the laser irradiation pattern determination unit 72 determines a laser irradiation pattern such that the light from the laser unit 30 irradiates the entire road surface range between the rear end of the oncoming vehicle of interest and the front end of the subsequent oncoming vehicle. May be. Hereinafter, the laser irradiation pattern thus determined in step S216 is referred to as a “second laser irradiation pattern”.

  In step S218, the laser irradiation pattern determination unit 72 determines whether or not the value k is the value N. That is, the laser irradiation pattern determination unit 72 determines whether or not the laser irradiation pattern determination unit 72 has determined laser irradiation patterns for all oncoming vehicles of interest. If the determination result is “YES”, the process proceeds to step S222, and if the determination result is “NO”, the process proceeds to step S220.

  In step S220, the laser irradiation pattern determination unit 72 increments the value k by “1” and returns to step S212.

  In step S222, the control unit 74 controls the laser unit 30 based on the laser irradiation pattern determined in step S214 and / or step S216. For example, three oncoming vehicles are identified, the first laser irradiation pattern is determined in step S214 for the target oncoming vehicle closest to the own vehicle, and then the second laser irradiation is performed on the target oncoming vehicle closest to the own vehicle. When the pattern is determined in step S216 (see FIG. 3), the control unit 74 controls the laser unit 30 so that the determined first laser irradiation pattern and the determined second laser irradiation pattern are realized.

  Here, the control unit 74 realizes blinking in which the lighting state and the non-lighting state of the laser unit 30 are switched at a predetermined cycle based on the laser irradiation pattern. That is, the control unit 74 intermittently realizes irradiation with the laser irradiation pattern. Specifically, at the time of lighting for blinking, the control unit 74 controls each angle around the two axes of the MEMS mirror so as to scan the phosphor by a raster scan method, and the laser beam is emitted from the laser irradiation pattern. The lighting timing of the laser light source is controlled so as to scan only the scanning range. Alternatively, the control unit 74 keeps the laser light source lit, and the two axes of the MEMS mirror so that the laser light from the laser light source scans the scanning range related to the laser irradiation pattern by the vector scan method on the phosphor. Control each angle around. At the time of non-lighting for blinking, the control unit 74 turns off the laser light source while stopping or maintaining the driving of the MEMS mirror.

  According to the process shown in FIG. 2, when two or more oncoming vehicles are identified, a laser irradiation pattern for irradiating one or more oncoming vehicles between two consecutive oncoming vehicles can be determined. At this time, the laser irradiation pattern is a first laser irradiation pattern that passes between the two oncoming vehicles according to a geometrical relationship between each position of the two oncoming vehicles and the position of the laser unit 30, or It becomes the 2nd laser irradiation pattern which irradiates the road surface between two oncoming vehicles.

FIG. 3 is an explanatory diagram of the processing of FIG. 2 and is a top view schematically showing a road environment around the own vehicle. In FIG. 3, the irradiation direction and irradiation range by the first laser irradiation pattern are schematically shown by a hatching range P1, and the irradiation direction and irradiation range by the second laser irradiation pattern are schematically shown by a hatching range P2. . Further, in FIG. 3, the irradiation range of each vehicle low beam is schematically represented by the hatched range P _L.

  In the example shown in FIG. 3, there are three oncoming vehicles Vh <b> 1 to Vh <b> 3 in the oncoming lane with the own vehicle as a reference. Here, it is assumed that three oncoming vehicles Vh1 to Vh3 are specified by the oncoming vehicle specifying unit 70 (that is, two sets of two oncoming vehicles are specified). In the example shown in FIG. 3, the laser irradiation pattern when the oncoming vehicle Vh1 is selected as the oncoming vehicle of interest is the first that passes between the oncoming vehicle Vh1 and its subsequent oncoming vehicle Vh2, as indicated by P1 in FIG. One laser irradiation pattern is determined. Further, in the example shown in FIG. 3, the laser irradiation pattern when the oncoming vehicle Vh2 is selected as the oncoming vehicle is the front (see P2 in FIG. 3) between the oncoming vehicle Vh2 and the subsequent oncoming vehicle Vh3 ( The second laser irradiation pattern adjusted so as to irradiate the road surface on the vehicle side) in the lane crossing direction and not to shine light on the subsequent oncoming vehicle Vh3 is determined.

