WO2018225684A1 - Système de lampe de véhicule, dispositif de commande pour lampe de véhicule, et procédé de commande pour lampe de véhicule - Google Patents

Système de lampe de véhicule, dispositif de commande pour lampe de véhicule, et procédé de commande pour lampe de véhicule Download PDF

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Publication number
WO2018225684A1
WO2018225684A1 PCT/JP2018/021365 JP2018021365W WO2018225684A1 WO 2018225684 A1 WO2018225684 A1 WO 2018225684A1 JP 2018021365 W JP2018021365 W JP 2018021365W WO 2018225684 A1 WO2018225684 A1 WO 2018225684A1
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WIPO (PCT)
Prior art keywords
distribution pattern
luminance
light distribution
unit
illuminance
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PCT/JP2018/021365
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English (en)
Japanese (ja)
Inventor
隆延 豊嶋
山村　聡志
裕介 仲田
佳典 柴田
隆雄 村松
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株式会社小糸製作所
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Application filed by 株式会社小糸製作所 filed Critical 株式会社小糸製作所
Priority to JP2019523525A priority Critical patent/JP7084392B2/ja
Publication of WO2018225684A1 publication Critical patent/WO2018225684A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means

Definitions

  • the present invention relates to a vehicular lamp system, a vehicular lamp control apparatus, and a vehicular lamp control method, and more particularly to a vehicular lamp system, a vehicular lamp control apparatus, and a vehicular lamp control method used for automobiles.
  • Patent Document 1 discloses a technique for executing ADB control using a DMD (Digital Mirror Device) in which a plurality of micromirrors are arranged in an array.
  • Patent Document 2 discloses a technique for executing ADB control using a scanning optical system that scans the front of the vehicle with light source light.
  • Patent Document 3 discloses a technique for executing ADB control using an LED array. According to these techniques, various light distribution patterns can be formed.
  • the present invention has been made in view of such circumstances, and one of its purposes is to provide a technique for improving the light irradiation accuracy in a vehicular lamp. Another object of the present invention is to provide a technique for improving driving safety.
  • an aspect of the present invention is a vehicle lamp system.
  • the system includes an imaging unit that images the front of the vehicle, a luminance analysis unit that detects the luminance of each of the plurality of individual regions arranged in front of the vehicle based on information obtained from the imaging unit, and a detection result of the luminance analysis unit
  • Illuminance setting unit for determining the illuminance value of light irradiating each individual region
  • a light source unit capable of independently adjusting the illuminance of light irradiating each of the individual regions
  • a light source control unit that controls the light source unit based on the illuminance setting unit.
  • a relatively low illuminance value is set for the area, and a relatively high illuminance value is set for the individual area where the detected luminance is relatively high. According to this aspect, the light irradiation accuracy in the vehicular lamp can be increased.
  • the illuminance setting unit sets a predetermined coefficient for each individual area according to the magnitude of the detected luminance value, and sets the illuminance value by multiplying the predetermined reference illuminance value by the set coefficient. Also good.
  • the illuminance setting unit sets a predetermined coefficient for each individual area according to the magnitude of the detected luminance value, and multiplies the set coefficient by the current illuminance value to obtain a new illuminance value. If the calculated illuminance value is equal to or greater than the predetermined lower limit value, the current illuminance value is updated to the calculated illuminance value, and if the calculated illuminance value falls below the lower limit value, the current illuminance value is maintained. Good.
  • the other light source part controlled independently from a light source part is further provided, and another light source part is light with respect to the separate area
  • Another aspect of the present invention is a control device for a vehicle lamp. Based on information obtained from an imaging unit that images the front of the host vehicle, the control device detects a luminance of each of a plurality of individual regions arranged in front of the host vehicle, and based on a detection result of the luminance analysis unit.
  • the illuminance setting unit that determines the illuminance value of the light that irradiates each individual region, and the light source unit that can independently adjust the illuminance of the light that irradiates each individual region based on the illuminance value determined by the illuminance setting unit
  • the illuminance setting unit is relatively low for the individual region in which the detected luminance is relatively low for the individual region in which the luminance detected by the luminance analysis unit is included in the predetermined range.
  • An illuminance value is set, and a relatively high illuminance value is set in an individual area where the detected luminance is relatively high.
  • Another aspect of the present invention is a method for controlling a vehicular lamp.
  • the control method includes a step of detecting the luminance of each of a plurality of individual regions arranged in front of the host vehicle based on information obtained from an imaging unit that images the front of the host vehicle, and each individual region based on the detected luminance.
  • Determining the illuminance value of the light applied to the light source and controlling the light source unit capable of independently adjusting the illuminance of the light applied to each individual region based on the determined illuminance value, and determining the illuminance value
  • a relatively low illuminance value is set in the individual area where the detected luminance is relatively low, and the detected luminance is relatively high
  • a relatively high illuminance value is set for each individual area.
  • the system includes an imaging unit that images the front of the vehicle, a luminance analysis unit that detects the luminance of each of the plurality of individual regions arranged in front of the vehicle based on information obtained from the imaging unit, and a detection result of the luminance analysis unit
  • An illuminance setting unit that determines an illuminance value of light irradiated to each individual region, a lamp unit having at least a light source unit that can independently adjust the illuminance of light irradiated to each of the plurality of individual regions, and an illuminance setting unit
  • the light source control unit that controls the lamp unit based on the illuminance value determined by and the individual region in which the luminance detected by the luminance analysis unit is within a predetermined range is relative to the individual region in which the detected luminance is relatively low
  • a first light distribution pattern in which a relatively low illuminance value is set and a relatively high illuminance value is set in an individual area where the detected luminance is relatively high, and a
  • the vehicular lamp system further includes a situation analysis unit that detects a situation ahead of the host vehicle based on information obtained from the imaging unit, and the pattern formation control unit is configured such that the imaging unit images the front of the host vehicle.
  • the first light distribution pattern may be formed.
  • the second light distribution pattern is a light distribution pattern that enhances the luminance of the individual area, which is lower than the predetermined luminance visible to the driver in the first light distribution pattern, in the third light distribution pattern. May be.
  • the second light distribution pattern is a light distribution pattern that reduces, in the third light distribution pattern, the luminance of the individual area that is equal to or higher than a predetermined luminance at which the driver receives glare in the first light distribution pattern. It may be.
  • the pattern formation control unit forms the first to third light distribution patterns in the individual areas within the predetermined position range, and the illuminance does not depend on the luminance detected by the luminance analysis unit. You may form the 4th light distribution pattern in which a value is set in another separate area
  • Another aspect of the present invention is a control device for a vehicle lamp. Based on information obtained from an imaging unit that images the front of the host vehicle, the control device detects a luminance of each of a plurality of individual regions arranged in front of the host vehicle, and based on a detection result of the luminance analysis unit.
  • an illuminance setting unit that determines the illuminance value of the light irradiated to each individual region, and at least a light source unit that can independently adjust the illuminance of the light irradiated to each individual region based on the illuminance value determined by the illuminance setting unit
  • a light source control unit that controls the lamp unit and a separate region in which the brightness detected by the brightness analysis unit is within a predetermined range, a relatively low illuminance value is set in the relatively low detected individual region
  • a first light distribution pattern in which a relatively high illuminance value is set in an individual area where the detected luminance is relatively high, and a second light distribution pattern different from the first light distribution pattern
  • Periodically cut the light distribution pattern to be formed instead it comprises a first light distribution pattern and the pattern formation control unit and the second light distribution pattern is to visually recognize the third light distribution pattern formed by combining the driver, the.
  • Another aspect of the present invention is a method for controlling a vehicular lamp.
  • the control method includes a step of detecting the luminance of each of a plurality of individual regions arranged in front of the host vehicle based on information obtained from an imaging unit that images the front of the host vehicle, and each individual region based on the detected luminance.
  • a step of determining an illuminance value of the light irradiated to the light a step of controlling a lamp unit having at least a light source unit capable of independently adjusting the illuminance of the light irradiated to each individual region based on the determined illuminance value, and detecting For individual areas with a luminance in a predetermined range, a relatively low illuminance value is set for an individual area where the detected brightness is relatively low, and a relatively high illuminance is set for an individual area where the detected brightness is relatively high
  • Second light distribution pattern There comprises a step of viewing the third light distribution pattern formed by combining the driver, the.
  • the system includes an imaging unit that images the front of the host vehicle, a situation analysis unit that detects a situation in front of the host vehicle based on information obtained from the imaging unit, and brightness of each of a plurality of individual regions arranged in front of the host vehicle.
  • An illuminance setting unit that determines an illuminance value of light irradiated to each individual region, a lamp unit having at least a light source unit that can independently adjust the illuminance of light irradiated to each of the plurality of individual regions, and an illuminance setting unit While the light source control unit that controls the lamp unit based on the determined illuminance value and the imaging unit is imaging the front of the host vehicle, the illuminance value of each individual region is set depending on the luminance of each individual region.
  • a third light distribution pattern is formed by forming a first light distribution pattern, forming a second light distribution pattern different from the first light distribution pattern at other times, and synthesizing the first light distribution pattern and the second light distribution pattern. Pattern formation controller that allows the driver to visually recognize the light distribution pattern , Comprising a.
  • the system includes an imaging unit that images the front of the vehicle, a luminance analysis unit that detects the luminance of each of the plurality of individual regions arranged in front of the vehicle based on information obtained from the imaging unit, and a detection result of the luminance analysis unit
  • An illuminance setting unit that determines an illuminance value of light irradiated to each individual region, a lamp unit having at least a light source unit that can independently adjust the illuminance of light irradiated to each of the plurality of individual regions, and an illuminance setting unit
  • the light source control unit that controls the lamp unit based on the illuminance value determined by the light source, and the illuminance value of each individual area is set depending on the luminance detected by the luminance analysis unit for the individual area in the predetermined position range Forming a first light distribution pattern and forming a second light distribution pattern in which an illuminance value is set for other individual areas without depending on the luminance detected by the luminance analysis unit
  • the first light distribution pattern is set to a relatively low illuminance value for an individual area where the detected luminance is within a predetermined range for the individual area where the detected luminance is within a predetermined range.
  • the pattern formation control unit forms the first light distribution pattern in the individual region located below the horizontal line, and forms the second light distribution pattern in the individual region located above the horizontal line. May be. In any one of the above aspects, the pattern formation control unit forms the first light distribution pattern in an individual area that overlaps the lateral area outside the traveling road surface and excluding the sky above the own vehicle, and the individual area that overlaps the sky above the own vehicle.
  • the second light distribution pattern may be formed, and the first light distribution pattern or the second light distribution pattern may be formed in an individual region overlapping the traveling road surface.
  • the pattern formation control unit sets an individual area for forming the first light distribution pattern and an individual area for forming the second light distribution pattern according to the state of the host vehicle or the surrounding environment. May be.
  • a pattern formation control part forms a 1st light distribution pattern in the separate area
  • a first light distribution pattern is formed in an individual area outside the traveling road surface and overlapping a side area excluding the sky above the own vehicle, and a second light distribution is formed in another individual area.
  • a pattern may be formed.
  • Another aspect of the present invention is a control device for a vehicle lamp. Based on information obtained from an imaging unit that images the front of the host vehicle, the control device detects a luminance of each of a plurality of individual regions arranged in front of the host vehicle, and based on a detection result of the luminance analysis unit.
  • an illuminance setting unit that determines the illuminance value of the light irradiated to each individual region, and at least a light source unit that can independently adjust the illuminance of the light irradiated to each individual region based on the illuminance value determined by the illuminance setting unit
  • a first light distribution pattern in which an illuminance value of each individual region is set depending on the luminance detected by the luminance analysis unit with respect to the individual region in the predetermined position range
  • a pattern formation control unit for forming a second light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit for the other individual regions.
  • the control method includes a step of detecting the luminance of each of a plurality of individual regions arranged in front of the host vehicle based on information obtained from an imaging unit that images the front of the host vehicle, and each individual region based on the detected luminance.
  • a first light distribution pattern obtained by setting the illuminance value of each individual area depending on the detected brightness is formed for the individual area in the position range, and the detected brightness is set for the other individual areas. Forming a second light distribution pattern obtained by setting the illuminance value without depending on.
  • the system includes an imaging unit that images the front of the vehicle, a luminance analysis unit that detects the luminance of each of the plurality of individual regions arranged in front of the vehicle based on information obtained from the imaging unit, and a detection result of the luminance analysis unit
  • An illuminance setting unit that determines an illuminance value of light irradiated to each individual region, a lamp unit having at least a light source unit that can independently adjust the illuminance of light irradiated to each of the plurality of individual regions, and an illuminance setting unit
  • a light source control unit that controls the lamp unit based on the illuminance value determined by the light source, a first light distribution pattern in which the illuminance value of each individual region is set depending on the luminance detected by the luminance analysis unit, and a luminance analysis unit
  • the illuminance value of each individual area is set depending on the luminance detected by the first and the first light distribution pattern, or the illuminance value is set independently of the
  • the light distribution pattern in which the illuminance value is set depending on the luminance is an individual region in which the detected luminance is relatively low with respect to the individual region in which the luminance detected by the luminance analysis unit is within a predetermined range.
  • the light distribution pattern in which the illuminance value of each individual region is set so that the luminance detected by the luminance analysis unit has the same value for the individual region in the range of.
  • the switching control unit may dynamically switch the light distribution pattern according to the surrounding state of the own vehicle or the state of the driver. In the above aspect, the switching control unit may switch the light distribution pattern based on information obtained from a car navigation system or a camera that images the driver. In any one of the above aspects, the switching control unit may switch the light distribution pattern based on a driver's operation.
  • Another aspect of the present invention is a control device for a vehicle lamp. Based on the information obtained from the imaging unit that images the front of the host vehicle, the control device detects the luminance of each of the plurality of individual regions arranged in front of the host vehicle, and based on the detection result of the luminance analysis unit.
  • An illuminance setting unit that determines the illuminance value of the light radiated to each individual region, and at least a light source unit that can independently adjust the illuminance of the light radiated to each individual region based on the illuminance value determined by the illuminance setting unit Depends on the light source control unit that controls the lamp unit, the first light distribution pattern in which the illuminance value of each individual area is set depending on the luminance detected by the luminance analysis unit, and the luminance detected by the luminance analysis unit Between the second light distribution pattern in which the illuminance value of each individual area is set and is different from the first light distribution pattern or the illuminance value is set without depending on the luminance detected by the luminance analysis unit. , Switch the light distribution pattern to be formed And a switching control unit.
  • the control method includes a step of detecting the luminance of each of a plurality of individual regions arranged in front of the host vehicle based on information obtained from an imaging unit that images the front of the host vehicle, and a method for detecting each individual region based on the detected luminance.
  • a step of determining an illuminance value of the light to be irradiated a step of controlling a lamp unit having at least a light source unit capable of independently adjusting the illuminance of the light irradiated to each individual region based on the determined illuminance value, and the detected luminance
  • the first light distribution pattern in which the illuminance value of each individual area is set depending on the brightness, and the illuminance value of each individual area is set depending on the detected luminance and is different from or detected from the first light distribution pattern Switching the light distribution pattern to be formed with the second light distribution pattern in which the illuminance value is set without depending on the luminance.
