WO2013021795A1 - In-vehicle control device - Google Patents

In-vehicle control device Download PDF

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Publication number
WO2013021795A1
WO2013021795A1 PCT/JP2012/068268 JP2012068268W WO2013021795A1 WO 2013021795 A1 WO2013021795 A1 WO 2013021795A1 JP 2012068268 W JP2012068268 W JP 2012068268W WO 2013021795 A1 WO2013021795 A1 WO 2013021795A1
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WIPO (PCT)
Prior art keywords
vehicle
headlight
oncoming vehicle
detected
oncoming
Prior art date
Application number
PCT/JP2012/068268
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French (fr)
Japanese (ja)
Inventor
俊輔 鈴木
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株式会社デンソー
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Publication of WO2013021795A1 publication Critical patent/WO2013021795A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/46—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for giving flashing caution signals during drive, other than signalling change of direction, e.g. flashing the headlights or hazard lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers

Definitions

  • the present invention relates to an in-vehicle control device.
  • Patent Literature 1 discloses a technique for switching the headlight of the host vehicle to a low beam when the headlight of the oncoming vehicle is detected. According to this technique, the field of view of the driver of the oncoming vehicle can be secured.
  • the vehicle-mounted control device of the present invention detects that the headlight of the oncoming vehicle is in a specific state defined in advance, and the object (preceding vehicle or pedestrian (for example, a pedestrian facing the host vehicle)). Is not detected, a notification process for notifying the driver of the oncoming vehicle that the headlight of the oncoming vehicle is in a specific state is performed. As a result, the driver of the oncoming vehicle can be urged to change the specific state, thereby ensuring the safety of the host vehicle.
  • the notification process since the condition for performing the notification process is that the object is not detected, the notification process does not adversely affect the object (for example, a decrease in visibility or an uncomfortable feeling).
  • Examples of the specific state include (a) a high beam state, (b) a state in which the light is turned on during the day, and (c) a state in which the light is turned off at night.
  • Examples of the notification process include passing (making the headlight temporarily upward (high beam)), a process of sounding a horn, and the like. Passing may be one that switches between a high beam and a low beam while the headlight is lit, or may be one that switches between a high beam lit state and a light off state.
  • the notification process when a specific state is detected and an object is detected, for example, the notification process can be prevented from being performed.
  • passing can be performed only with one headlight of the host vehicle. This one headlight can be, for example, a headlight closer to the oncoming vehicle.
  • the high beam state of the headlight of the oncoming vehicle can be detected as follows, for example. An image ahead of the host vehicle is acquired by a camera or the like mounted on the host vehicle, and a pattern peculiar to the “high beam state of the headlight of the oncoming vehicle” in the image is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the high beam state of the headlight of the oncoming vehicle has been detected.
  • the state where the headlight of the oncoming vehicle is lit in the daytime can be detected as follows, for example. First, it is detected that the current time is daytime.
  • the specific detection means for example, a camera that captures the outside of the vehicle is provided with a function of automatically adjusting the exposure according to the brightness outside the vehicle, and the exposure setting corresponds to daytime. It can be judged as daytime. Further, the time at that time may be acquired from the outside or from a clock function provided in the host vehicle, and the daytime may be detected based on the time.
  • an image ahead of the host vehicle is acquired with a camera or the like, and a pattern peculiar to “an oncoming vehicle with a headlight on” is searched for in the image using image recognition technology. If there is such a unique pattern, it is determined that the oncoming vehicle lights the headlight.
  • a pattern peculiar to “an oncoming vehicle with headlights on” for example, a position where an oncoming vehicle can exist (on the left side, if it is left-hand traffic, on the right side of the host vehicle, on the right side, on the left side of the host vehicle)
  • there is a pattern in which a region with high luminance exists corresponding to a headlight there is a pattern in which a region with high luminance exists corresponding to a headlight.
  • the state where the headlight of the oncoming vehicle is turned off at night can be detected as follows, for example. First, it is detected that the current time is nighttime.
  • the specific detection means for example, a camera that captures the outside of the vehicle is provided with a function of automatically adjusting the exposure according to the brightness outside the vehicle, and the exposure setting corresponds to nighttime. Can be judged at night. Further, the time at that time may be acquired from the outside or from a clock function provided in the host vehicle, and it may be detected that it is nighttime based on the time.
  • an image in front of the host vehicle is acquired with a near-infrared camera (a camera that can shoot an oncoming vehicle at night), etc., and in the image, a pattern peculiar to the oncoming vehicle is searched by image recognition technology. If there is a unique pattern, it is determined that there is an oncoming vehicle.
  • a pattern peculiar to the oncoming vehicle for example, a shape corresponding to the oncoming vehicle is located at a position where the oncoming vehicle can exist (the left side of the own vehicle if left-hand traffic, the left side of the own vehicle if right-hand traffic). There are patterns that exist.
  • the oncoming vehicle when it is determined that there is an oncoming vehicle, it is determined whether or not there is a high luminance area corresponding to the headlight that is lit at the position of the headlight in the oncoming vehicle. If there is a region with high brightness, the oncoming vehicle has the headlight turned on, and if there is no region with high brightness, the oncoming vehicle has turned off the headlight.
  • the preceding vehicle or the pedestrian can be detected using, for example, a laser radar or a millimeter wave radar in front of the host vehicle.
  • a laser radar or a millimeter wave radar in front of the host vehicle.
  • an image ahead of the host vehicle is acquired by a camera or the like, and a pattern unique to the preceding vehicle or a pedestrian is searched in the image by an image recognition technique. In this method, if there is a pattern specific to the preceding vehicle or pedestrian, it is determined that the preceding vehicle or pedestrian has been detected.
  • a preceding vehicle or a pedestrian is located at a position where a preceding vehicle or a pedestrian can exist (in the case of a preceding vehicle, in front of the own vehicle, in the case of a pedestrian, the end of the road).
  • a pattern in which a shape corresponding to a pedestrian exists is a pattern peculiar to a preceding vehicle or a pedestrian.
  • FIG. 1 is a block diagram showing the configuration of the in-vehicle control device 1.
  • FIG. 2 is a flowchart showing a passing determination process repeatedly executed by the in-vehicle control device 1 every predetermined time.
  • FIG. 3 is a flowchart showing a first environment determination process which is a part of the passing determination process.
