JP6506944B2 - Vehicle headlight system - Google Patents

Description

  The present invention relates to a vehicle headlamp system.

  Conventionally, the presence or absence of a preceding vehicle or an oncoming vehicle (hereinafter appropriately referred to as a "forward vehicle") is detected based on the image in front of the vehicle captured by a camera, and the light distribution pattern is changed based on the detection result A vehicle headlamp system has been proposed (see, for example, Patent Documents 1 and 2). In such a vehicle headlamp system, by shielding the detected area where the preceding vehicle is present and irradiating the other area with the high beam, the driver's visibility can be improved without giving glare to the preceding vehicle. It can improve. Such a system is also called an ADB (Adaptive Driving Beam) system.

JP 2008-94127 A JP, 2008-37240, A

  In the above-described ADB system, a camera is installed, for example, on an inner mirror in a car. Since the camera and the lamp unit are installed at separate positions, there is a possibility that the camera and the lamp unit may be mounted out of position. If the mounting position of the camera and the lamp unit is deviated from the normal position, a deviation may occur between the actual light shielding position and the position of the front vehicle, which may cause glare to the front vehicle.

  The present invention has been made in view of such a situation, and an object thereof is to provide a vehicular headlamp system capable of making it difficult to give glare to forward vehicles.

  In order to solve the above problems, a vehicle headlamp system according to an aspect of the present invention includes a lamp unit capable of controlling an irradiation range of light to the front of the vehicle, and a radar for scanning the front of the vehicle. On the basis of a vehicle headlamp provided in the vehicle, a camera for imaging the front of the vehicle provided outside the lamp of the vehicle headlamp, information acquired by the camera, and information acquired by the radar, And a control unit configured to control an irradiation range of the lamp unit.

  The control unit irradiates light to the forward vehicle based on the forward vehicle detection unit that detects the forward vehicle position based on the image captured by the camera, and the first forward vehicle position information detected by the forward vehicle detection unit. Irradiation range correction unit that corrects the irradiation range determined by the irradiation range determination unit based on the irradiation range determination unit that determines the irradiation range of the lamp unit so that the lighting unit is suppressed and the second vehicle position information acquired by the radar And a unit.

  The irradiation range correction unit may correct the irradiation range when the distance from the host vehicle to the preceding vehicle does not change for a predetermined time. Furthermore, the irradiation range correction unit may correct the irradiation range when the vehicle is traveling.

  The control unit further performs a parallax correction unit that corrects the deviation of the illumination direction of the lamp unit due to the difference in the installation position of the camera and the lamp unit on the vehicle when the distance from the vehicle to the preceding vehicle is less than a predetermined value. You may have.

  According to the present invention, it is possible to provide a vehicular headlamp system capable of making it difficult to give glare to forward vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS It is a horizontal sectional view of the vehicle headlamp used in the vehicle headlamp system which concerns on embodiment of this invention. It is the top view which showed the structure of the lamp unit for high beams typically. Fig.3 (a)-FIG.3 (e) are perspective views which show the mode of the braid | blade according to the rotation angle of the rotation reflector in the lamp unit which concerns on this Embodiment. FIG.3 (f)-FIG.3 (j) are figures for demonstrating the point which the direction which reflects the light from a light source changes corresponding to the state of FIG.3 (a)-FIG.3 (e). . FIG. 4 (a) is a view showing a light distribution pattern in the case where a range of ± 5 degrees with respect to the optical axis is scanned using the vehicle headlamp according to the present embodiment, and FIG. 4 (b) is a diagram. 4 (a) and 4 (c) show the light intensity distribution of the light distribution pattern shown in FIG. 4 (a), and FIG. 4 (d) shows the light intensity distribution of the light distribution pattern shown in FIG. 4 (c), and FIG. 4 (e) shows the distribution using the vehicle headlamp according to the present embodiment. FIG. 4 (f) is a view showing a light intensity distribution of a light distribution pattern shown in FIG. 4 (e). BRIEF DESCRIPTION OF THE DRAWINGS It is a functional block diagram for demonstrating the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating the light distribution pattern formed of the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating correction | amendment of the irradiation range in the vehicle headlamp system which concerns on this Embodiment. It is a figure for demonstrating the necessity of parallax correction. It is a figure for demonstrating the parallax correction method in the vehicle headlamp system which concerns on this Embodiment. FIG. 1 is a vertical cross-sectional view of a vehicle headlamp according to the present embodiment.

