WO2017163414A1 - Light distribution control device, light distribution control method, and light distribution control program - Google Patents

Light distribution control device, light distribution control method, and light distribution control program Download PDF

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Publication number
WO2017163414A1
WO2017163414A1 PCT/JP2016/059706 JP2016059706W WO2017163414A1 WO 2017163414 A1 WO2017163414 A1 WO 2017163414A1 JP 2016059706 W JP2016059706 W JP 2016059706W WO 2017163414 A1 WO2017163414 A1 WO 2017163414A1
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WO
WIPO (PCT)
Prior art keywords
light distribution
vehicle
area
setting unit
region
Prior art date
Application number
PCT/JP2016/059706
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French (fr)
Japanese (ja)
Inventor
竜 村松
博仁 西山
政明 武安
倉橋　正人
佐藤　直人
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2016/059706 priority Critical patent/WO2017163414A1/en
Publication of WO2017163414A1 publication Critical patent/WO2017163414A1/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
    • B60Q1/10—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
    • 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

Definitions

  • the present invention relates to a technique for controlling the light distribution of a vehicle headlamp.
  • the driver may travel with a high beam in order to ensure the maximum field of view.
  • driving with a high beam may dazzle the driver of the vehicle ahead, so the driver travels with a low beam.
  • the light distribution of the low beam is downward, the driver's visibility is greatly reduced compared to the case of the high beam, leading to oversight of pedestrians near the road, road signs, and distant road shapes.
  • Patent Document 1 includes means for detecting angle information in the pitch direction and yaw direction of the vehicle.
  • the light distribution area of the headlamp When the light distribution area of the headlamp is controlled to the first predetermined light distribution area, or when the change amount of each angle exceeds the threshold, the light distribution area is set to the first predetermined light distribution.
  • a technique for changing to a second light distribution region different from the region is disclosed.
  • the light distribution region is set to a first predetermined light distribution region (for example, a high beam light distribution).
  • the second predetermined light distribution region (for example, the low beam light distribution region) is controlled from the region or the intermediate light distribution region between the high beam and the low beam.
  • the light distribution area of the headlamp is controlled based on only the angle in the pitch direction and the yaw direction of the vehicle or the amount of change in the angle. Since the vehicle and the preceding vehicle are traveling, the relative positional relationship between the vehicles changes every moment. However, in the technique of Patent Document 1, an effective arrangement according to the relative positional relationship between the vehicles is performed. There is a problem that light control cannot be performed.
  • the main object of the present invention is to solve such problems, and a main object of the present invention is to obtain a configuration capable of performing effective light distribution control according to the relative positional relationship between vehicles. .
  • the light distribution control device includes: A light distribution control device that is mounted on a vehicle and controls light distribution of a headlamp of the vehicle, A glare area setting unit that sets a glare area that may distract the driver of the vehicle ahead of the vehicle when the light distribution is performed, among the space areas in which the light distribution of the headlamp is possible; Light distribution of the headlamp is possible based on at least one of the relative angle in the pitch direction between the vehicle and the preceding vehicle and the relative angle in the yaw direction between the vehicle and the preceding vehicle, and the glare region.
  • a light distribution prohibition region setting unit that sets a light distribution prohibition region in which the light distribution of the headlamp is prohibited.
  • the shape of the light distribution prohibited area is changed based on at least one of the relative angle in the pitch direction between the vehicles and the relative angle in the yaw direction. Accordingly, effective light distribution control can be performed.
  • FIG. 3 is a diagram illustrating an example of a device mounted on the vehicle according to the first embodiment.
  • FIG. 3 is a diagram illustrating a hardware configuration example of a light distribution control device according to the first embodiment.
  • FIG. 3 is a diagram illustrating a functional configuration example of a light distribution control device according to the first embodiment.
  • FIG. 4 is a diagram illustrating an example of a glare area according to the first embodiment.
  • region which concerns on Embodiment 1 is a figure which shows from the side surface direction of a vehicle body.
  • FIG. 6 is a flowchart showing an operation example of a vertical direction setting unit according to the first embodiment.
  • FIG. 6 is a diagram showing a glare region when the relative angle ⁇ ⁇ 0 ° in the yaw direction according to the first embodiment.
  • FIG. 4 is a flowchart showing an operation example of a horizontal direction setting unit according to the first embodiment.
  • FIG. 5 is a flowchart showing an operation example of a light distribution area setting unit according to the first embodiment.
  • FIG. 4 is a flowchart showing an operation example of a light distribution prohibited area conversion unit according to the first embodiment.
  • FIG. *** Explanation of configuration *** FIG. 1 shows an example of an apparatus mounted on a vehicle 100 according to the present embodiment.
  • FIG. 1 shows only the device used for headlamp light distribution control.
  • the vehicle 100 includes a light distribution control device 1, headlight driving devices 600 and 610, headlights 700 and 710, a wireless communication device 400, an in-vehicle camera 410, a GPS (Global Positioning System) system 500, a vehicle speed sensor 510, A posture sensor 520 is provided.
  • a light distribution control device 1 headlight driving devices 600 and 610, headlights 700 and 710, a wireless communication device 400, an in-vehicle camera 410, a GPS (Global Positioning System) system 500, a vehicle speed sensor 510, A posture sensor 520 is provided.
  • GPS Global Positioning System
  • the wireless communication device 400, the in-vehicle camera 410, the GPS system 500, the vehicle speed sensor 510, and the attitude sensor 520 may be shared with other systems in the vehicle 100.
  • the light distribution control device 1 is a computer that controls the light distribution of the headlamps of the vehicle 100.
  • the light distribution control device 1 determines a light distribution area based on information on the positions of the preceding vehicle and the vehicle 100, information on the vehicle speed, and information on the traveling direction. Then, the light distribution control device 1 transmits the determined light distribution region to the headlamp driving devices 600 and 610 through the network 20.
  • the light distribution area is an area where the headlamps 700 and 710 are distributed.
  • the operation procedure performed in the light distribution control device 1 corresponds to an example of a light distribution control method and a light distribution control program.
  • the headlamp driving devices 600 and 610 control lighting of the respective light sources included in the headlamps 700 and 710 based on the light distribution area received from the light distribution control device 1.
  • the headlamps 700 and 710 are constituted by, for example, a plurality of light sources, and the headlamp driving devices 600 and 610 generate electric power for turning on / off the light sources based on the received light distribution area. Each light source is driven by supplying power to each light source individually or simultaneously.
  • the headlamp driving devices 600 and 610 change the supply current value or perform PWM (Pulse Width Modulation) control, for example, when power is supplied to drive each light source. Allows changing the brightness.
  • PWM Pulse Width Modulation
  • the headlamp driving devices 600 and 610 are installed on the left and right, respectively, but if the lighting control of each light source in the headlamps 700 and 710 can be realized, three or more may be used alone. It does n’t matter.
  • a plurality of light sources are installed in the headlamps 700 and 710, and lighting of these light sources is individually controlled by electric power supplied from the headlamp driving devices 600 and 610. By turning on / off each of the plurality of installed light sources, it is possible to change the light distribution shape that illuminates the space in front of the host vehicle.
  • Wireless communication device 400 performs wireless communication with communication devices and base stations of surrounding vehicles.
  • the in-vehicle camera 410 is installed at a specific position in the vehicle 100, for example, in the vicinity of a room mirror in the vehicle interior.
  • the in-vehicle camera 410 captures a space in front of the vehicle 100 and performs image analysis on image data obtained by the photographing, thereby detecting information related to the relative position of the vehicle ahead of the vehicle 100.
  • the in-vehicle camera 410 detects information related to the position of the headlight or tail lamp of the vehicle ahead (hereinafter referred to as the light position) based on the image data.
  • the vehicle speed sensor 510 acquires information related to the vehicle speed of the vehicle 100.
  • the attitude sensor 520 is, for example, a 6-axis acceleration sensor.
  • the attitude sensor 520 acquires information related to the traveling direction of the vehicle 100, information related to the pitch direction angle of the vehicle 100, and information related to the angle of the vehicle 100 in the yaw direction.
  • FIG. 2 shows a hardware configuration example of the light distribution control device 1 according to the present embodiment.
  • the light distribution control device 1 includes a microcomputer 10, a nonvolatile memory 15, a communication interface 16, and an input / output interface 17 as main components.
  • the microcomputer 10 includes a ROM 11 (Read Only Memory) and a RAM (Random Access Memory) 12 that are storage devices, and a CPU (Central Processing Unit) 13 that is a processor.
  • a program 14 is stored in the ROM 11.
  • the program 14 is loaded into the RAM 12 and executed by the CPU 13.
  • the program 14 includes a forward vehicle information collection unit 101, a vehicle information collection unit 102, a glare region setting unit 103, a vertical direction setting unit 104, a horizontal direction setting unit 105, and a light distribution region setting unit 106 illustrated in FIG.
  • a program for realizing the light distribution prohibited area setting unit 108 is illustrated in FIG.
  • the communication interface 16 is a circuit that functions as an interface with the network 20.
  • the input / output interface 17 is a circuit that functions as an interface with the control devices 30 and 31.
  • FIG. 3 shows a functional configuration example of the light distribution control device 1 according to the present embodiment.
  • the communication unit 107 communicates with the wireless communication device 400, the in-vehicle camera 410, the GPS system 500, the vehicle speed sensor 510, the attitude sensor 520, and the headlight driving devices 600 and 610 via the network 20.
  • the forward vehicle information collection unit 101 extracts information related to the forward vehicle from the information received by the communication unit 107.
  • the vehicle information collection unit 102 extracts information related to the vehicle 100 from the information received by the communication unit 107.
  • the glare area setting unit 103 sets the glare area based on the positional relationship between the vehicle 100 and the preceding vehicle.
  • the glare area is an area in which light distribution from the headlamps 700 and 710 may cause a driver of the vehicle ahead if the light distribution is performed. Details of the glare region will be described later.
  • the operation performed by the glare area setting unit 103 corresponds to glare area setting processing.
  • the light distribution prohibited area setting unit 108 sets the light distribution prohibited area based on the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the glare area. To do.
  • the light distribution prohibition area is a space area in which light distribution of the headlamps 700 and 710 is prohibited among space areas in which light distribution of the headlamps 700 and 710 is possible.
  • the light distribution prohibition area setting unit 108 divides a space area where the headlights 700 and 710 can distribute light into a plurality of virtual blocks, and sets the light distribution prohibition area in units of virtual blocks.
  • the light distribution prohibition region setting unit 108 determines the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the size of the glare region.
  • the geometric calculation used is performed, and the light distribution prohibition area is set in the range of the minimum virtual block including the area obtained by the geometric calculation.
  • the light distribution prohibition region setting unit 108 includes a vertical direction setting unit 104, a horizontal direction setting unit 105, and a light distribution region conversion unit 109.
  • the vertical direction setting unit 104 sets the length of the light distribution prohibited area in the vertical direction according to the relative angle ⁇ in the pitch direction of the preceding vehicle with respect to the vehicle 100.
  • the horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the relative angle ⁇ in the yaw direction of the preceding vehicle with respect to the vehicle 100.
  • the light distribution area conversion unit 109 performs a process of converting the light distribution prohibited area into the virtual block unit.
  • the light distribution prohibition area setting unit 108 divides a space area where the headlights 700 and 710 can distribute light into a plurality of virtual blocks, and sets the light distribution prohibition area in units of virtual blocks. More specifically, the light distribution prohibition region setting unit 108 determines the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the size of the glare region.
  • the geometric calculation used is performed, and the light distribution prohibition area is set in the range of the minimum virtual block including the area obtained by the geometric calculation.
  • the operation performed by the light distribution prohibited area setting unit 108 corresponds to a light distribution prohibited area setting process.
  • the light distribution area setting unit 106 determines the range of the virtual block excluding the light distribution prohibited area set by the light distribution prohibited area setting unit 108 among the plurality of virtual blocks as the light distribution area.
  • the communication unit 107 is realized by the communication interface 16.
  • the wireless communication device 400 receives information regarding the angle in the pitch direction of the preceding vehicle, information regarding the angle in the yaw direction, and information regarding the vehicle classification by wireless communication. In addition, the wireless communication device 400 transmits the received information to the light distribution control device 1 through the network 20.