  • FIG. 4 is a flowchart showing a second environment determination process which is a part of the passing determination process.
  • the configuration of the in-vehicle control device 1 will be described based on the block diagram of FIG.
  • the in-vehicle control device 1 is mounted on a vehicle and controls the headlamp 51 of the vehicle.
  • a vehicle on which the in-vehicle control device 1 is mounted is referred to as a host vehicle.
  • the in-vehicle control device 1 includes an image sensor 3, a yaw rate sensor 5, a vehicle speed sensor 7, and a laser radar 9.
  • the image sensor 3 includes a near-infrared camera 11 (first detection means) and a light control ECU (notification means) 13.
  • the near-infrared camera 11 is provided at a position where an image ahead of the host vehicle can be taken.
  • the range of images captured by the near-infrared camera 11 is a range in which an oncoming vehicle can be captured.
  • the near-infrared camera 11 can photograph an oncoming vehicle even at night.
  • the near-infrared camera 11 outputs image data of the captured image to the light control ECU 13.
  • the near-infrared camera 11 has a function of automatically adjusting the exposure automatically in accordance with the brightness outside the vehicle.
  • the near-infrared camera 11 outputs an exposure setting value (that is, data reflecting the brightness outside the vehicle) to the light control ECU 13.
  • the light control ECU 13 is constituted by a microcomputer or the like, and includes, for example, a CPU, a ROM, a RAM, an I / O, and a bus (not shown) for connecting them.
  • the light control ECU 13 executes processing to be described later on the basis of image data input from the near-infrared camera 11, exposure setting value, and object (preceding vehicle or face-to-face pedestrian) information input from the laser radar 9 or the like. Further, the light control ECU 13 outputs a passing request signal to the headlamp 51 based on a determination result in a process described later. When the headlamp 51 receives the passing request signal, the headlamp 51 performs passing (the headlight is temporarily turned upward (high beam)).
  • the yaw rate sensor 5 detects the angular velocity (that is, the yaw rate) in the turning direction of the host vehicle, and outputs the detected value to the light control ECU 13.
  • the vehicle speed sensor 7 detects the vehicle speed of the host vehicle and outputs the detected value to the light control ECU 13.
  • the yaw rate sensor 5 and the vehicle speed sensor 7 are connected to the light control ECU 13 via the CAN.
  • the laser radar (second detection means) 9 has a well-known configuration, and can detect an object (a preceding vehicle or a face-to-face pedestrian) existing in front of the host vehicle (including an obliquely forward direction). it can. When a preceding vehicle or a face-to-face pedestrian is detected, a detection signal (object information) is output to the light control ECU 13.
  • FIGS. 2 is a flowchart showing a passing determination process repeatedly executed by the vehicle-mounted control device 1 every predetermined time
  • FIG. 3 is a flowchart showing a first environment determination process which is a part of the passing determination process.
  • step 10 it is determined whether or not the environment in which the host vehicle is present is an environment that requires passing. This determination process will be described later.
  • step 20 it is determined whether or not a determination result indicating that the environment requires passing in step 10 is obtained. If a determination result indicating that the environment requires passing is obtained, the process proceeds to step 30. If a determination result indicating that the environment does not require passing is obtained, the present process is terminated.
  • step 30 it is determined whether or not the environment in which the host vehicle exists is an environment in which passing should be suppressed. This determination process will be described later.
  • step 40 it is determined whether or not a determination result indicating that the environment in which passing should be suppressed is obtained in step 30. If it is determined that the environment should not be suppressed (permitted), the process proceeds to step 50. If the determination result indicates that the environment should be suppressed, the process is terminated.
  • step 50 a passing request signal is output to the headlamp 51.
  • the headlamp 51 performs the passing in response to the passing request signal.
  • the first environment determination process will be described with reference to FIG.
  • step 110 it is determined whether it is detected that the headlight of the oncoming vehicle is in a high beam state (specific state (a)). Specifically, the determination is made as follows. An image in front of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to the “high beam state of the headlight of the oncoming vehicle” is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the high beam state of the headlight of the oncoming vehicle has been detected.
  • the pattern peculiar to the "high beam state of the headlight of the oncoming vehicle” is the position where the oncoming vehicle can exist (the left side of the host vehicle if left-hand traffic and the left side of the host vehicle if right-hand traffic). There is a high luminance area corresponding to the light, and the luminance is high enough to correspond to the high beam.
  • the process proceeds to step 120, and when the high beam state of the headlight of the oncoming vehicle is detected, the process proceeds to step 150.
  • step 120 it is determined whether or not a state where the headlight of the oncoming vehicle is lit in the daytime (a specific state (b)) is detected. Specifically, the determination is made as follows. First, based on the exposure setting value output from the near-infrared camera 11, it is determined whether or not the current time is daytime. Further, an image ahead of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to “an oncoming vehicle whose headlight is lit” is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the oncoming vehicle lights the headlight.
  • the pattern peculiar to the "oncoming vehicle with headlights on” is the position where the oncoming vehicle can exist (the left side of the vehicle if left-hand traffic, the left side of the vehicle if right-hand traffic) This is a pattern in which there is a high luminance area corresponding to a headlight.
  • step 130 If it is detected that the headlight of the oncoming vehicle is lit in the daytime, the process proceeds to step 150.
  • step 130 it is determined whether or not a state where the headlight of the oncoming vehicle is turned off at night (specific state (c)) is detected. Specifically, the determination is made as follows. First, based on the exposure setting value output from the near-infrared camera 11, it is determined whether or not the current time is nighttime. Further, an image ahead of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to the oncoming vehicle is searched for in the image by an image recognition technique. If there is a unique pattern, it is determined that there is an oncoming vehicle.
  • a pattern unique to an oncoming vehicle has a shape corresponding to the oncoming vehicle at a position where the oncoming vehicle can exist (the left side of the host vehicle if left-hand traffic and the left side of the host vehicle if right-hand traffic). It is a pattern. Further, when it is determined that there is an oncoming vehicle, it is determined whether or not there is a high luminance area corresponding to the headlight that is lit at the position of the headlight in the oncoming vehicle. If there is a region with high brightness, the oncoming vehicle has the headlight turned on, and if there is no region with high brightness, the oncoming vehicle has turned off the headlight. Then, when it is detected that the time at that time is nighttime and an oncoming vehicle whose headlight is turned off is detected, it is determined that the headlight of the oncoming vehicle is turned off at night.