  Hereinafter, the present invention will be described based on the embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and duplicating descriptions will be omitted as appropriate. In addition, the embodiments do not limit the invention and are merely examples, and all the features and combinations thereof described in the embodiments are not necessarily essential to the invention.

  FIG. 1 is a horizontal cross-sectional view of a vehicular headlamp used in a vehicular headlamp system according to an embodiment of the present invention. The vehicle headlamp 10 is a right headlamp mounted on the right side of the front end portion of the vehicle, and has the same structure as the headlamp mounted on the left side except that it is symmetrical. Therefore, the vehicle headlamp 10 on the right side will be described in detail below, and the description of the vehicle headlamp on the left side will be omitted.

  As shown in FIG. 1, the vehicular headlamp 10 includes a lamp body 12 having a recess opened toward the front. The lamp body 12 is covered at its front opening by a transparent front cover 14 to form a lamp chamber 16. The lamp chamber 16 functions as a space in which two lamp units (low beam lamp unit 18 and high beam lamp unit 20) are arranged side by side in the vehicle width direction.

  Among these lamp units, the high beam lamp unit 20 disposed on the upper side shown in FIG. 1 in the outer side of the vehicle headlamp 10 on the right side is a lamp unit equipped with a lens and emits variable high beams. It is configured to On the other hand, among these lamp units, the low beam lamp unit 18 disposed on the lower side shown in FIG. 1 in the vehicle headlamp 10 on the inner side, that is, the right side, is configured to irradiate a low beam. .

  The low beam lamp unit 18 includes a reflector 22, a light source bulb (incandescent bulb) 24 supported by the reflector 22, and a shade (not shown). The reflector 22 is a known means not shown, such as an aiming screw and a nut. It is tiltably supported relative to the lamp body 12 by the means used. In the present embodiment, a bulb is used as a light source of the low beam lamp unit 18, but the light source of the low beam lamp unit 18 is not particularly limited, and may be HID, LED, LD, or the like.

  In the present embodiment, the high beam lamp unit 20 is configured to be able to control the irradiation range of light to the front of the vehicle. As shown in FIG. 1, the high beam lamp unit 20 includes a rotary reflector 26, an LED 28, and a convex lens 30 as a projection lens disposed in front of the rotary reflector 26. It is also possible to use a semiconductor light emitting element such as an EL element or an LD element instead of the LED 28 as a light source. In particular, for control for shielding a part of a light distribution pattern to be described later, a light source capable of turning on and off accurately in a short time is preferable. The shape of the convex lens 30 may be appropriately selected according to the light distribution characteristics such as the required light distribution pattern and illuminance distribution, but an aspheric lens or a free curved surface lens is used. In the present embodiment, an aspheric lens is used as the convex lens 30.

  The rotating reflector 26 rotates in one direction around the rotation axis R by a drive source such as a motor (not shown). Further, the rotating reflector 26 is provided with a reflecting surface configured to reflect light emitted from the LED 28 while rotating and to form a desired light distribution pattern.

  In the high beam lamp unit 20, the LED 28, the rotating reflector 26, and the convex lens 30 are accommodated in a lamp housing (not shown). The lamp housing is attached to the lamp body 12.

  Furthermore, the vehicular headlamp 10 includes a laser radar 120 for scanning the front of the vehicle. The laser radar 120 is used in ADB control in the vehicle headlamp system according to the present embodiment. The laser radar 120 is provided in the lamp chamber 16. Although the laser radar is exemplified as the radar provided in the lamp chamber 16 in the present embodiment, the radar provided in the lamp chamber 16 is not limited to the laser radar, and may be, for example, a millimeter wave radar or the like. .

  FIG. 2 is a top view schematically showing the configuration of the high beam lamp unit 20. As shown in FIG.