Next, the effect of the present embodiment will be described with reference to FIGS. 4A and 4B. FIG. 4A is an explanatory view of a comparative example, and FIG. 4B is an explanatory view of the effect of the present embodiment, and is a top view schematically showing a road environment around the own vehicle. 4A and 4B, the irradiation range of each vehicle low beam is schematically represented by the hatched range P _L. Further, in FIG. 4B, the irradiation direction and irradiation range by the first laser irradiation pattern are schematically shown by a hatching range P1. The comparative example does not include the laser unit 30, or includes the laser unit 30, but does not perform irradiation with the first laser irradiation pattern or the second laser irradiation pattern.

  In the example shown in FIGS. 4A and 4B, there are three oncoming vehicles Vh11 to Vh13 in a congested lane with the own vehicle as a reference. In FIG. 4B, it is assumed that three oncoming vehicles Vh11 to Vh13 are specified by the oncoming vehicle specifying unit 70. In the example shown in FIGS. 4A and 4B, the pedestrian Pd is going to cross the road 90 after the oncoming vehicle Vh12 in the oncoming lane (in the figure, the crossing direction is indicated by the arrow Q1).

  In the case of the comparative example, as shown in FIG. 4A, a pedestrian Pd (for example, a pedestrian walking downward) trying to cross the road 90 after the oncoming vehicle Vh12 is in the presence of his / her vehicle traveling with a low beam, for example. Not aware of it, the risk of collision with the vehicle increases. In particular, when crossing the road 90 from between the oncoming vehicle Vh12 and the oncoming vehicle Vh13 that are continuous when the oncoming lane is congested as shown in FIG. Illuminated. For this reason, it is difficult for the pedestrian Pd to recognize the illumination by the low beam of the headlamp of the own vehicle, and there is a possibility that the pedestrian Pd cannot pay attention to the presence of the own vehicle.

  On the other hand, according to the present embodiment, as shown in FIG. 4B, a pedestrian Pd who wants to cross the road 90 from behind the oncoming vehicle Vh12 has a laser unit between the oncoming vehicle Vh12 and the oncoming vehicle Vh13. Thanks to the irradiation with the first laser irradiation pattern from 30, it becomes easier to notice the presence of the vehicle. As a result, the pedestrian Pd becomes aware of the traveling of the vehicle and is more likely to stop crossing (see the x mark). Note that the irradiation with the first laser irradiation pattern can increase the possibility that the pedestrian Pd notices the own vehicle or the timing at which the pedestrian Pd notices the own vehicle than the irradiation with the second laser irradiation pattern. . However, also in the case of irradiation with the second laser irradiation pattern, it is possible to increase the possibility that the pedestrian Pd notices the own vehicle or to advance the timing when the pedestrian Pd notices the own vehicle, as compared with the comparative example.

  By the way, according to the present embodiment, as described above, the first laser irradiation pattern or the second laser irradiation pattern is performed without detecting a pedestrian. Thereby, compared with the configuration in which the first laser irradiation pattern or the second laser irradiation pattern is performed only when a pedestrian who is going to cross between oncoming vehicles is detected, the first pedestrian detection timing is delayed. There is no inconvenience that the irradiation timing by the laser irradiation pattern or the second laser irradiation pattern is delayed. Moreover, according to the present Example, a pedestrian detection process is unnecessary, a processing load can be reduced, and a near-infrared projector etc. are also unnecessary.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the first laser irradiation pattern and / or the second laser irradiation pattern described above is a pattern that realizes irradiation that does not hit the oncoming vehicle, but does not give glare to the oncoming vehicle. The pattern may be extended and irradiated to an irradiation range that hits a part of the oncoming vehicle (for example, a part other than the windshield glass).