  • step 140 it is determined that the environment does not require passing.
  • step 150 it is determined that the environment requires passing.
  • step 210 it is determined whether or not a preceding vehicle (object) has been detected.
  • a preceding vehicle is a vehicle that is traveling in the same direction as the host vehicle on the same road as the host vehicle (which may be the same lane or a different lane) and is ahead of the host vehicle. .
  • the preceding vehicle can be detected by the laser radar 9. If no preceding vehicle is detected, the process proceeds to step 220. If a preceding vehicle is detected, the process proceeds to step 240.
  • step 220 it is determined whether or not a facing pedestrian (object) has been detected.
  • a face-to-face pedestrian is a person who exists in front of the host vehicle on the road on which the host vehicle runs or in the vicinity thereof and walks toward the host vehicle. Face-to-face pedestrians can be detected by the laser radar 9. If no facing pedestrian is detected, the process proceeds to step 230. If a facing pedestrian is detected, the process proceeds to step 240.
  • step 230 it is determined that the environment should not be suppressed (should be allowed), and in step 240, it is determined that the environment should be suppressed. 3. Effects exhibited by the in-vehicle control device 1
  • the vehicle-mounted control device 1 includes a specific state in which the headlight of the oncoming vehicle is defined in advance ((a) a high beam state, (b) a daytime lighting state, and (c) a nighttime lighting state. If any of the above is detected and no preceding vehicle or face-to-face pedestrian is detected, passing is performed. As a result, the driver of the oncoming vehicle is informed that the headlight of the oncoming vehicle is in a specific state, and is urged to change the specific state, thereby ensuring the safety of the host vehicle.
  • the condition for performing the passing is that the preceding vehicle and the facing pedestrian are not detected, the preceding vehicle and the facing pedestrian are not adversely affected by the passing.
  • this invention is not limited to the said embodiment at all, and it cannot be overemphasized that it can implement with a various aspect in the range which does not deviate from this invention.
  • a millimeter wave radar may be used in place of the laser radar 9 as means for detecting a preceding vehicle or a face-to-face pedestrian.
  • a horn may be sounded instead of or in addition to passing.
  • the passing is performed only with the headlight on the opposite vehicle side of the pair of headlights of the own vehicle. You may do it. In this case, the headlight on the side opposite to the oncoming vehicle can remain as a low beam. By doing so, it is possible to reduce the adverse effect of the passing on the preceding vehicle (or the face-to-face pedestrian) as compared with the case of passing with both headlights.
  • SYMBOLS 1 Vehicle-mounted control apparatus, 3 ... Image sensor, 5 ... Yaw rate sensor, 7 ... Vehicle speed sensor, 9 ... Laser radar, 11 ... Near infrared camera, 13 ... Light control ECU, 51 ... Headlamp

Abstract

An in-vehicle control device (1) characterized in being equipped with: a first detection means (11) for detecting when the head lights of an oncoming vehicle are in a previously stipulated specific state; a second detection means (9) for detecting an object that is a preceding vehicle or a pedestrian; and an informing means (3) for informing the oncoming vehicle, when the first detection means (11) detects the specific state and the second detection means (9) does not detect an object, that the head lights of the oncoming vehicle are in the specific state. The head lights being (a) on high beam, (b) turned on during daylight, (c) turned off at night, etc. can be cited as examples of the specific state.

Description

車載制御装置In-vehicle control device
　本発明は車載制御装置に関する。 The present invention relates to an in-vehicle control device.
　対向車のヘッドライトを検出したとき、自車両のヘッドライトをロービームに切り替える技術が、例えば、特許文献１に開示されている。この技術によれば、対向車のドライバの視界を確保することができる。 For example, Patent Literature 1 discloses a technique for switching the headlight of the host vehicle to a low beam when the headlight of the oncoming vehicle is detected. According to this technique, the field of view of the driver of the oncoming vehicle can be secured.
特開昭６２－１３１８３７号公報JP-A-62-131837
　しかしながら、特許文献１に開示された技術では、対向車のヘッドライトがハイビームの場合、自車両のドライバの視界が悪くなってしまうという課題が残る。本発明は以上の点に鑑みなされたものであり、自車両の安全性を向上できる車載制御装置を提供することを目的とする。 However, with the technique disclosed in Patent Document 1, when the headlight of the oncoming vehicle is a high beam, there remains a problem that the visibility of the driver of the host vehicle is deteriorated. This invention is made | formed in view of the above point, and it aims at providing the vehicle-mounted control apparatus which can improve the safety | security of the own vehicle.
　本発明の車載制御装置は、対向車のヘッドライトが予め規定された特定状態であることを検出し、且つ対象物（先行車、又は歩行者（例えば自車両に対面している歩行者））を検出しない場合、対向車のヘッドライトが特定状態であることを対向車のドライバに報知する報知処理を行う。その結果、対向車のドライバにその特定状態を変えるよう促すことができ、それによって自車両の安全を確保することができる。 The vehicle-mounted control device of the present invention detects that the headlight of the oncoming vehicle is in a specific state defined in advance, and the object (preceding vehicle or pedestrian (for example, a pedestrian facing the host vehicle)). Is not detected, a notification process for notifying the driver of the oncoming vehicle that the headlight of the oncoming vehicle is in a specific state is performed. As a result, the driver of the oncoming vehicle can be urged to change the specific state, thereby ensuring the safety of the host vehicle.
　また、対象物を検出しないことを、報知処理を行う条件としているので、報知処理によって対象物に悪影響（例えば、視認性の低下、不快感等）を与えてしまうことがない。 In addition, since the condition for performing the notification process is that the object is not detected, the notification process does not adversely affect the object (for example, a decrease in visibility or an uncomfortable feeling).
　前記特定状態としては、例えば、（ａ）ハイビーム状態、（ｂ）昼間に点灯している状態、及び（ｃ）夜間に消灯している状態等が挙げられる。
　前記報知処理としては、例えば、パッシング（ヘッドライトを一時的に上向き（ハイビーム）とすること）、クラクションを鳴らす処理等が挙げられる。パッシングは、ヘッドライトが点灯したままで、ハイビームとロービームとを切り替えるものであってもよいし、ハイビームで点灯した状態と消灯した状態とを切り替えるものであってもよい。 Examples of the specific state include (a) a high beam state, (b) a state in which the light is turned on during the day, and (c) a state in which the light is turned off at night.