  In the rotating reflector 26, three blades 26a having the same shape, which function as reflecting surfaces, are provided around a cylindrical rotating portion 26b. The rotation axis R of the rotating reflector 26 is oblique to the optical axis Ax, and is provided in a plane including the optical axis Ax and the LED 28. In other words, the rotation axis R is provided substantially parallel to the scanning plane of the light (irradiation beam) of the LED 28 that scans in the left and right direction by rotation. Thereby, the thickness of the optical unit can be reduced. Here, the scanning plane can be regarded as, for example, a fan-shaped plane formed by continuously connecting the trajectories of the light of the LED 28 which is the scanning light.

  The blade 26a has a twisted shape such that the angle formed by the optical axis Ax and the reflection surface changes in the circumferential direction around the rotation axis R. Thereby, as shown in FIG. 2, scanning using the light of the LED 28 becomes possible. This point will be described in more detail.

  FIGS. 3A to 3E are perspective views showing the state of the blade according to the rotation angle of the rotating reflector 26 in the lamp unit according to the present embodiment. FIG.3 (f)-FIG.3 (j) are figures for demonstrating the point which the direction which reflects the light from a light source changes corresponding to the state of FIG.3 (a)-FIG.3 (e). .

  FIG. 3A shows that the LED 28 is arranged to illuminate the boundary area of the two blades 26a1 and 26a2. In this state, as shown in FIG. 3F, the light of the LED 28 is reflected by the reflecting surface S of the blade 26a1 in a direction oblique to the optical axis Ax. As a result, in the area in front of the vehicle where the light distribution pattern is formed, one end area of both left and right ends is irradiated. Thereafter, when the rotating reflector 26 is rotated to be in the state shown in FIG. 3B, since the blade 26a1 is twisted, the reflection surface S (reflection angle) of the blade 26a1 that reflects the light of the LED 28 changes. As a result, as shown in FIG. 3 (g), the light of the LED 28 is reflected in a direction closer to the optical axis Ax than the reflection direction shown in FIG. 3 (f).

  Subsequently, when the rotary reflector 26 is rotated as shown in FIG. 3C, FIG. 3D, and FIG. 3E, the light reflection direction of the LED 28 is the area in front of the vehicle where the light distribution pattern is formed. In the above, it changes toward the other end of the left and right ends. The rotating reflector 26 according to the present embodiment is configured to be able to scan the front in one direction (horizontal direction) once by the light of the LED 28 by rotating by 120 degrees. In other words, as one blade 26 a passes in front of the LED 28, a desired area in front of the vehicle is scanned once by the light of the LED 28.

  The number and shape of the blades 26a and the rotational speed of the rotating reflector 26 are appropriately set based on the results of experiments and simulations in consideration of the required characteristics of the light distribution pattern and the flicker of the scanned image. Moreover, a motor is preferable as a drive part which can change rotational speed according to various light distribution control. Thereby, the timing to scan can be easily changed. As such a motor, one which can obtain rotation timing information from the motor itself is preferable. Specifically, a DC brushless motor can be mentioned. When a DC brushless motor is used, since rotation timing information can be obtained from the motor itself, equipment such as an encoder can be omitted.

  FIG. 4 (a) is a view showing a light distribution pattern in the case where a range of ± 5 degrees with respect to the optical axis is scanned using the vehicle headlamp according to the present embodiment, and FIG. 4 (b) is a diagram. 4 (a) and 4 (c) show the light intensity distribution of the light distribution pattern shown in FIG. 4 (a), and FIG. 4 (d) shows the light intensity distribution of the light distribution pattern shown in FIG. 4 (c), and FIG. 4 (e) shows the distribution using the vehicle headlamp according to the present embodiment. FIG. 4 (f) is a view showing a light intensity distribution of a light distribution pattern shown in FIG. 4 (e).

  As shown to Fig.4 (a), the vehicle headlamp 10 which concerns on this Embodiment reflects the light of LED28 by the rotation reflector 26, and it is substantially horizontal direction by scanning the reflected light forward. And a high beam light distribution pattern of a laterally long shape can be formed. As described above, since a desired light distribution pattern can be formed by rotation of the rotating reflector 26 in one direction, driving by a special mechanism such as a resonant mirror is not necessary, and a reflecting surface such as a resonant mirror There are few restrictions on size.

