WO2013114828A1 - Headlight control device - Google Patents

Headlight control device Download PDF

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Publication number
WO2013114828A1
WO2013114828A1 PCT/JP2013/000342 JP2013000342W WO2013114828A1 WO 2013114828 A1 WO2013114828 A1 WO 2013114828A1 JP 2013000342 W JP2013000342 W JP 2013000342W WO 2013114828 A1 WO2013114828 A1 WO 2013114828A1
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WO
WIPO (PCT)
Prior art keywords
headlight
line
sight
irradiation direction
control device
Prior art date
Application number
PCT/JP2013/000342
Other languages
French (fr)
Japanese (ja)
Inventor
泰斗 渡邉
Original Assignee
株式会社デンソー
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Filing date
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Publication of WO2013114828A1 publication Critical patent/WO2013114828A1/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
    • B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—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 adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/12—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to steering position
    • 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
    • B60Q1/06—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 adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—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 adjustable, e.g. remotely-controlled from inside vehicle automatically
    • B60Q1/10—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 adjustable, e.g. remotely-controlled from inside vehicle automatically due to vehicle inclination, e.g. due to load distribution
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/112—Vehicle speed
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/11—Linear movements of the vehicle
    • B60Q2300/114—Vehicle acceleration or deceleration
    • 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
    • B60Q2300/10—Indexing codes relating to particular vehicle conditions
    • B60Q2300/13—Attitude of the vehicle body
    • B60Q2300/132—Pitch
    • 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
    • B60Q2300/20—Indexing codes relating to the driver or the passengers
    • B60Q2300/23—Driver's line of sight

Definitions

  • the present disclosure relates to a headlight control device that controls an irradiation direction of a headlight of a vehicle.
  • the headlight of a vehicle is configured to be able to control the irradiation direction in accordance with the running state of the vehicle.
  • the headlight irradiation angle is increased at high speeds to illuminate far away compared to low speeds, and the vehicle at the time of acceleration lifts the front of the vehicle body, and the vehicle at the time of deceleration sinks the front of the vehicle body, Even when the vehicle is traveling at the same speed, control is performed to lower the irradiation angle of the headlight during acceleration or to increase the irradiation angle of the headlight during deceleration (Patent Document 1).
  • the conventional headlight control device controls the irradiation direction of the headlight based on the traveling state of the vehicle, such as the speed and acceleration of the vehicle, and does not control so as to illuminate the direction that the driver is actually looking at. Therefore, even if the headlight irradiation direction is changed based on the running state of the vehicle, the driver may feel uncomfortable with the change.
  • an object of the present disclosure is to provide a headlight control device capable of controlling the direction of headlight irradiation so that the driver does not feel uncomfortable.
  • the headlight control device includes an irradiation direction control unit that controls an irradiation direction of the headlight and a line-of-sight detection unit that detects a driver's line of sight, and the irradiation direction control unit includes the line of sight
  • a headlight control device is provided that includes a first control unit that controls the irradiation direction of the headlight in a direction corresponding to the line of sight detected by the detection unit.
  • FIG. 1 is a block diagram of the headlight control device of this embodiment.
  • FIG. 2A is a flowchart of the first angle determination process
  • FIG. 2B is a flowchart of line-of-sight information acquisition processing
  • FIG. 3 is a flowchart of the headlight control process of this embodiment.
  • the headlight control device 1 of this embodiment includes a main control unit 2, an attitude detection unit 3, and a line-of-sight detection unit 4.
  • the main control unit 2 includes a headlight 20, a headlight control unit 21, and a light switch 22.
  • the headlight 20 emits irradiating light and emits irradiating light toward the front of the vehicle.
  • the headlight 20 can freely change the inclination of the optical axis of the light emitting part in the vertical and horizontal directions. And a variable part (not shown).
  • the headlight 20 When the changing unit receives an instruction to change the irradiation direction of the headlight 20 from the headlight control unit 21, the headlight 20 changes the inclination of the optical axis of the light emitting unit in accordance with the instruction, whereby the light emitting unit, The irradiation direction of the irradiation light irradiated from the headlight 20 can be changed.
  • the headlight control unit 21 is a control device including a computer device that executes a headlight control process to be described later based on information obtained from the posture detection unit 3 and the line-of-sight detection unit 4, and changes the irradiation direction based on this process. Is output to the headlight 20 to control the irradiation direction of the irradiation light emitted from the headlight 20.
  • the light switch 22 is a switch for accepting a driver's operation for instructing to turn on and off the headlight 20 and instructing the headlight controller 21 to turn on and off the headlight 20 in accordance with the accepted operation.
  • the headlight control unit 21 causes the headlight 20 to emit light by starting to supply power to the headlight 20 (more specifically, the light emitting unit of the headlight 20 emits light).
  • the light switch 22 is turned off, the headlight 20 is turned off by stopping the supply of power to the headlight 20.
  • the posture detection unit 3 includes a vehicle speed sensor 30, an acceleration sensor 31, and a posture change prediction unit 32.
  • the vehicle speed sensor 30 is a sensor for providing vehicle speed information to a speed meter (not shown) of the vehicle, and detects the vehicle wheel and axle rotation state, and detects the vehicle speed from the detection result. Is for.
  • the vehicle speed information obtained from the detection result of the vehicle speed sensor 30 is output to the headlight control unit 21 and the attitude change prediction unit 32.
  • the acceleration sensor 31 is a sensor that detects the acceleration of the vehicle.
  • a sensor mounted on a general car navigation device may be used.
  • the accelerator depression amount per unit time, the change in the depression amount of the brake pedal, the throttle opening amount may be used.
  • the amount of change in the degree may be detected, and the acceleration of the vehicle may be predicted from the detection result.
  • the posture change prediction unit 32 is a computer device that executes a process of predicting what posture the vehicle body currently takes from the vehicle speed information and acceleration information obtained from the vehicle speed sensor 30 and the acceleration sensor 31.
  • the vehicle at the time of acceleration lifts the front of the vehicle body, and the vehicle at the time of deceleration sinks the front of the vehicle body, but this varies depending on the magnitude of acceleration and the speed at which the acceleration occurs.
  • a process for predicting the posture of the vehicle body from the vehicle speed information and acceleration information obtained from the vehicle speed sensor 30 and the acceleration sensor 31 is executed.
  • the posture prediction information obtained by predicting the posture of the vehicle body obtained by the posture change prediction unit 32 is output to the headlight control unit 21.
  • the line-of-sight detection unit 4 includes a projector 40, a camera 41, a projector control unit 42, a camera control unit 43, and a line-of-sight recognition unit 44.
  • the projector 40 irradiates near infrared rays toward the driver's face, and is installed on the handle column or the instrument panel.
  • the camera 41 images the driver's face illuminated with near-infrared rays by the projector 40, is configured adjacent to or integrally with the projector 40, and is installed on the handle column or the instrument panel.
  • the projector control unit 42 is a computer device that controls the brightness of near infrared rays emitted from the projector 40 based on an instruction from the line-of-sight recognition unit 44.
  • the camera control unit 43 is composed of a computer device that controls the focal position and the like of the camera 41 based on an instruction from the line-of-sight recognition unit 44.
  • the line-of-sight recognition unit 44 executes a process of recognizing the line of sight of the driver based on image information of an image obtained by capturing the face of the driver illuminated by the near-infrared light by the projector 40 with the camera 41 by a line-of-sight information acquisition process described later.
  • the computer device executes processing for outputting the recognition result to the headlight control unit 21.
  • the line-of-sight recognition unit 44 also includes (1) a process of inputting image information of an image obtained by capturing the face of the driver illuminated by near infrared rays using the projector 40 from the camera 41, and (2) image information of the input image. (3) Based on the analysis result, the process of determining the near-infrared brightness for illuminating the driver's face and the focal position for imaging the driver's face, (4) Output to the camera control unit 43 to adjust the brightness of the projector 40 and the focal position of the camera 41. After the adjustment, (1) the following processing is repeated to recognize the driver's line of sight.