Examples of the notification process include passing (making the headlight temporarily upward (high beam)), a process of sounding a horn, and the like. Passing may be one that switches between a high beam and a low beam while the headlight is lit, or may be one that switches between a high beam lit state and a light off state.
　本発明の車載制御装置において、特定状態を検出し、且つ対象物を検出している場合、例えば、報知処理を行わないようにすることができる。あるいは、特定状態を検出し、且つ対象物を検出している場合、例えば、自車両の片方のヘッドライトのみでパッシングを行うようにすることができる。この片方のヘッドライトは、例えば、対向車に近い側のヘッドライトとすることができる。 In the in-vehicle control device of the present invention, when a specific state is detected and an object is detected, for example, the notification process can be prevented from being performed. Alternatively, when a specific state is detected and an object is detected, for example, passing can be performed only with one headlight of the host vehicle. This one headlight can be, for example, a headlight closer to the oncoming vehicle.
　対向車のヘッドライトのハイビーム状態は、例えば、以下のようにして検出できる。自車両の前方の画像を、自車両に搭載したカメラ等で取得し、その画像において、「対向車のヘッドライトのハイビーム状態」に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車のヘッドライトのハイビーム状態を検出したと判断する。「対向車のヘッドライトのハイビーム状態」に特有のパターンとしては、例えば、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、ヘッドライトに相当する、輝度の高い領域が存在し、その輝度がハイビームに対応するだけの高輝度であるパターンがある。 The high beam state of the headlight of the oncoming vehicle can be detected as follows, for example. An image ahead of the host vehicle is acquired by a camera or the like mounted on the host vehicle, and a pattern peculiar to the “high beam state of the headlight of the oncoming vehicle” in the image is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the high beam state of the headlight of the oncoming vehicle has been detected. As a pattern peculiar to the “high beam state of the headlight of the oncoming vehicle”, for example, at a position where an oncoming vehicle can exist (on the left side if it is left-hand traffic, on the right side of the host vehicle if it is right-hand traffic) There is a pattern having a high luminance area corresponding to a headlight, and the luminance is high enough to correspond to a high beam.
　昼間に対向車のヘッドライトが点灯している状態は、例えば、以下のようにして検出できる。まず、その時点の時刻が昼間であることを検出する。その具体的な検出手段としては、例えば、車外を撮影するカメラに、車外の明るさに応じて露出を自動調整する機能を設けておき、その露出の設定が昼間に対応するものである場合に、昼間と判断することができる。また、外部から、あるいは自車両が備える時計機能から、その時点の時刻を取得し、その時刻に基づいて昼間であることを検出してもよい。 The state where the headlight of the oncoming vehicle is lit in the daytime can be detected as follows, for example. First, it is detected that the current time is daytime. As the specific detection means, for example, a camera that captures the outside of the vehicle is provided with a function of automatically adjusting the exposure according to the brightness outside the vehicle, and the exposure setting corresponds to daytime. It can be judged as daytime. Further, the time at that time may be acquired from the outside or from a clock function provided in the host vehicle, and the daytime may be detected based on the time.
　さらに、自車両の前方の画像をカメラ等で取得し、その画像において、「ヘッドライトが点灯している対向車」に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車がヘッドライトを点灯していると判断する。「ヘッドライトが点灯している対向車」に特有のパターンとしては、例えば、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、ヘッドライトに相当する、輝度の高い領域が存在するパターンがある。 Furthermore, an image ahead of the host vehicle is acquired with a camera or the like, and a pattern peculiar to “an oncoming vehicle with a headlight on” is searched for in the image using image recognition technology. If there is such a unique pattern, it is determined that the oncoming vehicle lights the headlight. As a pattern peculiar to “an oncoming vehicle with headlights on”, for example, a position where an oncoming vehicle can exist (on the left side, if it is left-hand traffic, on the right side of the host vehicle, on the right side, on the left side of the host vehicle) In addition, there is a pattern in which a region with high luminance exists corresponding to a headlight.
　そして、その時点の時刻が昼間であることを検出し、且つヘッドライトが点灯している対向車を検出した場合に、昼間に対向車のヘッドライトが点灯している状態であると判断できる。
　夜間に対向車のヘッドライトが消灯している状態は、例えば、以下のようにして検出できる。まず、その時点の時刻が夜間であることを検出する。その具体的な検出手段としては、例えば、車外を撮影するカメラに、車外の明るさに応じて露出を自動調整する機能を設けておき、その露出の設定が夜間に対応するものである場合に、夜間と判断することができる。また、外部から、あるいは自車両が備える時計機能から、その時点の時刻を取得し、その時刻に基づいて夜間であることを検出してもよい。 Then, when it is detected that the time at that time is daytime and an oncoming vehicle whose headlight is lit is detected, it can be determined that the headlight of the oncoming vehicle is lit during the daytime.
The state where the headlight of the oncoming vehicle is turned off at night can be detected as follows, for example. First, it is detected that the current time is nighttime. As the specific detection means, for example, a camera that captures the outside of the vehicle is provided with a function of automatically adjusting the exposure according to the brightness outside the vehicle, and the exposure setting corresponds to nighttime. Can be judged at night. Further, the time at that time may be acquired from the outside or from a clock function provided in the host vehicle, and it may be detected that it is nighttime based on the time.
　また、自車両の前方の画像を近赤外線カメラ（夜間においても対向車を撮影可能なカメラ）等で取得し、その画像において、対向車に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車があると判断する。対向車に特有のパターンとしては、例えば、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、対向車に対応する形状が存在するパターンがある。さらに、対向車があると判断した場合、その対向車におけるヘッドライトの位置に、点灯しているヘッドライトに相当する、輝度の高い領域が存在するか否かを判断する。この輝度の高い領域があれば、対向車はヘッドライトを点灯していることになり、輝度の高い領域がなければ、対向車はヘッドライトを消灯していることになる。 Also, an image in front of the host vehicle is acquired with a near-infrared camera (a camera that can shoot an oncoming vehicle at night), etc., and in the image, a pattern peculiar to the oncoming vehicle is searched by image recognition technology. If there is a unique pattern, it is determined that there is an oncoming vehicle. As a pattern peculiar to the oncoming vehicle, for example, a shape corresponding to the oncoming vehicle is located at a position where the oncoming vehicle can exist (the left side of the own vehicle if left-hand traffic, the left side of the own vehicle if right-hand traffic). There are patterns that exist. Further, when it is determined that there is an oncoming vehicle, it is determined whether or not there is a high luminance area corresponding to the headlight that is lit at the position of the headlight in the oncoming vehicle. If there is a region with high brightness, the oncoming vehicle has the headlight turned on, and if there is no region with high brightness, the oncoming vehicle has turned off the headlight.