  • the present invention it is possible to improve the light irradiation accuracy in the vehicular lamp. Or according to this invention, the safety
  • FIG. 2A is a front view showing a schematic configuration of the light deflection apparatus.
  • FIG. 2B is a cross-sectional view taken along the line AA of the optical deflection apparatus shown in FIG. It is a figure which shows typically the mode in front of the own vehicle.
  • FIG. 4A is a diagram illustrating a relationship between a detected luminance value and a coefficient in high contrast control.
  • FIG. 4B is a diagram illustrating a relationship between a detected luminance value and a set illuminance value in high contrast control.
  • FIGS. 5A and 5B are flowcharts showing an example of ADB control executed in the vehicle lamp system according to the first embodiment.
  • FIG. 7A to 7C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value in the high contrast control. It is a figure which shows schematic structure of the vehicle lamp system which concerns on Embodiment 3,6. It is a timing chart which shows an example of transition of imaging with a low-speed camera, imaging with a high-speed camera, formation of the 1st light distribution pattern, and formation of the 2nd light distribution pattern.
  • FIGS. 10A and 10B are diagrams schematically illustrating the position range of the individual area in which the switching control between the first light distribution pattern and the second light distribution pattern is executed.
  • FIGS. 14A to 14C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming the luminance uniform light distribution pattern. It is a timing chart which shows an example of transition of imaging by a low-speed camera, imaging by a high-speed camera, formation of the 1st light distribution pattern, and formation of the 3rd light distribution pattern.
  • FIG. 10 is a diagram illustrating a schematic configuration of a vehicular lamp system according to an eighth embodiment.
  • FIG. 20 is a diagram illustrating a schematic configuration of a vehicle lamp system according to a ninth embodiment.
  • (Embodiment 1) 1 is a diagram showing a schematic configuration of a vehicular lamp system according to a first embodiment.
  • FIG. 1 some of the components of the vehicular lamp system 1 are depicted as functional blocks. These functional blocks are realized by elements and circuits such as a CPU and a memory of a computer as a hardware configuration, and are realized by a computer program or the like as a software configuration. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the vehicular lamp system 1 (1A) is applied to a vehicular headlamp apparatus having a pair of headlamp units arranged on the left and right sides in front of the vehicle. Since the pair of headlamp units have substantially the same configuration except that they have a symmetrical structure, FIG. 1 shows the structure of one headlamp unit as the vehicle lamp 2.
  • the vehicular lamp 2 included in the vehicular lamp system 1 includes a lamp body 4 having an opening on the front side of the vehicle and a translucent cover 6 attached so as to cover the opening of the lamp body 4.
  • the translucent cover 6 is formed of a translucent resin or glass.
  • the light source unit 10, the imaging unit 12, and the control device 50 are accommodated.
  • the light source unit 10 is a device that can independently adjust the illuminance (intensity) of light applied to each of a plurality of individual regions (see FIG. 3) arranged in front of the host vehicle.
  • the light source unit 10 includes a light source 22, a reflection optical member 24, a light deflection device 26, and a projection optical member 28. Each part is attached to the lamp body 4 by a support mechanism (not shown).
  • a semiconductor light emitting device such as an LED (Light emitting diode), an LD (Laser diode), an EL (Electroluminescence) device, a light bulb, an incandescent lamp (halogen lamp), a discharge lamp (discharge lamp), or the like can be used. .
  • the reflection optical member 24 is configured to guide the light emitted from the light source 22 to the reflection surface of the light deflector 26.
  • the reflective optical member 24 is composed of a reflecting mirror whose inner surface is a predetermined reflecting surface.
  • the reflective optical member 24 may be a solid light guide or the like. Further, when the light emitted from the light source 22 can be directly guided to the light deflecting device 26, the reflection optical member 24 may not be provided.
  • the light deflection device 26 is arranged on the optical axis of the projection optical member 28 and is configured to selectively reflect the light emitted from the light source 22 to the projection optical member 28.
  • the optical deflecting device 26 is constituted by, for example, a DMD (Digital Mirror Device).
  • the optical deflecting device 26 is configured by arranging a plurality of micromirrors in an array (matrix). By controlling the angles of the reflection surfaces of the plurality of micromirrors, the reflection direction of the light emitted from the light source 22 can be selectively changed.
  • the light deflecting device 26 reflects a part of the light emitted from the light source 22 toward the projection optical member 28 and reflects the other light in a direction not effectively used by the projection optical member 28.
  • the direction that is not effectively used can be understood as, for example, a direction that enters the projection optical member 28 but hardly contributes to the formation of a light distribution pattern, or a direction toward a light absorbing member (light shielding member) (not shown). it can.
  • FIG. 2A is a front view showing a schematic configuration of the light deflection apparatus.
  • FIG. 2B is a cross-sectional view taken along the line AA of the optical deflection apparatus shown in FIG.
  • the optical deflection device 26 includes a micro mirror array 32 in which a plurality of minute mirror elements 30 are arranged in a matrix, and the front side of the reflection surface 30a of the mirror element 30 (the right side of the optical deflection device 26 shown in FIG. 2B). ) And a transparent cover member 34 disposed.
  • the cover member 34 is made of, for example, glass or plastic.
  • the mirror element 30 is substantially square and has a rotation shaft 30b that extends in the horizontal direction and divides the mirror element 30 substantially equally.
  • Each mirror element 30 of the micromirror array 32 reflects the light emitted from the light source 22 toward the projection optical member 28 so as to be used as a part of a desired light distribution pattern (FIG. 2 ( B) is configured to be switchable between a position indicated by a solid line) and a second reflection position (a position indicated by a dotted line in FIG. 2B) where the light emitted from the light source 22 is reflected so as not to be used effectively. Yes.
  • Each mirror element 30 rotates around the rotation axis 30b and is individually switched between the first reflection position and the second reflection position.
  • Each mirror element 30 takes a first reflection position when turned on and takes a second reflection position when turned off.
  • FIG. 3 is a diagram schematically showing the situation in front of the host vehicle.
  • the light source unit 10 includes a plurality of mirror elements 30 as individual irradiation units that can irradiate light independently of each other toward the front of the lamp.
  • the light source unit 10 can irradiate the plurality of individual regions R arranged in front of the host vehicle with the mirror element 30.
  • Each individual region R is a region corresponding to a set of one pixel or a plurality of pixels of the imaging unit 12, more specifically, for example, the high-speed camera 36.
  • each individual region R and each mirror element 30 are associated with each other.
  • the mirror elements 30 and the individual regions R are arranged in a horizontal 10 ⁇ vertical 8 configuration, but the number of the mirror elements 30 and the individual regions R is not particularly limited.
  • the resolution of the micromirror array 32 (in other words, the number of mirror elements 30 and individual regions R) is 1000 to 300,000 pixels.
  • the time required for the light source unit 10 to form one light distribution pattern is, for example, 0.1 to 5 ms. That is, the light source unit 10 can change the light distribution pattern every 0.1 to 5 ms.
  • the projection optical member 28 is composed of, for example, a free curved surface lens having a free curved surface on the front surface and the back surface.
  • the projection optical member 28 projects a light source image formed on the rear focal plane including the rear focal point in front of the lamp as a reverse image.
  • the projection optical member 28 is disposed such that its rear focal point is located on the optical axis of the vehicular lamp 2 and in the vicinity of the reflection surface of the micromirror array 32.
  • the projection optical member 28 may be a reflector.
  • the light emitted from the light source 22 is reflected by the reflective optical member 24 and is applied to the micromirror array 32 of the light deflector 26.
  • the light deflecting device 26 reflects light toward the projection optical member 28 by a predetermined mirror element 30 at the first reflection position.
  • the reflected light passes through the projection optical member 28 and travels forward of the lamp, and is applied to each individual region R corresponding to each mirror element 30.
  • a light distribution pattern having a predetermined shape is formed in front of the lamp.
  • the imaging unit 12 is a device that images the front of the host vehicle.
  • the imaging unit 12 includes a high speed camera 36 and a low speed camera 38.
  • the high-speed camera 36 has a relatively high frame rate, for example, 200 fps or more and 10000 fps or less (0.1 to 5 ms per frame).
  • the low-speed camera 38 has a relatively low frame rate, for example, 30 fps to 120 fps (about 8 to 33 ms per frame).
  • the high-speed camera 36 has a relatively small resolution, for example, 300,000 pixels or more and less than 5 million pixels.
  • the low-speed camera 38 has a relatively large resolution, for example, 5 million pixels or more.
  • the high-speed camera 36 and the low-speed camera 38 image all the individual regions R.
  • the resolutions of the high-speed camera 36 and the low-speed camera 38 are not limited to the above numerical values, and can be set to arbitrary values within a technically consistent range.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the image data acquired by the imaging unit 12 is sent to the luminance analysis unit 14 and the situation analysis unit 16.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on information (image data) obtained from the imaging unit 12.
  • the luminance analysis unit 14 is a high-speed and low-precision analysis unit that performs image analysis with lower accuracy than the situation analysis unit 16 and outputs an analysis result at high speed.
  • the luminance analysis unit 14 according to the present embodiment detects the luminance of each individual region R based on information obtained from the high speed camera 36.
  • the luminance analysis unit 14 detects the luminance of each individual region R, for example, every 0.1 to 5 ms.
  • a detection result of the luminance analysis unit 14, that is, a signal indicating luminance information of the individual region R is transmitted to the lamp control unit 18.
  • the situation analysis unit 16 detects the situation ahead of the vehicle based on the information obtained from the imaging unit 12. For example, the situation analysis unit 16 detects a target existing ahead of the host vehicle.
  • the situation analysis unit 16 is a low-speed and high-precision analysis unit that performs image analysis with higher accuracy than the luminance analysis unit 14 and outputs an analysis result at a low speed.
  • the situation analysis unit 16 according to the present embodiment detects the situation ahead of the host vehicle based on information obtained from the low speed camera 38.
  • the situation analysis unit 16 detects the situation every 50 ms, for example. Examples of the target detected by the situation analysis unit 16 include an oncoming vehicle 100 and a pedestrian 200, as shown in FIG.
  • the target vehicle also includes preceding vehicles, obstacles that hinder the traveling of the host vehicle, road signs, road markings, road shapes, and the like.
  • the situation analysis unit 16 can detect a target using a conventionally known method including algorithm recognition and deep learning. For example, the situation analysis unit 16 holds a feature point indicating the oncoming vehicle 100 in advance. Then, the situation analysis unit 16 recognizes the position of the oncoming vehicle 100 when there is data including a feature point indicating the oncoming vehicle 100 in the imaging data of the low speed camera 38.
  • the “feature point indicating the oncoming vehicle 100” is, for example, a light spot 102 (see FIG. 3) having a predetermined luminous intensity or higher that appears in the estimated presence area of the headlamp of the oncoming vehicle 100.
  • the situation analysis unit 16 holds feature points indicating the pedestrian 200 and other targets in advance, and when there is data including these feature points in the imaging data of the low-speed camera 38, Recognize the position of the target corresponding to the feature point.
  • a detection result of the situation analysis unit 16, that is, a signal indicating target information ahead of the host vehicle is transmitted to the lamp control unit 18.
  • the lamp control unit 18 uses the detection result of the luminance analysis unit 14 and / or the situation analysis unit 16 to determine the specific target, detect the displacement of the specific target, set the specific individual region R1, and irradiate each individual region R. Setting of illuminance value of light to be executed.
  • the lamp control unit 18 includes a tracking unit 40 and an illuminance setting unit 42.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14.
  • the illuminance setting unit 42 sets a relatively low illuminance value for the individual region R in which the detected luminance is relatively low, for the individual region R in which the luminance detected by the luminance analysis unit 14 is included in a predetermined range.
  • a relatively high illuminance value is set in the individual region R where the detected luminance is relatively high.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. 4A and 4B described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is referred to as the “predetermined range”.
  • the illuminance setting unit 42 assigns an illuminance value lower than the illuminance value set for the individual region R having a higher luminance than the threshold value to the individual region R having a lower luminance than a predetermined threshold value.
  • an illuminance value higher than the illuminance value set for the individual region R having a luminance lower than the threshold is set in the individual region R having a luminance higher than the threshold.
  • the illuminance value of the individual region R having a relatively high luminance is higher than the illuminance value of the individual region R having a relatively low luminance.
  • the illuminance setting unit 42 sets an illuminance value lower than the currently set illuminance value in the individual region R whose luminance is lower than the threshold value.
  • an illuminance value higher than the currently set illuminance value is set in the individual region R having a luminance higher than the threshold value.
  • the illuminance value to be set may be lowered as the luminance decreases with reference to the luminance of the individual region R having the highest luminance.
  • the illuminance setting unit 42 determines a light distribution pattern in which the bright individual region R becomes brighter and the dark individual region R becomes darker. According to this light distribution pattern, the light / dark contrast is enhanced for the irradiation object in front of the host vehicle. Therefore, the accuracy of target detection by the situation analysis unit 16 can be improved.
  • Such control by the illuminance setting unit 42 is referred to as high contrast control, and the light distribution pattern determined in the high contrast control is referred to as a high contrast light distribution pattern.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the illuminance setting unit 42 sets the illuminance value, for example, every 0.1 to 5 ms.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42.
  • the light source control unit 20 controls turning on / off of the light source 22 and on / off switching of each mirror element 30.
  • the light source control unit 20 adjusts the ON time ratio (width and density) of each mirror element 30 based on the illuminance value of the light applied to each individual region R. Thereby, the illumination intensity of the light irradiated to each individual area
  • a plurality of partial irradiation areas are gathered to form a light distribution pattern.
  • the light source control unit 20 transmits a drive signal to the light source 22 and / or the optical deflection device 26, for example, every 0.1 to 5 ms.
  • a high contrast light distribution pattern is formed by controlling the light source unit 10 by the light source control unit 20. Then, the luminance analysis unit 14 detects the actual luminance value of each individual region R, which is the result of forming the high contrast light distribution pattern. Further, based on the detection result, the illuminance setting unit 42 sets the illuminance value again. As an example, the illuminance setting unit 42 forms a light distribution pattern in which the illuminance of all the individual regions R is constant at the beginning of the high contrast control.
  • the newly set relatively low illuminance value is lower than the currently set illuminance value, and the newly set relatively high illuminance value is currently set.
  • the illuminance value can be higher than the illuminance value. In this case, positive feedback is applied and eventually the set illuminance value is bipolarized between 0 and the maximum value. If the illuminance value is bipolar, it may be difficult to ensure the driver's visibility in the individual region R where the illuminance value 0 is set.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and multiplies the set coefficient by a predetermined reference illuminance value M to obtain the illuminance. Set the value.
  • FIG. 4A is a diagram illustrating a relationship between a detected luminance value and a coefficient in high contrast control.
  • FIG. 4B is a diagram illustrating a relationship between a detected luminance value and a set illuminance value in high contrast control.