  • the information related to the vehicle classification is information on the category of vehicles such as passenger cars, light vehicles, large vehicles such as buses and trucks.
  • the light distribution control device 1 can determine whether the preceding vehicle is a passenger car, a light vehicle, or a large vehicle based on the information related to the vehicle classification.
  • the light distribution control device 1 can estimate the position of the windshield of the forward vehicle (the position of the glare area) by determining the vehicle classification of the forward vehicle.
  • the in-vehicle camera 410 performs image analysis on the image data obtained by photographing, and generates information regarding the relative position of the preceding vehicle with respect to the vehicle 100 and information regarding the position of the light of the preceding vehicle.
  • the in-vehicle camera 410 transmits information regarding the relative position of the preceding vehicle with respect to the vehicle 100 and information regarding the position of the light of the preceding vehicle to the light distribution control device 1 through the network 20.
  • the light distribution control device 1 can estimate the position of the windshield of the vehicle ahead (the position of the glare area) by determining the position of the light.
  • the vehicle speed sensor 510 acquires information related to the speed of the vehicle 100. Then, the vehicle speed sensor 510 transmits information regarding the speed of the vehicle 100 to the light distribution control device 1 through the network 20.
  • the attitude sensor 520 acquires information related to the traveling direction of the vehicle 100, information related to the pitch direction angle of the vehicle 100, and information related to the angle of the vehicle 100 in the yaw direction.
  • the attitude sensor 520 transmits information related to the traveling direction of the vehicle 100, information related to the angle in the pitch direction of the vehicle 100, and information related to the angle in the yaw direction of the vehicle 100 to the light distribution control device 1 through the network 20.
  • the source of the above information may not be as described above, or may be a device other than the above device. .
  • the forward vehicle information collection unit 101 has information on the relative position of the forward vehicle with respect to the vehicle 100, information on the position of the light of the forward vehicle, the angle in the pitch direction of the forward vehicle, and the angle in the yaw direction of the forward vehicle.
  • Information regarding the vehicle classification of the preceding vehicle is acquired from the communication unit 107.
  • the front vehicle information collection part 101 is the information regarding the relative position of the front vehicle with respect to the vehicle 100, the position of the light of the front vehicle, the angle of the pitch direction of the front vehicle, the information about the angle of the yaw direction of the front vehicle, the vehicle of the front vehicle Information on the classification is transmitted to the glare area setting unit 103.
  • the vehicle information collection unit 102 acquires information regarding the pitch direction angle of the vehicle 100 and the yaw direction angle of the vehicle 100 from the communication unit 107. Then, the vehicle information collection unit 102 transmits information regarding the pitch direction angle of the vehicle 100 and the yaw direction angle of the vehicle 100 to the glare region setting unit 103.
  • the glare area setting unit 103 sets a glare area.
  • FIG. 4 shows an example of the glare area.
  • the depth of the glare region is defined as x
  • the lateral width of the glare region is defined as y
  • the height of the glare region is defined as z with reference to the front of the vehicle.
  • the glare area setting unit 103 determines the length of the glare area from x, y, z, and the glare area from the ground. Set the height and position of the glare area.
  • FIG. 5 shows the glare region from the side of the vehicle.
  • the glare area setting unit 103 includes information on the lengths of x, y, and z in the glare area, information on the height of the glare area from the ground, information on the position of the glare area, the angle in the pitch direction of the vehicle 100, Information regarding the angle in the yaw direction, information regarding the angle in the pitch direction of the preceding vehicle, and information regarding the angle in the yaw direction of the preceding vehicle are transmitted to the vertical direction setting unit 104.
  • the vertical direction setting unit 104 sets the length of the light distribution prohibited area in the vertical direction according to the relative angle ⁇ in the pitch direction of the preceding vehicle with respect to the vehicle 100.
  • the vertical direction setting unit 104 calculates the relative angle ⁇ in the pitch direction based on the difference between the absolute value of the angle in the pitch direction of the preceding vehicle and the value of the angle in the pitch direction of the vehicle 100.
  • FIG. 6 shows an outline of the operation of the vertical direction setting unit 104, and shows a glare region when the relative angle ⁇ ⁇ 0 ° in the pitch direction. Since the glare region is inclined in the pitch direction by the relative angle ⁇ , it is necessary to expand in the vertical direction along with the light distribution prohibited region.
  • the vertical direction setting unit 104 obtains the length of the light distribution prohibited area in the vertical direction by the following equation (1). x ⁇ cos (90 ° ⁇ ) + z ⁇ sin (90 ° ⁇ ) (1)
  • FIG. 7 is a flowchart showing details of the operation of the vertical direction setting unit 104.
  • step S100 the vertical direction setting unit 104 determines the presence or absence of a forward vehicle. If the vertical direction setting unit 104 receives information about the lengths of x, y, and z of the glare area from the glare area setting unit 103, the vertical direction setting unit 104 determines that a vehicle ahead is present. When it is determined that a preceding vehicle exists, the vertical direction setting unit 104 determines in step S101 the pitch direction of the preceding vehicle relative to the vehicle 100 from the information regarding the angle in the pitch direction of the preceding vehicle and the information regarding the angle in the pitch direction of the vehicle 100. Relative angle ⁇ is calculated.
  • step S102 the vertical direction setting unit 104 sets the vertical length of the light distribution prohibited area according to the above-described equation (1) according to the relative angle ⁇ . If it is determined in step S100 that there is no preceding vehicle, the vertical direction setting unit 104 ends the process assuming that there is no light distribution prohibited area. If the vertical length of the light distribution prohibited area is set in step S102, the vertical direction setting unit 104 sets information on the vertical length of the light distribution prohibited area, x, y, and z of the glare area.
  • Information on the length, information on the height of the glare area from the ground, information on the position of the glare area, information on the angle in the yaw direction of the vehicle 100, and information on the angle in the yaw direction of the preceding vehicle are transmitted to the horizontal direction setting unit 105 To do.
  • the horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the relative angle ⁇ in the yaw direction of the preceding vehicle with respect to the vehicle 100.
  • the horizontal direction setting unit 105 calculates the relative angle ⁇ in the yaw direction based on the difference between the absolute value of the angle in the yaw direction of the preceding vehicle and the value of the angle in the yaw direction of the vehicle 100.
  • FIG. 8 shows the glare region from above the vehicle.
  • the horizontal direction setting unit 105 obtains the horizontal length of the light distribution prohibited area by the following equation (2). x ⁇ cos (90 ° ⁇ ) + y ⁇ sin (90 ° ⁇ ) (2)
  • FIG. 10 is a flowchart showing details of the operation of the horizontal direction setting unit 105.
  • the horizontal direction setting unit 105 determines the presence or absence of a forward vehicle. If the horizontal direction setting unit 105 receives information about the vertical length of the light distribution prohibited area from the vertical direction setting unit 104, the horizontal direction setting unit 105 determines that there is a vehicle ahead. If it is determined that there is a preceding vehicle, the horizontal direction setting unit 105 determines in step S201 the yaw direction of the preceding vehicle relative to the vehicle 100 from the information regarding the angle of the yaw direction of the preceding vehicle and the information regarding the angle of the yaw direction of the vehicle 100. The relative angle ⁇ of is calculated.
  • step S202 the horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the above-described equation (2) according to the relative angle ⁇ . If it is determined in step S200 that there is no preceding vehicle, the horizontal direction setting unit 105 ends the process assuming that there is no light distribution prohibition area. If the horizontal length of the light distribution prohibited area is set in step S202, the horizontal direction setting unit 105 sets the information on the position of the light distribution prohibited area in the glare area and the length of the light distribution prohibited area in the horizontal direction. And information on the vertical length of the light distribution prohibited area are transmitted to the light distribution prohibited area conversion unit 109.
  • the light distribution prohibition area conversion unit 109 represents the information on the position of the light distribution prohibition area, the information on the horizontal length of the light distribution prohibition area, and the vertical direction of the light distribution prohibition area expressed in the three-dimensional world coordinate system. Based on the information on the length of the direction, a spatial area where the headlamps 700 and 710 can distribute light (hereinafter, a light distribution possible area) is set in a two-dimensional screen coordinate system. More specifically, the light distribution prohibition area conversion unit 109 sets the light distribution prohibition area as a set of arbitrarily divided virtual blocks in the screen coordinate system.
  • FIG. 15 is a flowchart showing details of the operation of the light distribution prohibited area conversion unit 109.
  • the light distribution prohibition region conversion unit 109 determines whether there is a vehicle ahead. If the light distribution prohibition area conversion unit 109 receives the horizontal length of the light distribution prohibition area from the horizontal direction setting unit 105, the light distribution prohibition area conversion unit 109 determines that a preceding vehicle exists. If it is determined that there is a preceding vehicle, the light distribution prohibition area conversion unit 109 determines in step S401 the information on the position of the light distribution prohibition area, the information on the horizontal length of the light distribution prohibition area, and the vertical of the light distribution prohibition area. A light distribution prohibition area is arranged in the world coordinate system based on the direction length information.
  • step S402 conversion processing between general world coordinates and screen coordinates in the field of 3D graphics is performed, and the light distribution prohibited area handled in the 3D world coordinate system is viewed from the vehicle 100 in front. Converted to a two-dimensional screen coordinate system.
  • the light distribution prohibition area conversion unit 109 performs conversion so that the space represented by the screen coordinate system matches the light distribution possible area.
  • step S403 the light distribution prohibition area conversion unit 109 divides the light distribution possible area into a plurality of virtual blocks.
  • the light distribution prohibition area conversion unit 109 is preliminarily stored in the ROM 11 or the nonvolatile memory 15 in the microcomputer 10 based on the vertical division number and the horizontal division number for the space area. To split.
  • step S404 the light distribution prohibition area conversion unit 109 determines whether the light distribution prohibition area and each virtual block overlap, and if they overlap, determines the virtual block as a light distribution prohibition area. To the light distribution area setting unit 106.
  • the overlap determination here may use a general collision detection algorithm, an inside / outside determination algorithm, or the like. If it is determined in step S400 that there is no preceding vehicle, the light distribution prohibition area conversion unit 109 determines that there is no light distribution prohibition area and ends the process.
  • FIG. 11 is a flowchart illustrating an operation example of the light distribution area setting unit 106.
  • the light distribution area setting unit 106 determines whether or not there is a light distribution prohibited area.
  • the light distribution area setting unit 106 determines that there is a light distribution prohibited area if it receives information about the horizontal length of the light distribution prohibited area from the horizontal direction setting unit 105. If it is determined that the light distribution prohibited area exists, the light distribution area setting unit 106 sets a light distribution area that does not include the light distribution prohibited area in step S301. That is, the range of the virtual block excluding the light distribution prohibition area among the plurality of virtual blocks corresponding to the space area where the headlights 700 and 710 can distribute light is set as the light distribution area.
  • step S300 if it is determined in step S300 that the light distribution prohibition area does not exist, all of the plurality of virtual blocks corresponding to the entire space area in which the headlights 700 and 710 can distribute light are defined as the light distribution prohibition area.
  • the light distribution area setting unit 106 transmits information for specifying the set light distribution area to the headlight driving devices 600 and 610 through the network 20.
  • the headlamp driving devices 600 and 610 receive information specifying the light distribution area transmitted from the light distribution area setting unit 106 via the network 20. Then, the headlamp driving devices 600 and 610 generate electric power for turning on / off the light sources in the headlamps 700 and 710 based on the light distribution area specified by the received information. Each light source is driven by supplying power to the light sources individually or simultaneously. In addition, the headlamp driving devices 600 and 610 change the brightness at the time of lighting of each light source by, for example, changing the supply current value or performing PWM control in the power supply for driving each light source. To do.
  • the light distribution prohibition region is set according to the positions of the vehicle 100 and the preceding vehicle, the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. can do. For this reason, when traveling on a curve or a slope, the possibility of dazzling the driver of the front vehicle due to the light distribution by the headlamp of the vehicle 100 can be reduced.