  The vehicle headlamp 10 including the optical unit according to the present embodiment synchronizes the timing of turning on and off the LED 28 and the change of the light emission degree with the rotation of the rotation reflector 26, as shown in FIG. As shown in FIG. 4E, it is possible to form a high beam light distribution pattern in which an arbitrary area is shielded. In addition, when the light emission intensity of the LED 28 is changed (turned on / off) in synchronization with the rotation of the rotating reflector 26 to form a high beam light distribution pattern, control is performed such that the light distribution pattern itself is swiveled by shifting the phase of light intensity change. Is also possible.

  As described above, the vehicle headlamp according to the present embodiment forms a light distribution pattern by scanning the light of the LED and controls part of the light emission intensity to be part of the light distribution pattern. A light shielding portion can be optionally formed. Therefore, as compared with the case where a part of the plurality of LEDs is turned off to form the light shielding portion, it is possible to accurately shield the desired area with a smaller number of LEDs. Further, since the vehicle headlamp 10 can form a plurality of light shielding portions, it is possible to shield the regions corresponding to the individual vehicles even when there are a plurality of vehicles ahead. Become.

  Further, since the vehicle headlamp 10 can perform the light blocking control without moving the basic light distribution pattern, it is possible to reduce a sense of discomfort given to the driver at the time of the light blocking control. In addition, since the light distribution pattern can be swiveled without moving the high beam lamp unit 20, the mechanism of the high beam lamp unit 20 can be simplified. Therefore, the vehicle headlamp 10 only needs to have a motor necessary for the rotation of the rotating reflector 26 as a drive unit for light distribution variable control, and the configuration is simplified, reduced in cost, and reduced in size. It is designed.

  FIG. 5 is a functional block diagram for illustrating the vehicle headlamp system 100 according to the present embodiment. The vehicle headlamp system 100 includes the above-described vehicle headlamp 10, a control unit 104 for controlling the vehicle headlamp 10, a camera 102, a steering sensor 106, and a vehicle speed sensor 108. .

  The vehicle headlamp system 100 according to the present embodiment detects the position of a preceding vehicle such as a preceding vehicle or an oncoming vehicle, shields the area where the preceding vehicle is present, and irradiates the other area with a high beam. It is a variable light headlamp (ADB) system. Since the light shielding area is automatically adjusted in accordance with the position of the vehicle ahead, the driver of the vehicle can always obtain near vision at the time of high beam irradiation while preventing glare from being applied to the vehicle ahead.

  The camera 102 captures an image in front of the vehicle. The camera 102 may be, for example, a stereo camera. The camera 102 is installed outside the vehicular headlamp 10. The camera 102 may be installed, for example, on the back side (front side of the vehicle) of an inner mirror in a car. The inner mirror is disposed in the upper front center of the front seat in the vehicle. Image data captured by the camera 102 is transmitted to the control unit 104.

  The vehicle headlamp system 100 according to the present embodiment includes a laser radar 120 in addition to the camera 102 as a means for detecting a preceding vehicle. The laser radar 120 scans the front of the vehicle using a laser beam, and detects the position of the vehicle ahead from the time it takes for the laser beam to be reflected back to the vehicle ahead. The laser radar 120 may be a relatively inexpensive one-axis (horizontal direction) scanning method, or may be capable of highly accurate position detection of a two-axis (longitudinal and lateral) scanning method. Good.

  As described above, the laser radar 120 is provided in the lamp chamber 16. In this case, since the mounting positions of the laser radar 120 and the high beam lamp unit 20 can be easily aligned, positional deviation between the laser radar 120 and the high beam lamp unit 20 can be made difficult to occur. The laser radar 120 and the high beam lamp unit 20 may be attached and fixed to the same structure (for example, a fixing frame (not shown) or the lamp body 12). By mounting and fixing the laser radar 120 and the high beam lamp unit 20 to the same structure, positional deviation between the laser radar 120 and the high beam lamp unit 20 can be made more difficult to occur.

  The control unit 104 controls the irradiation range of the high beam lamp unit 20 based on the information acquired by the camera 102 and the information acquired by the laser radar 120. The control unit 104 includes a forward vehicle detection unit 110, an irradiation range determination unit 112, an irradiation range correction unit 114, and an irradiation control unit 118.