　そして、その時点の時刻が夜間であることを検出し、且つヘッドライトを消灯している対向車を検出した場合に、夜間に対向車のヘッドライトが消灯している状態であると判断できる。 Then, when it is detected that the time at that time is nighttime and an oncoming vehicle with the headlight turned off is detected, it can be determined that the headlight of the oncoming vehicle is turned off at night.
　先行車、又は歩行者は、例えば、自車両の前方において、レーザレーダやミリ波レーダを用いて検出できる。また、別の方法として、自車両の前方の画像をカメラ等で取得し、その画像において、先行車、又は歩行者に特有のパターンを、画像認識の技術により探す方法が挙げられる。この方法において、先行車、又は歩行者に特有のパターンがあれば、先行車、又は歩行者を検出したと判断する。先行車、又は歩行者に特有のパターンとしては、例えば、先行車や歩行者が存在し得る位置（先行車の場合は自車両の前方、歩行者の場合は道路の端）に、先行車や歩行者に対応する形状が存在するパターンがある。 The preceding vehicle or the pedestrian can be detected using, for example, a laser radar or a millimeter wave radar in front of the host vehicle. As another method, there is a method in which an image ahead of the host vehicle is acquired by a camera or the like, and a pattern unique to the preceding vehicle or a pedestrian is searched in the image by an image recognition technique. In this method, if there is a pattern specific to the preceding vehicle or pedestrian, it is determined that the preceding vehicle or pedestrian has been detected. As a pattern peculiar to a preceding vehicle or a pedestrian, for example, a preceding vehicle or a pedestrian is located at a position where a preceding vehicle or a pedestrian can exist (in the case of a preceding vehicle, in front of the own vehicle, in the case of a pedestrian, the end of the road). There is a pattern in which a shape corresponding to a pedestrian exists.
図１は車載制御装置１の構成を表すブロック図である。FIG. 1 is a block diagram showing the configuration of the in-vehicle control device 1. 図２は車載制御装置１が所定時間ごとに繰り返し実行するパッシング判定処理を表すフローチャートである。FIG. 2 is a flowchart showing a passing determination process repeatedly executed by the in-vehicle control device 1 every predetermined time. 図３はパッシング判定処理の一部である第１環境判定処理を表すフローチャートである。FIG. 3 is a flowchart showing a first environment determination process which is a part of the passing determination process. 図４はパッシング判定処理の一部である第２環境判定処理を表すフローチャートである。FIG. 4 is a flowchart showing a second environment determination process which is a part of the passing determination process.
　１．車載制御装置１の構成
　車載制御装置１の構成を図１のブロック図に基づき説明する。車載制御装置１は、車両に搭載され、その車両のヘッドランプ５１を制御する。なお、以下では、車載制御装置１が搭載される車両を自車両とする。車載制御装置１は、画像センサ３、ヨーレートセンサ５、車速センサ７、及びレーザレーダ９を備えている。 1. Configuration of the In-Vehicle Control Device 1 The configuration of the in-vehicle control device 1 will be described based on the block diagram of FIG. The in-vehicle control device 1 is mounted on a vehicle and controls the headlamp 51 of the vehicle. Hereinafter, a vehicle on which the in-vehicle control device 1 is mounted is referred to as a host vehicle. The in-vehicle control device 1 includes an image sensor 3, a yaw rate sensor 5, a vehicle speed sensor 7, and a laser radar 9.
　上記画像センサ３は、近赤外線カメラ１１（第１の検出手段）と、ライト制御ＥＣＵ（報知手段）１３とを備える。近赤外線カメラ１１は、自車両の前方の画像を撮影できる位置に設けられる。近赤外線カメラ１１で撮影する画像の範囲は、対向車を撮影可能な範囲である。近赤外線カメラ１１は、夜間でも、対向車を撮影可能である。近赤外線カメラ１１は、撮影した画像の画像データをライト制御ＥＣＵ１３へ出力する。また、近赤外線カメラ１１は、車外の明るさに応じて、自動的に露出を最適に調整する機能を有している。近赤外線カメラ１１は、露出設定値（すなわち、車外の明るさを反映したデータ）を、ライト制御ＥＣＵ１３へ出力する。 The image sensor 3 includes a near-infrared camera 11 (first detection means) and a light control ECU (notification means) 13. The near-infrared camera 11 is provided at a position where an image ahead of the host vehicle can be taken. The range of images captured by the near-infrared camera 11 is a range in which an oncoming vehicle can be captured. The near-infrared camera 11 can photograph an oncoming vehicle even at night. The near-infrared camera 11 outputs image data of the captured image to the light control ECU 13. The near-infrared camera 11 has a function of automatically adjusting the exposure automatically in accordance with the brightness outside the vehicle. The near-infrared camera 11 outputs an exposure setting value (that is, data reflecting the brightness outside the vehicle) to the light control ECU 13.
　ライト制御ＥＣＵ１３は、マイクロコンピュータ等によって構成されるものであり、例えば、ＣＰＵ、ＲＯＭ、ＲＡＭ、Ｉ／Ｏ、及びこれらを接続するバス（いずれも図示略）等を備えている。ライト制御ＥＣＵ１３は、近赤外線カメラ１１から入力する画像データ、露出設定値や、レーザレーダ９等から入力する対象物（先行車や対面歩行者）情報に基づき、後述する処理を実行する。また、ライト制御ＥＣＵ１３は、後述する処理における判断結果に基づき、ヘッドランプ５１に対し、パッシング要求の信号を出力する。ヘッドランプ５１は、そのパッシング要求の信号を受信したとき、パッシング（ヘッドライトを一時的に上向き（ハイビーム）とすること）を行う。 The light control ECU 13 is constituted by a microcomputer or the like, and includes, for example, a CPU, a ROM, a RAM, an I / O, and a bus (not shown) for connecting them. The light control ECU 13 executes processing to be described later on the basis of image data input from the near-infrared camera 11, exposure setting value, and object (preceding vehicle or face-to-face pedestrian) information input from the laser radar 9 or the like. Further, the light control ECU 13 outputs a passing request signal to the headlamp 51 based on a determination result in a process described later. When the headlamp 51 receives the passing request signal, the headlamp 51 performs passing (the headlight is temporarily turned upward (high beam)).