  • a process of determining the brightness and the focal position of the camera 41 is always performed, and a process of inputting image information of an image obtained by capturing the driver's face is performed. [First angle determination process] Next, the first angle determination process executed by the headlight control unit 21 will be described.
  • step numbers from the smallest to the largest are executed.
  • the first angle determination process 21a starts when an unillustrated ignition switch is turned on.
  • the headlight control unit 21 first executes a process of detecting whether the light switch 22 is turned on (S10).
  • the headlight control unit 21 performs a process of waiting until the light switch 22 is turned on (S10: NO).
  • the headlight control unit 21 executes a process of acquiring vehicle speed information from the vehicle speed sensor 30. Further, in S ⁇ b> 14, the headlight control unit 21 executes a process of acquiring posture prediction information from the posture change prediction unit 32.
  • the headlight control unit 21 executes a process of determining a first angle that is an irradiation direction of the headlight 20 based on the vehicle speed information obtained in S12 and the posture prediction information obtained in S14.
  • the first angle is set so that when the vehicle is not accelerating, the lower the speed, the lower the direction, and the higher the speed, the more upward it illuminates the distance. Therefore, the first angle is slightly lowered, and when the vehicle is decelerated, the front of the vehicle body sinks, so that the first angle is slightly raised.
  • the line-of-sight information acquisition process 44a is always executed.
  • the line-of-sight recognition unit 44 first executes a process of determining whether an ignition switch (not shown) is turned on (S20).
  • the line-of-sight recognition unit 44 executes a process of waiting until the ignition switch is turned on (S20: NO). On the other hand, when the ignition switch is turned on, the process of S22 is executed.
  • the line-of-sight recognition unit 44 executes a process of acquiring, from the camera 41, image data obtained by imaging the driver's face illuminated with near-infrared rays using the projector 40.
  • the line-of-sight recognition unit 44 executes a process of extracting feature points (for example, face contour, nose position, eyebrow position, etc.) of the driver's face based on the image data acquired in S22. Further, in S26, the line-of-sight recognition unit 44 executes a process of extracting feature points of the driver's eyes (for example, eye contour, iris contour, etc.) based on the image data.
  • feature points for example, face contour, nose position, eyebrow position, etc.
  • the line-of-sight recognition unit 44 obtains information on the face orientation and the eye position from the information extracted in S24 and S26. From these information, the line-of-sight information of the driver is calculated and the headlight is calculated. Processing to be output to the control unit 21 is executed.
  • the headlight control process 21b starts when an ignition switch (not shown) is turned on, as in the first angle determination process 21a.
  • the headlight control unit 21 first executes a process of detecting whether the light switch 22 is turned on (S30).
  • the headlight control unit 21 executes a process of acquiring the first angle information obtained by the process of the first angle determination process 21a from the attitude detection unit 3, and subsequently, in S32, the line-of-sight information A process of acquiring information about the driver's line of sight obtained in the acquisition process 44a from the line-of-sight detection unit 4 is executed.
  • the headlight control unit 21 is positioned above or below the allowable range set based on the first angle based on the first angle information and the line-of-sight information obtained in S31 and S32. The process which determines whether to do is performed.
  • the process of S38 is executed.
  • the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 in the first angle direction based on the first angle information acquired in S31.
  • the headlight control unit 21 performs a process of determining whether or not the line of sight has changed more than a predetermined angle larger than the allowable range when viewed from the first angle, so that the driver looks at the meter, the car navigation system, or the like. To do.
  • the process of S38 is executed.
  • the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 with the first angle information acquired in S31.
  • the headlight control unit 21 executes a process of determining whether the time during which the line of sight is outside the allowable range and has not changed by the first angle or more continues for a certain time or more.
  • the process of S35 is executed.
  • the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 with the first angle information acquired in S31.
  • the process of S36 is executed.
  • the headlight control unit 21 performs a process of setting a second angle that is the direction of the driver's line of sight, and in S37, a process of adjusting the irradiation angle of the headlight 20 in the second angle direction. .
  • the irradiation direction of the headlight 20 changes to the direction that the driver is viewing.
  • the headlight control unit 21 determines whether or not a certain time has elapsed since the execution of these processes (S37, S38). If the predetermined time has not elapsed (S39: NO), a standby process is executed.
  • the processing from S31 is executed again.
  • the headlight control processing 21b is executed in the headlight control unit 21 constituting the headlight control device 1 of the present embodiment, the headlight 20 is moved in the direction corresponding to the line of sight detected by the line-of-sight recognition unit 44. Control is made to direct the irradiation direction (S37).
  • the headlight control device 1 in the headlight control processing 21b, when the state where the line of sight is outside the allowable range of the first angle obtained from the speed and acceleration of the vehicle continues for a certain time (S35). : YES), the irradiation direction of the headlight 20 is controlled to be directed in the direction corresponding to the line of sight detected by the line-of-sight recognition unit 44 (S37).
  • the speed and acceleration of the vehicle are detected using a speed sensor and an acceleration sensor.
  • these may be measured using a navigation system, and the speed and acceleration of the vehicle are detected. Any method that can be used may be used.
  • the acceleration sensor 31 is provided in the said embodiment, it is provided only with the vehicle speed sensor 30 without providing the acceleration sensor 31, and calculates an acceleration by always monitoring the change of the speed detected with this vehicle speed sensor 30. You may do it.
  • the headlight control part 21 of the said embodiment is corresponded to an example of an irradiation direction control means (irradiation direction control part).
  • the line-of-sight detection unit 4 corresponds to an example of a line-of-sight detection unit (line-of-sight detection unit).
  • the posture detection unit 3 corresponds to an example of posture detection means (posture detection unit).
  • the speed sensor 30 corresponds to an example of a speed detection unit (speed detection unit).
  • the acceleration sensor 31 corresponds to an example of an acceleration detection unit (acceleration detection unit).
  • the processing of S32 to S37 of the headlight control unit 21 of the present embodiment corresponds to an example of a first control unit (first control unit) in the irradiation direction control unit (irradiation direction control unit).
  • the process of S38 of the headlight control unit 21 corresponds to an example of a second control unit (second control unit) in the irradiation direction control unit (irradiation direction control unit).
  • a headlight control device includes an irradiation direction control unit that controls the irradiation direction of the headlight, and a line-of-sight detection unit that detects the line of sight of the driver.
  • the first control unit provided in the irradiation direction control unit controls the headlight irradiation direction to be directed in the direction corresponding to the line of sight detected by the line-of-sight detection unit.
  • the change in the headlight irradiation direction may be too intense, and it may be annoying.
  • the headlight control device includes an attitude detection unit that detects the attitude of the vehicle, and the irradiation direction control unit includes a second control unit that controls the irradiation direction of the headlight in a first angle direction according to the attitude of the vehicle. You may prepare.
  • the first control unit corresponds to the line of sight detected by the line of sight when the direction of the line of sight detected by the line of sight detection unit is outside the allowable range set based on the first angle direction. You may make it control to orient
  • the irradiation direction of the headlight is determined by the first angle corresponding to the traveling state of the vehicle, and the direction of the line of sight exceeds the allowable range determined from the first angle.
  • the irradiation direction of the headlight changes according to the line of sight of the driver.
  • the first control unit has an allowable setting in which the direction of the line of sight detected by the line-of-sight detection unit is set based on the first angle direction continuously for a certain time or more.
  • the headlight irradiation direction may be controlled to be directed in the second angle direction corresponding to the line of sight detected by the line-of-sight detection unit.
  • the headlight control device may be configured as follows.
  • the irradiation direction control unit determines whether or not the direction of the line of sight detected by the line-of-sight detection unit has changed greatly by a predetermined angle or greater than the allowable range as seen from the first angle. Then, the irradiation direction control unit is configured to change the first direction according to the posture of the vehicle when the direction of the line of sight detected by the line of sight detection unit is greatly changed by a predetermined angle or more even when the direction is outside the allowable range. Control is performed so that the irradiation direction of the headlight is directed to the angular direction.
  • the direction of the line of sight detected by the line-of-sight detection unit deviates beyond the allowable range and does not change significantly by a predetermined angle or more
  • the direction of the line of sight detected in the second angle direction corresponding to the line of sight detected by the line-of-sight detection unit Control to direct headlight irradiation direction.
