JP7291524B2 - Vehicle headlight device - Google Patents

Description

The present invention relates to a vehicle headlamp device.

BACKGROUND ART Conventionally, a vehicle headlight device (headlamp) using ADB (Adaptive Driving Beam) control is known. ADB control detects vehicles in front of the vehicle, such as preceding and oncoming vehicles, from images captured by the in-vehicle camera, and changes the light distribution pattern of the headlamps based on the detection results. It is a control that allows

ADB control can form a light distribution pattern called an intermediate high beam in which the area where the vehicle ahead is present is shaded and the other area is illuminated with a high beam in the irradiation range of the headlamps. With this light distribution pattern, it is possible to ensure a wide range of distant vision without blinding the driver of the vehicle ahead. An example of an intermediate high beam is described in US Pat.

Japanese Patent Application Laid-Open No. 2008-37240

In the conventional ADB control as described above, in order to shade the area where the forward vehicle recognized by the in-vehicle camera exists, a light distribution pattern is formed that also shades the vehicle parked on the road in front of the own vehicle.

If a vehicle parked on the road is blocked from light, the visibility of the vehicle becomes poor, and pedestrians on the side of the parked vehicle (for example, pedestrians trying to cross the road from the side of the parked vehicle) Pedestrians, too, may be less visible.

If a vehicle parked on the road does not have a driver or a passenger, there is no need to shade the vehicle. Even if a vehicle parked on the street has a driver or passenger in it, it is unlikely to pose a traffic safety hazard due to dazzle when this vehicle is illuminated with high beams.

Therefore, even if the vehicle ahead is parked on the road, it is unlikely that the vehicle will run. The high beam is used without blocking the light, so that the driver's field of vision is as wide as possible. It is considered preferable to ensure that

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle headlamp device capable of ensuring the widest possible field of vision for the driver of the vehicle when there is a vehicle ahead of the vehicle.

A vehicle headlight device according to the present invention includes a lamp unit that irradiates light forward of the own vehicle, a camera unit that captures an image of the front of the own vehicle, and information about a forward vehicle existing in front of the own vehicle. A control unit that controls the irradiation range of the lamp unit based on a radar unit that performs measurement, an image obtained by the camera unit, and information about the forward vehicle that is measured by the radar unit. When the control unit determines that the speed of the vehicle ahead measured by the radar unit is substantially zero and the lamp of the vehicle ahead is in an off state from the image, illuminate the vehicle.

Advantageous Effects of Invention According to the present invention, it is possible to provide a vehicle headlamp device capable of ensuring the widest possible field of vision for the driver of the vehicle when there is a vehicle ahead of the vehicle.

1 is a block diagram showing a schematic configuration of a vehicle headlamp device according to Embodiment 1 of the present invention; FIG. 4 is a diagram showing an operation flow of ADB control performed by the lamp ECU of the vehicle headlight device according to the first embodiment; FIG. FIG. 5 is a diagram showing a flow of a process of determining a light distribution pattern for a forward vehicle, which is performed by the lamp ECU of the vehicle headlight device according to the first embodiment; 4 is a diagram showing a region irradiated with a high beam in Example 1. FIG. FIG. 10 is a diagram showing a flow of a process of determining a light distribution pattern for a forward vehicle, which is performed by the lamp ECU of the vehicle headlamp device according to Embodiment 2 of the present invention;

The vehicle headlight device according to the present invention does not irradiate a vehicle in front of the vehicle that is running and a vehicle that is stopped and has a lamp (light) on with a high beam, and the vehicle is parked on the shoulder of a road or the like. A vehicle with its lights off is illuminated with high beams. Therefore, the vehicle headlight device according to the present invention can ensure the widest possible field of vision for the driver of the own vehicle even if there is a vehicle ahead. A forward vehicle is a vehicle that exists in front of the own vehicle, and includes a preceding vehicle, an oncoming vehicle, and a parked or stopped vehicle.

Although the vehicle headlight device includes a white LED as a light emitting device in the following embodiments, it may include a light emitting device other than the white LED (for example, a halogen lamp or a discharge lamp). Further, in the following embodiments, ADB control is performed by individually turning on and off each of the plurality of light emitting devices (white LEDs). ADB control may be implemented by

Hereinafter, the configuration and operation of a vehicle headlamp device according to an embodiment of the present invention will be described with reference to the drawings.