　上記ヨーレートセンサ５は、自車両の旋回方向への角速度（即ち、ヨーレート）を検出し、その検出値をライト制御ＥＣＵ１３に出力する。上記車速センサ７は、自車両の車速を検出し、その検出値をライト制御ＥＣＵ１３に出力する。なお、ヨーレートセンサ５及び車速センサ７は、ＣＡＮを介してライト制御ＥＣＵ１３に接続している。 The yaw rate sensor 5 detects the angular velocity (that is, the yaw rate) in the turning direction of the host vehicle, and outputs the detected value to the light control ECU 13. The vehicle speed sensor 7 detects the vehicle speed of the host vehicle and outputs the detected value to the light control ECU 13. The yaw rate sensor 5 and the vehicle speed sensor 7 are connected to the light control ECU 13 via the CAN.
　上記レーザレーダ（第２の検出手段）９は、周知の構成を有するものであり、自車両の前方（斜め前方も含む）に存在する対象物（先行車や対面歩行者）を検出することができる。先行車や対面歩行者を検出した場合は、その検出信号（対象物情報）をライト制御ＥＣＵ１３に出力する。 The laser radar (second detection means) 9 has a well-known configuration, and can detect an object (a preceding vehicle or a face-to-face pedestrian) existing in front of the host vehicle (including an obliquely forward direction). it can. When a preceding vehicle or a face-to-face pedestrian is detected, a detection signal (object information) is output to the light control ECU 13.
　２．車載制御装置１が実行する処理
　車載制御装置１が実行する処理を、図２～図４に基づいて説明する。図２は、車載制御装置１が所定時間ごとに繰り返し実行するパッシング判定処理を表すフローチャートであり、図３は、パッシング判定処理の一部である第１環境判定処理を表すフローチャートであり、図４は、パッシング判定処理の一部である第２環境判定処理を表すフローチャートである。 2. Processing executed by the in-vehicle control device 1 Processing executed by the in-vehicle control device 1 will be described with reference to FIGS. 2 is a flowchart showing a passing determination process repeatedly executed by the vehicle-mounted control device 1 every predetermined time, and FIG. 3 is a flowchart showing a first environment determination process which is a part of the passing determination process. These are flowcharts showing the 2nd environment judgment processing which is a part of passing judgment processing.
　まず、パッシング判定処理の全体を図２に基づいて説明する。ステップ１０の第１環境判定処理では、自車両が存在する環境が、パッシングが必要な環境であるか否かの判定を行う。この判定処理については後述する。 First, the entire passing determination process will be described with reference to FIG. In the first environment determination process of step 10, it is determined whether or not the environment in which the host vehicle is present is an environment that requires passing. This determination process will be described later.
　ステップ２０では、前記ステップ１０においてパッシングが必要な環境であるという判定結果が出たか否かを判断する。パッシングが必要な環境であるという判定結果が出た場合はステップ３０に進み、パッシングが不要な環境であるという判定結果が出た場合は本処理を終了する。 In step 20, it is determined whether or not a determination result indicating that the environment requires passing in step 10 is obtained. If a determination result indicating that the environment requires passing is obtained, the process proceeds to step 30. If a determination result indicating that the environment does not require passing is obtained, the present process is terminated.
　ステップ３０の第２環境判定処理では、自車両が存在する環境が、パッシングを抑制すべき環境であるか否かの判定を行う。この判定処理については後述する。
　ステップ４０では、前記ステップ３０においてパッシングを抑制すべき環境であるという判定結果が出たか否かを判断する。パッシングを抑制すべきではない（許可すべき）環境であるという判定結果が出た場合はステップ５０に進み、パッシングを抑制すべき環境であるという判定結果が出た場合は本処理を終了する。 In the second environment determination process in step 30, it is determined whether or not the environment in which the host vehicle exists is an environment in which passing should be suppressed. This determination process will be described later.
In step 40, it is determined whether or not a determination result indicating that the environment in which passing should be suppressed is obtained in step 30. If it is determined that the environment should not be suppressed (permitted), the process proceeds to step 50. If the determination result indicates that the environment should be suppressed, the process is terminated.
　ステップ５０では、ヘッドランプ５１に対し、パッシング要求の信号を出力する。ヘッドランプ５１は、そのパッシング要求の信号に応じて、パッシングを行う。
　次に、第１環境判定処理を図３に基づいて説明する。ステップ１１０では、対向車のヘッドライトがハイビームの状態（特定状態(a)）であることを検出したか否かを判断する。具体的には、以下のようにして判断する。自車両の前方の画像を近赤外線カメラ１１で取得し、その画像において、「対向車のヘッドライトのハイビーム状態」に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車のヘッドライトのハイビーム状態を検出したと判断する。「対向車のヘッドライトのハイビーム状態」に特有のパターンとは、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、ヘッドライトに相当する、輝度の高い領域が存在し、その輝度がハイビームに対応するだけの高輝度であるパターンである。対向車のヘッドライトのハイビーム状態を検出しなかった場合はステップ１２０に進み、対向車のヘッドライトのハイビーム状態を検出した場合はステップ１５０に進む。 In step 50, a passing request signal is output to the headlamp 51. The headlamp 51 performs the passing in response to the passing request signal.
Next, the first environment determination process will be described with reference to FIG. In step 110, it is determined whether it is detected that the headlight of the oncoming vehicle is in a high beam state (specific state (a)). Specifically, the determination is made as follows. An image in front of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to the “high beam state of the headlight of the oncoming vehicle” is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the high beam state of the headlight of the oncoming vehicle has been detected. The pattern peculiar to the "high beam state of the headlight of the oncoming vehicle" is the position where the oncoming vehicle can exist (the left side of the host vehicle if left-hand traffic and the left side of the host vehicle if right-hand traffic). There is a high luminance area corresponding to the light, and the luminance is high enough to correspond to the high beam. When the high beam state of the headlight of the oncoming vehicle is not detected, the process proceeds to step 120, and when the high beam state of the headlight of the oncoming vehicle is detected, the process proceeds to step 150.