  • the headlight irradiation direction does not change according to the line of sight. It can be prevented that the driver or the like feels bothersome due to a large change in accordance with the change.
  • embodiment, a structure, and aspect which concern on this indication were illustrated, embodiment, a structure, and aspect which concern on this indication are not limited to each embodiment, each structure, and each aspect which were mentioned above.
  • embodiments, configurations, and aspects obtained by appropriately combining technical sections disclosed in different embodiments, configurations, and aspects are also included in the scope of the embodiments, configurations, and aspects according to the present disclosure.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

Disclosed is a headlight control device capable of headlight (20) irradiation direction control that does not feel unnatural to the driver. The headlight control device of an example of the present disclosure is provided with an irradiation direction control unit (21) that controls the irradiation direction of the headlights (20) and a line of sight-detecting unit (4) that detects the driver's line of sight. The irradiation direction control unit (21) is provided with control sections (S32-S37) that perform control so that the irradiation direction of the headlights (20) is turned in the direction corresponding to the line of sight detected by the line of sight-detecting unit (4).

Description

ヘッドライト制御装置Headlight control device 関連出願の相互参照Cross-reference of related applications
　本出願は、２０１２年１月３１日に出願された日本国特許出願２０１２－１８６８４号に基づくものであり、ここにその記載内容を参照により援用する。 This application is based on Japanese Patent Application No. 2012-18684 filed on January 31, 2012, the contents of which are incorporated herein by reference.
　本開示は、車両のヘッドライトの照射方向を制御するヘッドライト制御装置に関する。 The present disclosure relates to a headlight control device that controls an irradiation direction of a headlight of a vehicle.
　現在、車両のヘッドライトは、車両の走行状態に合わせて、その照射方向を制御することができるよう構成されている。 Currently, the headlight of a vehicle is configured to be able to control the irradiation direction in accordance with the running state of the vehicle.
　例えば、高速時にはヘッドライトの照射角度を上げて低速時に比べて遠方を照らすよう制御したり、また、加速時の車両は車体の前方が浮き上がり、減速時の車両は車体の前方が沈み込むので、車両が同じ速度で走行している場合でも、加速時は、ヘッドライドの照射角度を下げたり、減速時はヘッドライトの照射角度を上げる制御がなされている（特許文献１）。 For example, the headlight irradiation angle is increased at high speeds to illuminate far away compared to low speeds, and the vehicle at the time of acceleration lifts the front of the vehicle body, and the vehicle at the time of deceleration sinks the front of the vehicle body, Even when the vehicle is traveling at the same speed, control is performed to lower the irradiation angle of the headlight during acceleration or to increase the irradiation angle of the headlight during deceleration (Patent Document 1).
ＪＰ－Ｈ７－１６４９６０ＡJP-H7-164960A
　しかし、従来のヘッドライト制御装置は、車両の速度や加速度など車両の走行状態に基づきヘッドライトの照射方向を制御するものであり、ドライバが実際に見ている方向を照らすように制御するものではないので、車両の走行状態に基づいてヘッドライトの照射方向が変更されても、ドライバは、その変更に違和感を感じる場合があった。 However, the conventional headlight control device controls the irradiation direction of the headlight based on the traveling state of the vehicle, such as the speed and acceleration of the vehicle, and does not control so as to illuminate the direction that the driver is actually looking at. Therefore, even if the headlight irradiation direction is changed based on the running state of the vehicle, the driver may feel uncomfortable with the change.
　そこで、本開示では、ヘッドライトの照射方向について、ドライバに違和感を感じさせない制御が可能なヘッドライト制御装置を提供することを目的とする。 Therefore, an object of the present disclosure is to provide a headlight control device capable of controlling the direction of headlight irradiation so that the driver does not feel uncomfortable.
　本開示に一例によると、ヘッドライトの照射方向を制御する照射方向制御部と、ドライバの視線を検出する視線検出部とを備えるヘッドライト制御装置であって、前記照射方向制御部は、前記視線検出部で検出された視線に対応する方向に、前記ヘッドライトの照射方向を向けるよう制御する第１制御部を備えるヘッドライト制御装置が提供される。 According to an example of the present disclosure, the headlight control device includes an irradiation direction control unit that controls an irradiation direction of the headlight and a line-of-sight detection unit that detects a driver's line of sight, and the irradiation direction control unit includes the line of sight A headlight control device is provided that includes a first control unit that controls the irradiation direction of the headlight in a direction corresponding to the line of sight detected by the detection unit.
　このようなヘッドライト制御装置によれば、ヘッドライトの照射方向が、ドライバの視線に合わせて変更されるので、ヘッドライトの照射方向について、ドライバに違和感を感じさせることを防止することができる。 According to such a headlight control device, since the irradiation direction of the headlight is changed in accordance with the driver's line of sight, it is possible to prevent the driver from feeling uncomfortable with respect to the irradiation direction of the headlight.
　本開示についての上記目的および他の目的、特徴や利点は、添付の図面を参照した下記詳細な説明から、より明確になる。添付図面において
図１は、本実施形態のヘッドライト制御装置のブロック図であり、 図２Ａは、第１角度決定処理のフローチャートであり、 図２Ｂは、視線情報取得処理のフローチャートであり、 図３は、本実施形態のヘッドライト制御処理のフローチャートである。 The above and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the attached drawings
FIG. 1 is a block diagram of the headlight control device of this embodiment. FIG. 2A is a flowchart of the first angle determination process, FIG. 2B is a flowchart of line-of-sight information acquisition processing, FIG. 3 is a flowchart of the headlight control process of this embodiment.
　以下に本開示に係る一実施形態を図面と共に説明する。
（ヘッドライト制御装置１の全体構造）
　本実施形態のヘッドライト制御装置１は、図１に示すように、主制御部２、姿勢検出部３、視線検出部４とを備えている。 Hereinafter, an embodiment according to the present disclosure will be described with reference to the drawings.
(Overall structure of the headlight control device 1)
As shown in FIG. 1, the headlight control device 1 of this embodiment includes a main control unit 2, an attitude detection unit 3, and a line-of-sight detection unit 4.
　このうち、主制御部２は、ヘッドライト２０、ヘッドライト制御部２１、及び、ライトスイッチ２２を備えている。 Among these, the main control unit 2 includes a headlight 20, a headlight control unit 21, and a light switch 22.
　ヘッドライト２０は、照射光を発光して、車両の前方に向かって照射光を照射する図示しない発光部と、この発光部の光軸の傾きを上下左右の各方向に自在に変更することが可能な図示しない変動部とを備えている。 The headlight 20 emits irradiating light and emits irradiating light toward the front of the vehicle. The headlight 20 can freely change the inclination of the optical axis of the light emitting part in the vertical and horizontal directions. And a variable part (not shown).
　このヘッドライト２０は、変動部が、ヘッドライト２０の照射方向を変更する指示をヘッドライト制御部２１から受けると、その指示に従って発光部の光軸の傾きを変更することにより、発光部すなわち当該ヘッドライト２０から照射される照射光の照射方向を変更することができる。 When the changing unit receives an instruction to change the irradiation direction of the headlight 20 from the headlight control unit 21, the headlight 20 changes the inclination of the optical axis of the light emitting unit in accordance with the instruction, whereby the light emitting unit, The irradiation direction of the irradiation light irradiated from the headlight 20 can be changed.
　ヘッドライト制御部２１は、姿勢検出部３及び視線検出部４から得られる情報に基づいて後述するヘッドライト制御処理を実行するコンピュータ装置を備える制御装置であり、この処理に基づいて照射方向を変更する指示をヘッドライト２０に出力して、ヘッドライト２０から照射される照射光の照射方向を制御する。 The headlight control unit 21 is a control device including a computer device that executes a headlight control process to be described later based on information obtained from the posture detection unit 3 and the line-of-sight detection unit 4, and changes the irradiation direction based on this process. Is output to the headlight 20 to control the irradiation direction of the irradiation light emitted from the headlight 20.