Embodiment 1 FIG. 1 is a block diagram showing a schematic configuration of a vehicle headlamp device 100 according to Embodiment 1 of the present invention.

A pair of vehicle headlight devices 100 are provided on the left and right in front of the vehicle and used to illuminate the front of the vehicle. The vehicle headlight device 100 includes a lamp section 101 , a camera section 102 , a radar section 103 , a lamp ECU (Electronic Control Unit) 104 and a housing 105 . The lamp unit 101 , the camera unit 102 , the radar unit 103 and the lamp ECU 104 are arranged inside the housing 105 . The lamp ECU 104 includes a lamp control section 106 , a camera control section 107 and a radar control section 108 .

The lamp unit 101 is a light source of the vehicle headlamp device 100, includes a plurality of light-emitting devices (a plurality of white LEDs), and irradiates a region in front of the vehicle with high beam or low beam light. The lamp unit 101 includes two rows of a plurality of (for example, 10) white LEDs arranged horizontally. That is, the lamp unit 101 includes a plurality of white LEDs arranged in a horizontal row corresponding to the low beam light distribution (hereinafter referred to as "first row LEDs") and a plurality of white LEDs arranged in a horizontal row corresponding to the high beam light distribution. of white LEDs (hereinafter referred to as “second row LEDs”). The lamp section 101 is controlled by a lamp control section 106 .

The camera unit 102 is composed of, for example, a CCD camera, an infrared camera, or the like, takes an image of the front of the vehicle, and transmits the image obtained by taking the image to the camera control unit 107 as image data.

The radar unit 103 is composed of, for example, an FMCW (Frequency Modulated Continuous Wave) modulation millimeter-wave radar or the like, and is used to detect an object in front of the own vehicle (for example, a vehicle existing in front of the own vehicle). be. The radar unit 103 radiates radio waves in the millimeter wave band (77 GHz or 79 GHz) with excellent linearity, receives reflected waves from objects in front, and performs signal processing to obtain information about the object, for example, the own vehicle. to the object, the relative velocity of the object with respect to the own vehicle, and the direction (angle) of the object with respect to the own vehicle. The radar unit 103 transmits information about the measured object (for example, distance, relative speed, and direction) to the radar control unit 108 as detection data.

The lamp ECU 104 is a control unit of the vehicle headlight device 100, and uses the lamp control unit 106, the camera control unit 107, and the radar control unit 108 to comprehensively control lighting and extinguishing of the vehicle headlight device 100. control. For example, the lamp ECU 104 determines the irradiation range of the lamp unit 101 based on the image obtained by the camera unit 102 and the information on the forward vehicle (the vehicle existing in front of the host vehicle) measured by the radar unit 103. to control.

The lamp control unit 106 performs lighting and extinguishing control of the lamp unit 101, high beam and low beam light distribution control, ADB control, and the like.

The camera control unit 107 executes control related to photographing by the camera unit 102, for example, control of photographing timing and capture operation of the photographed image, and receives an image obtained by photographing by the camera unit 102 from the camera unit 102. . Furthermore, the camera control unit 107 analyzes the image received from the camera unit 102 to detect the forward vehicle and the lane.

The radar control unit 108 executes control related to detection of an object by the radar unit 103, for example, control of operations such as radiation of radio waves and reception of reflected waves. receive.

During ADB control, the lamp control unit 106 sets an appropriate light distribution corresponding to the forward vehicle detected by the camera control unit 107, and turns on and off the plurality of white LEDs of the lamp unit 101 based on the set light distribution. Extinguishing is individually controlled for each white LED.

During low beam distribution, the lamp control unit 106 turns on all the first row LEDs and turns off all the second row LEDs.

During high beam distribution, the lamp control unit 106 turns off all the first row LEDs and turns on all the second row LEDs.

When performing the conventional ADB control, the lamp control unit 106 turns off the white LEDs that illuminate the position of the forward vehicle detected by the camera control unit 107 from the image captured by the camera unit 102 among the second row LEDs. , to individually control the lighting and extinguishing of a plurality of white LEDs so that the remaining white LEDs are turned on. A light distribution pattern in which the white LEDs that illuminate the position of the vehicle in front of the second row of LEDs are turned off and the remaining white LEDs are turned on is called an intermediate high beam.