  • FIG. 12 shows an example of the light distribution prohibited area and the light distribution area when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is not performed.
  • FIG. 13 shows a problem when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is not performed.
  • FIG. 14 shows an example of the light distribution prohibited area and the light distribution area when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is performed.
  • 12 to 14 show space areas where the headlamps 700 and 710 can distribute light, and rectangular areas indicate virtual blocks that divide the space areas. As shown in FIG.
  • the light distribution prohibited area setting unit 108 sets the light distribution prohibited area based on the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. Therefore, as shown in FIG. 14, all of the glare area in which the inclination of the preceding vehicle is reflected is set as the light distribution prohibited area. In this case, the possibility of dazzling the driver of the vehicle ahead is low.
  • effective light distribution control according to the relative positional relationship between the vehicle 100 and the preceding vehicle can be performed.
  • the light distribution prohibited area may be set using only one of the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. .
  • the horizontal length of the light-blocking prohibition region based on the horizontal length y of the glare region and the relative position of the preceding vehicle with respect to the vehicle 100.
  • the vertical direction z of the light shielding prohibition region is determined based on the vertical length z of the glare region and the relative position of the preceding vehicle with respect to the vehicle 100. Set the length.
  • the forward vehicle information collection unit 101, the vehicle information collection unit 102, the glare area setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, and the light distribution area setting unit 106 Information, data, signal values, and variable values indicating the processing results of the light distribution prohibited area setting unit 108 are stored in the RAM 12, the nonvolatile memory 15, or a register or cache memory in the CPU 13. Further, the functions of the front vehicle information collecting unit 101, the vehicle information collecting unit 102, the glare area setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, the light distribution area setting unit 106, and the light distribution prohibited area setting unit 108 are provided.
  • the realized program 14 may be stored in a portable storage medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD.
  • the light distribution control device 1 includes a logic IC (Integrated Circuit), a GA (Gate Array), and an ASIC (Application Specific). It may be realized by an electronic circuit such as an integrated circuit (FPGA) or a field-programmable gate array (FPGA).
  • the processor and the electronic circuit are also collectively referred to as a processing circuit.
  • 1 light distribution control device 10 microcomputer, 11 ROM, 12 RAM, 13 CPU, 14 program, 15 nonvolatile memory, 16 communication interface, 17 input / output interface, 20 network, 30 control device, 31 control device, 100 vehicle, 101 vehicle information collection unit, 102 vehicle information collection unit, 103 glare area setting unit, 104 vertical direction setting unit, 105 horizontal direction setting unit, 106 light distribution region setting unit, 107 communication unit, 108 light distribution prohibited region setting unit, 400 wireless communication device, 410 on-vehicle camera, 500 GPS system, 510 vehicle speed sensor, 520 attitude sensor, 600 headlight driving device, 610 headlight driving device, 700 headlight, 710 headlight.

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Abstract

A light distribution control device (1) is installed in a vehicle so as to control the light distribution of the headlights of the vehicle. A glare region setting unit (103) sets a glare region where the driver of a forward vehicle might be dazzled by light distribution within a space region where light can be distributed by the headlights. A light distribution prohibition region setting unit (108) sets a light distribution prohibition region where the light distribution of the headlights is prohibited within the space region where light can be distributed by the headlights, on the basis of the relative angle in the pitch direction and/or in the yaw direction between the vehicle and the forward vehicle and the glare region.

Description

配光制御装置、配光制御方法及び配光制御プログラムLight distribution control device, light distribution control method, and light distribution control program
　本発明は、車両の前照灯の配光を制御する技術に関する。 The present invention relates to a technique for controlling the light distribution of a vehicle headlamp.
＊＊＊背景＊＊＊
　夜間やトンネル内などの暗い周囲環境下で車両を走行させる場合、運転手は視界確保のために車両の前照灯を点灯させる。車両の前方に先行車両又は対向車両（以下、両者を合わせて前方車両という）が存在しない場合は、運転手は視界を最大限確保するためにハイビームで走行することがある。前方車両が存在する場合は、ハイビームで走行すると前方車両の運転手を眩惑させる恐れがあるため、運転手はロービームにして走行する。しかし、ロービームの配光は下向きであるため、運転手の視認性はハイビームの時と比べると大幅に低下し、道路近傍の歩行者、道路標識、遠方の道路形状の見落としに繋がる。 ***background***
When driving a vehicle in a dark ambient environment such as at night or in a tunnel, the driver turns on the headlamp of the vehicle to ensure visibility. When there is no preceding vehicle or oncoming vehicle (hereinafter referred to as the preceding vehicle together) in front of the vehicle, the driver may travel with a high beam in order to ensure the maximum field of view. When a vehicle ahead is present, driving with a high beam may dazzle the driver of the vehicle ahead, so the driver travels with a low beam. However, since the light distribution of the low beam is downward, the driver's visibility is greatly reduced compared to the case of the high beam, leading to oversight of pedestrians near the road, road signs, and distant road shapes.
＊＊＊従来技術＊＊＊
　そのような課題を解決する技術として、車載カメラによって前方車両の位置を認識し、前方車両が存在する領域のみハイビームの配光を自動で遮光／消灯／減光することができる技術が開示されている（例えば、特許文献１）。このような技術は、ＡＤＢ（Ａｄａｐｔｉｖｅ　Ｄｒｉｖｉｎｇ　Ｂｅａｍ）と呼ばれている。ＡＤＢ機能により、運転手は前方車両の運転手を眩惑させることなく、常にハイビーム走行時に近い視認性を確保することができるため、歩行者、道路標識、遠方の道路形状を認識しやすくなる。 *** Conventional technology ***
As a technique for solving such a problem, a technique has been disclosed in which the position of a preceding vehicle is recognized by an in-vehicle camera, and a high beam light distribution can be automatically blocked / extinguished / dimmed only in an area where the preceding vehicle exists. (For example, Patent Document 1). Such a technique is called ADB (Adaptive Driving Beam). With the ADB function, the driver can always ensure near visibility when driving a high beam without dazzling the driver of the vehicle ahead, making it easy to recognize pedestrians, road signs, and distant road shapes.
　車載カメラ等の認識手段で前方車両を検出する場合、位置の解析等を必要とするため、認識処理に時間を要する。認識処理の間に車両が急ハンドルや急加減速のような過渡的状態になった場合は、前方車両の認識処理に要する時間が長くなる。その結果配光領域の制御が実状況に追従できずに、前方車両の運転手に眩惑を与えてしまう。
　車両が過渡的状態にあっても目標対象物に応じた適切な視界を確保することを目的として、特許文献１では、当該車両のピッチ方向の角度とヨー方向の角度情報を検出する手段を備え、前照灯の配光領域を第一所定配光領域に制御しているときのそれぞれの角度、あるいはそれぞれの角度の変化量が閾値を超えた場合に、配光領域を第一所定配光領域とは異なる第二配光領域に変更する技術が開示されている。 When a vehicle ahead is detected by a recognition means such as an in-vehicle camera, it takes time for the recognition processing because it requires position analysis and the like. If the vehicle enters a transitional state such as a sudden handle or sudden acceleration / deceleration during the recognition process, the time required for the recognition process for the preceding vehicle becomes longer. As a result, the control of the light distribution area cannot follow the actual situation, and the driver of the preceding vehicle is dazzled.
In order to ensure an appropriate field of view according to the target object even when the vehicle is in a transitional state, Patent Document 1 includes means for detecting angle information in the pitch direction and yaw direction of the vehicle. When the light distribution area of the headlamp is controlled to the first predetermined light distribution area, or when the change amount of each angle exceeds the threshold, the light distribution area is set to the first predetermined light distribution. A technique for changing to a second light distribution region different from the region is disclosed.
特開２０１２－２２８９７８号公報JP 2012-228978 A
　特許文献１の技術では、当該車両が過渡的状態にあるか否かをピッチ方向及びヨー方向の角度、あるいは角度の変化量によって判断する。また、特許文献１の技術では、当該車両が過渡的状態にある場合は前方車両の運転手に眩惑を与えることを防ぐために、配光領域を第一所定配光領域（例えば、ハイビームの配光領域またはハイビームとロービームの中間の配光領域）から第二所定配光領域（例えば、ロービームの配光領域）に制御している。 In the technique of Patent Document 1, whether or not the vehicle is in a transitional state is determined based on the angle in the pitch direction and the yaw direction, or the amount of change in the angle. Further, in the technique of Patent Document 1, in order to prevent the driver of the preceding vehicle from being dazzled when the vehicle is in a transitional state, the light distribution region is set to a first predetermined light distribution region (for example, a high beam light distribution). The second predetermined light distribution region (for example, the low beam light distribution region) is controlled from the region or the intermediate light distribution region between the high beam and the low beam.
　特許文献１の技術では、当該車両のピッチ方向及びヨー方向の角度、あるいは角度の変化量のみに基づき、前照灯の配光領域を制御する。当該車両及び前方車両は走行しているので、車両間の相対的な位置関係は刻一刻と変化するが、特許文献１の技術では、車両間の相対的な位置関係に応じた効果的な配光制御を行うことができないという課題がある。 In the technique of Patent Document 1, the light distribution area of the headlamp is controlled based on only the angle in the pitch direction and the yaw direction of the vehicle or the amount of change in the angle. Since the vehicle and the preceding vehicle are traveling, the relative positional relationship between the vehicles changes every moment. However, in the technique of Patent Document 1, an effective arrangement according to the relative positional relationship between the vehicles is performed. There is a problem that light control cannot be performed.
　本発明は、このような課題を解決することを主な目的としており、車両間の相対的な位置関係に応じた効果的な配光制御を行うことができる構成を得ること主な目的とする。 The main object of the present invention is to solve such problems, and a main object of the present invention is to obtain a configuration capable of performing effective light distribution control according to the relative positional relationship between vehicles. .
　本発明に係る配光制御装置は、
　車両に搭載され、前記車両の前照灯の配光を制御する配光制御装置であって、
　前記前照灯の配光が可能な空間領域のうち、配光を行うと前記車両の前方にある前方車両の運転手を幻惑する可能性があるグレア領域を設定するグレア領域設定部と、
　前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度の少なくともいずれかと、前記グレア領域とに基づき、前記前照灯の配光が可能な空間領域のうち、前記前照灯の配光が禁止される配光禁止領域を設定する配光禁止領域設定部とを有する。 The light distribution control device according to the present invention includes:
A light distribution control device that is mounted on a vehicle and controls light distribution of a headlamp of the vehicle,
A glare area setting unit that sets a glare area that may distract the driver of the vehicle ahead of the vehicle when the light distribution is performed, among the space areas in which the light distribution of the headlamp is possible;
Light distribution of the headlamp is possible based on at least one of the relative angle in the pitch direction between the vehicle and the preceding vehicle and the relative angle in the yaw direction between the vehicle and the preceding vehicle, and the glare region. A light distribution prohibition region setting unit that sets a light distribution prohibition region in which the light distribution of the headlamp is prohibited.
　本発明によれば、車両間のピッチ方向での相対角度及びヨー方向での相対角度との少なくともいずれかに基づき、配光禁止領域の形状を変化させるため、車両間の相対的な位置関係に応じた効果的な配光制御を行うことができる。 According to the present invention, the shape of the light distribution prohibited area is changed based on at least one of the relative angle in the pitch direction between the vehicles and the relative angle in the yaw direction. Accordingly, effective light distribution control can be performed.