　ライトスイッチ２２はヘッドライト２０の点灯及び消灯を指示する運転者の操作を受け付け、その受け付けられた操作に従って、ヘッドライト制御部２１にヘッドライト２０の点灯及び消灯を指示するためのスイッチである。 The light switch 22 is a switch for accepting a driver's operation for instructing to turn on and off the headlight 20 and instructing the headlight controller 21 to turn on and off the headlight 20 in accordance with the accepted operation.
　ヘッドライト制御部２１は、ライトスイッチ２２がＯＮ操作されると、ヘッドライト２０への電力の供給を開始することによりヘッドライト２０を発光させ（より具体的にはヘッドライト２０の発光部を発光させ）、ライトスイッチ２２がＯＦＦ操作されると、ヘッドライト２０への電力の供給を停止することにより、ヘッドライト２０を消灯させる。 When the light switch 22 is turned ON, the headlight control unit 21 causes the headlight 20 to emit light by starting to supply power to the headlight 20 (more specifically, the light emitting unit of the headlight 20 emits light). When the light switch 22 is turned off, the headlight 20 is turned off by stopping the supply of power to the headlight 20.
　次に、姿勢検出部３は、車速センサ３０、加速度センサ３１、姿勢変化予測部３２とを備えている。 Next, the posture detection unit 3 includes a vehicle speed sensor 30, an acceleration sensor 31, and a posture change prediction unit 32.
　車速センサ３０は、車両の図示しない速度メータ等に車両の速度情報を提供するためのセンサであり、車両の車輪や車軸の回転状態等を検出して、その検出結果から車両の速度を検出するためのものである。 The vehicle speed sensor 30 is a sensor for providing vehicle speed information to a speed meter (not shown) of the vehicle, and detects the vehicle wheel and axle rotation state, and detects the vehicle speed from the detection result. Is for.
　この車速センサ３０での検出結果から得られる車両の速度情報は、ヘッドライト制御部２１及び姿勢変化予測部３２に出力される。 The vehicle speed information obtained from the detection result of the vehicle speed sensor 30 is output to the headlight control unit 21 and the attitude change prediction unit 32.
　加速度センサ３１は、車両の加速度を検出するセンサである。この加速度センサ３１としては、一般的なカーナビゲーション装置に搭載されているものを用いてもよいが、その他には、単位時間あたりのアクセルの踏込量や、ブレーキペダルの踏込量の変化、スロットル開度の変化量を検出して、この検出結果から車両の加速度を予測するようにしてもよい。 The acceleration sensor 31 is a sensor that detects the acceleration of the vehicle. As the acceleration sensor 31, a sensor mounted on a general car navigation device may be used. In addition, the accelerator depression amount per unit time, the change in the depression amount of the brake pedal, the throttle opening amount may be used. The amount of change in the degree may be detected, and the acceleration of the vehicle may be predicted from the detection result.
　姿勢変化予測部３２は、車速センサ３０及び加速度センサ３１から得られる車両の速度情報及び加速度情報から、車体が現在どのような姿勢を取っているか予測する処理を実行するコンピュータ装置である。 The posture change prediction unit 32 is a computer device that executes a process of predicting what posture the vehicle body currently takes from the vehicle speed information and acceleration information obtained from the vehicle speed sensor 30 and the acceleration sensor 31.
　すなわち、加速時の車両は車体の前方が浮き上がり、減速時の車両は車体の前方が沈み込むが、これらは加速度の大きさや、その加速度が発生したときの速度によって異なるので、この姿勢変化予測部３２では、車速センサ３０及び加速度センサ３１から得られる車両の速度情報及び加速度情報から、車体が現在どのような姿勢を取っているか予測する処理を実行している。 In other words, the vehicle at the time of acceleration lifts the front of the vehicle body, and the vehicle at the time of deceleration sinks the front of the vehicle body, but this varies depending on the magnitude of acceleration and the speed at which the acceleration occurs. In 32, a process for predicting the posture of the vehicle body from the vehicle speed information and acceleration information obtained from the vehicle speed sensor 30 and the acceleration sensor 31 is executed.
　この姿勢変化予測部３２で得られる車体の姿勢を予測した姿勢予測情報は、ヘッドライト制御部２１に出力される。 The posture prediction information obtained by predicting the posture of the vehicle body obtained by the posture change prediction unit 32 is output to the headlight control unit 21.
　次に、視線検出部４は、投光器４０と、カメラ４１と、投光器制御部４２、カメラ制御部４３、視線認識部４４とを備えている。 Next, the line-of-sight detection unit 4 includes a projector 40, a camera 41, a projector control unit 42, a camera control unit 43, and a line-of-sight recognition unit 44.
　投光器４０は、近赤外線をドライバの顔に向かって照射するものであり、ハンドルコラム上、またはインパネ上等に設置されている。 The projector 40 irradiates near infrared rays toward the driver's face, and is installed on the handle column or the instrument panel.
　カメラ４１は、投光器４０によって近赤外線で照らされたドライバの顔を撮像するものであり、投光器４０に隣接して、又は一体に構成され、ハンドルコラム上、またはインパネ上等に設置されている。 The camera 41 images the driver's face illuminated with near-infrared rays by the projector 40, is configured adjacent to or integrally with the projector 40, and is installed on the handle column or the instrument panel.
　投光器制御部４２は、視線認識部４４からの指示に基づいて、投光器４０から照射する近赤外線の明るさを制御するコンピュータ装置からなるものである。 The projector control unit 42 is a computer device that controls the brightness of near infrared rays emitted from the projector 40 based on an instruction from the line-of-sight recognition unit 44.
　カメラ制御部４３は、視線認識部４４からの指示に基づいて、カメラ４１の焦点位置等を制御するコンピュータ装置からなるものである。 The camera control unit 43 is composed of a computer device that controls the focal position and the like of the camera 41 based on an instruction from the line-of-sight recognition unit 44.
　視線認識部４４は、後述する視線情報取得処理により、投光器４０により近赤外線で照らされたドライバの顔をカメラ４１で撮像した画像の画像情報に基づいて、ドライバの視線を認識する処理を実行し、その認識結果をヘッドライト制御部２１に出力する処理を実行するコンピュータ装置である。 The line-of-sight recognition unit 44 executes a process of recognizing the line of sight of the driver based on image information of an image obtained by capturing the face of the driver illuminated by the near-infrared light by the projector 40 with the camera 41 by a line-of-sight information acquisition process described later. The computer device executes processing for outputting the recognition result to the headlight control unit 21.
　また、この視線認識部４４では、（１）投光器４０を用いて近赤外線で照らしたドライバの顔を撮像した画像の画像情報をカメラ４１から入力する処理、（２）その入力した画像の画像情報を解析する処理、（３）その解析結果に基づいて、ドライバの顔を照らす近赤外線の輝度や、ドライバの顔を撮像する焦点位置を決定する処理、（４）その結果を投光器制御部４２及びカメラ制御部４３に出力して、投光器４０の輝度及びカメラ４１の焦点位置を調整させ、その調整後に（１）以下の処理を繰り返し行って、ドライバの視線を認識するために最適な投光器４０の輝度及びカメラ４１の焦点位置を決定する処理を常時行って、ドライバの顔を撮像した画像の画像情報を入力する処理を行っている。
［第１角度決定処理］
　次に、ヘッドライト制御部２１で実行される第１角度決定処理について説明する。 The line-of-sight recognition unit 44 also includes (1) a process of inputting image information of an image obtained by capturing the face of the driver illuminated by near infrared rays using the projector 40 from the camera 41, and (2) image information of the input image. (3) Based on the analysis result, the process of determining the near-infrared brightness for illuminating the driver's face and the focal position for imaging the driver's face, (4) Output to the camera control unit 43 to adjust the brightness of the projector 40 and the focal position of the camera 41. After the adjustment, (1) the following processing is repeated to recognize the driver's line of sight. A process of determining the brightness and the focal position of the camera 41 is always performed, and a process of inputting image information of an image obtained by capturing the driver's face is performed.
[First angle determination process]
Next, the first angle determination process executed by the headlight control unit 21 will be described.