　ステップ１２０では、対向車のヘッドライトが昼間に点灯している状態（特定状態(b)）を検出したか否かを判断する。具体的には、以下のようにして判断する。まず、近赤外線カメラ１１が出力する露出設定値により、その時点の時刻が昼間であるか否かを判断する。さらに、自車両の前方の画像を近赤外線カメラ１１で取得し、その画像において、「ヘッドライトが点灯している対向車」に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車がヘッドライトを点灯していると判断する。「ヘッドライトが点灯している対向車」に特有のパターンとは、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、ヘッドライトに相当する、輝度の高い領域が存在するパターンである。 In step 120, it is determined whether or not a state where the headlight of the oncoming vehicle is lit in the daytime (a specific state (b)) is detected. Specifically, the determination is made as follows. First, based on the exposure setting value output from the near-infrared camera 11, it is determined whether or not the current time is daytime. Further, an image ahead of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to “an oncoming vehicle whose headlight is lit” is searched for by the image recognition technique. If there is such a unique pattern, it is determined that the oncoming vehicle lights the headlight. The pattern peculiar to the "oncoming vehicle with headlights on" is the position where the oncoming vehicle can exist (the left side of the vehicle if left-hand traffic, the left side of the vehicle if right-hand traffic) This is a pattern in which there is a high luminance area corresponding to a headlight.
　そして、その時点の時刻が昼間であると判断し、且つヘッドライトが点灯している対向車を検出した場合に、昼間に対向車のヘッドライトが点灯している状態であると判断する。昼間に対向車のヘッドライトが点灯している状態を検出しなかった場合はステップ１３０に進み、昼間に対向車のヘッドライトが点灯している状態を検出した場合はステップ１５０に進む。 Then, when it is determined that the current time is daytime and an oncoming vehicle with a headlight on is detected, it is determined that the headlight of the oncoming vehicle is on during the daytime. If it is not detected in the daytime that the headlight of the oncoming vehicle is lit, the process proceeds to step 130. If it is detected that the headlight of the oncoming vehicle is lit in the daytime, the process proceeds to step 150.
　ステップ１３０では、対向車のヘッドライトが夜間に消灯している状態（特定状態(c)）を検出したか否かを判断する。具体的には、以下のようにして判断する。まず、近赤外線カメラ１１が出力する露出設定値により、その時点の時刻が夜間であるか否かを判断する。また、自車両の前方の画像を近赤外線カメラ１１で取得し、その画像において、対向車に特有のパターンを、画像認識の技術により探す。その特有のパターンがあれば、対向車があると判断する。対向車に特有のパターンとは、対向車が存在し得る位置（左側通行であれば、自車両の右側、右側通行であれば、自車両の左側）に、対向車に対応する形状が存在するパターンである。さらに、対向車があると判断した場合、その対向車におけるヘッドライトの位置に、点灯しているヘッドライトに相当する、輝度の高い領域が存在するか否かを判断する。この輝度の高い領域があれば、対向車はヘッドライトを点灯していることになり、輝度の高い領域がなければ、対向車はヘッドライトを消灯していることになる。そして、その時点の時刻が夜間であることを検出し、且つヘッドライトを消灯している対向車を検出した場合に、対向車のヘッドライトが夜間に消灯している状態であると判断する。 In step 130, it is determined whether or not a state where the headlight of the oncoming vehicle is turned off at night (specific state (c)) is detected. Specifically, the determination is made as follows. First, based on the exposure setting value output from the near-infrared camera 11, it is determined whether or not the current time is nighttime. Further, an image ahead of the host vehicle is acquired by the near-infrared camera 11, and a pattern peculiar to the oncoming vehicle is searched for in the image by an image recognition technique. If there is a unique pattern, it is determined that there is an oncoming vehicle. A pattern unique to an oncoming vehicle has a shape corresponding to the oncoming vehicle at a position where the oncoming vehicle can exist (the left side of the host vehicle if left-hand traffic and the left side of the host vehicle if right-hand traffic). It is a pattern. Further, when it is determined that there is an oncoming vehicle, it is determined whether or not there is a high luminance area corresponding to the headlight that is lit at the position of the headlight in the oncoming vehicle. If there is a region with high brightness, the oncoming vehicle has the headlight turned on, and if there is no region with high brightness, the oncoming vehicle has turned off the headlight. Then, when it is detected that the time at that time is nighttime and an oncoming vehicle whose headlight is turned off is detected, it is determined that the headlight of the oncoming vehicle is turned off at night.
　対向車のヘッドライトが夜間に消灯している状態を検出しなかった場合はステップ１４０に進み、対向車のヘッドライトが夜間に消灯している状態を検出した場合はステップ１５０に進む。
　ステップ１４０では、パッシングが不要な環境であると判定し、ステップ１５０では、パッシングが必要な環境であると判定する。 If it is not detected that the headlight of the oncoming vehicle is turned off at night, the process proceeds to step 140. If it is detected that the headlight of the oncoming vehicle is turned off at night, the process proceeds to step 150.
In step 140, it is determined that the environment does not require passing. In step 150, it is determined that the environment requires passing.
　次に、第２環境判定処理を図４に基づいて説明する。ステップ２１０では、先行車（対象物）を検出したか否かを判断する。先行車とは、自車両と同じ道路（同じ車線であっても異なる車線であってもよい）上を、自車両と同一方向に走行しており、自車両よりも先行している車両である。先行車は、レーザレーダ９により検出することができる。先行車を検出しなかった場合はステップ２２０に進み、先行車を検出した場合はステップ２４０に進む。 Next, the second environment determination process will be described with reference to FIG. In step 210, it is determined whether or not a preceding vehicle (object) has been detected. A preceding vehicle is a vehicle that is traveling in the same direction as the host vehicle on the same road as the host vehicle (which may be the same lane or a different lane) and is ahead of the host vehicle. . The preceding vehicle can be detected by the laser radar 9. If no preceding vehicle is detected, the process proceeds to step 220. If a preceding vehicle is detected, the process proceeds to step 240.