The lamp ECU 104 includes, for example, one or more CPUs (Central Processing Units), ROMs (Read Only Memories), RAMs (Random Access Memories), and the like. , realizes the functions of the lamp ECU 104 . Each function of the lamp ECU 104 may be realized by hardware such as an FPGA (Field Programmable Gate Array).

A pair of vehicle headlamp devices 100 are connected to a vehicle control device 200 provided in the vehicle via an in-vehicle network.

The vehicle control device 200 comprehensively controls the running of the own vehicle. In addition, the vehicle control device 200 transmits to the lamp ECU 104 information for controlling the vehicle headlight device 100 and information about the vehicle such as the speed of the vehicle (absolute speed relative to the road) and yaw rate. . Further, the vehicle control device 200 receives image data acquired by the camera unit 102 and detection data of the radar unit 103 from the lamp ECU 104 .

The configuration of the vehicle headlamp device 100 shown in FIG. 1 is merely an example. The configuration of the vehicle headlamp device according to the present invention is not limited to the configuration shown in FIG. 1, and other configurations may be provided. For example, one or both of the camera section 102 and the radar section 103 may be arranged outside the housing 105 .

Next, the details of the processing performed by the lamp ECU 104 of the vehicle headlamp device 100 according to this embodiment will be described.

FIG. 2 is a diagram showing an operation flow of ADB control performed by the lamp ECU 104 of the vehicle headlight device 100 according to this embodiment. The lamp ECU 104 executes the processing shown in the flowchart of FIG. 2 by a program executed by the CPU, for example. Note that the ADB control can be performed whether the own vehicle is running or stopped.

In step S110, the lamp ECU 104 initializes the light distribution pattern. The lamp control unit 106 turns on all the LEDs in the first row and turns off all the LEDs in the second row, thereby initializing the light distribution pattern related to the ADB control to a low beam light distribution.

In step S120, the camera control unit 107 acquires an image in front of the host vehicle from the camera unit 102, analyzes this image by image processing, and detects an image of the vehicle ahead. The image processing at this time can use a conventional method such as binarization, Hough transform, or color identification, so the detailed description of the image processing is omitted. The camera control unit 107 can detect images of a plurality of forward vehicles. The camera control unit 107 can also detect lanes by analyzing an image in front of the vehicle.

In step S<b>130 , the radar control unit 108 acquires information about the forward vehicle measured by the radar unit 103 from the radar unit 103 . The radar control unit 108 acquires information about the forward vehicle, such as the distance from the own vehicle to the forward vehicle, the relative speed of the forward vehicle with respect to the own vehicle, and the direction (angle) of the forward vehicle relative to the own vehicle.

Note that step S130 may be performed before step S120.

In step S140, the lamp ECU 104 determines whether or not the camera control unit 107 has detected an image of the forward vehicle in step S120, that is, whether or not the forward vehicle has been successfully detected by image processing. A conventional method can be used for this determination. As described above, the camera control unit 107 may detect multiple forward vehicles.

When camera control unit 107 determines that the vehicle ahead has been detected, lamp ECU 104 advances the process to step S150.

When the camera control unit 107 determines that the forward vehicle has not been detected, the lamp ECU 104 returns the processing to step S120 and repeats the processing from S120 to S140.

In step S150, the lamp ECU 104 determines the light distribution pattern for the forward vehicle. Details of the processing in step S150 will be described later with reference to FIG. When the camera control unit 107 detects a plurality of forward vehicles, the process of step S150 is performed for each of the forward vehicles (see step S160, which will be described later).

In step S160, the lamp ECU 104 determines whether or not the light distribution patterns for all forward vehicles detected by the camera control unit 107 have been determined.

If the light distribution patterns for all forward vehicles have not been determined, the lamp ECU 104 returns the process to step S150 and determines the light distribution patterns for the forward vehicles whose light distribution patterns have not been determined.

When the light distribution patterns for all forward vehicles have been determined, lamp ECU 104 advances the process to step S170.

In step S170, the lamp ECU 104 causes the lamp unit 101 to illuminate the forward vehicle with the light distribution pattern determined in step S150, and illuminate a forward area where no forward vehicle exists with a high beam. That is, the lamp ECU 104 turns on or off the white LEDs of the second row LEDs that illuminate the area where the vehicle ahead is present according to the light distribution pattern determined in step S150, and the white LEDs that illuminate the area where the vehicle ahead is not present. light up. When a plurality of forward vehicles are detected, if a white LED that is lit in the light distribution pattern for a certain forward vehicle is extinguished in the light distribution pattern for another forward vehicle, the white LED is extinguished.