実施の形態１に係る車両に搭載される装置の例を示す図。FIG. 3 is a diagram illustrating an example of a device mounted on the vehicle according to the first embodiment. 実施の形態１に係る配光制御装置のハードウェア構成例を示す図。FIG. 3 is a diagram illustrating a hardware configuration example of a light distribution control device according to the first embodiment. 実施の形態１に係る配光制御装置の機能構成例を示す図。FIG. 3 is a diagram illustrating a functional configuration example of a light distribution control device according to the first embodiment. 実施の形態１に係るグレア領域の例を示す図。FIG. 4 is a diagram illustrating an example of a glare area according to the first embodiment. 実施の形態１に係るグレア領域を車体の側面方向から示す図。The glare area | region which concerns on Embodiment 1 is a figure which shows from the side surface direction of a vehicle body. 実施の形態１に係るピッチ方向の相対角度θ≠０°の場合のグレア領域を示す図。The figure which shows the glare area | region in case of relative angle (theta) <> 0 degree of the pitch direction which concerns on Embodiment 1. FIG. 実施の形態１に係る垂直方向設定部の動作例を示すフローチャート図。FIG. 6 is a flowchart showing an operation example of a vertical direction setting unit according to the first embodiment. 実施の形態１に係るグレア領域を車体の上方向から示す図。The figure which shows the glare area | region which concerns on Embodiment 1 from the upper direction of a vehicle body. 実施の形態１に係るヨー方向の相対角度φ≠０°の場合のグレア領域を示す図。FIG. 6 is a diagram showing a glare region when the relative angle φ ≠ 0 ° in the yaw direction according to the first embodiment. 実施の形態１に係る水平方向設定部の動作例を示すフローチャート図。FIG. 4 is a flowchart showing an operation example of a horizontal direction setting unit according to the first embodiment. 実施の形態１に係る配光領域設定部の動作例を示すフローチャート図。FIG. 5 is a flowchart showing an operation example of a light distribution area setting unit according to the first embodiment. ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行わない場合の配光領域及び配光禁止領域の例を示す図。The figure which shows the example of the light distribution area | region when not correct | amending based on the relative angle of a pitch direction, and the relative angle of a yaw direction. ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行わない場合の問題点を示す図。The figure which shows the problem when not correct | amending based on the relative angle of a pitch direction, and the relative angle of a yaw direction. ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行った場合の配光禁止領域及び配光領域の例を示す図。The figure which shows the example of the light distribution prohibition area | region at the time of correct | amending based on the relative angle of a pitch direction, and the relative angle of a yaw direction. 実施の形態１に係る配光禁止領域変換部の動作例を示すフローチャート図。FIG. 4 is a flowchart showing an operation example of a light distribution prohibited area conversion unit according to the first embodiment.
実施の形態１．
＊＊＊構成の説明＊＊＊
　図１は、本実施の形態に係る車両１００に搭載される装置の例を示す。なお、図１では、前照灯の配光制御に用いられる装置のみを示している。 Embodiment 1 FIG.
*** Explanation of configuration ***
FIG. 1 shows an example of an apparatus mounted on a vehicle 100 according to the present embodiment. FIG. 1 shows only the device used for headlamp light distribution control.
　車両１００は、配光制御装置１と、前照灯駆動装置６００、６１０と、前照灯７００、７１０、無線通信機４００、車載カメラ４１０、ＧＰＳ（Ｇｌｏｂａｌ　Ｐｏｓｉｔｉｏｎｉｎｇ　Ｓｙｓｔｅｍ）システム５００、車速センサ５１０、姿勢センサ５２０を備える。 The vehicle 100 includes a light distribution control device 1, headlight driving devices 600 and 610, headlights 700 and 710, a wireless communication device 400, an in-vehicle camera 410, a GPS (Global Positioning System) system 500, a vehicle speed sensor 510, A posture sensor 520 is provided.
　なお、無線通信機４００、車載カメラ４１０、ＧＰＳシステム５００、車速センサ５１０、姿勢センサ５２０は、車両１００内の他のシステムと共用しても構わない。 Note that the wireless communication device 400, the in-vehicle camera 410, the GPS system 500, the vehicle speed sensor 510, and the attitude sensor 520 may be shared with other systems in the vehicle 100.
　配光制御装置１は、車両１００の前照灯の配光を制御するコンピュータである。
　配光制御装置１は、前方車両及び車両１００のそれぞれの位置に関する情報、車速に関する情報、進行方向に関する情報をもとに配光領域を決定する。そして、配光制御装置１は、ネットワーク２０を通じて、決定した配光領域を前照灯駆動装置６００、６１０に送信する。配光領域は、前照灯７００、７１０を配光させる領域である。
　なお、配光制御装置１で行われる動作手順は、配光制御方法及び配光制御プログラムの例に相当する。 The light distribution control device 1 is a computer that controls the light distribution of the headlamps of the vehicle 100.
The light distribution control device 1 determines a light distribution area based on information on the positions of the preceding vehicle and the vehicle 100, information on the vehicle speed, and information on the traveling direction. Then, the light distribution control device 1 transmits the determined light distribution region to the headlamp driving devices 600 and 610 through the network 20. The light distribution area is an area where the headlamps 700 and 710 are distributed.
The operation procedure performed in the light distribution control device 1 corresponds to an example of a light distribution control method and a light distribution control program.
　前照灯駆動装置６００、６１０は、配光制御装置１から受信した配光領域をもとに、前照灯７００、７１０に含まれる各光源の点灯を制御する。
　前照灯７００、７１０は、例えば、複数の光源によって構成されており、前照灯駆動装置６００、６１０は受信した配光領域をもとに、光源を点灯／消灯させるための電力を生成し、それぞれの光源に対して個別に、あるいは同時に電力を供給することで、各光源の駆動を行う。また、前照灯駆動装置６００、６１０は、各光源の駆動における電力供給において、例えば供給電流値を変更したり、ＰＷＭ（Ｐｕｌｓｅ　Ｗｉｄｔｈ　Ｍｏｄｕｌａｔｉｏｎ）制御を実施したりすることで、各光源の点灯時の明るさの変更を可能にする。
　図１では前照灯駆動装置６００、６１０は左右それぞれに設置されているが、前照灯７００、７１０内の各光源の点灯制御が実現できるのであれば、単独であっても、３つ以上になっても構わない。
　前照灯７００、７１０内には、例えば複数の光源が設置されており、前照灯駆動装置６００、６１０から供給される電力によってそれらの光源が個別に点灯制御される。設置された複数光源がそれぞれ点灯／消灯することによって、自車両前面の空間を照らす配光形状を変更することができる。 The headlamp driving devices 600 and 610 control lighting of the respective light sources included in the headlamps 700 and 710 based on the light distribution area received from the light distribution control device 1.
The headlamps 700 and 710 are constituted by, for example, a plurality of light sources, and the headlamp driving devices 600 and 610 generate electric power for turning on / off the light sources based on the received light distribution area. Each light source is driven by supplying power to each light source individually or simultaneously. In addition, the headlamp driving devices 600 and 610 change the supply current value or perform PWM (Pulse Width Modulation) control, for example, when power is supplied to drive each light source. Allows changing the brightness.
In FIG. 1, the headlamp driving devices 600 and 610 are installed on the left and right, respectively, but if the lighting control of each light source in the headlamps 700 and 710 can be realized, three or more may be used alone. It does n’t matter.
For example, a plurality of light sources are installed in the headlamps 700 and 710, and lighting of these light sources is individually controlled by electric power supplied from the headlamp driving devices 600 and 610. By turning on / off each of the plurality of installed light sources, it is possible to change the light distribution shape that illuminates the space in front of the host vehicle.
　無線通信機４００は、周辺車両の通信装置及び基地局との間で無線通信を行う。 Wireless communication device 400 performs wireless communication with communication devices and base stations of surrounding vehicles.
　車載カメラ４１０は、例えば車室内のルームミラー近傍など、車両１００内の特定の位置に設置されている。車載カメラ４１０は、車両１００の前方の空間を撮影し、撮影により得られた画像データに対する画像解析を行うことにより、車両１００に対する前方車両の相対的な位置に関する情報を検出する。また、車載カメラ４１０は、画像データをもとに、前方車両のヘッドライトあるいはテールランプの位置（以下、ライトの位置とする）に関する情報を検出する。
　車速センサ５１０は、車両１００の車速に関する情報を取得する。 The in-vehicle camera 410 is installed at a specific position in the vehicle 100, for example, in the vicinity of a room mirror in the vehicle interior. The in-vehicle camera 410 captures a space in front of the vehicle 100 and performs image analysis on image data obtained by the photographing, thereby detecting information related to the relative position of the vehicle ahead of the vehicle 100. The in-vehicle camera 410 detects information related to the position of the headlight or tail lamp of the vehicle ahead (hereinafter referred to as the light position) based on the image data.
The vehicle speed sensor 510 acquires information related to the vehicle speed of the vehicle 100.
　姿勢センサ５２０は、例えば６軸加速度センサである。姿勢センサ５２０は、車両１００の進行方向に関する情報、車両１００のピッチ方向の角度に関する情報、車両１００のヨー方向の角度に関する情報を取得する。 The attitude sensor 520 is, for example, a 6-axis acceleration sensor. The attitude sensor 520 acquires information related to the traveling direction of the vehicle 100, information related to the pitch direction angle of the vehicle 100, and information related to the angle of the vehicle 100 in the yaw direction.
　図２は、本実施の形態に係る配光制御装置１のハードウェア構成例を示す。
　配光制御装置１は、主要な構成として、マイクロコンピュータ１０と、不揮発性メモリ１５と、通信インターフェース１６と、入出力インターフェース１７とを備える。 FIG. 2 shows a hardware configuration example of the light distribution control device 1 according to the present embodiment.
The light distribution control device 1 includes a microcomputer 10, a nonvolatile memory 15, a communication interface 16, and an input / output interface 17 as main components.
　マイクロコンピュータ１０は、記憶装置であるＲＯＭ１１（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）及びＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）１２と、プロセッサであるＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）１３を備える。
　ＲＯＭ１１にはプログラム１４が格納されている。プログラム１４はＲＡＭ１２にロードされ、ＣＰＵ１３により実行される。プログラム１４は、具体的には、図３に示す前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８を実現するプログラムである。つまり、ＣＰＵ１３がプログラム１４を実行することにより、後述する前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８の動作が実現される。なお、図２では、ＣＰＵ１３がマイクロコンピュータ１０に含まれる構成が示されるが、ＣＰＵ１３がプログラム１４を実行できるのであればＣＰＵ１３がマイクロコンピュータ１０に含まれる構成でなくてもよい。
　通信インターフェース１６は、ネットワーク２０とのインターフェースとして機能する回路である。
　入出力インターフェース１７は、制御機器３０、３１とのインターフェースとして機能する回路である。 The microcomputer 10 includes a ROM 11 (Read Only Memory) and a RAM (Random Access Memory) 12 that are storage devices, and a CPU (Central Processing Unit) 13 that is a processor.
A program 14 is stored in the ROM 11. The program 14 is loaded into the RAM 12 and executed by the CPU 13. Specifically, the program 14 includes a forward vehicle information collection unit 101, a vehicle information collection unit 102, a glare region setting unit 103, a vertical direction setting unit 104, a horizontal direction setting unit 105, and a light distribution region setting unit 106 illustrated in FIG. A program for realizing the light distribution prohibited area setting unit 108. That is, when the CPU 13 executes the program 14, a forward vehicle information collection unit 101, a vehicle information collection unit 102, a glare region setting unit 103, a vertical direction setting unit 104, a horizontal direction setting unit 105, and a light distribution region setting unit which will be described later. 106, the operation of the light distribution prohibited area setting unit 108 is realized. In FIG. 2, a configuration in which the CPU 13 is included in the microcomputer 10 is illustrated, but the CPU 13 may not be included in the microcomputer 10 as long as the CPU 13 can execute the program 14.
The communication interface 16 is a circuit that functions as an interface with the network 20.
The input / output interface 17 is a circuit that functions as an interface with the control devices 30 and 31.
　図３は、本実施の形態に係る配光制御装置１の機能構成例を示す。 FIG. 3 shows a functional configuration example of the light distribution control device 1 according to the present embodiment.
　図３において、通信部１０７は、ネットワーク２０を介して無線通信機４００、車載カメラ４１０、ＧＰＳシステム５００、車速センサ５１０、姿勢センサ５２０、前照灯駆動装置６００、６１０と通信を行う。 3, the communication unit 107 communicates with the wireless communication device 400, the in-vehicle camera 410, the GPS system 500, the vehicle speed sensor 510, the attitude sensor 520, and the headlight driving devices 600 and 610 via the network 20.
　前方車両情報収集部１０１は、通信部１０７により受信された情報から前方車両に関する情報を抽出する。 The forward vehicle information collection unit 101 extracts information related to the forward vehicle from the information received by the communication unit 107.