  • the illuminance setting unit 42 has a predetermined coefficient set in advance according to the magnitude of the detected luminance value.
  • a relatively large coefficient is set for a relatively large detected luminance value, and a relatively small coefficient is set for a relatively small detected luminance value.
  • the value of the coefficient can be set as appropriate based on the results of experiments and simulations in consideration of the degree of improvement in target detection accuracy.
  • a coefficient of 1.0 is set for the threshold value of the detected luminance value
  • a coefficient of 1.5 is set for the maximum luminance value
  • a coefficient of 0.5 is set for the minimum luminance value.
  • the illuminance setting unit 42 sets a coefficient for each individual region R based on the detection result of the luminance analysis unit 14.
  • the illuminance setting unit 42 has a predetermined reference illuminance value M set in advance as shown in FIG.
  • the illuminance setting unit 42 sets the illuminance value of the individual area R by multiplying the reference illuminance value M by the coefficient set for each individual area R. Thereby, a low illuminance value is set in the individual region R with a low detected luminance value, and a high illuminance value is set in the individual region R with a high detected luminance value.
  • the illuminance setting unit 42 has a lower limit value and an upper limit value of preset illuminance values. Then, the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value. Then, a new illuminance value is calculated by multiplying the set illuminance value by the current illuminance value instead of the reference illuminance value M.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or greater than the predetermined lower limit value, and maintains the current illuminance value when the calculated illuminance value falls below the lower limit value. To do.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or less than the predetermined upper limit value, and the current illuminance value when the calculated illuminance value exceeds the upper limit value. To maintain. Note that if the illuminance setting unit 42 has at least a lower limit value of the illuminance value, setting the illuminance value 0 to the dark individual region R can be avoided.
  • the vehicle lamp system 1 executes ADB (AdaptiveaptDriving Beam) control that forms an optimal light distribution pattern according to the situation ahead of the host vehicle, using a high contrast light distribution pattern. That is, the vehicular lamp system 1 images the front of the host vehicle with the low-speed camera 38 in a state where a high contrast light distribution pattern is formed.
  • the situation analysis unit 16 detects a target using this imaging data. For this reason, the target can be detected with higher accuracy.
  • the tracking unit 40 determines a specific target from the targets detected by the situation analysis unit 16.
  • the tracking unit 40 detects the displacement of the specific target based on the detection result of the luminance analysis unit 14.
  • the oncoming vehicle 100 is a specific target.
  • the tracking unit 40 integrates the detection result of the luminance analysis unit 14 and the detection result of the situation analysis unit 16. Then, among the brightness of each individual area R detected by the brightness analysis unit 14, the brightness of the individual area R where the light spot 102 of the oncoming vehicle 100, which is a specific target, is associated with the oncoming vehicle 100.
  • the tracking unit 40 can detect the displacement of the oncoming vehicle 100 that is the specific target by recognizing the position of the luminance associated with the oncoming vehicle 100 in the detection result of the luminance analyzing unit 14 acquired thereafter.
  • the tracking unit 40 executes a specific target determination process, for example, every 50 ms. Further, the tracking unit 40 executes displacement detection processing (tracking) of the specific target every 0.1 to 5 ms, for example.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14 and the detection result of the tracking unit 40. In each individual area R, a specific illuminance value is determined for the specific individual area R1 determined according to the position where the specific target is present. Specifically, the illuminance setting unit 42 first determines the specific individual region R1 based on the location of the oncoming vehicle 100 that is the specific target. For example, the illuminance setting unit 42 determines the specific individual region R ⁇ b> 1 based on the position information of the oncoming vehicle 100 included in the detection result of the tracking unit 40.
  • the illuminance setting unit 42 is a predetermined predetermined with respect to the horizontal distance a (see FIG. 3) between the two light spots 102 corresponding to the headlamp of the oncoming vehicle 100.
  • the vertical distance b of the ratio is determined, and the individual area R that overlaps the dimension range of width a ⁇ length b is defined as a specific individual area R1 (see FIG. 3).
  • the specific individual area R1 includes an individual area R that overlaps with the driver of the oncoming vehicle.
  • the illuminance setting unit 42 determines a specific illuminance value for the specific individual region R1. In addition, the illuminance setting unit 42 determines the illuminance value based on the high contrast control for the other individual regions R other than the specific individual region R1. Further, the illuminance setting unit 42 recognizes the displacement of the specific individual region R1 based on the detection result of the tracking unit 40, and updates the position information of the specific individual region R1. And the illuminance value of the light irradiated to each individual area
  • the processing by the tracking unit 40 and the processing by the illuminance setting unit 42 are executed in parallel at least temporarily.
  • the illuminance setting unit 42 sets a specific illuminance value “0” for the specific individual region R1 determined according to the position where the oncoming vehicle 100 is present, and the illuminance value “1” for the other individual regions R. "Is set. This setting is the first illuminance information. Further, the illuminance setting unit 42 sets illuminance values for all the individual regions R including the specific individual region R1 according to the high contrast control. This setting is set as second illuminance information. Then, the illuminance setting unit 42 performs an AND operation on the first illuminance information and the second illuminance information.
  • the illuminance information is generated in which the specific illuminance value for the specific individual region R1 is “0” and the illuminance values for the other individual regions R are determined according to high contrast control. That is, the specific individual region R1 is shielded from light, and a high contrast light distribution pattern is formed in each individual region R excluding the specific individual region R1.
  • FIG. 5A and FIG. 5B are flowcharts showing an example of ADB control executed in the vehicle lamp system according to the first embodiment. This flow is, for example, instructed to execute ADB control by a light switch (not shown), and repeatedly executed at a predetermined timing when the ignition is on, and the execution instruction of ADB control is canceled (or a stop instruction is issued). Or if the ignition is turned off. Further, the flow shown in FIG. 5A is a high-speed process that is repeated every 0.1 to 5 ms, for example, and the flow shown in FIG. 5B is a low-speed process that is repeated every 50 ms, for example. The low speed process and the high speed process are executed in parallel.
  • the high-speed processing first, it is determined whether the high contrast light distribution pattern formation flag is on (S101). The determination is performed by the illuminance setting unit 42, for example.
  • the high-contrast light distribution pattern formation flag is ON (Y in S101)
  • the front of the vehicle is imaged by the high speed camera 36 (S103).
  • the high-contrast light distribution pattern formation flag is not on (N in S101), after the light distribution pattern with constant illuminance is formed (S102), the front of the vehicle is imaged by the high-speed camera 36 (S103).
  • the luminance analysis unit 14 detects the luminance of each individual region R based on the image data of the high-speed camera 36 (S104). Subsequently, it is determined whether the specific individual area R1 is set (S105). The determination is performed by the tracking unit 40, for example. When the specific individual area R1 is set (Y in S105), the tracking unit 40 tracks the specific target and detects the position (displacement) of the specific individual area R1. The illuminance setting unit 42 updates the setting (position information) of the specific individual region R1 based on the detection result of the tracking unit 40 (S106).
  • the illuminance setting unit 42 sets the illuminance value of light applied to each individual region R according to the high contrast control (S107).
  • a specific illuminance value is set for the specific individual region R1.
  • the light source unit 10 is driven by the light source control unit 20, and light having a predetermined illuminance is emitted from the light source unit 10 (S108).
  • the high contrast light distribution pattern formation flag is turned on by the illuminance setting unit 42 (S109), and this routine ends.
  • the specific individual area R1 is not set (N in S105)
  • the illuminance setting unit 42 sets the illuminance value of the light irradiated on the individual area R (S106). In this case, the specific illuminance value is not included in the set illuminance value. Thereafter, the processes of steps S107, S108, and S109 are executed, and this routine ends.
  • step S106 when the disappearance of the specific target is detected by tracking, the setting of the specific individual region R1 also disappears. Therefore, the specific illuminance value is not included in the illuminance value set in step S107.
  • step S105 in the next routine it is determined that the specific individual area R1 is not set (N in S105) until the process in step S205 described later is executed.
  • the front of the host vehicle is imaged by the low speed camera 38 (S201).
  • the target existing in front of the host vehicle is detected by the situation analysis unit 16 based on the image data of the low speed camera 38 (S202).
  • the specific target is determined by the tracking unit 40 (S204).
  • the illuminance setting unit 42 sets the specific individual area R1 based on the position where the specific target is present (S205), and this routine ends.
  • this routine ends.
  • the specific individual area is set in the low speed process, but the setting may be executed in the high speed process.
  • the vehicular lamp system 1 includes the imaging unit 12, the luminance analysis unit 14, the illuminance setting unit 42, the light source unit 10, and the light source control unit 20.
  • the luminance analysis unit 14 detects the luminance of each of the plurality of individual regions R arranged in front of the host vehicle.
  • the illuminance setting unit 42 sets a relatively low illuminance value for the individual region R in which the detected luminance is relatively low, for the individual region R in which the luminance detected by the luminance analysis unit 14 is included in a predetermined range.
  • a relatively high illuminance value is set in the individual region R where the detected luminance is relatively high.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and sets the illuminance value by multiplying the predetermined reference illuminance value by the set coefficient.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and calculates a new illuminance value by multiplying the current illuminance value by the set coefficient.
  • the current illuminance value is updated to the calculated illuminance value, and when the calculated illuminance value falls below the lower limit value, the current illuminance value is maintained.
  • the high-contrast light distribution pattern is repeatedly formed, so that the set illuminance value is bipolarized between 0 and the maximum value, and the driver's visibility in a part of the individual regions R is avoided. it can.
  • the oncoming vehicle 100 is configured by combining the situation analysis unit 16 that is a low-speed but advanced image analysis unit and the luminance analysis unit 14 that is a simple but high-speed image analysis unit.
  • the light distribution pattern is determined by accurately grasping the location of the light source. For this reason, the irradiation accuracy of light in ADB control, in other words, the formation accuracy of the light distribution pattern can be improved. As a result, it is possible to achieve both higher levels of avoidance of glare given to the driver of the oncoming vehicle 100 and ensuring the visibility of the driver of the host vehicle.
  • the vehicular lamp system according to the second embodiment is the same as the configuration of the vehicular lamp system according to the first embodiment except that high contrast control is performed using another light source unit in addition to the light source unit 10. To do.
  • the vehicular lamp system according to the second embodiment will be described mainly with respect to the configuration different from the first embodiment, and the common configuration will be described briefly or the description will be omitted.
  • FIG. 6 is a diagram showing a schematic configuration of the vehicular lamp system according to the second embodiment.
  • the vehicular lamp system 1 (1B) includes a light source unit 10, an imaging unit 12, a control device 50, and a lamp unit 60 as another light source unit.
  • the lamp unit 60 is controlled independently of the light source unit 10.
  • the lighting unit is switched on and off, and the type of light distribution pattern to be formed is switched.
  • the lamp unit 60 can form a conventionally known low beam light distribution pattern, a high beam light distribution pattern, or the like.
  • the light distribution pattern formed by the lamp unit 60 is appropriately referred to as a normal light distribution pattern.
  • the illuminance setting unit 42 executes high contrast control under a situation where a normal light distribution pattern is formed by the lamp unit 60. For example, the illuminance setting unit 42 sets an illuminance value lower than the currently set illuminance value for the individual region R with low luminance, and sets the illuminance value lower than the currently set illuminance value for the individual region R with high luminance. Set a high illuminance value.
  • the level of the illuminance value to be set can be appropriately set based on the results of experiments and simulations in consideration of the degree of improvement in target detection accuracy. Note that the coefficients described in the first embodiment may be used when setting a new illuminance value. That is, a new illuminance value may be set by multiplying the currently set illuminance value by a coefficient.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42.
  • the high contrast light distribution pattern is superimposed on the normal light distribution pattern.
  • the normal light distribution pattern is irradiated to the individual region R having low illuminance in the high contrast light distribution pattern. That is, the lamp unit 60 irradiates light to the individual region R in which a relatively low illuminance value is set by the illuminance setting unit 42. For this reason, it can avoid that a driver
  • the illuminance setting unit 42 uses the light source unit 10 to form a light distribution pattern in which the illuminance of all the individual regions R except the specific individual region R1 is constant at the beginning of the high contrast control.
  • the light distribution pattern is not formed by the light source unit 10, and only the normal light distribution pattern is formed by the lamp unit 60.
  • the luminance of each individual region R obtained by irradiation of the normal light distribution pattern is used for forming a high contrast light distribution pattern.
  • the second and subsequent high contrast light distribution patterns may be determined in a state where only the normal light distribution pattern is formed, or may be determined in a state where the normal light distribution pattern and the high contrast light distribution pattern are superimposed. It may be determined in a situation where only a high contrast light distribution pattern is formed.
  • the present invention is not limited to the above-described first and second embodiments, and it is possible to combine the respective embodiments or add various modifications such as various design changes based on the knowledge of those skilled in the art. New embodiments obtained by such combinations or modifications are also included in the scope of the present invention. Such a new embodiment has the effects of the combined embodiments and modifications.
  • the imaging unit 12, the luminance analysis unit 14, the situation analysis unit 16, the lamp control unit 18, and the light source control unit 20 are provided in the lamp chamber 8. It may be provided outside.
  • the low-speed camera 38 in the imaging unit 12 can use an existing camera mounted in the vehicle interior.
  • the situation analysis unit 16 detects the target using the image data of the high speed camera 36.
  • the specific target may be a pedestrian 200.
  • the specific illuminance value of the specific individual region R1 is set to a maximum value, for example. Thereby, light with higher illuminance can be irradiated to the pedestrian 200 so that the vehicle driver can easily see the pedestrian 200. In this case, it is desirable to shield the individual area R where the face of the pedestrian 200 is located.
  • the tracking unit 40 can track the position of the pedestrian 200 by performing known image processing such as edge enhancement on the luminance data of each individual region R that is the detection result of the luminance analysis unit 14. Edge enhancement may be included in the processing of the luminance analysis unit 14.
  • the light source unit 10 may include a scanning optical system that scans the front of the vehicle with the light source light, or an LED array in which LEDs corresponding to the individual regions R are arranged, instead of the light deflection device 26 that is a DMD.
  • FIGS. 7A to 7C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value in the high contrast control. That is, in the example shown in FIG. 4B, the set illuminance value is continuously and linearly changed with respect to the detected luminance value.
  • the present invention is not particularly limited to this relationship, and as shown in FIGS. 7A and 7B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 7C, the set illuminance value may be changed in a curve with respect to the detected luminance value.
  • the control device 50 for the vehicular lamp 2 sets a relatively high illuminance value in the individual region R having a relatively high luminance.
  • FIG. 8 is a diagram illustrating a schematic configuration of the vehicular lamp system according to the third embodiment.
  • some of the components of the vehicular lamp system 1 are depicted as functional blocks. These functional blocks are realized by elements and circuits such as a CPU and a memory of a computer as a hardware configuration, and are realized by a computer program or the like as a software configuration. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the vehicular lamp system 1 (1A) is applied to a vehicular headlamp apparatus having a pair of headlamp units arranged on the left and right sides in front of the vehicle. Since the pair of headlamp units have substantially the same configuration except that they have a symmetrical structure, FIG. 8 shows the structure of one headlamp unit as the vehicle lamp 2.