  In the above-described embodiment, the oncoming vehicle is irradiated with the first laser irradiation pattern and the second laser irradiation pattern described above. The laser unit is positioned behind the rearmost oncoming vehicle among the detected one or more oncoming vehicles. 30 is not irradiated. This is because when a pedestrian crosses the road behind the last oncoming vehicle, there is a subsequent oncoming vehicle (following oncoming vehicle with respect to the last oncoming vehicle) illuminated by the pedestrian's feet with a low beam. This is because the above-described problem (problem that the pedestrian becomes difficult to notice the lighting of the own vehicle due to the lighting of the following oncoming vehicle) does not occur. Moreover, it is because the rear of the oncoming vehicle at the end can be separately irradiated with an illuminating device (illuminating device different from the laser unit 30) capable of shielding or dimming a part of the irradiation area as necessary. However, in order to raise the pedestrian's attention to the vehicle, in addition to the first laser irradiation pattern, a laser irradiation pattern for irradiating the rear of the last oncoming vehicle among one or more detected oncoming vehicles is determined. And it is good also as blinking the back of the oncoming vehicle at the tail in the same way.

  In the above-described embodiment, the irradiation with the first laser irradiation pattern and / or the second laser irradiation pattern is realized regardless of the vehicle speed of the oncoming vehicle, but the first laser irradiation pattern and / or the second laser irradiation pattern is realized. Irradiation by the laser irradiation pattern may be realized only when the vehicle speed of the oncoming vehicle is a low speed equal to or lower than a predetermined value or zero. This is because a pedestrian crossing between two oncoming vehicles is likely to be performed when the speed of the oncoming vehicle is low or zero.

  In the above-described embodiments, the light source that realizes irradiation with the first laser irradiation pattern and the second laser irradiation pattern is a laser light source, but other light sources such as an LED (Light-Emitting Diode) may be used. .

  In the above-described embodiment, when three or more oncoming vehicles are detected, irradiation with the first laser irradiation pattern or the second laser irradiation pattern is realized between the oncoming vehicles. You may implement | achieve irradiation by a 1st laser irradiation pattern or a 2nd laser irradiation pattern only to one part.

  In the above-described embodiment, the irradiation with the first laser irradiation pattern and the second laser irradiation pattern is performed intermittently (although accompanied by blinking of the irradiation region), but may be performed continuously.

  In the above-described embodiments, the movable mirror element is used to realize the irradiation by the first laser irradiation pattern and the second laser irradiation pattern. However, the illumination apparatus can change the irradiation pattern of the light ahead of the vehicle. If present, it is not always necessary to use a movable mirror element. For example, an illumination device that includes an array of a plurality of light-emitting diodes and that can control the light-emitting diodes individually to change the irradiation pattern may be used. Moreover, the illuminating device from which an irradiation pattern becomes variable by driving and changing the optical axis of light sources like LED may be used. This is because the illumination device can perform the same irradiation as the irradiation with the first laser irradiation pattern and the second laser irradiation pattern.

DESCRIPTION OF SYMBOLS 1 Vehicle headlamp apparatus 7 Control apparatus 30 Laser unit 70 Oncoming vehicle specific part 72 Laser irradiation pattern determination part 74 Control part 91 Image sensor

Claims (1)

Object information acquisition means for acquiring information of an object in front of the host vehicle;
An illumination device in which the irradiation pattern of light forward of the vehicle is variable;
A control device,
The controller is
An oncoming vehicle specifying unit for specifying a first oncoming vehicle and a second oncoming vehicle following the first oncoming vehicle based on the information of the object from the object information obtaining unit;
An irradiation pattern determining unit that determines an irradiation pattern to be irradiated between the first oncoming vehicle and the second oncoming vehicle specified by the oncoming vehicle specifying unit;
A vehicle headlamp device including a control unit that controls the illumination device based on the irradiation pattern determined by the irradiation pattern determination unit.

Images