After completing step S170, lamp ECU 104 returns the process to step S120.

Next, in this embodiment, the details of the process of determining the light distribution pattern for the preceding vehicle, which is performed by the lamp ECU 104 in step S150 of FIG. 2, will be described with reference to FIG.

FIG. 3 is a diagram showing a flow of light distribution pattern determination processing for a forward vehicle, which is performed by the lamp ECU 104 of the vehicle headlight device 100 according to this embodiment. The lamp ECU 104 executes the process of determining the light distribution pattern in step S150 according to the flowchart of FIG.

In step S<b>210 , the lamp ECU 104 determines whether or not the speed (absolute speed) of the forward vehicle is substantially zero based on the relative speed of the forward vehicle with respect to the own vehicle acquired from the radar unit 103 . The ramp ECU 104 uses the speed (absolute speed) of the host vehicle obtained from the vehicle control device 200 and the relative speed of the vehicle ahead to determine the absolute speed of the vehicle ahead. If the obtained absolute speed of the vehicle ahead is within a predetermined range, the lamp ECU 104 determines that the speed of the vehicle ahead is substantially zero, and if it is outside this range, determines that the speed of the vehicle ahead is not substantially zero. do.

When determining that the speed of the forward vehicle is substantially zero, lamp ECU 104 advances the process to step S220.

When determining that the speed of the forward vehicle is not substantially zero, lamp ECU 104 advances the process to step S250.

In step S220, the lamp ECU 104 extracts the area of the lamp of the forward vehicle (eg, tail lamp or headlamp) from the image of the forward vehicle detected by the camera control unit 107 in step S120 of FIG. Conventional methods can be used to extract the area of the lamp.

In step S230, the lamp ECU 104 determines whether or not the lamps of the forward vehicle are in an off state from the region of the lamps of the forward vehicle extracted in step S220. A conventional method can be used for this determination.

When determining that the lamps of the vehicle ahead are in the off state, lamp ECU 104 advances the process to step S240.

When determining that the lamps of the preceding vehicle are not in the off state (that is, are in the on state), the lamp ECU 104 advances the process to step S250.

In step S240, the lamp ECU 104 determines a light distribution pattern so that the white LEDs that illuminate the position of the forward vehicle among the second row LEDs are turned on. In the light distribution pattern determined in step S240, the second row of LEDs indicates a vehicle in front that has approximately zero speed (i.e., the vehicle is stopped) and whose lamps (e.g., tail lamps or headlamps) are off. Irradiate.

In step S250, the lamp ECU 104 determines a light distribution pattern so as to turn off the white LEDs that illuminate the position of the forward vehicle among the second row LEDs. In the light distribution pattern determined in step S250, the second row of LEDs indicates that the vehicle in front has a non-zero speed (i.e., is running) and the vehicle ahead has a speed that is substantially zero (i.e., is stopped) and the lamp is turned on. Do not illuminate the vehicle ahead that is lit. A vehicle ahead that is stopped and whose lamp is on is, for example, a vehicle that is stopped at a traffic light, and such a vehicle ahead is not illuminated by the second row LED (ie, high beam).

In steps S240 and S250, the lamp ECU 104 can determine which white LEDs should be lit and which should be extinguished from the image of the vehicle in front and the arrangement of the white LEDs.

When the process of step S240 or step S250 ends, the lamp ECU 104 ends the light distribution pattern determination process for the forward vehicle shown in FIG.

FIG. 4 is a diagram showing a region 500 irradiated with a high beam in this embodiment.

In FIG. 4, as an example, the own vehicle is traveling on the left side road 310 of the road with one lane in each direction, the forward vehicle 450 (preceding vehicle) is traveling on the left side road 310, and the left side of the left side road 310 is A state in which a forward vehicle 400 is parked on a road shoulder 320 is shown. The tail lamp 410 of the forward vehicle 400 parked on the road shoulder 320 is turned off. There is no forward vehicle (oncoming vehicle) on the right side road 330, which is the oncoming lane.