  • the vehicular lamp 2 included in the vehicular lamp system 1 includes a lamp body 4 having an opening on the front side of the vehicle and a translucent cover 6 attached so as to cover the opening of the lamp body 4.
  • the translucent cover 6 is formed of a translucent resin or glass.
  • the lamp unit 62, the imaging unit 12, and the control device 50 are accommodated.
  • the lamp unit 62 has at least the light source unit 10.
  • the light source unit 10 is a device that can independently adjust the illuminance (intensity) of light applied to each of a plurality of individual regions (see FIG. 3) arranged in front of the host vehicle.
  • the light source unit 10 includes a light source 22, a reflection optical member 24, a light deflection device 26, and a projection optical member 28. Each part is attached to the lamp body 4 by a support mechanism (not shown).
  • a semiconductor light emitting device such as an LED (Light emitting diode), an LD (Laser diode), an EL (Electroluminescence) device, a light bulb, an incandescent lamp (halogen lamp), a discharge lamp (discharge lamp), or the like can be used. .
  • the reflection optical member 24 is configured to guide the light emitted from the light source 22 to the reflection surface of the light deflector 26.
  • the reflective optical member 24 is composed of a reflecting mirror whose inner surface is a predetermined reflecting surface.
  • the reflective optical member 24 may be a solid light guide or the like. Further, when the light emitted from the light source 22 can be directly guided to the light deflecting device 26, the reflection optical member 24 may not be provided.
  • the light deflection device 26 is arranged on the optical axis of the projection optical member 28 and is configured to selectively reflect the light emitted from the light source 22 to the projection optical member 28.
  • the optical deflecting device 26 is constituted by, for example, a DMD (Digital Mirror Device).
  • the optical deflecting device 26 is configured by arranging a plurality of micromirrors in an array (matrix). By controlling the angles of the reflection surfaces of the plurality of micromirrors, the reflection direction of the light emitted from the light source 22 can be selectively changed.
  • the light deflecting device 26 reflects a part of the light emitted from the light source 22 toward the projection optical member 28 and reflects the other light in a direction not effectively used by the projection optical member 28.
  • the direction that is not effectively used can be understood as, for example, a direction that enters the projection optical member 28 but hardly contributes to the formation of a light distribution pattern, or a direction toward a light absorbing member (light shielding member) (not shown). it can.
  • FIG. 2A is a front view showing a schematic configuration of the light deflection apparatus.
  • FIG. 2B is a cross-sectional view taken along the line AA of the optical deflection apparatus shown in FIG.
  • the optical deflection device 26 includes a micro mirror array 32 in which a plurality of minute mirror elements 30 are arranged in a matrix, and the front side of the reflection surface 30a of the mirror element 30 (the right side of the optical deflection device 26 shown in FIG. 2B). ) And a transparent cover member 34 disposed.
  • the cover member 34 is made of, for example, glass or plastic.
  • the mirror element 30 is substantially square and has a rotation shaft 30b that extends in the horizontal direction and divides the mirror element 30 substantially equally.
  • Each mirror element 30 of the micromirror array 32 reflects the light emitted from the light source 22 toward the projection optical member 28 so as to be used as a part of a desired light distribution pattern (FIG. 2 ( B) is configured to be switchable between a position indicated by a solid line) and a second reflection position (a position indicated by a dotted line in FIG. 2B) where the light emitted from the light source 22 is reflected so as not to be used effectively. Yes.
  • Each mirror element 30 rotates around the rotation axis 30b and is individually switched between the first reflection position and the second reflection position.
  • Each mirror element 30 takes a first reflection position when turned on and takes a second reflection position when turned off.
  • FIG. 3 is a diagram schematically showing the situation in front of the host vehicle.
  • the light source unit 10 includes a plurality of mirror elements 30 as individual irradiation units that can irradiate light independently of each other toward the front of the lamp.
  • the light source unit 10 can irradiate the plurality of individual regions R arranged in front of the host vehicle with the mirror element 30.
  • Each individual region R is a region corresponding to a set of one pixel or a plurality of pixels of the imaging unit 12, more specifically, for example, the high-speed camera 36.
  • each individual region R and each mirror element 30 are associated with each other.
  • the mirror elements 30 and the individual regions R are arranged in a horizontal 10 ⁇ vertical 8 configuration, but the number of the mirror elements 30 and the individual regions R is not particularly limited.
  • the resolution of the micromirror array 32 (in other words, the number of mirror elements 30 and individual regions R) is 1000 to 300,000 pixels.
  • the time required for the light source unit 10 to form one light distribution pattern is, for example, 0.1 to 5 ms. That is, the light source unit 10 can change the light distribution pattern every 0.1 to 5 ms.
  • the projection optical member 28 is composed of, for example, a free curved surface lens having a free curved surface on the front surface and the back surface.
  • the projection optical member 28 projects a light source image formed on the rear focal plane including the rear focal point in front of the lamp as a reverse image.
  • the projection optical member 28 is disposed such that its rear focal point is located on the optical axis of the vehicular lamp 2 and in the vicinity of the reflection surface of the micromirror array 32.
  • the projection optical member 28 may be a reflector.
  • the light emitted from the light source 22 is reflected by the reflective optical member 24 and is applied to the micromirror array 32 of the light deflector 26.
  • the light deflecting device 26 reflects light toward the projection optical member 28 by a predetermined mirror element 30 at the first reflection position.
  • the reflected light passes through the projection optical member 28 and travels forward of the lamp, and is applied to each individual region R corresponding to each mirror element 30.
  • a light distribution pattern having a predetermined shape is formed in front of the lamp.
  • the imaging unit 12 is a device that images the front of the host vehicle.
  • the imaging unit 12 includes a high speed camera 36 and a low speed camera 38.
  • the high-speed camera 36 has a relatively high frame rate, for example, 200 fps or more and 10000 fps or less (0.1 to 5 ms per frame).
  • the low-speed camera 38 has a relatively low frame rate, for example, 30 fps to 120 fps (about 8 to 33 ms per frame).
  • the high-speed camera 36 has a relatively small resolution, for example, 300,000 pixels or more and less than 5 million pixels.
  • the low-speed camera 38 has a relatively large resolution, for example, 5 million pixels or more.
  • the high-speed camera 36 and the low-speed camera 38 image all the individual regions R.
  • the resolutions of the high-speed camera 36 and the low-speed camera 38 are not limited to the above numerical values, and can be set to arbitrary values within a technically consistent range.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the image data acquired by the imaging unit 12 is sent to the luminance analysis unit 14 and the situation analysis unit 16.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on information (image data) obtained from the imaging unit 12.
  • the luminance analysis unit 14 is a high-speed and low-precision analysis unit that performs image analysis with lower accuracy than the situation analysis unit 16 and outputs an analysis result at high speed.
  • the luminance analysis unit 14 according to the present embodiment detects the luminance of each individual region R based on information obtained from the high speed camera 36.
  • the luminance analysis unit 14 detects the luminance of each individual region R, for example, every 0.1 to 5 ms.
  • a detection result of the luminance analysis unit 14, that is, a signal indicating luminance information of the individual region R is transmitted to the lamp control unit 18.
  • the situation analysis unit 16 detects the situation ahead of the vehicle based on the information obtained from the imaging unit 12. For example, the situation analysis unit 16 detects a target existing ahead of the host vehicle.
  • the situation analysis unit 16 is a low-speed and high-precision analysis unit that performs image analysis with higher accuracy than the luminance analysis unit 14 and outputs an analysis result at a low speed.
  • the situation analysis unit 16 according to the present embodiment detects the situation ahead of the host vehicle based on information obtained from the low speed camera 38.
  • the situation analysis unit 16 detects the situation every 50 ms, for example. Examples of the target detected by the situation analysis unit 16 include an oncoming vehicle 100 and a pedestrian 200, as shown in FIG.
  • the target vehicle also includes preceding vehicles, obstacles that hinder the traveling of the host vehicle, road signs, road markings, road shapes, and the like.
  • the situation analysis unit 16 can detect a target using a conventionally known method including algorithm recognition and deep learning. For example, the situation analysis unit 16 holds a feature point indicating the oncoming vehicle 100 in advance. Then, the situation analysis unit 16 recognizes the position of the oncoming vehicle 100 when there is data including a feature point indicating the oncoming vehicle 100 in the imaging data of the low speed camera 38.
  • the “feature point indicating the oncoming vehicle 100” is, for example, a light spot 102 (see FIG. 3) having a predetermined luminous intensity or higher that appears in the estimated presence area of the headlamp of the oncoming vehicle 100.
  • the situation analysis unit 16 holds feature points indicating the pedestrian 200 and other targets in advance, and when there is data including these feature points in the imaging data of the low-speed camera 38, Recognize the position of the target corresponding to the feature point.
  • a detection result of the situation analysis unit 16, that is, a signal indicating target information ahead of the host vehicle is transmitted to the lamp control unit 18.
  • the lamp control unit 18 uses the detection result of the luminance analysis unit 14 and / or the situation analysis unit 16 to determine the specific target, detect the displacement of the specific target, set the specific individual region R1, and irradiate each individual region R.
  • the setting of the illuminance value of the light to be performed, the formation control of the light distribution pattern, etc. are executed.
  • the lamp control unit 18 includes a tracking unit 40, an illuminance setting unit 42, and a pattern formation control unit 46.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14, that is, based on the luminance of each individual region R. That is, the illuminance setting unit 42 determines the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance of each individual region R.
  • the illuminance setting unit 42 according to the present embodiment determines a high contrast light distribution pattern as the first light distribution pattern.
  • a relatively low illuminance value is set in the individual region R in which the detected luminance is relatively low for the individual region R in which the luminance detected by the luminance analysis unit 14 is in a predetermined range.
  • This is a light distribution pattern obtained by setting a relatively high illuminance value in the individual region R where the detected luminance is relatively high.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. 4A and 4B described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is referred to as the “predetermined range”.
  • the illuminance setting unit 42 assigns an illuminance value lower than the illuminance value set for the individual region R having a higher luminance than the threshold value to the individual region R having a lower luminance than a predetermined threshold value.
  • an illuminance value higher than the illuminance value set for the individual region R having a luminance lower than the threshold is set in the individual region R having a luminance higher than the threshold.
  • the illuminance value of the individual region R having a relatively high luminance is higher than the illuminance value of the individual region R having a relatively low luminance.
  • the illuminance setting unit 42 sets an illuminance value lower than the currently set illuminance value in the individual region R whose luminance is lower than the threshold value.
  • an illuminance value higher than the currently set illuminance value is set in the individual region R having a luminance higher than the threshold value.
  • the illuminance value to be set may be lowered as the luminance decreases with reference to the luminance of the individual region R having the highest luminance.
  • the high contrast light distribution pattern is a light distribution pattern in which the bright individual region R becomes brighter and the dark individual region R becomes darker.
  • the light / dark contrast is enhanced in the irradiation object in front of the host vehicle.
  • the detection accuracy of the target by the situation analysis part 16 mentioned later can be improved.
  • the target include an oncoming vehicle, a pedestrian, a preceding vehicle, an obstacle that hinders the traveling of the host vehicle, a road sign, a road marking, a road shape, and the like.
  • the newly set relatively low illuminance value is lower than the currently set illuminance value, and the newly set relatively high illuminance value is The illuminance value can be higher than the currently set illuminance value. Therefore, when the formation of the high-contrast light distribution pattern is repeated, positive feedback is applied and eventually the set illuminance value is bipolarized between 0 and the maximum value. If the illuminance value is bipolar, it may be difficult to ensure the driver's visibility in the individual region R where the illuminance value 0 is set.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and multiplies the set coefficient by a predetermined reference illuminance value M to obtain the illuminance. Set the value.
  • FIG. 4A is a diagram showing the relationship between the detected luminance value and the coefficient when forming a high-contrast light distribution pattern.
  • FIG. 4B is a diagram illustrating a relationship between a detected luminance value and a set illuminance value when forming a high contrast light distribution pattern.
  • the illuminance setting unit 42 has a predetermined coefficient set in advance according to the magnitude of the detected luminance value.
  • a relatively large coefficient is set for a relatively large detected luminance value, and a relatively small coefficient is set for a relatively small detected luminance value.
  • the value of the coefficient can be set as appropriate based on the results of experiments and simulations in consideration of the degree of improvement in target detection accuracy.
  • a coefficient of 1.0 is set for the threshold value of the detected luminance value
  • a coefficient of 1.5 is set for the maximum luminance value
  • a coefficient of 0.5 is set for the minimum luminance value.
  • the illuminance setting unit 42 sets a coefficient for each individual region R based on the detection result of the luminance analysis unit 14.
  • the illuminance setting unit 42 has a predetermined reference illuminance value M set in advance as shown in FIG.
  • the illuminance setting unit 42 sets the illuminance value of the individual area R by multiplying the reference illuminance value M by the coefficient set for each individual area R. Thereby, a low illuminance value is set in the individual region R with a low detected luminance value, and a high illuminance value is set in the individual region R with a high detected luminance value.
  • the illuminance setting unit 42 has a lower limit value and an upper limit value of preset illuminance values. Then, the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value. Then, a new illuminance value is calculated by multiplying the set illuminance value by the current illuminance value instead of the reference illuminance value M.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or greater than the predetermined lower limit value, and maintains the current illuminance value when the calculated illuminance value falls below the lower limit value. To do.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or less than the predetermined upper limit value, and the current illuminance value when the calculated illuminance value exceeds the upper limit value. To maintain. Note that if the illuminance setting unit 42 has at least a lower limit value of the illuminance value, setting the illuminance value 0 to the dark individual region R can be avoided.
  • the illuminance setting unit 42 can determine a second light distribution pattern different from the first light distribution pattern.
  • the second light distribution pattern is a light distribution pattern for forming a third light distribution pattern that is visually recognized by the driver by being combined with the first light distribution pattern.
  • the third light distribution pattern is a light distribution pattern that is determined based on, for example, ergonomics and is optimal for the driver's eyes, and is set in advance.
  • the second light distribution pattern is determined in consideration of the finally formed third light distribution pattern and the first light distribution pattern that is a composite component of the third light distribution pattern.
  • the second light distribution pattern is obtained by setting the illuminance value of each individual region R depending on the luminance of each individual region R in a state where the first light distribution pattern is formed.
  • the second light distribution pattern has the brightness of the individual region R that is less than a predetermined brightness that can be visually recognized by the driver in the situation where the first light distribution pattern is formed, and the third light distribution pattern is formed. It is a light distribution pattern to enhance in the situation.
  • the second light distribution pattern has a brightness of the individual region R that is equal to or higher than a predetermined brightness at which the driver receives glare in a situation where the first light distribution pattern is formed, in a situation where the third light distribution pattern is formed. This is a light distribution pattern to be reduced.