　以下、特に記載がない限り、ステップ番号の小さいものから大きいものが実行されるものとする。 Hereafter, unless otherwise specified, the step numbers from the smallest to the largest are executed.
　第１角度決定処理２１ａは、図示しないイグニッションスイッチがＯＮ操作されると処理が開始される。この処理が開始されると、図２（ａ）に示すように、ヘッドライト制御部２１はまず、ライトスイッチ２２がＯＮ操作されているか検出する処理を実行する（Ｓ１０）。 The first angle determination process 21a starts when an unillustrated ignition switch is turned on. When this process is started, as shown in FIG. 2A, the headlight control unit 21 first executes a process of detecting whether the light switch 22 is turned on (S10).
　このＳ１０の処理で、ライトスイッチ２２がＯＮ操作されていないと判断された場合は、ヘッドライト制御部２１は、ＯＮ操作されるまで待機する処理を実行する（Ｓ１０：ＮＯ）。 In the process of S10, when it is determined that the light switch 22 is not turned on, the headlight control unit 21 performs a process of waiting until the light switch 22 is turned on (S10: NO).
　一方、Ｓ１０の処理で、ライトスイッチ２２がＯＮ操作されたと判断されると（Ｓ１０：ＹＥＳ）、Ｓ１２の処理が実行される。 On the other hand, if it is determined in the process of S10 that the light switch 22 has been turned on (S10: YES), the process of S12 is executed.
　Ｓ１２では、ヘッドライト制御部２１は、車速センサ３０から車速情報を取得する処理を実行する。さらに、Ｓ１４では、ヘッドライト制御部２１は、姿勢変化予測部３２から姿勢予測情報を取得する処理を実行する。 In S12, the headlight control unit 21 executes a process of acquiring vehicle speed information from the vehicle speed sensor 30. Further, in S <b> 14, the headlight control unit 21 executes a process of acquiring posture prediction information from the posture change prediction unit 32.
　Ｓ１６では、ヘッドライト制御部２１は、Ｓ１２で得られた車速情報及び、Ｓ１４で得られた姿勢予測情報に基づいて、ヘッドライト２０の照射方向である第１角度を決定する処理を実行する。 In S16, the headlight control unit 21 executes a process of determining a first angle that is an irradiation direction of the headlight 20 based on the vehicle speed information obtained in S12 and the posture prediction information obtained in S14.
　この第１角度としては、非加速時には、速度が遅いほど下方を向き、速度が速いほど上方を向いて遠方を照らすよう設定されるとともに、同じ速度でも、非加速時に比べ、加速時には車体の前方が浮くので第１角度をやや下げ、減速時には車体の前方が沈むので第１角度をやや上げたものに決定される。 The first angle is set so that when the vehicle is not accelerating, the lower the speed, the lower the direction, and the higher the speed, the more upward it illuminates the distance. Therefore, the first angle is slightly lowered, and when the vehicle is decelerated, the front of the vehicle body sinks, so that the first angle is slightly raised.
　その後、再びＳ１０以下の処理が実行され、ライトスイッチ２２がオフされるまで、本処理２１ａは実行される。
（視線情報取得処理）
　次に、視線認識部４４で実行される視線情報取得処理について説明する。 Thereafter, the processing from S10 is executed again, and this processing 21a is executed until the light switch 22 is turned off.
(Gaze information acquisition processing)
Next, the line-of-sight information acquisition process executed by the line-of-sight recognition unit 44 will be described.
　この視線情報取得処理４４ａは、常時実行されている。視線認識部４４はまず、図示しないイグニッションスイッチがＯＮ操作されているか判定する処理を実行する（Ｓ２０）。 The line-of-sight information acquisition process 44a is always executed. The line-of-sight recognition unit 44 first executes a process of determining whether an ignition switch (not shown) is turned on (S20).
　そして、イグニッションスイッチがＯＮ操作されていないと判定すると、視線認識部４４は、イグニッションスイッチがＯＮ操作されるまで待機する処理を実行する（Ｓ２０：ＮＯ）。一方、イグニッションスイッチがＯＮ操作されると、Ｓ２２の処理が実行される。 When it is determined that the ignition switch is not turned on, the line-of-sight recognition unit 44 executes a process of waiting until the ignition switch is turned on (S20: NO). On the other hand, when the ignition switch is turned on, the process of S22 is executed.
　Ｓ２２では、視線認識部４４は、投光器４０を用いて近赤外線で照らされたドライバの顔を撮像した画像データをカメラ４１から取得する処理を実行する。 In S22, the line-of-sight recognition unit 44 executes a process of acquiring, from the camera 41, image data obtained by imaging the driver's face illuminated with near-infrared rays using the projector 40.
　Ｓ２４では、視線認識部４４は、Ｓ２２で取得した画像データに基づいて、ドライバの顔の特徴点（例えば、顔の輪郭、鼻の位置、眉毛の位置等）を抽出する処理を実行する。さらにＳ２６では、視線認識部４４は、その画像データに基づいて、ドライバの目の特徴点（例えば、目の輪郭、虹彩の輪郭等）を抽出する処理を実行する。 In S24, the line-of-sight recognition unit 44 executes a process of extracting feature points (for example, face contour, nose position, eyebrow position, etc.) of the driver's face based on the image data acquired in S22. Further, in S26, the line-of-sight recognition unit 44 executes a process of extracting feature points of the driver's eyes (for example, eye contour, iris contour, etc.) based on the image data.
　そして、Ｓ２８では、視線認識部４４は、Ｓ２４，Ｓ２６で抽出された情報から、顔向きや目の位置に関する情報が得られるので、これらの情報から、ドライバの視線情報を算出して、ヘッドライト制御部２１に出力する処理を実行する。 In S28, the line-of-sight recognition unit 44 obtains information on the face orientation and the eye position from the information extracted in S24 and S26. From these information, the line-of-sight information of the driver is calculated and the headlight is calculated. Processing to be output to the control unit 21 is executed.
　その後、再びＳ２０以下の処理が実行され、イグニッションスイッチがオフされるまで、本処理４４ａは実行される。
（ヘッドライト制御処理）
　次に、ヘッドライト制御部２１で実行されるヘッドライト制御処理２１ｂについて説明する。 Thereafter, the processing from S20 is executed again, and this processing 44a is executed until the ignition switch is turned off.
(Headlight control process)
Next, the headlight control process 21b executed by the headlight control unit 21 will be described.
　このヘッドライト制御処理２１ｂは、図３に示すように、第１角度決定処理２１ａ同様、図示しないイグニッションスイッチが入れられると処理が開始される。この処理が開始されると、ヘッドライト制御部２１はまず、ライトスイッチ２２がＯＮ操作されているか検出する処理を実行する（Ｓ３０）。 As shown in FIG. 3, the headlight control process 21b starts when an ignition switch (not shown) is turned on, as in the first angle determination process 21a. When this process is started, the headlight control unit 21 first executes a process of detecting whether the light switch 22 is turned on (S30).
　次に、Ｓ３１では、ヘッドライト制御部２１は、第１角度決定処理２１ａの処理で得られた第１角度情報を姿勢検出部３から取得する処理を実行し、引き続いて、Ｓ３２では、視線情報取得処理４４ａで得られたドライバの視線に関する情報を視線検出部４から取得する処理を実行する。 Next, in S31, the headlight control unit 21 executes a process of acquiring the first angle information obtained by the process of the first angle determination process 21a from the attitude detection unit 3, and subsequently, in S32, the line-of-sight information A process of acquiring information about the driver's line of sight obtained in the acquisition process 44a from the line-of-sight detection unit 4 is executed.
　そして、Ｓ３３では、ヘッドライト制御部２１は、Ｓ３１及びＳ３２で得られた第１角度情報及び視線情報に基づいて、視線が第１角度に基づいて設定される許容範囲よりも上方または下方に位置するか判定する処理を実行する。 In S33, the headlight control unit 21 is positioned above or below the allowable range set based on the first angle based on the first angle information and the line-of-sight information obtained in S31 and S32. The process which determines whether to do is performed.