　車両情報収集部１０２は、通信部１０７により受信された情報から車両１００に関する情報を抽出する。 The vehicle information collection unit 102 extracts information related to the vehicle 100 from the information received by the communication unit 107.
　グレア領域設定部１０３は、車両１００と前方車両との位置関係に基づいてグレア領域を設定する。グレア領域は、前照灯７００、７１０の配光が可能な空間領域のうち、配光を行うと前方車両の運転手を幻惑する可能性がある領域である。グレア領域の詳細は後述する。
　なお、グレア領域設定部１０３により行われる動作はグレア領域設定処理に相当する。 The glare area setting unit 103 sets the glare area based on the positional relationship between the vehicle 100 and the preceding vehicle. The glare area is an area in which light distribution from the headlamps 700 and 710 may cause a driver of the vehicle ahead if the light distribution is performed. Details of the glare region will be described later.
The operation performed by the glare area setting unit 103 corresponds to glare area setting processing.
　配光禁止領域設定部１０８は、車両１００と前方車両とのピッチ方向での相対角度及び車両１００と前方車両とのヨー方向での相対角度と、グレア領域とに基づき、配光禁止領域を設定する。配光禁止領域は、前照灯７００、７１０の配光が可能な空間領域のうち、前照灯７００、７１０の配光が禁止される空間領域である。
　配光禁止領域設定部１０８は、前照灯７００、７１０の配光が可能な空間領域を複数の仮想ブロックに分割しており、仮想ブロックの単位で配光禁止領域を設定する。より具体的には、配光禁止領域設定部１０８は、車両１００と前方車両とのピッチ方向での相対角度及び車両１００と前方車両とのヨー方向での相対角度と、グレア領域のサイズとを用いた幾何計算を行い、幾何計算により得られる領域を包含する最小の仮想ブロックの範囲に配光禁止領域を設定する。
　配光禁止領域設定部１０８は、垂直方向設定部１０４と水平方向設定部１０５と配光領域変換部１０９を含む。
　垂直方向設定部１０４は、車両１００に対する前方車両のピッチ方向の相対角度θに応じて配光禁止領域の垂直方向の長さを設定する。
　水平方向設定部１０５は、車両１００に対する前方車両のヨー方向の相対角度φに応じて配光禁止領域の水平方向の長さを設定する。
　配光領域変換部１０９は、配光禁止領域を前記の仮想ブロック単位に変換する処理を行う。
　配光禁止領域設定部１０８は、前照灯７００、７１０の配光が可能な空間領域を複数の仮想ブロックに分割しており、仮想ブロックの単位で配光禁止領域を設定する。より具体的には、配光禁止領域設定部１０８は、車両１００と前方車両とのピッチ方向での相対角度及び車両１００と前方車両とのヨー方向での相対角度と、グレア領域のサイズとを用いた幾何計算を行い、幾何計算により得られる領域を包含する最小の仮想ブロックの範囲に配光禁止領域を設定する。
　なお、配光禁止領域設定部１０８で行われる動作は、配光禁止領域設定処理に相当する。 The light distribution prohibited area setting unit 108 sets the light distribution prohibited area based on the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the glare area. To do. The light distribution prohibition area is a space area in which light distribution of the headlamps 700 and 710 is prohibited among space areas in which light distribution of the headlamps 700 and 710 is possible.
The light distribution prohibition area setting unit 108 divides a space area where the headlights 700 and 710 can distribute light into a plurality of virtual blocks, and sets the light distribution prohibition area in units of virtual blocks. More specifically, the light distribution prohibition region setting unit 108 determines the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the size of the glare region. The geometric calculation used is performed, and the light distribution prohibition area is set in the range of the minimum virtual block including the area obtained by the geometric calculation.
The light distribution prohibition region setting unit 108 includes a vertical direction setting unit 104, a horizontal direction setting unit 105, and a light distribution region conversion unit 109.
The vertical direction setting unit 104 sets the length of the light distribution prohibited area in the vertical direction according to the relative angle θ in the pitch direction of the preceding vehicle with respect to the vehicle 100.
The horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the relative angle φ in the yaw direction of the preceding vehicle with respect to the vehicle 100.
The light distribution area conversion unit 109 performs a process of converting the light distribution prohibited area into the virtual block unit.
The light distribution prohibition area setting unit 108 divides a space area where the headlights 700 and 710 can distribute light into a plurality of virtual blocks, and sets the light distribution prohibition area in units of virtual blocks. More specifically, the light distribution prohibition region setting unit 108 determines the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle, and the size of the glare region. The geometric calculation used is performed, and the light distribution prohibition area is set in the range of the minimum virtual block including the area obtained by the geometric calculation.
The operation performed by the light distribution prohibited area setting unit 108 corresponds to a light distribution prohibited area setting process.
　配光領域設定部１０６は、複数の仮想ブロックのうち、配光禁止領域設定部１０８によって設定された配光禁止領域を除く仮想ブロックの範囲を配光領域として決定する。 The light distribution area setting unit 106 determines the range of the virtual block excluding the light distribution prohibited area set by the light distribution prohibited area setting unit 108 among the plurality of virtual blocks as the light distribution area.
　前述のように、前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８は、ＣＰＵ１３で実行されるプログラムで実現される。
　また、通信部１０７は、通信インターフェース１６で実現される。 As described above, the forward vehicle information collecting unit 101, the vehicle information collecting unit 102, the glare region setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, the light distribution region setting unit 106, and the light distribution prohibited region setting unit 108. Is realized by a program executed by the CPU 13.
The communication unit 107 is realized by the communication interface 16.
＊＊＊動作の説明＊＊＊
　無線通信機４００は、無線通信によって、前方車両のピッチ方向の角度に関する情報、ヨー方向の角度に関する情報、車両区分に関する情報を受信する。また、無線通信機４００は、受信した情報をネットワーク２０を通じて配光制御装置１に送信する。ここで、車両区分に関する情報は、乗用車、軽自動車、バスやトラックなどの大型車等の車両のカテゴリの情報である。配光制御装置１は、車両区分に関する情報により、前方車両が乗用車、軽自動車、大型車のいずれであるかを判別することができる。そして、配光制御装置１は、前方車両の車両区分を判別することにより、前方車両のウィンドシールドの位置（グレア領域の位置）を推定することができる。 *** Explanation of operation ***
The wireless communication device 400 receives information regarding the angle in the pitch direction of the preceding vehicle, information regarding the angle in the yaw direction, and information regarding the vehicle classification by wireless communication. In addition, the wireless communication device 400 transmits the received information to the light distribution control device 1 through the network 20. Here, the information related to the vehicle classification is information on the category of vehicles such as passenger cars, light vehicles, large vehicles such as buses and trucks. The light distribution control device 1 can determine whether the preceding vehicle is a passenger car, a light vehicle, or a large vehicle based on the information related to the vehicle classification. The light distribution control device 1 can estimate the position of the windshield of the forward vehicle (the position of the glare area) by determining the vehicle classification of the forward vehicle.
　車載カメラ４１０は、撮影により得られた画像データに対して画像解析を行って、車両１００に対する前方車両の相対的な位置に関する情報、前方車両のライトの位置に関する情報を生成する。そして、車載カメラ４１０は、車両１００に対する前方車両の相対的な位置に関する情報、前方車両のライトの位置に関する情報をネットワーク２０を通じて配光制御装置１に送信する。配光制御装置１は、ライトの位置を判別することにより、前方車両のウィンドシールドの位置（グレア領域の位置）を推定することができる。 The in-vehicle camera 410 performs image analysis on the image data obtained by photographing, and generates information regarding the relative position of the preceding vehicle with respect to the vehicle 100 and information regarding the position of the light of the preceding vehicle. The in-vehicle camera 410 transmits information regarding the relative position of the preceding vehicle with respect to the vehicle 100 and information regarding the position of the light of the preceding vehicle to the light distribution control device 1 through the network 20. The light distribution control device 1 can estimate the position of the windshield of the vehicle ahead (the position of the glare area) by determining the position of the light.
　車速センサ５１０は、車両１００の速度に関する情報を取得する。そして、車速センサ５１０は、車両１００の速度に関する情報をネットワーク２０を通じて配光制御装置１に送信する。 The vehicle speed sensor 510 acquires information related to the speed of the vehicle 100. Then, the vehicle speed sensor 510 transmits information regarding the speed of the vehicle 100 to the light distribution control device 1 through the network 20.
　姿勢センサ５２０は、車両１００の進行方向に関する情報、車両１００のピッチ方向の角度に関する情報、車両１００のヨー方向の角度に関する情報を取得する。そして、姿勢センサ５２０は、車両１００の進行方向に関する情報、車両１００のピッチ方向の角度に関する情報、車両１００のヨー方向の角度に関する情報をネットワーク２０を通じて配光制御装置１に送信する。 The attitude sensor 520 acquires information related to the traveling direction of the vehicle 100, information related to the pitch direction angle of the vehicle 100, and information related to the angle of the vehicle 100 in the yaw direction. The attitude sensor 520 transmits information related to the traveling direction of the vehicle 100, information related to the angle in the pitch direction of the vehicle 100, and information related to the angle in the yaw direction of the vehicle 100 to the light distribution control device 1 through the network 20.
　なお、配光制御装置１がネットワーク２０を通じて上記の情報を取得可能なのであれば、上記の情報の発信源は上記の通りでなくてもよいし、あるいは上記の装置以外の装置であってもよい。 As long as the light distribution control device 1 can acquire the above information through the network 20, the source of the above information may not be as described above, or may be a device other than the above device. .
　配光制御装置１では、前方車両情報収集部１０１が、車両１００に対する前方車両の相対位置に関する情報、前方車両のライトの位置、前方車両のピッチ方向の角度、前方車両のヨー方向の角度に関する情報、前方車両の車両区分に関する情報を通信部１０７から取得する。そして、前方車両情報収集部１０１は、車両１００に対する前方車両の相対位置に関する情報、前方車両のライトの位置、前方車両のピッチ方向の角度、前方車両のヨー方向の角度に関する情報、前方車両の車両区分に関する情報をグレア領域設定部１０３に送信する。また、車両情報収集部１０２が、車両１００のピッチ方向の角度、車両１００のヨー方向の角度に関する情報を通信部１０７から取得する。そして、車両情報収集部１０２は、車両１００のピッチ方向の角度、車両１００のヨー方向の角度に関する情報をグレア領域設定部１０３に送信する。
　グレア領域設定部１０３は、グレア領域を設定する。 In the light distribution control device 1, the forward vehicle information collection unit 101 has information on the relative position of the forward vehicle with respect to the vehicle 100, information on the position of the light of the forward vehicle, the angle in the pitch direction of the forward vehicle, and the angle in the yaw direction of the forward vehicle. Information regarding the vehicle classification of the preceding vehicle is acquired from the communication unit 107. And the front vehicle information collection part 101 is the information regarding the relative position of the front vehicle with respect to the vehicle 100, the position of the light of the front vehicle, the angle of the pitch direction of the front vehicle, the information about the angle of the yaw direction of the front vehicle, the vehicle of the front vehicle Information on the classification is transmitted to the glare area setting unit 103. In addition, the vehicle information collection unit 102 acquires information regarding the pitch direction angle of the vehicle 100 and the yaw direction angle of the vehicle 100 from the communication unit 107. Then, the vehicle information collection unit 102 transmits information regarding the pitch direction angle of the vehicle 100 and the yaw direction angle of the vehicle 100 to the glare region setting unit 103.
The glare area setting unit 103 sets a glare area.