  • the illuminance setting unit 42 has in advance a predetermined luminance value that the driver can visually recognize and a predetermined luminance value that the driver receives glare. Then, the illuminance setting unit 42 sets the illuminance value of each individual region R from the detection result of the luminance analysis unit 14 based on the image data obtained in the formation state of the first light distribution pattern, and sets the second light distribution pattern. decide.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the illuminance setting unit 42 sets the illuminance value, for example, every 0.1 to 5 ms.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42.
  • the light source control unit 20 controls turning on / off of the light source 22 and on / off switching of each mirror element 30.
  • the light source control unit 20 adjusts the ON time ratio (width and density) of each mirror element 30 based on the illuminance value of the light applied to each individual region R. Thereby, the illumination intensity of the light irradiated to each individual area
  • the light source control unit 20 transmits a drive signal to the light source 22 and / or the optical deflection device 26, for example, every 0.1 to 5 ms.
  • the pattern formation control unit 46 combines the first light distribution pattern and the second light distribution pattern to form a third light distribution pattern that is visually recognized by the driver.
  • the pattern formation control unit 46 transmits a signal instructing formation of the first light distribution pattern and the second light distribution pattern to the illuminance setting unit 42.
  • the illuminance setting unit 42 receives the signal from the pattern formation control unit 46, the illuminance setting unit 42 sets an illuminance value corresponding to each light distribution pattern, and transmits an illuminance value signal to the light source control unit 20.
  • FIG. 9 is a timing chart showing an example of the transition of imaging with a low-speed camera, imaging with a high-speed camera, formation of a first light distribution pattern, and formation of a second light distribution pattern.
  • the pattern formation control unit 46 periodically switches the light distribution pattern to be formed between the first light distribution pattern and the second light distribution pattern.
  • a third light distribution pattern formed by combining the first light distribution pattern and the second light distribution pattern is formed.
  • the repetition cycle is, for example, 60 Hz or more (16.6 ms or less).
  • the vehicle lamp system 1 executes ADB (Adaptive Driving Beam) control that forms an optimal light distribution pattern according to the situation ahead of the host vehicle, using the first light distribution pattern. . Therefore, as shown in FIG. 9, the pattern formation control unit 46 forms the first light distribution pattern while the low-speed camera 38 of the imaging unit 12 is imaging the front of the host vehicle. That is, the vehicular lamp system 1 images the front of the host vehicle with the low-speed camera 38 in a state where the first light distribution pattern is formed. The situation analysis unit 16 detects a target using this imaging data. For this reason, the target can be detected with higher accuracy.
  • ADB Adaptive Driving Beam
  • the tracking unit 40 determines a specific target from the targets detected by the situation analysis unit 16.
  • the tracking unit 40 detects the displacement of the specific target based on the detection result of the luminance analysis unit 14.
  • the oncoming vehicle 100 is a specific target.
  • the tracking unit 40 integrates the detection result of the luminance analysis unit 14 and the detection result of the situation analysis unit 16. Then, among the brightness of each individual area R detected by the brightness analysis unit 14, the brightness of the individual area R where the light spot 102 of the oncoming vehicle 100, which is a specific target, is associated with the oncoming vehicle 100.
  • the tracking unit 40 can detect the displacement of the oncoming vehicle 100 that is the specific target by recognizing the position of the luminance associated with the oncoming vehicle 100 in the detection result of the luminance analyzing unit 14 acquired thereafter.
  • the tracking unit 40 executes a specific target determination process, for example, every 50 ms. Further, the tracking unit 40 executes displacement detection processing (tracking) of the specific target every 0.1 to 5 ms, for example.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14 and the detection result of the tracking unit 40. In each individual area R, a specific illuminance value is determined for the specific individual area R1 determined according to the position where the specific target is present. Specifically, the illuminance setting unit 42 first determines the specific individual region R1 based on the location of the oncoming vehicle 100 that is the specific target. For example, the illuminance setting unit 42 determines the specific individual region R ⁇ b> 1 based on the position information of the oncoming vehicle 100 included in the detection result of the tracking unit 40.
  • the illuminance setting unit 42 is a predetermined predetermined with respect to the horizontal distance a (see FIG. 3) between the two light spots 102 corresponding to the headlamp of the oncoming vehicle 100.
  • the vertical distance b of the ratio is determined, and the individual area R that overlaps the dimension range of width a ⁇ length b is defined as a specific individual area R1 (see FIG. 3).
  • the specific individual area R1 includes an individual area R that overlaps with the driver of the oncoming vehicle.
  • the illuminance setting unit 42 determines a specific illuminance value for the specific individual region R1. For example, the specific illuminance value 0 is set. In addition, the illuminance setting unit 42 determines an illuminance value for the other individual regions R other than the specific individual region R1 based on switching control between the first light distribution pattern and the second light distribution pattern. Further, the illuminance setting unit 42 recognizes the displacement of the specific individual region R1 based on the detection result of the tracking unit 40, and updates the position information of the specific individual region R1. And the illuminance value of the light irradiated to each individual area
  • the specific target may be a pedestrian 200.
  • the specific illuminance value of the specific individual region R1 is set to a maximum value, for example. Thereby, light with higher illuminance can be irradiated to the pedestrian 200 so that the vehicle driver can easily see the pedestrian 200. In this case, it is desirable to shield the individual area R where the face of the pedestrian 200 is located.
  • the tracking unit 40 can track the position of the pedestrian 200 by performing known image processing such as edge enhancement on the luminance data of each individual region R that is the detection result of the luminance analysis unit 14. Edge enhancement may be included in the processing of the luminance analysis unit 14.
  • the pattern formation control unit 46 may set illuminance values based on switching control between the first light distribution pattern and the second light distribution pattern for all the individual regions R except the specific individual region R1, For the individual region R, the illuminance value may be set based on the switching control.
  • the pattern formation control unit 46 performs switching control between the first light distribution pattern and the second light distribution pattern only for the individual region R in a predetermined position range. That is, the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R in the predetermined position range.
  • a fourth light distribution pattern is formed.
  • the fourth light distribution pattern is a light distribution pattern in which the illuminance value is set by the illuminance setting unit 42 without depending on the luminance detected by the luminance analysis unit 14.
  • the fourth light distribution pattern is exemplified by a constant illuminance light distribution pattern in which the illuminance values of the light applied to the individual regions R are the same value.
  • the front of the vehicle can be divided into a plurality of regions, and different light distribution patterns can be formed for each. For this reason, it is possible to form a light distribution pattern more suitable for the situation in front of the host vehicle.
  • FIG. 10A and 10 (B) are diagrams schematically showing the position range of the individual area where the switching control between the first light distribution pattern and the second light distribution pattern is executed.
  • the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R located in the region M1 below the horizontal line.
  • a fourth light distribution pattern is formed in the individual region R located in the region M2 above the horizontal line.
  • the fourth light distribution pattern is formed because the possibility that a target to be visually recognized is low.
  • the pattern formation control unit 46 includes first to third light distributions in the individual areas R that overlap the side areas N1 and N2 outside the traveling road surface and excluding the sky above the host vehicle. Form a pattern. Further, a fourth light distribution pattern is formed in the individual region R that overlaps the region N3 above the host vehicle. In addition, the first to third light distribution patterns or the fourth light distribution pattern are formed in the individual regions R overlapping the region N4 on the traveling road surface.
  • a pedestrian 200 is often the one with high priority as a target to be visually recognized. Since there is a high possibility that the pedestrian 200 exists in the side areas N1 and N2, switching control between the first light distribution pattern and the second light distribution pattern is executed. On the other hand, since the possibility that the pedestrian 200 exists is low in the area N3 above the own vehicle, the fourth light distribution pattern is formed. In the area N4 on the traveling road surface, the possibility that the pedestrian 200 exists is higher than the area N3 above the own vehicle, but the possibility that the pedestrian 200 exists is lower than the side areas N1 and N2. For this reason, with respect to the area N4 on the traveling road surface, the light distribution pattern to be formed can be selected depending on which of the reduction of the load applied to the control device 50 and the improvement of the driving safety is prioritized.
  • the pattern formation control unit 46 sets the individual region R for forming the first to third light distribution patterns and the individual region R for forming the fourth light distribution pattern according to the state of the host vehicle or the surrounding environment. Can do. For example, when the vehicle speed of the host vehicle is equal to or higher than a predetermined speed, the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R that overlap the region N4 on the traveling road surface, and the other individual regions R. A fourth light distribution pattern is formed. Further, when the vehicle speed is less than a predetermined speed, the first to third light distribution patterns are formed in the individual regions R that overlap the side regions N1 and N2 outside the traveling road surface and excluding the sky above the own vehicle. A fourth light distribution pattern is formed on R.
  • the “predetermined speed” is, for example, 80 km / h.
  • the pattern formation control unit 46 can determine the regions M1, M2, and N1 to N4 based on the image data of the low-speed camera 38 or the detection result of the situation analysis unit 16. Moreover, the pattern formation control part 46 can acquire vehicle speed information from a vehicle speed sensor (not shown) mounted on the vehicle. Information on the state of the host vehicle and the surrounding environment can also be obtained from a car navigation system (not shown), a steering angle sensor, an illuminance sensor, image data of the imaging unit 12 and the like mounted on the vehicle. For example, the pattern formation control unit 46 can change the region N4 of the traveling road surface by recognizing the road shape ahead based on information obtained from the car navigation system.
  • the illuminance setting unit 42 sets a specific illuminance value “0” for the specific individual area R1 determined according to the position where the oncoming vehicle 100 is present, and the illuminance is set for the other individual areas R. Set the value “1”. This setting is the first illuminance information. Further, the illuminance setting unit 42 sets the illuminance value for the individual region R in the predetermined position range excluding the specific individual region R1 according to the switching control of the first light distribution pattern and the second light distribution pattern. Further, the same illuminance value is set for the remaining individual regions R in accordance with the formation control of the fourth light distribution pattern. This setting is set as second illuminance information.
  • the illuminance setting unit 42 performs an AND operation on the first illuminance information and the second illuminance information.
  • the specific illuminance value for the specific individual region R1 is “0”, and the illuminance information is generated in which the illuminance value for the other individual region R is determined according to the switching control or the formation control of the fourth light distribution pattern. Is done. That is, the specific individual region R1 is shielded from light, and the first light distribution pattern and the second light distribution pattern are alternately formed or the fourth light distribution pattern is formed in each individual region R excluding the specific individual region R1.
  • FIG. 11 (A) and FIG. 11 (B) are flowcharts showing an example of ADB control executed in the vehicular lamp system according to the third embodiment.
  • This flow is, for example, instructed to execute ADB control by a light switch (not shown), and repeatedly executed at a predetermined timing when the ignition is on, and the execution instruction of ADB control is canceled (or a stop instruction is issued). Or if the ignition is turned off.
  • the flow shown in FIG. 11A is a high-speed process that is repeated every 0.1 to 5 ms, for example
  • the flow shown in FIG. 11B is a low-speed process that is repeated every 50 ms, for example.
  • the low speed process and the high speed process are executed in parallel.
  • it is designed in advance so that the first light distribution pattern is formed in the high-speed processing in synchronization with the execution timing of the low-speed processing.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on the image data of the high-speed camera 36 (S2102). Subsequently, it is determined whether the specific individual area R1 is set (S2103). The determination is performed by the tracking unit 40, for example.
  • the tracking unit 40 tracks the specific target and detects the position (displacement) of the specific individual area R1.
  • the illuminance setting unit 42 updates the setting (position information) of the specific individual region R1 based on the detection result of the tracking unit 40 (S2104).
  • the illuminance setting unit 42 sets the illuminance value of the light applied to each individual region R (S2105).
  • the illuminance value according to the first light distribution pattern is set for the individual region R in the predetermined position range, and when it is not at the execution timing of the low speed process, the predetermined position range is set.
  • the illuminance value according to the second light distribution pattern is set for the individual region R in FIG.
  • a specific illuminance value is set for the specific individual region R1.
  • illuminance values according to the fourth light distribution pattern are set.
  • the light source unit 10 is driven by the light source control unit 20, light having a predetermined illuminance is emitted from the light source unit 10 (S2106), and this routine ends.
  • the illuminance setting unit 42 sets the illuminance value of the light irradiated on the individual area R (S2105). In this case, the specific illuminance value is not included in the set illuminance value. Thereafter, the process of step S2106 is executed, and this routine ends.
  • step S2104 when the disappearance of the specific target is detected by tracking, the setting of the specific individual region R1 also disappears. Therefore, the specific illuminance value is not included in the illuminance value set in step S2105.
  • step S2103 in the next routine it is determined that the specific individual area R1 has not been set (N in S2103) until the process in step S2205 described later is executed.
  • the front of the vehicle is imaged by the low speed camera 38 (S2201).
  • a first light distribution pattern is formed in front of the vehicle.
  • the target existing in front of the host vehicle is detected by the situation analysis unit 16 based on the image data of the low speed camera 38 (S2202).
  • it is determined whether the detected target includes a specific target is performed by the tracking unit 40, for example.
  • the tracking unit 40 determines the specific target (S2204).
  • the illuminance setting unit 42 sets the specific individual region R1 based on the position where the specific target is present (S2205), and this routine ends.
  • this routine ends.
  • the specific individual area is set in the low speed process, but the setting may be executed in the high speed process.
  • the vehicular lamp system 1 includes the imaging unit 12, the luminance analysis unit 14, the illuminance setting unit 42, the lamp unit 62, the light source control unit 20, and the pattern formation control. Part 46.
  • the luminance analysis unit 14 detects the luminance of each of the plurality of individual regions R arranged in front of the host vehicle.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14.
  • the light source control unit 20 controls the lamp unit 62 based on the illuminance value determined by the illuminance setting unit 42. Accordingly, the vehicle lamp system 1 can form a first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analysis unit 14.
  • the illuminance setting unit 42 uses, as the first light distribution pattern, for the individual region R in which the luminance detected by the luminance analysis unit 14 is in a predetermined range, relatively to the individual region R where the detected luminance is relatively low.
  • a high-contrast light distribution pattern in which a relatively high illuminance value is set in the individual region R in which a low illuminance value is set and the detected luminance is relatively high is determined.
  • the illuminance setting unit 42 determines a second light distribution pattern that is different from the first light distribution pattern. Then, the pattern formation control unit 46 periodically switches the light distribution pattern to be formed between the first light distribution pattern and the second light distribution pattern, and the first light distribution pattern and the second light distribution pattern are changed. The driver visually recognizes the synthesized third light distribution pattern.
  • the third light distribution pattern to be visually recognized by the driver is formed by combining the two light distribution patterns, various third light distribution patterns can be formed. Therefore, it is possible to form an optimal light distribution pattern according to the situation. As a result, driving safety can be improved.
  • the vehicle lamp system 1 further includes a situation analysis unit 16 that detects the situation ahead of the host vehicle based on information obtained from the imaging unit 12 (more specifically, the low-speed camera 38).
  • the pattern formation control unit 46 forms the first light distribution pattern while the imaging unit 12 (more specifically, the low-speed camera 38) is imaging the front of the host vehicle.
  • a 1st light distribution pattern is a light distribution pattern which can emphasize the brightness contrast of the irradiation target object which exists ahead of the own vehicle. For this reason, the detection accuracy of the target using the image data of the imaging unit 12 can be improved. As a result, the light irradiation accuracy in ADB control, in other words, the light distribution pattern formation accuracy can be increased.