　この処理（Ｓ３３）で、視線が第１角度に基づいて設定される許容範囲内に位置すると判定されると（Ｓ３３：ＮＯ）、Ｓ３８の処理が実行される。Ｓ３８では、ヘッドライト制御部２１は、Ｓ３１で取得した第１角度情報に基づいて第１角度方向にヘッドライト２０の照射角度を調整する処理を実行する。 If it is determined in this process (S33) that the line of sight is within the allowable range set based on the first angle (S33: NO), the process of S38 is executed. In S38, the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 in the first angle direction based on the first angle information acquired in S31.
　一方、視線が第１角度に基づいて設定される許容範囲よりも上方または下方に位置すると判定されると（Ｓ３３：ＹＥＳ）、Ｓ３４の処理が実行される。 On the other hand, if it is determined that the line of sight is located above or below the allowable range set based on the first angle (S33: YES), the process of S34 is executed.
　Ｓ３４では、ヘッドライト制御部２１は、ドライバがメータやカーナビ等をみるため、視線が第１角度から見て、許容範囲よりも大きい予め定められた角度以上大きく変化しているか判定する処理を実行する。 In S34, the headlight control unit 21 performs a process of determining whether or not the line of sight has changed more than a predetermined angle larger than the allowable range when viewed from the first angle, so that the driver looks at the meter, the car navigation system, or the like. To do.
　この処理（Ｓ３４）で、視線が第１角度からみて予め定められた角度以上変化していると判定されると（Ｓ３４：ＹＥＳ）、Ｓ３８の処理が実行される。Ｓ３８では、ヘッドライト制御部２１は、Ｓ３１で取得した第１角度情報でヘッドライト２０の照射角度を調整する処理を実行する。 If it is determined in this process (S34) that the line of sight has changed by a predetermined angle or more when viewed from the first angle (S34: YES), the process of S38 is executed. In S38, the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 with the first angle information acquired in S31.
　一方、視線が第１角度からみて予め定められた角度以上変化していないと判定されると（Ｓ３４：ＮＯ）、Ｓ３５の処理が実行される。 On the other hand, if it is determined that the line of sight has not changed by a predetermined angle or more when viewed from the first angle (S34: NO), the process of S35 is executed.
　Ｓ３５では、ヘッドライト制御部２１は、視線が許容範囲外でありかつ第１角度以上変化していない時間が一定時間以上継続しているか判定する処理を実行する。 In S35, the headlight control unit 21 executes a process of determining whether the time during which the line of sight is outside the allowable range and has not changed by the first angle or more continues for a certain time or more.
　この処理（Ｓ３５）で、視線が一定時間以上、許容範囲外でありかつ第１角度以上変化していないと判定されると（Ｓ３５：ＮＯ）、Ｓ３５の処理が実行される。Ｓ３５では、ヘッドライト制御部２１は、Ｓ３１で取得した第１角度情報でヘッドライト２０の照射角度を調整する処理を実行する。 If it is determined in this process (S35) that the line of sight is outside the allowable range for a certain time or more and has not changed by the first angle (S35: NO), the process of S35 is executed. In S35, the headlight control unit 21 executes a process of adjusting the irradiation angle of the headlight 20 with the first angle information acquired in S31.
　一方、視線が一定時間以上、許容範囲外でありかつ第１角度以上変化していないと判定されると（Ｓ３５：ＹＥＳ）、Ｓ３６の処理が実行される。Ｓ３６では、ヘッドライト制御部２１は、運転者の視線方向である第２角度を設定する処理を実行し、Ｓ３７では、この第２角度方向にヘッドライト２０の照射角度を調整する処理を実行する。 On the other hand, if it is determined that the line of sight is outside the allowable range for a certain time or more and has not changed by the first angle or more (S35: YES), the process of S36 is executed. In S36, the headlight control unit 21 performs a process of setting a second angle that is the direction of the driver's line of sight, and in S37, a process of adjusting the irradiation angle of the headlight 20 in the second angle direction. .
　すると、ヘッドライト２０の照射方向が、ドライバが見ている方向に変化する。 Then, the irradiation direction of the headlight 20 changes to the direction that the driver is viewing.
　そして、Ｓ３７又はＳ３８の処理が実行されると、Ｓ３９において、ヘッドライト制御部２１は、これらの処理（Ｓ３７、Ｓ３８）が実行されてから一定時間経過したか否かを判定する。一定時間経過していなければ（Ｓ３９：ＮＯ）待機する処理が実行される。 Then, when the process of S37 or S38 is executed, in S39, the headlight control unit 21 determines whether or not a certain time has elapsed since the execution of these processes (S37, S38). If the predetermined time has not elapsed (S39: NO), a standby process is executed.
　一方、一定時間経過していれば、再びＳ３１以下の処理が実行される。
（本実施形態のヘッドライト制御装置の作用効果）
　本実施形態のヘッドライト制御装置１を構成するヘッドライト制御部２１にて、ヘッドライト制御処理２１ｂが実行されると、視線認識部４４で検出された視線に対応する方向に、ヘッドライト２０の照射方向を向けるよう制御される（Ｓ３７）。 On the other hand, if the predetermined time has elapsed, the processing from S31 is executed again.
(Operational effect of the headlight control device of the present embodiment)
When the headlight control processing 21b is executed in the headlight control unit 21 constituting the headlight control device 1 of the present embodiment, the headlight 20 is moved in the direction corresponding to the line of sight detected by the line-of-sight recognition unit 44. Control is made to direct the irradiation direction (S37).
　このようにすると、ヘッドライト２０の照射方向が、ドライバの視線に合わせて変更されるので、ヘッドライト２０の照射方向について、ドライバに違和感を感じさせることを防止することができる。 In this way, since the irradiation direction of the headlight 20 is changed in accordance with the driver's line of sight, it is possible to prevent the driver from feeling uncomfortable with respect to the irradiation direction of the headlight 20.
　また、本実施形態のヘッドライト制御装置１は、ヘッドライト制御処理２１ｂにおいて、視線が車両の速度及び加速度から求められる第１角度の許容範囲外にある状態が一定時間以上継続した場合に（Ｓ３５：ＹＥＳ）、視線認識部４４で検出された視線に対応する方向に、ヘッドライト２０の照射方向を向けるよう制御されている（Ｓ３７）。 Further, the headlight control device 1 according to the present embodiment, in the headlight control processing 21b, when the state where the line of sight is outside the allowable range of the first angle obtained from the speed and acceleration of the vehicle continues for a certain time (S35). : YES), the irradiation direction of the headlight 20 is controlled to be directed in the direction corresponding to the line of sight detected by the line-of-sight recognition unit 44 (S37).
　そのため、本実施形態のヘッドライト制御装置１を用いると、ヘッドライト２０の照射方向が視線の向きの変化に合わせて変化しすぎて運転者等に煩わしいと感じさせることを、防止することができる。
（その他の実施形態）
　以下にその他の実施形態を例示する。上記実施形態では、車体が現在どのような姿勢を取っているかを知る方法として、車速センサ３０及び加速度センサ３１を用いて検出される速度及び加速度から予測しているが、他の方法で検出してもよいことはもちろんである。 Therefore, when the headlight control device 1 of the present embodiment is used, it is possible to prevent the irradiation direction of the headlight 20 from changing too much in accordance with the change in the direction of the line of sight and causing the driver to feel troublesome. .
(Other embodiments)
Other embodiments are illustrated below. In the above embodiment, as a method of knowing what posture the vehicle body currently takes, prediction is made from the speed and acceleration detected using the vehicle speed sensor 30 and the acceleration sensor 31, but it is detected by other methods. Of course, you may.
　例えば、車両の傾き等を検出するセンサをさらに備えることによって検出してもよい。 For example, you may detect by further providing the sensor which detects the inclination etc. of a vehicle.
　また、上記実施形態では、車両の速度や加速度を、速度センサや加速度センサを用いて検出していたが、ナビゲーションシステムを用いてこれらを計測するなどしてもよく、車両の速度や加速度を検出できる方法であればどのような方法を用いてもよい。 In the above embodiment, the speed and acceleration of the vehicle are detected using a speed sensor and an acceleration sensor. However, these may be measured using a navigation system, and the speed and acceleration of the vehicle are detected. Any method that can be used may be used.