　ステップ２２０では、対面歩行者（対象物）を検出したか否かを判断する。対面歩行者とは、自車両が走行する道路上、又はその近傍において、自車両よりも前方に存在し、自車両に向いて歩行する者である。対面歩行者は、レーザレーダ９により検出することができる。対面歩行者を検出しなかった場合はステップ２３０に進み、対面歩行者を検出した場合はステップ２４０に進む。 In step 220, it is determined whether or not a facing pedestrian (object) has been detected. A face-to-face pedestrian is a person who exists in front of the host vehicle on the road on which the host vehicle runs or in the vicinity thereof and walks toward the host vehicle. Face-to-face pedestrians can be detected by the laser radar 9. If no facing pedestrian is detected, the process proceeds to step 230. If a facing pedestrian is detected, the process proceeds to step 240.
　ステップ２３０では、パッシングを抑制すべきではない（許可すべき）環境であると判定し、ステップ２４０では、パッシングを抑制すべき環境であると判定する。
　３．車載制御装置１が奏する効果 In step 230, it is determined that the environment should not be suppressed (should be allowed), and in step 240, it is determined that the environment should be suppressed.
3. Effects exhibited by the in-vehicle control device 1
　車載制御装置１は、対向車のヘッドライトが予め規定された特定状態（（ａ）ハイビーム状態、（ｂ）昼間に点灯している状態、及び（ｃ）夜間に消灯している状態のうちのいずれか）であることを検出し、且つ先行車や対面歩行者を検出しない場合、パッシングを行う。そのことにより、対向車のドライバに対し、対向車のヘッドライトが特定状態であることを知らせ、その特定状態を変えるよう促すことで、自車両の安全を確保することができる。 The vehicle-mounted control device 1 includes a specific state in which the headlight of the oncoming vehicle is defined in advance ((a) a high beam state, (b) a daytime lighting state, and (c) a nighttime lighting state. If any of the above is detected and no preceding vehicle or face-to-face pedestrian is detected, passing is performed. As a result, the driver of the oncoming vehicle is informed that the headlight of the oncoming vehicle is in a specific state, and is urged to change the specific state, thereby ensuring the safety of the host vehicle.
　また、先行車や対面歩行者を検出しないことを、パッシングを行う条件としているので、パッシングによって先行車や対面歩行者に悪影響を与えてしまうことがない。
　尚、本発明は前記実施の形態になんら限定されるものではなく、本発明を逸脱しない範囲において種々の態様で実施しうることはいうまでもない。 Moreover, since the condition for performing the passing is that the preceding vehicle and the facing pedestrian are not detected, the preceding vehicle and the facing pedestrian are not adversely affected by the passing.
In addition, this invention is not limited to the said embodiment at all, and it cannot be overemphasized that it can implement with a various aspect in the range which does not deviate from this invention.
　例えば、先行車や対面歩行者を検出する手段として、レーザレーダ９の代わりに、ミリ波レーダを用いてもよい。
　また、パッシングの代わりに、あるいはパッシングに加えて、クラクションを鳴らすようにしてもよい。 For example, a millimeter wave radar may be used in place of the laser radar 9 as means for detecting a preceding vehicle or a face-to-face pedestrian.
Further, a horn may be sounded instead of or in addition to passing.
　また、パッシングが必要な環境であると判定し、且つ先行車（又は対面歩行者）を検出した場合は、自車両の１対のヘッドライトのうち、対向車側のヘッドライトのみでパッシングを行うようにしてもよい。この場合、対向車とは反対側のヘッドライトは、ロービームのままとすることができる。こうすることにより、両方のヘッドライトでパッシングを行う場合に比べて、パッシングによる先行車（又は対面歩行者）への悪影響を小さくすることができる。 Further, when it is determined that the environment requires passing and a preceding vehicle (or a face-to-face pedestrian) is detected, the passing is performed only with the headlight on the opposite vehicle side of the pair of headlights of the own vehicle. You may do it. In this case, the headlight on the side opposite to the oncoming vehicle can remain as a low beam. By doing so, it is possible to reduce the adverse effect of the passing on the preceding vehicle (or the face-to-face pedestrian) as compared with the case of passing with both headlights.
１・・・車載制御装置、３・・・画像センサ、５・・・ヨーレートセンサ、
７・・・車速センサ、９・・・レーザレーダ、１１・・・近赤外線カメラ、
１３・・・ライト制御ＥＣＵ、５１・・・ヘッドランプ DESCRIPTION OF SYMBOLS 1 ... Vehicle-mounted control apparatus, 3 ... Image sensor, 5 ... Yaw rate sensor,
7 ... Vehicle speed sensor, 9 ... Laser radar, 11 ... Near infrared camera,
13 ... Light control ECU, 51 ... Headlamp

Claims (4)

  1. 　対向車のヘッドライトが予め規定された特定状態であることを検出する第１の検出手段と、
    　先行車、又は歩行者である対象物を検出する第２の検出手段と、
    　前記第１の検出手段が前記特定状態を検出し、且つ前記第２の検出手段が前記対象物を検出しない場合、対向車のヘッドライトが前記特定状態であることを対向車に報知する報知手段と、
    　を備えることを特徴とする車載制御装置。     First detecting means for detecting that the headlight of the oncoming vehicle is in a specific state defined in advance;
    Second detection means for detecting an object that is a preceding vehicle or a pedestrian;
    Informing means for informing the oncoming vehicle that the headlight of the oncoming vehicle is in the specific state when the first detecting means detects the specific state and the second detecting means does not detect the object. When,
    A vehicle-mounted control device comprising:
  2. 　前記特定状態とは、（ａ）ハイビーム状態、（ｂ）昼間に点灯している状態、及び（ｃ）夜間に消灯している状態のうちのいずれか１つであることを特徴とする請求項１記載の車載制御装置。 The specific state is any one of (a) a high beam state, (b) a daytime lighting state, and (c) a nighttime lighting state. The vehicle-mounted control device according to 1.
  3. 　前記報知手段は、パッシングを行うことにより対向車のヘッドライトが前記特定状態であることを対向車に報知することを特徴とする請求項１又は２記載の車載制御装置。 The in-vehicle control device according to claim 1 or 2, wherein the notification means notifies the oncoming vehicle that the headlight of the oncoming vehicle is in the specific state by performing passing.
  4. 　前記第１の検出手段が前記特定状態を検出し、且つ前記第２の検出手段が前記対象物を検出している場合、パッシングを行わないか、自車両の片方のヘッドライトのみでパッシングを行うことを特徴とする請求項３記載の車載制御装置。 When the first detection means detects the specific state and the second detection means detects the object, no passing is performed, or only one headlight of the own vehicle is used. The in-vehicle control device according to claim 3.
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