  • the light distribution pattern suitable for the target detection by the situation analysis unit 16 and the light distribution pattern suitable for the driver to visually recognize may not match.
  • the vehicle lamp system 1 makes the light distribution pattern formed when the imaging unit 12 obtains the image data for target detection different from the light distribution pattern to be visually recognized by the driver. Thereby, the improvement of the detection accuracy of a target and the improvement of a driver
  • the second light distribution pattern combined with the first light distribution pattern is a light distribution pattern that enhances the luminance of the individual region R, which is lower than the predetermined luminance visible to the driver in the first light distribution pattern, in the third light distribution pattern. is there.
  • the second light distribution pattern is a light distribution pattern that reduces the luminance of the individual region R that is equal to or higher than a predetermined luminance at which the driver receives glare in the first light distribution pattern in the third light distribution pattern. Accordingly, the driver's visibility improvement effect obtained by forming the third light distribution pattern can be further enhanced.
  • the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R in the predetermined position range. For the other individual regions R, a fourth light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analyzing unit 14 is formed. Thereby, the load concerning the control apparatus 50 can be reduced. For this reason, the time required for forming the light distribution pattern can be shortened, and the change in the light distribution pattern can be made to follow the change in the situation ahead of the vehicle with high accuracy. Further, since different light distribution patterns can be formed for a plurality of sections ahead of the host vehicle, it is possible to form a light distribution pattern more suitable for the situation ahead of the host vehicle. As a result, driving safety can be improved.
  • Embodiment 4 The vehicle lamp system according to Embodiment 4 is the same as that of Embodiment 3, except that a uniform brightness light distribution pattern is formed in addition to the high contrast light distribution pattern as the first light distribution pattern.
  • a uniform brightness light distribution pattern is formed in addition to the high contrast light distribution pattern as the first light distribution pattern.
  • the vehicular lamp system 1 includes a lamp unit 62, an imaging unit 12, and a control device 50.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the lamp control unit 18 includes a tracking unit 40, an illuminance setting unit 42, and a pattern formation control unit 46.
  • the illuminance setting unit 42 determines the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance of each individual region R.
  • the illuminance setting unit 42 of the present embodiment forms a luminance uniform light distribution pattern in addition to the high contrast light distribution pattern as the first light distribution pattern.
  • the brightness uniformed light distribution pattern has a brightness detected by the brightness analyzing unit 14 in a state where the brightness uniformed light distribution pattern is formed for the individual region R in which the brightness detected by the brightness analyzing unit 14 is in a predetermined range. It is a light distribution pattern obtained by setting the illuminance value of each individual region R so as to have the same value in each individual region R.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. In FIG. 12 described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is the “predetermined range”.
  • FIG. 12 is a diagram showing a relationship among a detected luminance value, a target luminance value, and a set illuminance value when forming a luminance uniform light distribution pattern.
  • the illuminance setting unit 42 first sets a target luminance value when setting the illuminance value.
  • the target luminance value means the luminance that should be detected by the luminance analyzing unit 14 in a state where the light distribution pattern is formed.
  • the illuminance setting unit 42 sets the target luminance value to the same value for the individual regions R in which the luminance detected by the luminance analysis unit 14 is included in a predetermined range.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the target luminance value of each individual region R and the detection result of the luminance analysis unit 14. Specifically, the illuminance setting unit 42 sets a relatively high illuminance value in the individual region R where the detected luminance is relatively low, and relative to the individual region R where the detected luminance is relatively high. Set a low illuminance value. As a result, a luminance uniform light distribution pattern that makes the brightness in front of the host vehicle uniform is formed. According to the brightness uniform light distribution pattern, a target existing in a dark area ahead of the host vehicle can be illuminated brightly. For this reason, the detection accuracy of the target by the situation analysis unit 16 can be improved by a method or a mode different from the high contrast light distribution pattern.
  • the pattern formation control unit 46 forms the first light distribution pattern while the low-speed camera 38 of the imaging unit 12 is imaging the front of the vehicle, and the second distribution different from the first light distribution pattern at other times. A light pattern is formed.
  • the pattern formation control unit 46 combines the first light distribution pattern and the second light distribution pattern to form a third light distribution pattern, and causes the driver to visually recognize the third light distribution pattern.
  • the first light distribution pattern is a high-contrast light distribution pattern that can enhance the light and dark contrast of the irradiation target existing in front of the host vehicle, or brightly illuminate a target existing in a dark area in front of the host vehicle. This is a luminance uniform light distribution pattern. For this reason, the detection accuracy of the target using the image data of the imaging unit 12 can be improved. As a result, the light irradiation accuracy in ADB control, in other words, the light distribution pattern formation accuracy can be increased.
  • the second light distribution pattern is a light distribution pattern for forming a third light distribution pattern that is visually recognized by the driver by being combined with the first light distribution pattern.
  • the second light distribution pattern is obtained by setting the illuminance value of each individual region R depending on the luminance of each individual region R in the state where the first light distribution pattern is formed. For example, the second light distribution pattern increases the brightness of the individual region R, which is less than a predetermined brightness that can be visually recognized by the driver in the situation where the first light distribution pattern is formed, in the situation where the third light distribution pattern is formed. It is a light distribution pattern.
  • the second light distribution pattern has a brightness of the individual region R that is equal to or higher than a predetermined brightness at which the driver receives glare in a situation where the first light distribution pattern is formed, in a situation where the third light distribution pattern is formed. This is a light distribution pattern to be reduced.
  • the pattern formation control unit 46 can execute switching control between the first light distribution pattern and the second light distribution pattern only for the individual region R in the predetermined position range. That is, the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R in the predetermined position range. For the other individual regions R, a fourth light distribution pattern is formed.
  • the fourth light distribution pattern is exemplified by a constant illuminance light distribution pattern in which the illuminance values of the light applied to the individual regions R are the same value.
  • the vehicular lamp system 1 includes the imaging unit 12, the situation analysis unit 16, the illuminance setting unit 42, the lamp unit 62, the light source control unit 20, and the pattern formation control. Part 46.
  • the situation analysis unit 16 detects a situation ahead of the host vehicle based on information obtained from the imaging unit 12.
  • the illuminance setting unit 42 determines the illuminance value of the light applied to each individual region R based on the luminance of each individual region R.
  • the light source control unit 20 controls the lamp unit 62 based on the illuminance value determined by the illuminance setting unit 42.
  • the illuminance setting unit 42 determines a high contrast light distribution pattern and a luminance uniform light distribution pattern as a first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance of each individual region R. .
  • the illuminance setting unit 42 determines a second light distribution pattern that is different from the first light distribution pattern.
  • the pattern formation control unit 46 forms the first light distribution pattern while the imaging unit 12 (more specifically, the low-speed camera 38) is imaging.
  • the second light distribution pattern is formed at other times, and the driver visually recognizes the third light distribution pattern formed by combining the first light distribution pattern and the second light distribution pattern.
  • the detection accuracy of the target by the situation analysis unit 16 can be increased, and the driver can visually recognize a light distribution pattern optimum for human eyes. For this reason, the improvement of the detection accuracy of a target and the improvement of a driver
  • operator's visibility can be made compatible in a higher dimension. As a result, driving safety can be improved.
  • the vehicular lamp system according to the fifth embodiment is common to the configuration of the vehicular lamp system according to the third embodiment except that the lamp unit 62 includes another light source unit in addition to the light source unit 10.
  • the vehicular lamp system according to the fifth embodiment will be described mainly with respect to the configuration different from that of the third embodiment, and the common configuration will be described briefly or the description will be omitted.
  • FIG. 13 is a diagram showing a schematic configuration of the vehicular lamp system according to the fifth embodiment.
  • the vehicular lamp system 1 (1B) includes a lamp unit 62, an imaging unit 12, and a control device 50.
  • the lamp unit 62 has a lamp unit 60 as another light source unit in addition to the light source unit 10.
  • the lamp unit 60 may form a conventionally known low beam light distribution pattern, high beam light distribution pattern, or the like as a light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14. it can.
  • the light distribution pattern formed by the lamp unit 60 is appropriately referred to as a normal light distribution pattern.
  • the formation range of the normal light distribution pattern can be adjusted by a conventionally known technique such as a shade.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the lamp control unit 18 includes a tracking unit 40, an illuminance setting unit 42, and a pattern formation control unit 46.
  • the illuminance setting unit 42 determines a high contrast light distribution pattern as the first light distribution pattern in which the illuminance value is set depending on the luminance detected by the luminance analysis unit 14.
  • the first light distribution pattern may include a luminance uniforming light distribution pattern.
  • the illuminance setting unit 42 can determine a second light distribution pattern different from the first light distribution pattern.
  • the second light distribution pattern is a light distribution pattern for forming a third light distribution pattern that is visually recognized by the driver by being combined with the first light distribution pattern.
  • the second light distribution pattern is obtained by setting the illuminance value of each individual region R depending on the luminance of each individual region R in a state where the first light distribution pattern is formed.
  • the second light distribution pattern increases the brightness of the individual region R, which is less than a predetermined brightness that can be visually recognized by the driver in the situation where the first light distribution pattern is formed, in the situation where the third light distribution pattern is formed. It is a light distribution pattern.
  • the second light distribution pattern has a brightness of the individual region R that is equal to or higher than a predetermined brightness at which the driver receives glare in a situation where the first light distribution pattern is formed, in a situation where the third light distribution pattern is formed. This is a light distribution pattern to be reduced.
  • the pattern formation control unit 46 periodically switches the light distribution pattern to be formed between the first light distribution pattern and the second light distribution pattern. As a result, a third light distribution pattern formed by combining the first light distribution pattern and the second light distribution pattern is formed. Also in the present embodiment, the timing for forming the first light distribution pattern and the timing for imaging by the low-speed camera 38 are synchronized. Thereby, the precision of the target detection by the situation analysis part 16 can be improved.
  • the pattern formation control unit 46 can execute switching control between the first light distribution pattern and the second light distribution pattern only for the individual region R in the predetermined position range. That is, the pattern formation control unit 46 forms the first to third light distribution patterns in the individual regions R in the predetermined position range. For the other individual regions R, a fourth light distribution pattern is formed.
  • the fourth light distribution pattern is a normal light distribution pattern formed by the lamp unit 60.
  • the pattern formation control unit 46 transmits a signal instructing formation of the fourth light distribution pattern to the light source control unit 20 via the illuminance setting unit 42.
  • the light source controller 20 turns on the lamp unit 60 when receiving the signal. Thereby, the second light distribution pattern is formed.
  • the lamp unit 60 may irradiate light to the individual region R where the high contrast light distribution pattern is formed when the high contrast light distribution pattern is formed. Thereby, it can avoid that a driver
  • the present invention is not limited to the above-described third to fifth embodiments, and it is possible to combine the respective embodiments or add various modifications such as various design changes based on the knowledge of those skilled in the art. New embodiments obtained by such combinations or modifications are also included in the scope of the present invention. Such a new embodiment has the effects of the combined embodiments and modifications.
  • the imaging unit 12, the luminance analysis unit 14, the situation analysis unit 16, the lamp control unit 18, and the light source control unit 20 are provided in the lamp chamber 8. It may be provided outside.
  • the low-speed camera 38 in the imaging unit 12 can use an existing camera mounted in the vehicle interior.
  • the situation analysis unit 16 detects the target using the image data of the high speed camera 36.
  • the imaging timing of the high-speed camera 36 and the formation timing of the first light distribution pattern are synchronized.
  • the third light distribution pattern can be substantially the same light distribution pattern as the second light distribution pattern.
  • the second light distribution pattern may be an optimal light distribution pattern for the driver's eyes determined based on ergonomics.
  • the lamp unit 60 may be used for forming the second light distribution pattern.
  • the first light distribution pattern is substantially invisible to humans, the first light distribution pattern may be formed on the individual regions R including the specific individual region R1.
  • the second light distribution pattern is formed for the individual regions R excluding the specific individual region R1.
  • the light source unit 10 may include a scanning optical system that scans the front of the vehicle with the light source light, or an LED array in which LEDs corresponding to the individual regions R are arranged, instead of the light deflection device 26 that is a DMD.
  • FIGS. 14A to 14C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming the luminance uniform light distribution pattern. That is, in the example shown in FIG. 12, the set illuminance value is changed continuously and linearly with respect to the detected luminance value. However, it is not particularly limited to this relationship, and as shown in FIGS. 14A and 14B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 14C, the set illuminance value may be changed in a curve with respect to the detected luminance value. In FIG. 14C, an upward convex curve is shown, but a downward convex curve may be used.
  • FIGS. 7A to 7C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming a high-contrast light distribution pattern. That is, in the example shown in FIG. 4B, the set illuminance value is continuously and linearly changed with respect to the detected luminance value.
  • the present invention is not particularly limited to this relationship, and as shown in FIGS. 7A and 7B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 7C, the set illuminance value may be changed in a curve with respect to the detected luminance value.
  • FIG. 7C illustrates a convex curve upward
  • a convex curve may be used. Further, since the relationship between the detected luminance value and the coefficient is the same as the relationship between the detected luminance value and the set illuminance value, it is clear without needing to be illustrated.
  • a luminance analysis unit 14 for detecting the luminance of each of the plurality of individual regions R arranged in front of the host vehicle based on information obtained from the imaging unit 12 that images the front of the host vehicle; Based on the detection result of the luminance analysis unit 14, an illuminance setting unit 42 that determines the illuminance value of the light irradiated to each individual region R; Based on the illuminance value determined by the illuminance setting unit 42, the light source control unit 20 that controls the lamp unit 62 having at least the light source unit 10 capable of independently adjusting the illuminance of the light irradiated to each individual region R; For the individual region R in which the luminance detected by the luminance analysis unit 14 is within a predetermined range, a relatively low illuminance value is set in the individual region R where the detected luminance is relatively low, and the detected luminance is relative.
  • a light distribution pattern to be formed is periodically formed between a first light distribution pattern in which a relatively high illuminance value is set in a relatively high individual region R and a second light distribution pattern different from the first light distribution pattern.
  • the pattern formation control unit 46 that causes the driver to visually recognize a third light distribution pattern obtained by combining the first light distribution pattern and the second light distribution pattern,
  • a control device 50 for a vehicular lamp 2 comprising:
  • the light distribution pattern to be formed is periodically switched between the first light distribution pattern obtained by setting a relatively high illuminance value and the second light distribution pattern different from the first light distribution pattern. Causing the driver to visually recognize a third light distribution pattern obtained by combining the first light distribution pattern and the second light distribution pattern; The control method of the vehicle lamp 2 containing this.
  • FIG. 8 is a diagram showing a schematic configuration of a vehicular lamp system according to the sixth embodiment.