　図４は、グレア領域の例を示す。本実施の形態では、車両の正面を基準にして、グレア領域の奥行をｘ、グレア領域の横幅をｙ、グレア領域の高さをｚと定義する。グレア領域設定部１０３は、車両１００に対する前方車両の相対位置と、前方車両のライトの位置又は前方車両の車両区分とに基づき、グレア領域のｘ、ｙ、ｚの長さ、グレア領域の地上からの高さ、グレア領域の位置を設定する。
　図５は、グレア領域を車両の側面方向から示す。図５は、ピッチ方向の相対角度θ＝０°の場合のグレア領域を示しており、垂直方向のグレア領域の幅はｚとなる。
　グレア領域設定部１０３は、グレア領域のｘ、ｙ、ｚの長さの情報、グレア領域の地上からの高さの情報、グレア領域の位置の情報、車両１００のピッチ方向の角度、車両１００のヨー方向の角度に関する情報、前方車両のピッチ方向の角度に関する情報、前方車両のヨー方向の角度に関する情報を垂直方向設定部１０４に送信する。 FIG. 4 shows an example of the glare area. In the present embodiment, the depth of the glare region is defined as x, the lateral width of the glare region is defined as y, and the height of the glare region is defined as z with reference to the front of the vehicle. Based on the relative position of the preceding vehicle with respect to the vehicle 100 and the light position of the preceding vehicle or the vehicle classification of the preceding vehicle, the glare area setting unit 103 determines the length of the glare area from x, y, z, and the glare area from the ground. Set the height and position of the glare area.
FIG. 5 shows the glare region from the side of the vehicle. FIG. 5 shows the glare region when the relative angle θ = 0 ° in the pitch direction, and the width of the glare region in the vertical direction is z.
The glare area setting unit 103 includes information on the lengths of x, y, and z in the glare area, information on the height of the glare area from the ground, information on the position of the glare area, the angle in the pitch direction of the vehicle 100, Information regarding the angle in the yaw direction, information regarding the angle in the pitch direction of the preceding vehicle, and information regarding the angle in the yaw direction of the preceding vehicle are transmitted to the vertical direction setting unit 104.
　垂直方向設定部１０４は、車両１００に対する前方車両のピッチ方向の相対角度θに応じて配光禁止領域の垂直方向の長さを設定する。
　垂直方向設定部１０４は、ピッチ方向の相対角度θを、前方車両のピッチ方向の角度の絶対値と、車両１００のピッチ方向の角度の値の差分によって算出する。
　図６は、垂直方向設定部１０４の動作の概要を示しており、ピッチ方向の相対角度θ≠０°の場合のグレア領域を示す。グレア領域は相対角度θの分だけピッチ方向に傾くため、配光禁止領域も伴って垂直方向に拡大する必要がある。垂直方向設定部１０４は、配光禁止領域の垂直方向の長さを、以下の式（１）により求める。
　　ｘ・ｃｏｓ（９０°－θ）＋ｚ・ｓｉｎ（９０°－θ）　　（１） The vertical direction setting unit 104 sets the length of the light distribution prohibited area in the vertical direction according to the relative angle θ in the pitch direction of the preceding vehicle with respect to the vehicle 100.
The vertical direction setting unit 104 calculates the relative angle θ in the pitch direction based on the difference between the absolute value of the angle in the pitch direction of the preceding vehicle and the value of the angle in the pitch direction of the vehicle 100.
FIG. 6 shows an outline of the operation of the vertical direction setting unit 104, and shows a glare region when the relative angle θ ≠ 0 ° in the pitch direction. Since the glare region is inclined in the pitch direction by the relative angle θ, it is necessary to expand in the vertical direction along with the light distribution prohibited region. The vertical direction setting unit 104 obtains the length of the light distribution prohibited area in the vertical direction by the following equation (1).
x · cos (90 ° −θ) + z · sin (90 ° −θ) (1)
　図７は、垂直方向設定部１０４の動作の詳細を示すフローチャートである。 FIG. 7 is a flowchart showing details of the operation of the vertical direction setting unit 104.
　ステップＳ１００において、垂直方向設定部１０４は、前方車両の有無を判定する。垂直方向設定部１０４は、グレア領域設定部１０３からグレア領域のｘ、ｙ、ｚの長さの情報等を受信していれば、前方車両が存在すると判定する。
　前方車両が存在すると判定した場合は、垂直方向設定部１０４は、ステップＳ１０１において、前方車両のピッチ方向の角度に関する情報、車両１００のピッチ方向の角度に関する情報から、車両１００に対する前方車両のピッチ方向の相対角度θを算出する。
　次に、ステップＳ１０２において、垂直方向設定部１０４は、相対角度θに応じて、配光禁止領域の垂直方向の長さを前述の式（１）に従って設定する。
　ステップＳ１００において前方車両が存在しないと判定した場合は、垂直方向設定部１０４は、配光禁止領域は無いものとして処理を終了する。
　なお、垂直方向設定部１０４は、ステップＳ１０２で配光禁止領域の垂直方向の長さを設定した場合は、配光禁止領域の垂直方向の長さの情報、グレア領域のｘ、ｙ、ｚの長さの情報、グレア領域の地上からの高さの情報、グレア領域の位置の情報、車両１００のヨー方向の角度に関する情報、前方車両のヨー方向の角度に関する情報を水平方向設定部１０５に送信する。 In step S100, the vertical direction setting unit 104 determines the presence or absence of a forward vehicle. If the vertical direction setting unit 104 receives information about the lengths of x, y, and z of the glare area from the glare area setting unit 103, the vertical direction setting unit 104 determines that a vehicle ahead is present.
When it is determined that a preceding vehicle exists, the vertical direction setting unit 104 determines in step S101 the pitch direction of the preceding vehicle relative to the vehicle 100 from the information regarding the angle in the pitch direction of the preceding vehicle and the information regarding the angle in the pitch direction of the vehicle 100. Relative angle θ is calculated.
Next, in step S102, the vertical direction setting unit 104 sets the vertical length of the light distribution prohibited area according to the above-described equation (1) according to the relative angle θ.
If it is determined in step S100 that there is no preceding vehicle, the vertical direction setting unit 104 ends the process assuming that there is no light distribution prohibited area.
If the vertical length of the light distribution prohibited area is set in step S102, the vertical direction setting unit 104 sets information on the vertical length of the light distribution prohibited area, x, y, and z of the glare area. Information on the length, information on the height of the glare area from the ground, information on the position of the glare area, information on the angle in the yaw direction of the vehicle 100, and information on the angle in the yaw direction of the preceding vehicle are transmitted to the horizontal direction setting unit 105 To do.
　水平方向設定部１０５は、車両１００に対する前方車両のヨー方向の相対角度φに応じて配光禁止領域の水平方向の長さを設定する。
　水平方向設定部１０５は、ヨー方向の相対角度φを、前方車両のヨー方向の角度の絶対値と、車両１００のヨー方向の角度の値の差分によって算出する。
　図８は、グレア領域を車両の上方向から示す。図８では、ヨー方向の相対角度φ＝０°の場合のグレア領域を示しており、水平方向のグレア領域の幅はｘとなる。
　図９は、水平方向設定部１０５の動作の概要を示しており、ヨー方向の相対角度φ≠０°の場合のグレア領域を示す。グレア領域は相対角度φの分だけヨー方向に傾くため、配光禁止領域も水平方向に拡大する必要がある。水平方向設定部１０５は、配光禁止領域の水平方向の長さを、以下の式（２）により求める。
　　ｘ・ｃｏｓ（９０°－φ）＋ｙ・ｓｉｎ（９０°－φ）　　（２） The horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the relative angle φ in the yaw direction of the preceding vehicle with respect to the vehicle 100.
The horizontal direction setting unit 105 calculates the relative angle φ in the yaw direction based on the difference between the absolute value of the angle in the yaw direction of the preceding vehicle and the value of the angle in the yaw direction of the vehicle 100.
FIG. 8 shows the glare region from above the vehicle. FIG. 8 shows the glare region when the relative angle φ = 0 ° in the yaw direction, and the width of the glare region in the horizontal direction is x.
FIG. 9 shows an outline of the operation of the horizontal direction setting unit 105, and shows a glare region when the relative angle φ ≠ 0 ° in the yaw direction. Since the glare area is inclined in the yaw direction by the relative angle φ, the light distribution prohibited area needs to be expanded in the horizontal direction. The horizontal direction setting unit 105 obtains the horizontal length of the light distribution prohibited area by the following equation (2).
x · cos (90 ° −φ) + y · sin (90 ° −φ) (2)
　図１０は、水平方向設定部１０５の動作の詳細を示すフローチャートである。
　ステップＳ２００において、水平方向設定部１０５は、前方車両の有無を判定する。水平方向設定部１０５は、垂直方向設定部１０４から配光禁止領域の垂直方向の長さの情報等を受信していれば、前方車両が存在すると判定する。
　前方車両が存在すると判定した場合は、水平方向設定部１０５は、ステップＳ２０１において、前方車両のヨー方向の角度に関する情報、車両１００のヨー方向の角度に関する情報から、車両１００に対する前方車両のヨー方向の相対角度φを算出する。
　次に、ステップＳ２０２において、水平方向設定部１０５は、相対角度φに応じて、配光禁止領域の水平方向の長さを前述の式（２）に従って設定する。
　ステップＳ２００において前方車両が存在しないと判定した場合は、水平方向設定部１０５は、配光禁止領域は無いものとして処理を終了する。
　なお、水平方向設定部１０５は、ステップＳ２０２で配光禁止領域の水平方向の長さを設定した場合は、グレア領域の配光禁止領域の位置の情報、配光禁止領域の水平方向の長さの情報、配光禁止領域の垂直方向の長さの情報を、配光禁止領域変換部１０９に送信する。 FIG. 10 is a flowchart showing details of the operation of the horizontal direction setting unit 105.
In step S200, the horizontal direction setting unit 105 determines the presence or absence of a forward vehicle. If the horizontal direction setting unit 105 receives information about the vertical length of the light distribution prohibited area from the vertical direction setting unit 104, the horizontal direction setting unit 105 determines that there is a vehicle ahead.
If it is determined that there is a preceding vehicle, the horizontal direction setting unit 105 determines in step S201 the yaw direction of the preceding vehicle relative to the vehicle 100 from the information regarding the angle of the yaw direction of the preceding vehicle and the information regarding the angle of the yaw direction of the vehicle 100. The relative angle φ of is calculated.
Next, in step S202, the horizontal direction setting unit 105 sets the horizontal length of the light distribution prohibited area according to the above-described equation (2) according to the relative angle φ.
If it is determined in step S200 that there is no preceding vehicle, the horizontal direction setting unit 105 ends the process assuming that there is no light distribution prohibition area.
If the horizontal length of the light distribution prohibited area is set in step S202, the horizontal direction setting unit 105 sets the information on the position of the light distribution prohibited area in the glare area and the length of the light distribution prohibited area in the horizontal direction. And information on the vertical length of the light distribution prohibited area are transmitted to the light distribution prohibited area conversion unit 109.
　配光禁止領域変換部１０９は、三次元のワールド座標系の中で表される、配光禁止領域の位置の情報、配光禁止領域の水平方向の長さの情報、配光禁止領域の垂直方向の長さの情報をもとに、二次元のスクリーン座標系に前照灯７００、７１０の配光可能な空間領域（以下、配光可能領域）を設定する。より具体的には、配光禁止領域変換部１０９は、スクリーン座標系において、任意に分割した仮想ブロックの集合として配光禁止領域を設定する。 The light distribution prohibition area conversion unit 109 represents the information on the position of the light distribution prohibition area, the information on the horizontal length of the light distribution prohibition area, and the vertical direction of the light distribution prohibition area expressed in the three-dimensional world coordinate system. Based on the information on the length of the direction, a spatial area where the headlamps 700 and 710 can distribute light (hereinafter, a light distribution possible area) is set in a two-dimensional screen coordinate system. More specifically, the light distribution prohibition area conversion unit 109 sets the light distribution prohibition area as a set of arbitrarily divided virtual blocks in the screen coordinate system.