  The forward vehicle detection unit 110 detects the position of the forward vehicle within the imaging range based on the image captured by the camera 102. For example, since the detection technique of a front vehicle using a stereo camera is known, the detailed description here is omitted.

  The irradiation range determination unit 112 controls the irradiation range (light distribution pattern of the high beam lamp unit 20 so that the irradiation of light to the forward vehicle is suppressed based on the first forward vehicle position information detected by the forward vehicle detection unit 110 To determine). That is, the irradiation range determination unit 112 determines the irradiation range of the high beam lamp unit 20 so as to irradiate the other area with the high beam while setting the area where the preceding vehicle is positioned as the light shielding area.

  The irradiation range correction unit 114 corrects the irradiation range determined by the irradiation range determination unit 112 based on the second forward vehicle position information acquired by the laser radar 120. In the present embodiment, since the laser radar 120 is provided in the lamp room 16, the positional deviation between the laser radar 120 and the high beam lamp unit 20 is caused by the positional deviation between the camera 102 outside the lamp room 16 and the high beam lamp unit 20. Less likely to occur. Therefore, by correcting the irradiation range determined based on the image of the camera 102 based on the detection result of the laser radar 120, it is possible to shield the existing area of the preceding vehicle with higher accuracy. In order to increase the accuracy of the correction of the irradiation range, the correction by the irradiation range correction unit 114 is performed under predetermined conditions. The predetermined conditions will be described later.

  The irradiation control unit 118 sets the LED 28 and the rotating reflector 26 of the high beam lamp unit 20 so that the irradiation range determined by the irradiation range determining unit 112 or the irradiation range corrected by the irradiation range correcting unit 114 is formed in front of the lamp. Control. That is, the irradiation control unit 118 forms the high beam light distribution pattern in which the existing area of the preceding vehicle is shielded in front of the lamp by synchronizing the timing of turning on / off the LED 28 and the change of the light emission degree with the rotation of the rotating reflector 26. .

  The irradiation control unit 118 basically performs control to form the irradiation range determined by the irradiation range determining unit 112, but the correction of the irradiation range is performed by the irradiation range correcting unit 114 under predetermined conditions Control to form a corrected irradiation range. By forming the corrected irradiation range in front of the lamp, it is possible to make it more difficult for the vehicle ahead to be glare.

  FIG. 6 is a view for explaining a light distribution pattern formed by the vehicle headlamp system 100 according to the present embodiment. FIG. 6 shows the light emitted from the vehicle headlamp 10 in a view showing the front of the vehicle transparently when the vehicle is traveling on a straight pavement with one lane on one side (two lanes on both sides). It is a figure which piles up and shows low beam light distribution pattern PL and variable high beam light distribution pattern PH which are formed on a virtual vertical screen arranged at a position of 25 m ahead of the vehicle. The center line CL, the own lane line MRL, and the oncoming lane line ORL are illustrated in FIG. The own lane side line MRL extends in the lower left direction from the point of intersection (referred to as the point H-V) between the horizontal line H-H which is the vanishing point of the see-through view and the vertical line V-V. The lane side line ORL extends in the lower right direction from the point H-V.

  The low beam light distribution pattern PL is formed by the irradiation light from the low beam lamp unit 18 shown in FIG. The low beam light distribution pattern PL shown in FIG. 6 is a light distribution pattern that is considered not to give glare to oncoming vehicles or pedestrians when traveling in a city area or the like in areas where traffic regulations are on the left. The edges have cut-off cut-off lines CL1, CL2 and CL3 in the right and left. The cut-off line CL1 is formed on the right side of the V-V line of the vehicular headlamp 10 so as to extend in the horizontal direction as an opposite lane side cut-off line. The cutoff line CL2 is formed on the left side of the V-V line so as to extend in the horizontal direction at a position higher than the cutoff line CL1 as the own lane side cutoff line. The cut-off line CL3 is formed as a diagonal cut-off line connecting the end of the cut-off line CL2 on the V-V line side and the end of the cut-off line CL1 on the V-V line side. The cut-off line CL3 extends from the intersection of the cut-off line CL1 and the V-V line obliquely upward to the left at an inclination angle of 45 °.