  • some of the components of the vehicular lamp system 1 are depicted as functional blocks. These functional blocks are realized by elements and circuits such as a CPU and a memory of a computer as a hardware configuration, and are realized by a computer program or the like as a software configuration. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the vehicular lamp system 1 (1A) is applied to a vehicular headlamp apparatus having a pair of headlamp units arranged on the left and right sides in front of the vehicle. Since the pair of headlamp units have substantially the same configuration except that they have a symmetrical structure, FIG. 8 shows the structure of one headlamp unit as the vehicle lamp 2.
  • the vehicular lamp 2 included in the vehicular lamp system 1 includes a lamp body 4 having an opening on the front side of the vehicle and a translucent cover 6 attached so as to cover the opening of the lamp body 4.
  • the translucent cover 6 is formed of a translucent resin or glass.
  • the lamp unit 62, the imaging unit 12, and the control device 50 are accommodated.
  • the lamp unit 62 has at least the light source unit 10.
  • the light source unit 10 is a device that can independently adjust the illuminance (intensity) of light applied to each of a plurality of individual regions (see FIG. 3) arranged in front of the host vehicle.
  • the light source unit 10 includes a light source 22, a reflection optical member 24, a light deflection device 26, and a projection optical member 28. Each part is attached to the lamp body 4 by a support mechanism (not shown).
  • a semiconductor light emitting device such as an LED (Light emitting diode), an LD (Laser diode), an EL (Electroluminescence) device, a light bulb, an incandescent lamp (halogen lamp), a discharge lamp (discharge lamp), or the like can be used. .
  • the reflection optical member 24 is configured to guide the light emitted from the light source 22 to the reflection surface of the light deflector 26.
  • the reflective optical member 24 is composed of a reflecting mirror whose inner surface is a predetermined reflecting surface.
  • the reflective optical member 24 may be a solid light guide or the like. Further, when the light emitted from the light source 22 can be directly guided to the light deflecting device 26, the reflection optical member 24 may not be provided.
  • the light deflection device 26 is arranged on the optical axis of the projection optical member 28 and is configured to selectively reflect the light emitted from the light source 22 to the projection optical member 28.
  • the optical deflecting device 26 is constituted by, for example, a DMD (Digital Mirror Device).
  • the optical deflecting device 26 is configured by arranging a plurality of micromirrors in an array (matrix). By controlling the angles of the reflection surfaces of the plurality of micromirrors, the reflection direction of the light emitted from the light source 22 can be selectively changed.
  • the light deflecting device 26 reflects a part of the light emitted from the light source 22 toward the projection optical member 28 and reflects the other light in a direction not effectively used by the projection optical member 28.
  • the direction that is not effectively used can be understood as, for example, a direction that enters the projection optical member 28 but hardly contributes to the formation of a light distribution pattern, or a direction toward a light absorbing member (light shielding member) (not shown). it can.
  • FIG. 2A is a front view showing a schematic configuration of the light deflection apparatus.
  • FIG. 2B is a cross-sectional view taken along the line AA of the optical deflection apparatus shown in FIG.
  • the optical deflection device 26 includes a micro mirror array 32 in which a plurality of minute mirror elements 30 are arranged in a matrix, and the front side of the reflection surface 30a of the mirror element 30 (the right side of the optical deflection device 26 shown in FIG. 2B). ) And a transparent cover member 34 disposed.
  • the cover member 34 is made of, for example, glass or plastic.
  • the mirror element 30 is substantially square and has a rotation shaft 30b that extends in the horizontal direction and divides the mirror element 30 substantially equally.
  • Each mirror element 30 of the micromirror array 32 reflects the light emitted from the light source 22 toward the projection optical member 28 so as to be used as a part of a desired light distribution pattern (FIG. 2 ( B) is configured to be switchable between a position indicated by a solid line) and a second reflection position (a position indicated by a dotted line in FIG. 2B) where the light emitted from the light source 22 is reflected so as not to be used effectively. Yes.
  • Each mirror element 30 rotates around the rotation axis 30b and is individually switched between the first reflection position and the second reflection position.
  • Each mirror element 30 takes a first reflection position when turned on and takes a second reflection position when turned off.
  • FIG. 3 is a diagram schematically showing the situation in front of the host vehicle.
  • the light source unit 10 includes a plurality of mirror elements 30 as individual irradiation units that can irradiate light independently of each other toward the front of the lamp.
  • the light source unit 10 can irradiate the plurality of individual regions R arranged in front of the host vehicle with the mirror element 30.
  • Each individual region R is a region corresponding to a set of one pixel or a plurality of pixels of the imaging unit 12, more specifically, for example, the high-speed camera 36.
  • each individual region R and each mirror element 30 are associated with each other.
  • the mirror elements 30 and the individual regions R are arranged in a horizontal 10 ⁇ vertical 8 configuration, but the number of the mirror elements 30 and the individual regions R is not particularly limited.
  • the resolution of the micromirror array 32 (in other words, the number of mirror elements 30 and individual regions R) is 1000 to 300,000 pixels.
  • the time required for the light source unit 10 to form one light distribution pattern is, for example, 0.1 to 5 ms. That is, the light source unit 10 can change the light distribution pattern every 0.1 to 5 ms.
  • the projection optical member 28 is composed of, for example, a free curved surface lens having a free curved surface on the front surface and the back surface.
  • the projection optical member 28 projects a light source image formed on the rear focal plane including the rear focal point in front of the lamp as a reverse image.
  • the projection optical member 28 is disposed such that its rear focal point is located on the optical axis of the vehicular lamp 2 and in the vicinity of the reflection surface of the micromirror array 32.
  • the projection optical member 28 may be a reflector.
  • the light emitted from the light source 22 is reflected by the reflective optical member 24 and is applied to the micromirror array 32 of the light deflector 26.
  • the light deflecting device 26 reflects light toward the projection optical member 28 by a predetermined mirror element 30 at the first reflection position.
  • the reflected light passes through the projection optical member 28 and travels forward of the lamp, and is applied to each individual region R corresponding to each mirror element 30.
  • a light distribution pattern having a predetermined shape is formed in front of the lamp.
  • the imaging unit 12 is a device that images the front of the host vehicle.
  • the imaging unit 12 includes a high speed camera 36 and a low speed camera 38.
  • the high-speed camera 36 has a relatively high frame rate, for example, 200 fps or more and 10000 fps or less (0.1 to 5 ms per frame).
  • the low-speed camera 38 has a relatively low frame rate, for example, 30 fps to 120 fps (about 8 to 33 ms per frame).
  • the high-speed camera 36 has a relatively small resolution, for example, 300,000 pixels or more and less than 5 million pixels.
  • the low-speed camera 38 has a relatively large resolution, for example, 5 million pixels or more.
  • the high-speed camera 36 and the low-speed camera 38 image all the individual regions R.
  • the resolutions of the high-speed camera 36 and the low-speed camera 38 are not limited to the above numerical values, and can be set to arbitrary values within a technically consistent range.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the image data acquired by the imaging unit 12 is sent to the luminance analysis unit 14 and the situation analysis unit 16.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on information (image data) obtained from the imaging unit 12.
  • the luminance analysis unit 14 is a high-speed and low-precision analysis unit that performs image analysis with lower accuracy than the situation analysis unit 16 and outputs an analysis result at high speed.
  • the luminance analysis unit 14 according to the present embodiment detects the luminance of each individual region R based on information obtained from the high speed camera 36.
  • the luminance analysis unit 14 detects the luminance of each individual region R, for example, every 0.1 to 5 ms.
  • a detection result of the luminance analysis unit 14, that is, a signal indicating luminance information of the individual region R is transmitted to the lamp control unit 18.
  • the situation analysis unit 16 detects the situation ahead of the vehicle based on the information obtained from the imaging unit 12. For example, the situation analysis unit 16 detects a target existing ahead of the host vehicle.
  • the situation analysis unit 16 is a low-speed and high-precision analysis unit that performs image analysis with higher accuracy than the luminance analysis unit 14 and outputs an analysis result at a low speed.
  • the situation analysis unit 16 according to the present embodiment detects the situation ahead of the host vehicle based on information obtained from the low speed camera 38.
  • the situation analysis unit 16 detects the situation every 50 ms, for example. Examples of the target detected by the situation analysis unit 16 include an oncoming vehicle 100 and a pedestrian 200, as shown in FIG.
  • the target vehicle also includes preceding vehicles, obstacles that hinder the traveling of the host vehicle, road signs, road markings, road shapes, and the like.
  • the situation analysis unit 16 can detect a target using a conventionally known method including algorithm recognition and deep learning. For example, the situation analysis unit 16 holds a feature point indicating the oncoming vehicle 100 in advance. Then, the situation analysis unit 16 recognizes the position of the oncoming vehicle 100 when there is data including a feature point indicating the oncoming vehicle 100 in the imaging data of the low speed camera 38.
  • the “feature point indicating the oncoming vehicle 100” is, for example, a light spot 102 (see FIG. 3) having a predetermined luminous intensity or higher that appears in the estimated presence area of the headlamp of the oncoming vehicle 100.
  • the situation analysis unit 16 holds feature points indicating the pedestrian 200 and other targets in advance, and when there is data including these feature points in the imaging data of the low-speed camera 38, Recognize the position of the target corresponding to the feature point.
  • a detection result of the situation analysis unit 16, that is, a signal indicating target information ahead of the host vehicle is transmitted to the lamp control unit 18.
  • the lamp control unit 18 uses the detection result of the luminance analysis unit 14 and / or the situation analysis unit 16 to determine the specific target, detect the displacement of the specific target, set the specific individual region R1, and irradiate each individual region R.
  • the setting of the illuminance value of the light to be performed, the formation control of the light distribution pattern, etc. are executed.
  • the lamp control unit 18 includes a tracking unit 40, an illuminance setting unit 42, and a pattern formation control unit 46.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14, that is, based on the luminance of each individual region R. That is, the illuminance setting unit 42 determines the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance of each individual region R.
  • the illuminance setting unit 42 according to the present embodiment determines a high contrast light distribution pattern and a luminance uniform light distribution pattern as the first light distribution pattern.
  • a relatively low illuminance value is set in the individual region R in which the detected luminance is relatively low for the individual region R in which the luminance detected by the luminance analysis unit 14 is in a predetermined range.
  • This is a light distribution pattern obtained by setting a relatively high illuminance value in the individual region R where the detected luminance is relatively high.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. 4A and 4B described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is referred to as the “predetermined range”.
  • the illuminance setting unit 42 assigns an illuminance value lower than the illuminance value set for the individual region R having a higher luminance than the threshold value to the individual region R having a lower luminance than a predetermined threshold value.
  • an illuminance value higher than the illuminance value set for the individual region R having a luminance lower than the threshold is set in the individual region R having a luminance higher than the threshold.
  • the illuminance value of the individual region R having a relatively high luminance is higher than the illuminance value of the individual region R having a relatively low luminance.
  • the illuminance setting unit 42 sets an illuminance value lower than the currently set illuminance value in the individual region R whose luminance is lower than the threshold value.
  • an illuminance value higher than the currently set illuminance value is set in the individual region R having a luminance higher than the threshold value.
  • the illuminance value to be set may be lowered as the luminance decreases with reference to the luminance of the individual region R having the highest luminance.
  • the high contrast light distribution pattern is a light distribution pattern in which the bright individual region R becomes brighter and the dark individual region R becomes darker.
  • the light / dark contrast is enhanced in the irradiation object in front of the host vehicle.
  • the detection accuracy of the target by the situation analysis part 16 mentioned later can be improved.
  • the driver can easily see the target existing in front of the host vehicle.
  • the target include an oncoming vehicle, a pedestrian, a preceding vehicle, an obstacle that hinders the traveling of the host vehicle, a road sign, a road marking, a road shape, and the like.
  • the newly set relatively low illuminance value is lower than the currently set illuminance value, and the newly set relatively high illuminance value is The illuminance value can be higher than the currently set illuminance value. Therefore, when the formation of the high-contrast light distribution pattern is repeated, positive feedback is applied and eventually the set illuminance value is bipolarized between 0 and the maximum value. If the illuminance value is bipolar, it may be difficult to ensure the driver's visibility in the individual region R where the illuminance value 0 is set.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and multiplies the set coefficient by a predetermined reference illuminance value M to obtain the illuminance. Set the value.
  • FIG. 4A is a diagram showing the relationship between the detected luminance value and the coefficient when forming a high-contrast light distribution pattern.
  • FIG. 4B is a diagram illustrating a relationship between a detected luminance value and a set illuminance value when forming a high contrast light distribution pattern.
  • the illuminance setting unit 42 has a predetermined coefficient set in advance according to the magnitude of the detected luminance value.
  • a relatively large coefficient is set for a relatively large detected luminance value, and a relatively small coefficient is set for a relatively small detected luminance value.
  • the value of the coefficient can be set as appropriate based on the results of experiments and simulations in consideration of the degree of improvement in target detection accuracy.
  • a coefficient of 1.0 is set for the threshold value of the detected luminance value
  • a coefficient of 1.5 is set for the maximum luminance value
  • a coefficient of 0.5 is set for the minimum luminance value.
  • the illuminance setting unit 42 sets a coefficient for each individual region R based on the detection result of the luminance analysis unit 14.
  • the illuminance setting unit 42 has a predetermined reference illuminance value M set in advance as shown in FIG.
  • the illuminance setting unit 42 sets the illuminance value of the individual area R by multiplying the reference illuminance value M by the coefficient set for each individual area R. Thereby, a low illuminance value is set in the individual region R with a low detected luminance value, and a high illuminance value is set in the individual region R with a high detected luminance value.
  • the illuminance setting unit 42 has a lower limit value and an upper limit value of preset illuminance values. Then, the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value. Then, a new illuminance value is calculated by multiplying the set illuminance value by the current illuminance value instead of the reference illuminance value M.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or greater than the predetermined lower limit value, and maintains the current illuminance value when the calculated illuminance value falls below the lower limit value. To do.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or less than the predetermined upper limit value, and the current illuminance value when the calculated illuminance value exceeds the upper limit value. To maintain. Note that if the illuminance setting unit 42 has at least a lower limit value of the illuminance value, setting the illuminance value 0 to the dark individual region R can be avoided.
  • the brightness uniformed light distribution pattern has a brightness detected by the brightness analyzing unit 14 in a state where the brightness uniformed light distribution pattern is formed for the individual region R in which the brightness detected by the brightness analyzing unit 14 is in a predetermined range. It is a light distribution pattern obtained by setting the illuminance value of each individual region R so as to have the same value in each individual region R.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. In FIG. 12 described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is the “predetermined range”.
  • FIG. 12 is a diagram showing a relationship among a detected luminance value, a target luminance value, and a set illuminance value when forming a luminance uniform light distribution pattern.
  • the illuminance setting unit 42 first sets a target luminance value when setting the illuminance value.
  • the target luminance value means the luminance that should be detected by the luminance analyzing unit 14 in a state where the light distribution pattern is formed.
  • the illuminance setting unit 42 sets the target luminance value to the same value for the individual regions R in which the luminance detected by the luminance analysis unit 14 is included in a predetermined range.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the target luminance value of each individual region R and the detection result of the luminance analysis unit 14. Specifically, the illuminance setting unit 42 sets a relatively high illuminance value in the individual region R where the detected luminance is relatively low, and relative to the individual region R where the detected luminance is relatively high. Set a low illuminance value.