　図１５は、配光禁止領域変換部１０９の動作の詳細を示すフローチャートである。
　ステップＳ４００において、配光禁止領域変換部１０９は、前方車両の有無を判定する。配光禁止領域変換部１０９は、水平方向設定部１０５から配光禁止領域の水平方向の長さを受信していれば、前方車両が存在すると判定する。
　前方車両が存在すると判定した場合、配光禁止領域変換部１０９は、ステップＳ４０１において、配光禁止領域の位置の情報、配光禁止領域の水平方向の長さの情報、配光禁止領域の垂直方向の長さの情報をもとに、ワールド座標系に配光禁止領域を配置する。
　そして、ステップＳ４０２において、三次元グラフィックスの分野の、一般的なワールド座標とスクリーン座標の変換処理を実施して、三次元のワールド座標系で扱う配光禁止領域を、車両１００から前方を見た際の、二次元のスクリーン座標系に変換する。その際、配光禁止領域変換部１０９は、スクリーン座標系で表す空間が配光可能領域と一致するように変換を行う。
　次に、ステップＳ４０３において、配光禁止領域変換部１０９は、配光可能領域を複数の仮想ブロックに分割する。このとき、配光禁止領域変換部１０９は、あらかじめマイクロコンピュータ１０中のＲＯＭ内１１、あるいは、不揮発性メモリ１５内にあらかじめ記憶する、空間領域に対する縦方向の分割数、横方向の分割数に基づいて分割を行う。
　また、各仮想ブロックの範囲に関する情報をＲＯＭ内１１あるいは不揮発性メモリ１５内に記憶しておき、配光禁止領域変換部１０９は、記憶されている情報に基づいて分割を行うことで、配光可能領域に対して不均等な分割を行ってもよい。例えば、前照灯７００、７１０内の光源数や、光源毎の配光可能領域をＲＯＭ１１あるいは不揮発性メモリ１５に記憶させ、配光禁止領域変換部１０９は、その情報に基づいて分割を行ってもよい。
　次に、ステップＳ４０４において、配光禁止領域変換部１０９は、配光禁止領域とそれぞれの仮想ブロックが重なっているかを判定し、重なっている場合は、その仮想ブロックを配光禁止領域として決定して、配光領域設定部１０６に送信する。ここでの重なりの判定は、一般的な衝突検出のアルゴリズムや内外判定のアルゴリズムなどを利用してもよい。
　ステップＳ４００において前方車両が存在しないと判定した場合、配光禁止領域変換部１０９は、配光禁止領域は無いものとして処理を終了する。 FIG. 15 is a flowchart showing details of the operation of the light distribution prohibited area conversion unit 109.
In step S400, the light distribution prohibition region conversion unit 109 determines whether there is a vehicle ahead. If the light distribution prohibition area conversion unit 109 receives the horizontal length of the light distribution prohibition area from the horizontal direction setting unit 105, the light distribution prohibition area conversion unit 109 determines that a preceding vehicle exists.
If it is determined that there is a preceding vehicle, the light distribution prohibition area conversion unit 109 determines in step S401 the information on the position of the light distribution prohibition area, the information on the horizontal length of the light distribution prohibition area, and the vertical of the light distribution prohibition area. A light distribution prohibition area is arranged in the world coordinate system based on the direction length information.
Then, in step S402, conversion processing between general world coordinates and screen coordinates in the field of 3D graphics is performed, and the light distribution prohibited area handled in the 3D world coordinate system is viewed from the vehicle 100 in front. Converted to a two-dimensional screen coordinate system. At that time, the light distribution prohibition area conversion unit 109 performs conversion so that the space represented by the screen coordinate system matches the light distribution possible area.
Next, in step S403, the light distribution prohibition area conversion unit 109 divides the light distribution possible area into a plurality of virtual blocks. At this time, the light distribution prohibition area conversion unit 109 is preliminarily stored in the ROM 11 or the nonvolatile memory 15 in the microcomputer 10 based on the vertical division number and the horizontal division number for the space area. To split.
In addition, information regarding the range of each virtual block is stored in the ROM 11 or the nonvolatile memory 15, and the light distribution prohibition area conversion unit 109 performs division based on the stored information, thereby distributing the light distribution. Uneven division may be performed on the possible area. For example, the number of light sources in the headlamps 700 and 710 and the light distribution possible area for each light source are stored in the ROM 11 or the non-volatile memory 15, and the light distribution prohibition area conversion unit 109 performs division based on the information. Also good.
Next, in step S404, the light distribution prohibition area conversion unit 109 determines whether the light distribution prohibition area and each virtual block overlap, and if they overlap, determines the virtual block as a light distribution prohibition area. To the light distribution area setting unit 106. The overlap determination here may use a general collision detection algorithm, an inside / outside determination algorithm, or the like.
If it is determined in step S400 that there is no preceding vehicle, the light distribution prohibition area conversion unit 109 determines that there is no light distribution prohibition area and ends the process.
　図１１は、配光領域設定部１０６の動作例を示すフローチャートである。
　ステップＳ３００において、配光領域設定部１０６は、配光禁止領域の有無を判定する。配光領域設定部１０６は、水平方向設定部１０５から配光禁止領域の水平方向の長さの情報等を受信していれば、配光禁止領域が存在していると判定する。
　配光禁止領域が存在していると判定した場合は、配光領域設定部１０６は、ステップＳ３０１において、配光禁止領域を含まない配光領域を設定する。つまり、前照灯７００、７１０の配光が可能な空間領域に相当する複数の仮想ブロックのうち、配光禁止領域を除く仮想ブロックの範囲を配光領域に設定する。
　一方、ステップＳ３００において配光禁止領域が存在していないと判定した場合は、前照灯７００、７１０の配光が可能な空間領域の全域に相当する複数の仮想ブロックを全て配光禁止領域と設定する。
　また、配光領域設定部１０６は、設定した配光領域を特定する情報を、ネットワーク２０を通じて前照灯駆動装置６００、６１０に送信する。 FIG. 11 is a flowchart illustrating an operation example of the light distribution area setting unit 106.
In step S300, the light distribution area setting unit 106 determines whether or not there is a light distribution prohibited area. The light distribution area setting unit 106 determines that there is a light distribution prohibited area if it receives information about the horizontal length of the light distribution prohibited area from the horizontal direction setting unit 105.
If it is determined that the light distribution prohibited area exists, the light distribution area setting unit 106 sets a light distribution area that does not include the light distribution prohibited area in step S301. That is, the range of the virtual block excluding the light distribution prohibition area among the plurality of virtual blocks corresponding to the space area where the headlights 700 and 710 can distribute light is set as the light distribution area.
On the other hand, if it is determined in step S300 that the light distribution prohibition area does not exist, all of the plurality of virtual blocks corresponding to the entire space area in which the headlights 700 and 710 can distribute light are defined as the light distribution prohibition area. Set.
In addition, the light distribution area setting unit 106 transmits information for specifying the set light distribution area to the headlight driving devices 600 and 610 through the network 20.
　前照灯駆動装置６００、６１０は、ネットワーク２０を通じて、配光領域設定部１０６から送信された配光領域を特定する情報を受信する。そして、前照灯駆動装置６００、６１０は、受信した情報で特定される配光領域をもとに、前照灯７００、７１０内の光源を点灯／消灯させるための電力を生成し、それぞれの光源に対して個別に、あるいは同時に電力を供給することで、各光源の駆動を行う。また、前照灯駆動装置６００、６１０は、各光源の駆動における電力供給において、例えば供給電流値を変更したり、ＰＷＭ制御を実施したりすることで、各光源の点灯時の明るさを変更する。 The headlamp driving devices 600 and 610 receive information specifying the light distribution area transmitted from the light distribution area setting unit 106 via the network 20. Then, the headlamp driving devices 600 and 610 generate electric power for turning on / off the light sources in the headlamps 700 and 710 based on the light distribution area specified by the received information. Each light source is driven by supplying power to the light sources individually or simultaneously. In addition, the headlamp driving devices 600 and 610 change the brightness at the time of lighting of each light source by, for example, changing the supply current value or performing PWM control in the power supply for driving each light source. To do.
＊＊＊実施の形態の効果の説明＊＊＊
　本実施の形態によれば、車両１００と前方車両の位置、車両１００と前方車両とのピッチ方向の相対角度、車両１００と前方車両とのヨー方向の相対角度に応じた配光禁止領域を設定することができる。このため、カーブや坂道の走行時において、車両１００の前照灯による配光で前方車両の運転手を眩惑する可能性を低減することができる。 *** Explanation of the effect of the embodiment ***
According to the present embodiment, the light distribution prohibition region is set according to the positions of the vehicle 100 and the preceding vehicle, the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle, and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. can do. For this reason, when traveling on a curve or a slope, the possibility of dazzling the driver of the front vehicle due to the light distribution by the headlamp of the vehicle 100 can be reduced.
　本実施の形態の効果を、図１２、図１３及び図１４を用いて説明する。
　図１２は、ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行わない場合の配光禁止領域及び配光領域の例を示す。
　図１３は、ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行わない場合の問題点を示す。
　図１４は、ピッチ方向の相対角度及びヨー方向の相対角度に基づく補正を行った場合の配光禁止領域及び配光領域の例を示す。
　図１２～図１４は、前照灯７００、７１０の配光が可能な空間領域を示しており、また、矩形の領域は、当該空間領域を分割する仮想ブロックを示す。
　グレア領域設定部１０３は、図１２に示すように、ピッチ方向の相対角度θ＝０、ヨー方向の相対角度φ＝０のグレア領域を設定する。グレア領域設定部１０３が設定した、ピッチ方向の相対角度θ＝０、ヨー方向の相対角度φ＝０のグレア領域を包含する最小の仮想ブロックの範囲を配光禁止領域に設定すると、配光禁止領域及び配光領域は図１２のように設定される。
　しかしながら、前方車両が傾いている場合に前方車両の運転者の幻惑を回避するためには、図１３に示すように、前方車両の傾きが反映されたグレア領域を考慮する必要がある。図１２の場合のように、車両１００と前方車両とのピッチ方向の相対角度、車両１００と前方車両とのヨー方向の相対角度を考慮せずに、ピッチ方向の相対角度θ＝０、ヨー方向の相対角度φ＝０のグレア領域に沿って配光禁止領域を設定すると、前方車両の傾きが反映されたグレア領域の一部分が配光領域に設定されてしまう。この場合は、前方車両の運転手を眩惑してしまう可能性が高い。
　本実施の形態では、配光禁止領域設定部１０８が、車両１００と前方車両とのピッチ方向の相対角度、車両１００と前方車両とのヨー方向の相対角度に基づいて配光禁止領域を設定するため、図１４に示すように、前方車両の傾きが反映されたグレア領域の全てが配光禁止領域に設定される。この場合、前方車両の運転手を眩惑してしまう可能性は低い。
　このように、本実施の形態によれば、車両１００と前方車両との相対的な位置関係に応じた効果的な配光制御を行うことができる。 The effect of the present embodiment will be described with reference to FIGS.
FIG. 12 shows an example of the light distribution prohibited area and the light distribution area when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is not performed.
FIG. 13 shows a problem when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is not performed.
FIG. 14 shows an example of the light distribution prohibited area and the light distribution area when correction based on the relative angle in the pitch direction and the relative angle in the yaw direction is performed.
12 to 14 show space areas where the headlamps 700 and 710 can distribute light, and rectangular areas indicate virtual blocks that divide the space areas.
As shown in FIG. 12, the glare area setting unit 103 sets a glare area having a relative angle θ = 0 in the pitch direction and a relative angle φ = 0 in the yaw direction. When the minimum virtual block range including the glare area with the relative angle θ = 0 in the pitch direction and the relative angle φ = 0 in the yaw direction set by the glare area setting unit 103 is set as the light distribution prohibited area, the light distribution prohibited The area and the light distribution area are set as shown in FIG.
However, in order to avoid the illusion of the driver of the preceding vehicle when the preceding vehicle is tilted, it is necessary to consider a glare region in which the inclination of the preceding vehicle is reflected, as shown in FIG. As in the case of FIG. 12, the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle are not considered, and the relative angle θ = 0 in the pitch direction and the yaw direction When the light distribution prohibition region is set along the glare region having a relative angle φ = 0, a part of the glare region reflecting the inclination of the preceding vehicle is set as the light distribution region. In this case, there is a high possibility that the driver of the vehicle ahead will be dazzled.
In the present embodiment, the light distribution prohibited area setting unit 108 sets the light distribution prohibited area based on the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. Therefore, as shown in FIG. 14, all of the glare area in which the inclination of the preceding vehicle is reflected is set as the light distribution prohibited area. In this case, the possibility of dazzling the driver of the vehicle ahead is low.