　また、上記実施形態では、加速度センサ３１を備えているが、加速度センサ３１を備えることなく車速センサ３０のみ備え、この車速センサ３０で検出される速度の変化を常時監視することにより加速度を算出するようにしてもよい。 Moreover, although the acceleration sensor 31 is provided in the said embodiment, it is provided only with the vehicle speed sensor 30 without providing the acceleration sensor 31, and calculates an acceleration by always monitoring the change of the speed detected with this vehicle speed sensor 30. You may do it.
　なお、上記実施形態のヘッドライト制御部２１は照射方向制御手段（照射方向制御部）の一例に相当する。視線検出部４は視線検出手段（視線検出部）の一例に相当する。姿勢検出部３は姿勢検出手段（姿勢検出部）の一例に相当する。速度センサ３０は速度検出手段（速度検出部）の一例に相当する。加速度センサ３１は加速度検出手段（加速度検出部）の一例に相当する。 In addition, the headlight control part 21 of the said embodiment is corresponded to an example of an irradiation direction control means (irradiation direction control part). The line-of-sight detection unit 4 corresponds to an example of a line-of-sight detection unit (line-of-sight detection unit). The posture detection unit 3 corresponds to an example of posture detection means (posture detection unit). The speed sensor 30 corresponds to an example of a speed detection unit (speed detection unit). The acceleration sensor 31 corresponds to an example of an acceleration detection unit (acceleration detection unit).
　本実施形態のヘッドライト制御部２１のＳ３２～Ｓ３７の処理は、照射方向制御手段（照射方向制御部）における第１制御手段（第１制御部）の一例に相当する。ヘッドライト制御部２１のＳ３８の処理は、照射方向制御手段（照射方向制御部）における第２制御手段（第２制御部）の一例に相当する。 The processing of S32 to S37 of the headlight control unit 21 of the present embodiment corresponds to an example of a first control unit (first control unit) in the irradiation direction control unit (irradiation direction control unit). The process of S38 of the headlight control unit 21 corresponds to an example of a second control unit (second control unit) in the irradiation direction control unit (irradiation direction control unit).
　本開示によれば、様々な態様のヘッドライト制御装置を提供できる。 According to the present disclosure, it is possible to provide various types of headlight control devices.
　例えば、本開示の一態様に係るヘッドライト制御装置は、ヘッドライトの照射方向を制御する照射方向制御部と、ドライバの視線を検出する視線検出部と、を備えている。 For example, a headlight control device according to an aspect of the present disclosure includes an irradiation direction control unit that controls the irradiation direction of the headlight, and a line-of-sight detection unit that detects the line of sight of the driver.
　そして、このヘッドライト制御装置では、照射方向制御部に備えられた第１制御部が、視線検出部で検出された視線に対応する方向に、ヘッドライトの照射方向を向けるよう制御する。 In the headlight control device, the first control unit provided in the irradiation direction control unit controls the headlight irradiation direction to be directed in the direction corresponding to the line of sight detected by the line-of-sight detection unit.
　このようなヘッドライト制御装置によれば、ヘッドライトの照射方向が、ドライバの視線に合わせて変更されるので、ヘッドライトの照射方向について、ドライバに違和感を感じさせることを防止することができる。 According to such a headlight control device, since the irradiation direction of the headlight is changed in accordance with the driver's line of sight, it is possible to prevent the driver from feeling uncomfortable with respect to the irradiation direction of the headlight.
　ところで、運転中、目は頻繁に動くので、ヘッドライトの照射方向を、視線の向きの変化に合わせすぎると、ヘッドライトの照射方向の変化が激しすぎて、かえって煩わしく感じる可能性もある。 By the way, since the eyes frequently move during driving, if the headlight irradiation direction is too adjusted to the change in the direction of the line of sight, the change in the headlight irradiation direction may be too intense, and it may be annoying.
　そこで、ヘッドライト制御装置は、車両の姿勢を検出する姿勢検出部を備え、照射方向制御部は、車両の姿勢に応じた第１角度方向にヘッドライトの照射方向を制御する第２制御部を備えてもよい。 Therefore, the headlight control device includes an attitude detection unit that detects the attitude of the vehicle, and the irradiation direction control unit includes a second control unit that controls the irradiation direction of the headlight in a first angle direction according to the attitude of the vehicle. You may prepare.
　そして、第１制御部は、視線検出部で検出された視線の向きが、第１角度方向に基づいて設定される許容範囲を超えて外れている場合、視線部で検出された視線に対応する第２角度方向に、ヘッドライトの照射方向を向けるよう制御するようにしてもよい。 The first control unit corresponds to the line of sight detected by the line of sight when the direction of the line of sight detected by the line of sight detection unit is outside the allowable range set based on the first angle direction. You may make it control to orient | assign the irradiation direction of a headlight to a 2nd angle direction.
　このようなヘッドライト制御装置によれば、まずは、車両の走行状態に応じた第１角度によって、ヘッドライトの照射方向が決まり、視線の向きが、この第１角度から決定される許容範囲を超えたときにはじめて、ドライバの視線に合わせてヘッドライトの照射方向が変化する。 According to such a headlight control device, first, the irradiation direction of the headlight is determined by the first angle corresponding to the traveling state of the vehicle, and the direction of the line of sight exceeds the allowable range determined from the first angle. For the first time, the irradiation direction of the headlight changes according to the line of sight of the driver.
　そのため、ヘッドライトの照射方向が、視線の向きの変化に合わせて変化しすぎて運転者等に煩わしいと感じさせることを、防止することができる。 Therefore, it can be prevented that the direction of irradiation of the headlight changes too much in accordance with the change in the direction of the line of sight and makes the driver feel troublesome.
　また、この煩わしさをさらに低減する必要がある場合、第１制御部については、視線検出部で検出された視線の向きが、一定時間以上継続して第１角度方向に基づいて設定された許容範囲を超えて外れている場合、視線検出部で検出された視線に対応する第２角度方向に、ヘッドライトの照射方向を向けるよう制御するように構成してもよい。 In addition, when it is necessary to further reduce this annoyance, the first control unit has an allowable setting in which the direction of the line of sight detected by the line-of-sight detection unit is set based on the first angle direction continuously for a certain time or more. When it is beyond the range, the headlight irradiation direction may be controlled to be directed in the second angle direction corresponding to the line of sight detected by the line-of-sight detection unit.
　このような構成によれば、車両の走行状態に応じた第１角度方向から得られる許容範囲を超えたときだけでなく、一定時間以上継続して、視線の向きが許容範囲を超えたときにはじめて、視線に合わせてヘッドライトの照射方向が変化するので、ヘッドライトの照射方向が、視線の向きの変化に合わせて変化しすぎて、運転者等に煩わしいと感じさせることをより確実に防止することができる。 According to such a configuration, not only when the allowable range obtained from the first angle direction according to the traveling state of the vehicle is exceeded, but also when the direction of the line of sight exceeds the allowable range continuously for a certain period of time. For the first time, since the headlight irradiation direction changes according to the line of sight, the headlight irradiation direction will change more appropriately according to the change in the direction of the line of sight, and more reliably prevent the driver from feeling troublesome. can do.
　また、ヘッドライト制御装置は次のように構成されてもよい。照射方向制御部は、視線検出部で検出された視線の向きが、第１角度から見て、許容範囲よりも大きい所定角度以上大きく変化しているか否かを判定する。そして、照射方向制御部は、視線検出部で検出された視線の向きが、許容範囲を超えて外れた場合であっても所定角度以上大きく変化している場合、車両の姿勢に応じた第１角度方向にヘッドライトの照射方向を向けるように制御する。一方、視線検出部で検出された視線の向きが、許容範囲を超えて外れた場合で且つ所定角度以上大きく変化していない場合、視線検出部で検出された視線に対応する第２角度方向にヘッドライトの照射方向を向けるように制御する。 Further, the headlight control device may be configured as follows. The irradiation direction control unit determines whether or not the direction of the line of sight detected by the line-of-sight detection unit has changed greatly by a predetermined angle or greater than the allowable range as seen from the first angle. Then, the irradiation direction control unit is configured to change the first direction according to the posture of the vehicle when the direction of the line of sight detected by the line of sight detection unit is greatly changed by a predetermined angle or more even when the direction is outside the allowable range. Control is performed so that the irradiation direction of the headlight is directed to the angular direction. On the other hand, when the direction of the line of sight detected by the line-of-sight detection unit deviates beyond the allowable range and does not change significantly by a predetermined angle or more, the direction of the line of sight detected in the second angle direction corresponding to the line of sight detected by the line-of-sight detection unit Control to direct headlight irradiation direction.