  The high beam light distribution pattern PH is formed by the irradiation light from the high beam lamp 20H. The high beam distribution pattern PH is formed additionally to the low beam distribution pattern PL. The high beam light distribution pattern PH mainly covers an area above the horizontal line HH. In the vehicle headlamp system 100 according to the present embodiment, in the high beam light distribution pattern PH, the area LS in which the forward vehicle FV is present is shielded. Thereby, the driver of the own vehicle can obtain a near view at the time of complete high beam light distribution pattern irradiation, suppressing the glare given to the driver of the preceding vehicle FV. The high beam light distribution pattern PH is also referred to as a "split light distribution pattern".

  FIG. 7 is a diagram for explaining the correction of the irradiation range in the vehicle headlamp system 100 according to the present embodiment. As shown in FIG. 7, the first front vehicle position of the front vehicle FV detected by the camera 102 is set to “A ° −A ′ °”. Further, the light shielding position determined by the irradiation range determination unit 112 based on the first forward vehicle position A ° -A '° is set as "C ° -C' °". Here, it is assumed that the first front car position A ° -A '° and the light shielding position C ° -C' ° are deviated due to the attachment positions of the camera 102 and the high beam lamp unit 20 being shifted. . When the high beam lamp unit 20 is irradiated at the light shielding position C [deg.]-C '[deg.] As it is, glare is given to the forward vehicle FV. Therefore, it is necessary to correct the irradiation range (that is, the light shielding position).

  The second preceding vehicle position of the preceding vehicle FV detected by the laser radar 120 is set to “B ° −B ′ °”. At this time, assuming that there is no misalignment between the laser radar 120 and the high beam lamp unit 20, the misalignment amount α ° between the light shielding position C ° −C ′ ° and the first front vehicle position A ° −A ′ ° based on the camera is , C ° -B ° or C '° -B' °. Therefore, by correcting the light shielding position C ° -C '° by the shift amount α °, it is possible to shield the forward vehicle FV with high accuracy.

Hereinafter, conditions for correcting the irradiation range will be described.
(1) When the distance from the vehicle to the preceding vehicle does not change for a predetermined time The irradiation range correction unit 114 corrects the irradiation range when the distance from the vehicle to the preceding vehicle does not change for a predetermined time. For example, when running at the same speed as the preceding vehicle, or when both the own vehicle and the preceding vehicle are at a stop. The distance from the host vehicle to the vehicle ahead can be detected based on the image captured by the camera 102. The predetermined time is set to, for example, one second or more.
(2) When the vehicle is traveling The irradiation range correction unit 114 corrects the irradiation range when the vehicle is traveling. More preferably, the irradiation range correction unit 114 corrects the irradiation range when the vehicle is traveling straight. Whether or not the own vehicle is traveling can be determined based on the information from the vehicle speed sensor 108. Further, it can be determined based on the information from the vehicle speed sensor 108 and the information from the steering sensor 106 whether or not the host vehicle is traveling straight. For example, when the steering angle is within a preset angle range (for example, within ± 5 °), it is determined that the vehicle is traveling straight.
(3) When the distance from the vehicle to the preceding vehicle is equal to or less than a predetermined distance The irradiation range correction unit 114 corrects the irradiation range when the distance from the vehicle to the preceding vehicle is equal to or less than a predetermined distance. The predetermined distance is set to, for example, 50 m or less. The irradiation range correction unit 114 may change this predetermined distance in accordance with the traveling speed of the vehicle. For example, the predetermined distance is increased as the traveling speed is higher.

  Due to the deviation between the data acquisition timing by the camera 102 and the data acquisition timing by the laser radar 120, an error of the deviation amount α ° may become large. Therefore, it is preferable to use the average value of a fixed period for acquisition data.

  In the vehicular headlamp system 100 according to the present embodiment, control unit 104 may further include disparity correction unit 116. When the distance from the subject vehicle to the preceding vehicle is equal to or less than a predetermined value, the parallax correction unit 116 irradiates the high beam lamp unit 20 due to the different installation positions of the camera 102 and the high beam lamp unit 20 on the vehicle. To correct the deviation of the image (this is called "parallax").