The lamp ECU 104 determines that the speed of the forward vehicle 400 is substantially zero from the relative speed of the forward vehicle 400 acquired from the radar unit 103 (step S210). Lamp ECU 104 extracts the area of tail lamp 410 from the image of forward vehicle 400 and determines that tail lamp 410 is off (step S230). Therefore, lamp ECU 104 determines a light distribution pattern for forward vehicle 400 so that the white LED that illuminates the position of forward vehicle 400 is lit (step S240).

Moreover, the lamp ECU 104 determines that the speed of the forward vehicle 450 is not substantially zero from the relative speed of the forward vehicle 450 acquired from the radar unit 103 (step S210). Therefore, the lamp ECU 104 determines a light distribution pattern for the forward vehicle 450 so as to turn off the white LED that illuminates the position of the forward vehicle 450 (step S250).

The lamp ECU 104 irradiates the front region 500 with a high beam as shown in FIG. 4 according to the light distribution pattern determined as described above (step S170). That is, an area 500 consisting of an area including the parked and unlit forward vehicle 400 and an area of the right side road 330 where the forward vehicles 400 and 450 do not exist is illuminated with a high beam, and the forward vehicle 450, which is the preceding vehicle, exists. Do not illuminate the area with high beams. Therefore, the lamp unit 101 illuminates the parked and unlit forward vehicle 400 with the high beam, and does not illuminate the preceding vehicle with the high beam.

Even if there is a vehicle 400 parked with its lamp turned off in front of the own vehicle, the vehicle headlight device 100 according to the present embodiment uses the high beam to detect such a vehicle 400 in front, which is unlikely to run. Since the light is emitted, it is possible to ensure the widest possible field of view for the driver of the host vehicle without dazzling the driver of the forward vehicle 450 .

A vehicle headlamp device 100 according to a second embodiment of the present invention will be described.

The lamp ECU 104 of the vehicle headlight device 100 according to the present embodiment performs the same processing as the ADB control (FIG. 2) performed by the lamp ECU 104 of the vehicle headlight device 100 according to the first embodiment. However, in this embodiment, the process of determining the light distribution pattern for the forward vehicle in step S150 of FIG. 2 is different from that of the first embodiment (FIG. 3). In the following, the difference from the first embodiment in the process of determining the light distribution pattern for the forward vehicle in step S150 will be described.

FIG. 5 is a diagram showing a flow of light distribution pattern determination processing for a forward vehicle, which is performed by the lamp ECU 104 of the vehicle headlight device 100 according to this embodiment. The lamp ECU 104 executes the process of determining the light distribution pattern in step S150 according to the flowchart of FIG. In the flow shown in FIG. 5, steps S210 to S230, step S240, and step S250 are the same as those in the first embodiment (FIG. 3).

In step S300, the lamp ECU 104 calculates the position of the vehicle in front of the host vehicle (the position of the vehicle ahead of the host vehicle) from the distance from the host vehicle to the forward vehicle and the direction (angle) of the forward vehicle with respect to the host vehicle, which are obtained from the radar unit 103. The distance along the direction of travel and the distance in the direction perpendicular to the direction of travel) are calculated.

In step S310, the lamp ECU 104 determines whether or not a forward vehicle exists on the vehicle travel path based on the position of the forward vehicle obtained in step S300, the lane information detected in step S120, the vehicle speed, and the yaw rate. It is determined whether or not there is on the running path of A vehicle travel path includes a travel lane, an overtaking lane, and an oncoming lane. Using the lane information, the speed of the own vehicle, and the yaw rate, for example, even if the own vehicle is traveling on a curve and the preceding vehicle is outside the lamp irradiation range, it is possible to determine whether or not the preceding vehicle is on the vehicle's travel path. can be determined. The fact that the vehicle in front is not on the road of the vehicle means that the vehicle in front is in a position where the vehicle should not run, such as a road shoulder, a parking space, or a sidewalk. For example, if the distance from the host vehicle to the forward vehicle in the direction perpendicular to the traveling direction is equal to or less than a threshold determined by the curve shape estimated from the speed and yaw rate of the host vehicle and the lane information, the forward vehicle If it is larger than this threshold, it is determined that the preceding vehicle is not present on the road.

If it is determined that the vehicle in front is on the road of the vehicle, lamp ECU 104 advances the process to step S250.

When determining that the forward vehicle does not exist on the vehicle's travel road, lamp ECU 104 advances the process to step S240.