　このような構成によれば、ドライバが例えばメータやカーナビ等をみるため視線を大きく変化させても、その視線に合わせてヘッドライトの照射方向が変化しないので、ヘッドライトの照射方向が視線の向きの変化に合わせて大きく変化しすぎて運転者等に煩わしいと感じさせることを防止することができる。 According to such a configuration, even if the driver changes his line of sight for example to look at a meter or a car navigation system, the headlight irradiation direction does not change according to the line of sight. It can be prevented that the driver or the like feels bothersome due to a large change in accordance with the change.
　以上、本開示に係る実施形態、構成、態様を例示したが、本開示に係る実施形態、構成、態様は、上述した各実施形態、各構成、各態様に限定されるものではない。例えば、異なる実施形態、構成、態様にそれぞれ開示された技術的部を適宜組み合わせて得られる実施形態、構成、態様についても本開示に係る実施形態、構成、態様の範囲に含まれる。 As mentioned above, although embodiment, a structure, and aspect which concern on this indication were illustrated, embodiment, a structure, and aspect which concern on this indication are not limited to each embodiment, each structure, and each aspect which were mentioned above. For example, embodiments, configurations, and aspects obtained by appropriately combining technical sections disclosed in different embodiments, configurations, and aspects are also included in the scope of the embodiments, configurations, and aspects according to the present disclosure.

Claims (6)

  1. 　ヘッドライト（２０）の照射方向を制御する照射方向制御部(２１)と、
    　ドライバの視線を検出する視線検出部(４)と、
    　を備え、
    　前記照射方向制御部(２１)は、
    　　前記視線検出部(４)で検出された視線に対応する方向に、前記ヘッドライト（２０）の照射方向を向けるよう制御する第１制御部（Ｓ３２～Ｓ３７）
    　を備えるヘッドライト制御装置。     An irradiation direction controller (21) for controlling the irradiation direction of the headlight (20);
    A line-of-sight detection unit (4) for detecting the line of sight of the driver;
    With
    The irradiation direction control unit (21)
    A first control unit (S32 to S37) that controls to direct the irradiation direction of the headlight (20) in a direction corresponding to the line of sight detected by the line of sight detection unit (4)
    A headlight control device comprising:
  2. 　請求項１に記載のヘッドライト制御装置において、
    　前記ヘッドライト（２０）を備える車両の姿勢を検出する姿勢検出部(３)を備え、
    　前記照射方向制御部(２１)は、
    　　前記車両の姿勢に応じた第１角度方向に前記ヘッドライト（２０）の前記照射方向を制御する第２制御部(Ｓ３８)を備え、
    　前記第１制御部（Ｓ３２～Ｓ３７）は、
    　　前記視線検出部(４)で検出された視線の向きが、前記第１角度方向に基づいて設定される許容範囲を超えて外れている場合、前記視線検出部(４)で検出された視線に対応する第２角度方向に、前記ヘッドライト（２０）の照射方向を向けるよう制御するヘッドライト制御装置。     The headlight control device according to claim 1,
    A posture detection unit (3) for detecting the posture of the vehicle including the headlight (20);
    The irradiation direction control unit (21)
    A second control unit (S38) for controlling the irradiation direction of the headlight (20) in a first angular direction according to the attitude of the vehicle;
    The first control unit (S32 to S37)
    When the line-of-sight direction detected by the line-of-sight detection unit (4) deviates beyond an allowable range set based on the first angle direction, the line-of-sight detected by the line-of-sight detection unit (4) A headlight control device for controlling the irradiation direction of the headlight (20) in a corresponding second angle direction.
  3. 　請求項２に記載のヘッドライト制御装置において、
    　前記第１制御部（Ｓ３２～Ｓ３７）は、
    　　前記視線検出部(４)で検出された視線の向きが、一定時間以上継続して前記第１角度方向に基づいて設定された許容範囲を超えて外れている場合、前記視線検出部(４)で検出された視線に対応する第２角度方向に、前記ヘッドライト（２０）の照射方向を向けるよう制御するヘッドライト制御装置。     The headlight control device according to claim 2,
    The first control unit (S32 to S37)
    When the direction of the line of sight detected by the line-of-sight detection unit (4) continues beyond a predetermined time and exceeds an allowable range set based on the first angle direction, the line-of-sight detection unit (4) A headlight control device that controls the irradiation direction of the headlight (20) to be directed in a second angle direction corresponding to the line of sight detected in (1).
  4. 　請求項２～３のいずれか１項に記載のヘッドライト制御装置において、
    　前記姿勢検出部(３)は、
    　　前記車両の速度を検出する速度検出部(３０)と、
    　　前記車両の加速度を検出する加速度検出部(３１)と
    　を備え、
    　　前記速度検出部(３０)によって検出された速度及び前記加速度検出部(３１)によって検出された加速度に基づいて、前記車両の姿勢を予測するヘッドライト制御装置。     The headlight control device according to any one of claims 2 to 3,
    The posture detection unit (3)
    A speed detector (30) for detecting the speed of the vehicle;
    An acceleration detector (31) for detecting the acceleration of the vehicle,
    A headlight control device that predicts the posture of the vehicle based on the speed detected by the speed detector (30) and the acceleration detected by the acceleration detector (31).
  5. 　請求項１～４のいずれか１項に記載のヘッドライト制御装置において、
    　前記照射方向制御部(２１)は、
    　　ヘッドライト（２０）の上下の照射方向を制御するヘッドライト制御装置。     The headlight control device according to any one of claims 1 to 4,
    The irradiation direction control unit (21)
    A headlight control device for controlling the upper and lower irradiation directions of the headlight (20).
  6. 　請求項２～５のいずれか１項に記載のヘッドライト制御装置において、
    　前記照射方向制御部(２１)は、前記視線検出部(４)で検出された視線の向きが、前記第１角度から見て、前記許容範囲よりも大きい所定角度以上大きく変化しているか否かを判定し、
    　　前記視線検出部(４)で検出された視線の向きが、前記許容範囲を超えて外れた場合であっても前記所定角度以上大きく変化している場合、前記車両の姿勢に応じた第１角度方向に前記ヘッドライト（２０）の照射方向を向けるように制御し、
    　　前記視線検出部(４)で検出された視線の向きが、前記許容範囲を超えて外れた場合で且つ前記所定角度以上大きく変化していない場合、前記視線検出部(４)で検出された視線に対応する第２角度方向に前記ヘッドライト（２０）の照射方向を向けるように制御するヘッドライト制御装置。
     
          The headlight control device according to any one of claims 2 to 5,
    The irradiation direction control unit (21) determines whether or not the direction of the line of sight detected by the line-of-sight detection unit (4) has changed greatly by a predetermined angle larger than the allowable range as seen from the first angle. Determine
    Even if the direction of the line of sight detected by the line-of-sight detection unit (4) is larger than the predetermined angle even when the line of sight exceeds the allowable range, the first angle corresponding to the attitude of the vehicle Control to direct the irradiation direction of the headlight (20) in the direction,
    The line of sight detected by the line of sight detection unit (4) when the direction of the line of sight detected by the line of sight detection unit (4) deviates beyond the allowable range and does not change significantly by more than the predetermined angle. A headlight control device for controlling the irradiation direction of the headlight (20) in a second angular direction corresponding to

PCT/JP2013/000342 2012-01-31 2013-01-24 Headlight control device WO2013114828A1 (en)

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