  FIG. 8 is a diagram for explaining the necessity of parallax correction. As shown in FIG. 8, a camera 102 for capturing an image of a preceding vehicle FV is provided at the front center of the vehicle 50, and left and right vehicle headlamps 10L and 10R are provided at the left and right ends, respectively. ing.

  Here, in the case where a forward vehicle FV (vehicle width W2) exists at a forward distance L of the vehicle 50 (vehicle width W1) and a split light distribution pattern is formed for the forward vehicle FV with the left vehicle headlamp 10L. Let's consider the parallax correction of. An angle between a line segment OC connecting the position C of the camera 102 and the point O ahead thereof and a line segment CM connecting the position C of the camera 102 and the central portion M of the front vehicle FV is denoted by α. Further, an angle formed by the line segment CM and a line segment connecting the position C of the camera 102 and the left end portion FL of the preceding vehicle FV is taken as θ1. Further, an angle between a line segment CM and a line segment connecting the position C of the camera 102 and the right end portion FR of the preceding vehicle FV is represented by θ2. The left-hand vehicle headlamp 10L is located to the left of the position C of the camera 102 by W1 / 2.

  In the position information of the preceding vehicle detected based on the image captured by the camera 102, the left end of the preceding vehicle FV in the direction of each of the angles θ1 and θ2 from the front of the own vehicle 50 with respect to the direction of the angle α. It is recognized that the part FL and the right end FL exist. If a split light distribution pattern is formed using this information as it is, an appropriate light distribution pattern can not be formed, which may give glare to the forward vehicle FV. In other words, the left irradiation part PL of the split light distribution pattern in the direction of angles θ1 and θ2 from the line connecting the left vehicle headlamp 10L and the point O 'in front of it as a reference direction When the split light distribution pattern is formed so that the boundary of the irradiation part PR is located, the boundary of the left irradiation part PL is located on the left outside by about the angle θ1 from the left end FL of the forward vehicle FV, as shown in FIG. The boundary of the right side irradiation part PR is located on the right outer side (that is, near the center of the front vehicle FV) by about the angle θ2 than the left end portion FL of the front vehicle FV. As can be seen from FIG. 8, in this state, the right side irradiation unit PR glares the forward vehicle FV, and a non-irradiation area exists between the left side irradiation unit PL and the forward vehicle FV. Was not able to illuminate the surroundings of Such an event is caused by the installation positions of the camera 102 and the left vehicle headlamp 10L being different.

FIG. 9 is a diagram for describing a parallax correction method in the vehicle headlamp system according to the present embodiment. First, parallax correction of the left side illumination unit PL will be described. If the vehicle width of the own vehicle 50 and the forward vehicle FV is the same (ie, W1 = W2 = W), the following relational expression (1) is derived geometrically.
θ1 = α−tan ⁻¹ {tan α− (W / 2L)} (1)
Assuming that α can be ignored (that is, the vehicle 50 and the preceding vehicle FV are in a straight line), the following relational expression (2) is obtained.
θ1 = tan ⁻¹ (W / 2L) (2)

  The parallax correction unit 116 calculates the angle θ1 according to the above-described relational expression (1) or (2). The angle θ1 calculated by the parallax correction unit 116 is given to the irradiation control unit 118. The irradiation control unit 118 controls the left irradiation unit PL in the irradiation range of the high beam lamp unit determined by the irradiation range determination unit 112 or the left irradiation unit PL in the irradiation range corrected by the irradiation range correction unit 114 by an angle θ1 Move to Thereby, as shown in FIG. 9, the boundary of the left side irradiation part PL can be located in the left end part FL of the preceding vehicle FV.

Next, parallax correction of the right side illumination unit PR will be described. The movement angle of the right side irradiation part PR necessary for positioning the boundary of the right side irradiation part PR at the right end portion FR of the preceding vehicle FV is Δθ. When the vehicle width of the own vehicle 50 and the forward vehicle FV is the same (ie, W1 = W2 = W), the following relational expression (3) is derived geometrically.
Δθ = tan ⁻¹ {tan α + (W / L)} − (α + θ2) (3)
Assuming that α can be ignored (ie, the vehicle 50 and the forward vehicle FV are in a straight line), the following relational expression (4) is obtained.
Δθ = tan ⁻¹ (W / L) −θ 2 (4)