In step S240, the lamp ECU 104 determines a light distribution pattern so that the white LEDs that illuminate the position of the forward vehicle among the second row LEDs are turned on. In the light distribution pattern determined in step S240, the second row LEDs indicate that the speed is approximately zero (i.e., the vehicle is stopped), the lamps (e.g., tail lamps or headlamps) are off, and the vehicle's Irradiate the vehicle ahead that is not on the road. A vehicle in front that is stopped with its lamps turned off on a road other than the vehicle's travel path is, for example, a vehicle that is stopped on the shoulder with its lamps turned off. ).

In step S250, the lamp ECU 104 determines a light distribution pattern so as to turn off the white LEDs that illuminate the position of the forward vehicle among the second row LEDs. In the light distribution pattern determined in step S250, the second row of LEDs indicates that the vehicle in front has a non-zero speed (i.e., is running) and the vehicle ahead has a speed that is substantially zero (i.e., is stopped) and the lamp is turned on. A forward vehicle that is lit and a forward vehicle that has a speed of approximately zero and whose lamps are off and that is present in the travel path of the vehicle is not illuminated. A vehicle in front that is stopped on the road with its lamps turned off is, for example, a vehicle that is stopped at a red light on the road with its lamps turned off. That is, do not irradiate with high beam).

The vehicle headlight device 100 according to the present embodiment can detect a vehicle in front of the vehicle (for example, a red light at a red light) even if the vehicle is stopped in front of the vehicle with its lamp turned off. Vehicles parked on the road) are not irradiated with high beams, and vehicles in front that are not stopped on the road of the vehicle (for example, vehicles parked on the shoulder of the road) are irradiated with high beams. Therefore, the vehicle headlamp device 100 according to this embodiment can ensure the widest possible field of vision for the driver of the own vehicle without dazzling the driver of the preceding vehicle.

It should be noted that the present invention is not limited to the above embodiments, and various modifications are possible. For example, the above embodiments have been described in detail in order to facilitate understanding of the present invention, and the present invention is not necessarily limited to aspects having all the described configurations. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment. It is also possible to add the configuration of another embodiment to the configuration of one embodiment. Moreover, it is possible to delete a part of the configuration of each embodiment, or to add or replace another configuration.

DESCRIPTION OF SYMBOLS 100... Vehicle headlamp apparatus, 101... Lamp part, 102... Camera part, 103... Radar part, 104... Lamp ECU, 105... Housing, 106... Lamp control part, 107... Camera control part, 108... Radar control Parts 150 Vehicle headlight device 200 Vehicle control device 310 Left road 320 Road shoulder 330 Right road 400 Front vehicle 410 Tail lamp 450 Front vehicle 500 High beam illumination area to do.

Claims (4)

a lamp unit that irradiates light in front of the own vehicle;
a camera unit that captures the front of the own vehicle;
a radar unit that measures information about a forward vehicle existing in front of the own vehicle;
a control unit that controls the irradiation range of the lamp unit based on the image obtained by the camera unit and the information about the forward vehicle measured by the radar unit;
with
The control unit obtains the position of the forward vehicle from information about the forward vehicle measured by the radar unit,
The controller determines that the speed of the forward vehicle measured by the radar unit is substantially zero , that the lamps of the forward vehicle are off from the image, and that the forward vehicle is present on the vehicle travel path. If it is determined not to illuminate the preceding vehicle with the lamp unit ,
When the controller determines that the speed of the vehicle in front is substantially zero, the lamp of the vehicle in front is off, and the vehicle in front is on the road of the vehicle, the lamp is turned off. Do not let the part irradiate the preceding vehicle,
A vehicle headlamp device characterized by: When the controller determines that the speed of the forward vehicle is not substantially zero, the controller does not cause the lamp unit to illuminate the forward vehicle.
The vehicle headlamp device according to claim 1. When the control unit determines that the speed of the forward vehicle is substantially zero and that the lamp of the forward vehicle is in a lighting state, the lamp unit does not illuminate the forward vehicle.
The vehicle headlamp device according to claim 1. The lamp unit includes a plurality of light emitting devices that emit high beams,
The lamp part
when the control unit illuminates the forward vehicle, lighting the light emitting device that illuminates the forward vehicle among the plurality of light emitting devices;
When the control unit does not illuminate the forward vehicle, the light emitting device that illuminates the forward vehicle among the plurality of light emitting devices is extinguished.
The vehicle headlamp device according to any one of claims 1 to 3 .

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