Thus, according to the present embodiment, effective light distribution control according to the relative positional relationship between the vehicle 100 and the preceding vehicle can be performed.
＊＊＊付記＊＊＊
　なお、上記では、車両１００と前方車両とのピッチ方向の相対角度、車両１００と前方車両とのヨー方向の相対角度の双方を用いて配光禁止領域を設定する例を説明した。これに代えて、車両１００と前方車両とのピッチ方向の相対角度、車両１００と前方車両とのヨー方向の相対角度のいずれか一方のみを用いて配光禁止領域を設定するようにしてもよい。
　「車両１００と前方車両とのピッチ方向の相対角度のみ」を用いる場合、グレア領域の水平方向の長さｙと、車両１００に対する前方車両の相対位置に基づき、遮光禁止領域の水平方向の長さを設定する。
　また、「車両１００と前方車両とのヨー方向の相対角度のみ」を用いる場合、グレア領域の垂直方向の長さｚと、車両１００に対する前方車両の相対位置に基づき、遮光禁止領域の垂直方向の長さを設定する。 *** Additional notes ***
In the above description, the example in which the light distribution prohibited area is set using both the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle has been described. Instead, the light distribution prohibition area may be set using only one of the relative angle in the pitch direction between the vehicle 100 and the preceding vehicle and the relative angle in the yaw direction between the vehicle 100 and the preceding vehicle. .
When “only relative angle in the pitch direction between the vehicle 100 and the preceding vehicle” is used, the horizontal length of the light-blocking prohibition region based on the horizontal length y of the glare region and the relative position of the preceding vehicle with respect to the vehicle 100. Set.
Further, when “only relative angle in the yaw direction between the vehicle 100 and the preceding vehicle” is used, the vertical direction z of the light shielding prohibition region is determined based on the vertical length z of the glare region and the relative position of the preceding vehicle with respect to the vehicle 100. Set the length.
　また、上記では、説明を省略しているが、前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８の処理の結果を示す情報やデータや信号値や変数値が、ＲＡＭ１２、不揮発性メモリ１５、又は、ＣＰＵ１３内のレジスタ又はキャッシュメモリに記憶される。
　また、前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８の機能を実現するプログラム１４は、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ブルーレイ（登録商標）ディスク、ＤＶＤ等の可搬記憶媒体に記憶されてもよい。 In addition, although the description is omitted in the above, the forward vehicle information collection unit 101, the vehicle information collection unit 102, the glare area setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, and the light distribution area setting unit 106 Information, data, signal values, and variable values indicating the processing results of the light distribution prohibited area setting unit 108 are stored in the RAM 12, the nonvolatile memory 15, or a register or cache memory in the CPU 13.
Further, the functions of the front vehicle information collecting unit 101, the vehicle information collecting unit 102, the glare area setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, the light distribution area setting unit 106, and the light distribution prohibited area setting unit 108 are provided. The realized program 14 may be stored in a portable storage medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD.
　また、前方車両情報収集部１０１、車両情報収集部１０２、グレア領域設定部１０３、垂直方向設定部１０４、水平方向設定部１０５、配光領域設定部１０６、配光禁止領域設定部１０８における「部」を、「回路」又は「工程」又は「手順」又は「処理」に読み替えてもよい。
　また、配光制御装置１は、ロジックＩＣ（Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＧＡ（Ｇａｔｅ　Ａｒｒａｙ）、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ
　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）といった電子回路により実現されてもよい。
　なお、プロセッサ及び上記の電子回路を総称してプロセッシングサーキットリーともいう。 Further, “parts” in the forward vehicle information collection unit 101, the vehicle information collection unit 102, the glare area setting unit 103, the vertical direction setting unit 104, the horizontal direction setting unit 105, the light distribution area setting unit 106, and the light distribution prohibited area setting unit 108 "May be read as" circuit "or" process "or" procedure "or" processing ".
In addition, the light distribution control device 1 includes a logic IC (Integrated Circuit), a GA (Gate Array), and an ASIC (Application Specific).
It may be realized by an electronic circuit such as an integrated circuit (FPGA) or a field-programmable gate array (FPGA).
The processor and the electronic circuit are also collectively referred to as a processing circuit.
　１　配光制御装置、１０　マイクロコンピュータ、１１　ＲＯＭ、１２　ＲＡＭ、１３　ＣＰＵ、１４　プログラム、１５　不揮発性メモリ、１６　通信インターフェース、１７　入出力インターフェース、２０　ネットワーク、３０　制御機器、３１　制御機器、１００　車両、１０１　前方車両情報収集部、１０２　車両情報収集部、１０３　グレア領域設定部、１０４　垂直方向設定部、１０５　水平方向設定部、１０６　配光領域設定部、１０７　通信部、１０８　配光禁止領域設定部、４００　無線通信機、４１０　車載カメラ、５００　ＧＰＳシステム、５１０　車速センサ、５２０　姿勢センサ、６００　前照灯駆動装置、６１０　前照灯駆動装置、７００　前照灯、７１０　前照灯。 1 light distribution control device, 10 microcomputer, 11 ROM, 12 RAM, 13 CPU, 14 program, 15 nonvolatile memory, 16 communication interface, 17 input / output interface, 20 network, 30 control device, 31 control device, 100 vehicle, 101 vehicle information collection unit, 102 vehicle information collection unit, 103 glare area setting unit, 104 vertical direction setting unit, 105 horizontal direction setting unit, 106 light distribution region setting unit, 107 communication unit, 108 light distribution prohibited region setting unit, 400 wireless communication device, 410 on-vehicle camera, 500 GPS system, 510 vehicle speed sensor, 520 attitude sensor, 600 headlight driving device, 610 headlight driving device, 700 headlight, 710 headlight.

Claims (8)

  1. 　車両に搭載され、前記車両の前照灯の配光を制御する配光制御装置であって、
    　前記前照灯の配光が可能な空間領域のうち、配光を行うと前記車両の前方にある前方車両の運転手を幻惑する可能性があるグレア領域を設定するグレア領域設定部と、
    　前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度の少なくともいずれかと、前記グレア領域とに基づき、前記前照灯の配光が可能な空間領域のうち、前記前照灯の配光が禁止される配光禁止領域を設定する配光禁止領域設定部とを有する配光制御装置。     A light distribution control device that is mounted on a vehicle and controls light distribution of a headlamp of the vehicle,
    A glare area setting unit that sets a glare area that may distract the driver of the vehicle ahead of the vehicle when the light distribution is performed, among the space areas in which the light distribution of the headlamp is possible;
    Light distribution of the headlamp is possible based on at least one of the relative angle in the pitch direction between the vehicle and the preceding vehicle and the relative angle in the yaw direction between the vehicle and the preceding vehicle, and the glare region. A light distribution control device having a light distribution prohibition region setting unit that sets a light distribution prohibition region in which the light distribution of the headlamp is prohibited.
  2. 　前記配光禁止領域設定部は、
    　前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度と、前記グレア領域とに基づき、前記配光禁止領域を設定する請求項１に記載の配光制御装置。     The light distribution prohibition area setting unit is
    The light distribution prohibition region is set based on a relative angle in a pitch direction between the vehicle and the preceding vehicle, a relative angle in a yaw direction between the vehicle and the preceding vehicle, and the glare region. The light distribution control device described.
  3. 　前記配光禁止領域設定部は、
    　前記車両と前記前方車両とのピッチ方向での相対角度と前記グレア領域とに基づき、前記配光禁止領域の垂直方向の長さを設定し、前記車両と前記前方車両とのヨー方向での相対角度と前記グレア領域とに基づき、前記配光禁止領域の水平方向の長さを設定する請求項２に記載の配光制御装置。     The light distribution prohibition area setting unit is
    Based on a relative angle between the vehicle and the preceding vehicle in the pitch direction and the glare region, a vertical length of the light distribution prohibition region is set, and a relative relationship between the vehicle and the preceding vehicle in the yaw direction is set. The light distribution control device according to claim 2, wherein a horizontal length of the light distribution prohibition area is set based on an angle and the glare area.
  4. 　前記配光禁止領域設定部は、
    　前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度の少なくともいずれかと、前記グレア領域のサイズとを用いた幾何計算を行って、前記配光禁止領域を設定する請求項１に記載の配光制御装置。     The light distribution prohibition area setting unit is
    Performing geometric calculation using at least one of the relative angle in the pitch direction between the vehicle and the preceding vehicle and the relative angle in the yaw direction between the vehicle and the preceding vehicle, and the size of the glare region, The light distribution control device according to claim 1, wherein a light distribution prohibited area is set.
  5. 　前記配光禁止領域設定部は、
    　前記前照灯の配光が可能な空間領域を複数の仮想ブロックに分割し、前記幾何計算により得られる領域を包含する仮想ブロックの範囲を前記配光禁止領域に設定する請求項４に記載の配光制御装置。     The light distribution prohibition area setting unit is
    The space area in which light distribution of the headlamp is possible is divided into a plurality of virtual blocks, and a range of virtual blocks including the area obtained by the geometric calculation is set as the light distribution prohibition area. Light distribution control device.
  6. 　前記配光制御装置は、更に、
    　前記複数の仮想ブロックのうち、前記配光禁止領域を除く仮想ブロックの範囲を、前記前照灯を配光する配光領域に設定する配光領域設定部を有する請求項５に記載の配光制御装置。     The light distribution control device further includes:
    The light distribution according to claim 5, further comprising: a light distribution area setting unit that sets a range of virtual blocks excluding the light distribution prohibition area among the plurality of virtual blocks to a light distribution area that distributes the headlamp. Control device.
  7. 　車両に搭載されたコンピュータが前記車両の前照灯の配光を制御する配光制御方法であって、
    　前記コンピュータが、前記前照灯の配光が可能な空間領域のうち、配光を行うと前記車両の前方にある前方車両の運転手を幻惑する可能性があるグレア領域を設定し、
    　前記コンピュータが、前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度の少なくともいずれかと、前記グレア領域とに基づき、前記前照灯の配光が可能な空間領域のうち、前記前照灯の配光が禁止される配光禁止領域を設定する配光制御方法。     A light distribution control method in which a computer mounted on a vehicle controls light distribution of a headlight of the vehicle,
    Among the space areas in which the computer can distribute light from the headlamps, a glare area that may distract the driver of the vehicle ahead of the vehicle when the light distribution is performed is set.
    The computer is based on at least one of a relative angle in a pitch direction between the vehicle and the preceding vehicle and a relative angle in a yaw direction between the vehicle and the preceding vehicle, and the glare region. A light distribution control method for setting a light distribution prohibition region in which light distribution of the headlamp is prohibited in a space region in which light distribution is possible.
  8. 　車両に搭載され、前記車両の前照灯の配光を制御するコンピュータに、
    　前記前照灯の配光が可能な空間領域のうち、配光を行うと前記車両の前方にある前方車両の運転手を幻惑する可能性があるグレア領域を設定するグレア領域設定処理と、
    　前記車両と前記前方車両とのピッチ方向での相対角度及び前記車両と前記前方車両とのヨー方向での相対角度の少なくともいずれかと、前記グレア領域とに基づき、前記前照灯の配光が可能な空間領域のうち、前記前照灯の配光が禁止される配光禁止領域を設定する配光禁止領域設定処理とを実行させる配光制御プログラム。     A computer mounted on a vehicle that controls the light distribution of the headlamps of the vehicle,
    A glare area setting process for setting a glare area that may illuminate the driver of the front vehicle ahead of the vehicle when the light distribution is performed, among the space areas in which the light distribution of the headlamp is possible;
    Light distribution of the headlamp is possible based on at least one of the relative angle in the pitch direction between the vehicle and the preceding vehicle and the relative angle in the yaw direction between the vehicle and the preceding vehicle, and the glare region. A light distribution control program for executing a light distribution prohibition region setting process for setting a light distribution prohibition region in which the light distribution of the headlamp is prohibited in a large space region.
PCT/JP2016/059706 2016-03-25 2016-03-25 Light distribution control device, light distribution control method, and light distribution control program WO2017163414A1 (en)

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