  The parallax correction unit 116 calculates the angle Δθ according to the above-described relational expression (3) or (4). The angle Δθ calculated by the parallax correction unit 116 is given to the irradiation control unit 118. The irradiation control unit 118 controls the right irradiation unit PR in the irradiation range of the high beam lamp unit determined by the irradiation range determination unit 112 or the right irradiation unit PR in the irradiation range corrected by the irradiation range correction unit 114 by an angle Δθ Move to Thereby, as shown in FIG. 9, the boundary of the right side irradiation part PR can be located in the right end part FR of the preceding vehicle FV. Thus, the surroundings of the front vehicle FV can be suitably illuminated without giving glare to the front vehicle FV.

  As understood from the equation (1) or (2), the angles θ1 and Δθ increase as the inter-vehicle distance L between the vehicle 50 and the preceding vehicle FV decreases. Therefore, it is preferable to perform the above-described parallax correction when the inter-vehicle distance L between the vehicle 50 and the preceding vehicle FV is equal to or less than a predetermined value.

  FIG. 10 is a vertical cross-sectional view of the vehicle headlamp according to the embodiment of the present invention. As described above, in the lamp chamber 16 of the vehicular headlamp 10, the high beam lamp unit 20 and the laser radar 120 are provided. The high beam lamp unit 20 and the laser radar 120 are attached and fixed to the same fixing frame 122. The fixing frame 122 is attached to the lamp body 12 via the aiming screw 124. The fixing frame 122 tiltably supports the high beam lamp unit 20 with respect to the lamp body 12. As described above, by mounting and fixing the laser radar 120 and the high beam lamp unit 20 on the same fixing frame 122, positional deviation between the laser radar 120 and the high beam lamp unit 20 can be made more difficult to occur.

  The present invention has been described above based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications and that various modifications can be made to the combination of each component and each processing process, and such modifications are also within the scope of the present invention.

  For example, although the above-described embodiment illustrates a blade-based ADB system using a blade, the ADB system is not particularly limited to the blade system, and for example, a large number of LEDs mounted in an array are individually turned on and off. An LED array system for forming a light distribution or a shade system using a rotary shade may be used.

  Reference Signs List 10 vehicle headlamp, 12 lamp body, 16 lamp room, 18 low beam lamp unit, 20 high beam lamp unit, 26 rotation reflector, 28 LED, 30 convex lenses, 100 vehicle headlamp system, 102 camera, 104 control 106 steering sensor 108 vehicle speed sensor 110 forward vehicle detection unit 112 irradiation range determination unit 114 irradiation range correction unit 116 parallax correction unit 118 irradiation control unit 120 laser radar 122 fixing frame.

Claims (4)

A lamp unit capable of controlling an irradiation range of light to the front of the vehicle, and a radar for scanning the front of the vehicle;
A camera provided outside the lamp of the vehicle headlamp for imaging the front of the vehicle;
A control unit configured to control an irradiation range of the lamp unit based on the information acquired by the camera and the information acquired by the radar;
Equipped with
The control unit
A forward vehicle detection unit that detects a forward vehicle position based on an image captured by the camera;
An irradiation range determination unit that determines an irradiation range of the lamp unit so as to suppress the irradiation of light to a preceding vehicle based on the first preceding vehicle position information detected by the preceding vehicle detection unit;
The first front vehicle position and the irradiation range resulting from the mounting position of the camera and the lamp unit on the vehicle being deviated from the correct mounting position based on the second front vehicle position information acquired by the radar An irradiation range correction unit that corrects a deviation from the irradiation range determined by the determination unit;
The vehicle headlamp system according to claim Rukoto equipped with. The vehicle headlamp system according to claim 1 , wherein the irradiation range correction unit corrects the irradiation range when the distance from the host vehicle to the preceding vehicle does not change for a predetermined time. The vehicle headlamp system according to claim 2 , wherein the irradiation range correction unit corrects the irradiation range when the vehicle is traveling. The control unit corrects the deviation of the illumination direction of the lamp unit due to the difference in the installation position of the camera and the lamp unit on the vehicle when the distance from the host vehicle to the preceding vehicle is less than a predetermined value. The vehicle headlamp system according to any one of claims 1 to 3 , further comprising a correction unit.