  • a luminance uniform light distribution pattern that makes the brightness in front of the host vehicle uniform is formed. According to the brightness uniform light distribution pattern, a target existing in a dark area ahead of the host vehicle can be illuminated brightly. For this reason, the detection accuracy of the target by the situation analysis part 16 mentioned later can be improved by the method or aspect different from a high contrast light distribution pattern. Alternatively, the driver can easily see the target existing in front of the host vehicle.
  • the illuminance setting unit 42 determines the second light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14.
  • Examples of the second light distribution pattern include a constant illuminance light distribution pattern in which the illuminance values of the light applied to the individual regions R are the same value.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the illuminance setting unit 42 sets the illuminance value, for example, every 0.1 to 5 ms.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42.
  • the light source control unit 20 controls turning on / off of the light source 22 and on / off switching of each mirror element 30.
  • the light source control unit 20 adjusts the ON time ratio (width and density) of each mirror element 30 based on the illuminance value of the light applied to each individual region R. Thereby, the illumination intensity of the light irradiated to each individual area
  • the light source control unit 20 transmits a drive signal to the light source 22 and / or the optical deflection device 26, for example, every 0.1 to 5 ms.
  • the vehicle lamp system 1 uses the first light distribution pattern to execute ADB (Adaptive Driving ⁇ ⁇ Beam) control that forms an optimum light distribution pattern according to the situation ahead of the host vehicle. That is, the vehicular lamp system 1 images the front of the host vehicle with the low-speed camera 38 in a state where the first light distribution pattern is formed.
  • the situation analysis unit 16 detects a target using this imaging data. For this reason, the target can be detected with higher accuracy. As a result, the light irradiation accuracy in ADB control, in other words, the light distribution pattern formation accuracy can be increased.
  • the tracking unit 40 determines a specific target from the targets detected by the situation analysis unit 16.
  • the tracking unit 40 detects the displacement of the specific target based on the detection result of the luminance analysis unit 14.
  • the oncoming vehicle 100 is a specific target.
  • the tracking unit 40 integrates the detection result of the luminance analysis unit 14 and the detection result of the situation analysis unit 16. Then, among the brightness of each individual area R detected by the brightness analysis unit 14, the brightness of the individual area R where the light spot 102 of the oncoming vehicle 100, which is a specific target, is associated with the oncoming vehicle 100.
  • the tracking unit 40 can detect the displacement of the oncoming vehicle 100 that is the specific target by recognizing the position of the luminance associated with the oncoming vehicle 100 in the detection result of the luminance analyzing unit 14 acquired thereafter.
  • the tracking unit 40 executes a specific target determination process, for example, every 50 ms. Further, the tracking unit 40 executes displacement detection processing (tracking) of the specific target every 0.1 to 5 ms, for example.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14 and the detection result of the tracking unit 40. In each individual area R, a specific illuminance value is determined for the specific individual area R1 determined according to the position where the specific target is present. Specifically, the illuminance setting unit 42 first determines the specific individual region R1 based on the location of the oncoming vehicle 100 that is the specific target. For example, the illuminance setting unit 42 determines the specific individual region R ⁇ b> 1 based on the position information of the oncoming vehicle 100 included in the detection result of the tracking unit 40.
  • the illuminance setting unit 42 is a predetermined predetermined with respect to the horizontal distance a (see FIG. 3) between the two light spots 102 corresponding to the headlamp of the oncoming vehicle 100.
  • the vertical distance b of the ratio is determined, and the individual area R that overlaps the dimension range of width a ⁇ length b is defined as a specific individual area R1 (see FIG. 3).
  • the specific individual area R1 includes an individual area R that overlaps with the driver of the oncoming vehicle.
  • the illuminance setting unit 42 determines a specific illuminance value for the specific individual region R1. For example, the specific illuminance value 0 is set. In addition, the illuminance setting unit 42 determines the illuminance value according to the light distribution pattern to be formed for the individual regions R other than the specific individual region R1. Further, the illuminance setting unit 42 recognizes the displacement of the specific individual region R1 based on the detection result of the tracking unit 40, and updates the position information of the specific individual region R1. And the illuminance value of the light irradiated to each individual area
  • the specific target may be a pedestrian 200.
  • the specific illuminance value of the specific individual region R1 is set to a maximum value, for example. Thereby, light with higher illuminance can be irradiated to the pedestrian 200 so that the vehicle driver can easily see the pedestrian 200. In this case, it is desirable to shield the individual area R where the face of the pedestrian 200 is located.
  • the tracking unit 40 can track the position of the pedestrian 200 by performing known image processing such as edge enhancement on the luminance data of each individual region R that is the detection result of the luminance analysis unit 14. Edge enhancement may be included in the processing of the luminance analysis unit 14.
  • the pattern formation control unit 46 forms the first light distribution pattern for the individual regions R in the predetermined position range, and forms the second light distribution pattern for the other individual regions R. As described above, by limiting the individual regions R to be formed with the first light distribution pattern, it is possible to reduce the load applied to the control device 50 in the process of determining the first light distribution pattern. Further, the front of the vehicle can be divided into a plurality of regions, and different light distribution patterns can be formed for each. For this reason, it is possible to form a light distribution pattern more suitable for the situation in front of the host vehicle.
  • FIGS. 10A and 10B are diagrams schematically showing the position range of the individual area where the first light distribution pattern is formed and the position range of the individual area where the second light distribution pattern is formed. is there.
  • the pattern formation control unit 46 forms the first light distribution pattern in the individual region R located in the region M1 below the horizontal line.
  • a second light distribution pattern is formed in the individual region R located in the region M2 above the horizontal line.
  • the region M1 below the horizontal line there is a high possibility that a target to be visually recognized exists, and thus the first light distribution pattern is formed.
  • the second light distribution pattern is formed because there is a low possibility that a target to be visually recognized exists.
  • the pattern formation control unit 46 forms the first light distribution pattern in the individual area R that overlaps the side areas N1 and N2 outside the traveling road surface and excluding the sky above the host vehicle. To do. Further, the second light distribution pattern is formed in the individual region R that overlaps the region N3 above the host vehicle. Further, the first light distribution pattern or the second light distribution pattern is formed in the individual region R overlapping the region N4 on the traveling road surface.
  • a target with high priority as a target to be visually recognized is often a pedestrian 200. Since the possibility that the pedestrian 200 exists is high in the side areas N1 and N2, the first light distribution pattern is formed.
  • the second light distribution pattern is formed.
  • the possibility that the pedestrian 200 exists is higher than the area N3 above the own vehicle, but the possibility that the pedestrian 200 exists is lower than the side areas N1 and N2.
  • the light distribution pattern to be formed can be selected depending on which of the reduction of the load applied to the control device 50 and the improvement of the driving safety is prioritized.
  • the pattern formation control unit 46 can set the individual region R that forms the first light distribution pattern and the individual region R that forms the second light distribution pattern according to the state of the host vehicle or the surrounding environment. For example, when the vehicle speed of the host vehicle is equal to or higher than a predetermined speed, the pattern formation control unit 46 forms the first light distribution pattern in the individual region R that overlaps the region N4 on the traveling road surface, and the second light distribution in the other individual region R. A light pattern is formed. When the vehicle speed is less than the predetermined speed, the first light distribution pattern is formed in the individual region R that overlaps the side regions N1 and N2 outside the traveling road surface and excluding the sky above the host vehicle. Two light distribution patterns are formed.
  • the “predetermined speed” is, for example, 80 km / h.
  • the pattern formation control unit 46 can determine the regions M1, M2, and N1 to N4 based on the image data of the low-speed camera 38 or the detection result of the situation analysis unit 16. Moreover, the pattern formation control part 46 can acquire vehicle speed information from a vehicle speed sensor (not shown) mounted on the vehicle. Information on the state of the host vehicle and the surrounding environment can also be obtained from a car navigation system (not shown), a steering angle sensor, an illuminance sensor, image data of the imaging unit 12 and the like mounted on the vehicle. For example, the pattern formation control unit 46 can change the region N4 of the traveling road surface by recognizing the road shape ahead based on information obtained from the car navigation system.
  • the pattern formation control unit 46 performs control to make the driver visually recognize the fourth light distribution pattern by synthesizing the first light distribution pattern and the third light distribution pattern different from the first light distribution pattern. be able to. That is, the pattern formation control unit 46 forms the first light distribution pattern while the low-speed camera 38 of the imaging unit 12 images the front of the host vehicle, and the third time is different from the first light distribution pattern at other times. A light distribution pattern is formed. The pattern formation control unit 46 combines the first light distribution pattern and the third light distribution pattern to form a fourth light distribution pattern, and causes the driver to visually recognize the fourth light distribution pattern.
  • the illuminance setting unit 42 determines a third light distribution pattern different from the first light distribution pattern.
  • a 3rd light distribution pattern is a light distribution pattern for forming the 4th light distribution pattern visually recognized by a driver
  • the fourth light distribution pattern is a light distribution pattern which is determined based on, for example, ergonomics and is optimal for the driver's eyes, and is set in advance.
  • the third light distribution pattern is determined in consideration of the finally formed fourth light distribution pattern and the first light distribution pattern that is a composite component of the fourth light distribution pattern.
  • the third light distribution pattern is obtained by setting the illuminance value of each individual region R depending on the luminance of each individual region R in a state where the first light distribution pattern is formed.
  • the luminance of the individual region R that is less than a predetermined luminance that can be visually recognized by the driver in the situation where the first light distribution pattern is formed is formed by the fourth light distribution pattern. It is a light distribution pattern to enhance in the situation.
  • the third light distribution pattern has the brightness of the individual region R that is equal to or higher than a predetermined brightness at which the driver receives glare in the situation where the first light distribution pattern is formed, in the situation where the fourth light distribution pattern is formed. This is a light distribution pattern to be reduced.
  • the illuminance setting unit 42 has in advance a predetermined luminance value that the driver can visually recognize and a predetermined luminance value that the driver receives glare. Then, the illuminance setting unit 42 sets the illuminance value of each individual region R from the detection result of the luminance analysis unit 14 based on the image data obtained in the formation state of the first light distribution pattern, and sets the third light distribution pattern. decide.
  • FIG. 15 is a timing chart showing an example of the transition of imaging with a low-speed camera, imaging with a high-speed camera, formation of a first light distribution pattern, and formation of a third light distribution pattern.
  • the pattern formation control unit 46 periodically switches the light distribution pattern to be formed between the first light distribution pattern and the third light distribution pattern.
  • a fourth light distribution pattern formed by combining the first light distribution pattern and the third light distribution pattern is formed.
  • the repetition cycle is, for example, 60 Hz or more (16.6 ms or less).
  • the fourth light distribution pattern to be visually recognized by the driver is formed by combining two light distribution patterns, various fourth light distribution patterns can be formed. Therefore, it is possible to form an optimal light distribution pattern according to the situation. As a result, driving safety can be improved.
  • the first light distribution pattern is a light distribution pattern suitable for target detection by the situation analysis unit 16, but may not be a suitable light distribution pattern for the driver to visually recognize.
  • the first light distribution pattern is formed when the imaging unit 12 acquires image data for target detection, and the first light distribution pattern and the third light distribution pattern are provided to the driver. And the fourth light distribution pattern is visually recognized.
  • the illuminance setting unit 42 sets a specific illuminance value “0” for the specific individual area R1 determined according to the position where the oncoming vehicle 100 is present, and the illuminance is set for the other individual areas R. Set the value “1”. This setting is the first illuminance information. Further, the illuminance setting unit 42 sets the illuminance value for the individual region R in the predetermined position range excluding the specific individual region R1 according to the switching control of the first light distribution pattern and the third light distribution pattern. Further, the same illuminance value is set for the remaining individual regions R in accordance with the second light distribution pattern formation control. This setting is set as second illuminance information.
  • the illuminance setting unit 42 performs an AND operation on the first illuminance information and the second illuminance information. Thereby, the illuminance information is generated in which the specific illuminance value for the specific individual region R1 is “0” and the illuminance values for the other individual regions R are determined according to the switching control or the formation control of the second light distribution pattern. Is done. That is, the specific individual region R1 is shielded from light, and the first light distribution pattern and the third light distribution pattern are alternately formed or the second light distribution pattern is formed in each individual region R excluding the specific individual region R1.
  • FIG. 11 (A) and FIG. 11 (B) are flowcharts showing an example of ADB control executed in the vehicle lamp system according to the sixth embodiment.
  • This flow is, for example, instructed to execute ADB control by a light switch (not shown), and repeatedly executed at a predetermined timing when the ignition is on, and the execution instruction of ADB control is canceled (or a stop instruction is issued). Or if the ignition is turned off.
  • the flow shown in FIG. 11A is a high-speed process that is repeated every 0.1 to 5 ms, for example
  • the flow shown in FIG. 11B is a low-speed process that is repeated every 50 ms, for example.
  • the low speed process and the high speed process are executed in parallel.
  • it is designed in advance so that the first light distribution pattern is formed in the high-speed processing in synchronization with the execution timing of the low-speed processing.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on the image data of the high-speed camera 36 (S2102). Subsequently, it is determined whether the specific individual area R1 is set (S2103). The determination is performed by the tracking unit 40, for example.
  • the tracking unit 40 tracks the specific target and detects the position (displacement) of the specific individual area R1.
  • the illuminance setting unit 42 updates the setting (position information) of the specific individual region R1 based on the detection result of the tracking unit 40 (S2104).
  • the illuminance setting unit 42 sets the illuminance value of the light applied to each individual region R (S2105).
  • the illuminance value according to the first light distribution pattern is set for the individual region R in the predetermined position range, and when it is not at the execution timing of the low speed process, the predetermined position range is set.
  • the illuminance value according to the third light distribution pattern is set for the individual region R in FIG.
  • a specific illuminance value is set for the specific individual region R1.
  • illuminance values according to the second light distribution pattern are set.
  • the light source unit 10 is driven by the light source control unit 20, light having a predetermined illuminance is emitted from the light source unit 10 (S2106), and this routine ends.
  • the illuminance setting unit 42 sets the illuminance value of the light irradiated on the individual area R (S2105). In this case, the specific illuminance value is not included in the set illuminance value. Thereafter, the process of step S2106 is executed, and this routine ends.
  • step S2104 when the disappearance of the specific target is detected by tracking, the setting of the specific individual region R1 also disappears. Therefore, the specific illuminance value is not included in the illuminance value set in step S2105.
  • step S2103 in the next routine it is determined that the specific individual region R1 has not been set (N in S2103) until the processing in step S205 described later is executed.
  • the front of the vehicle is imaged by the low speed camera 38 (S2201).
  • a first light distribution pattern is formed in front of the vehicle.
  • the target existing in front of the host vehicle is detected by the situation analysis unit 16 based on the image data of the low speed camera 38 (S2202).
  • it is determined whether the detected target includes a specific target is performed by the tracking unit 40, for example.
  • the tracking unit 40 determines the specific target (S2204).
  • the illuminance setting unit 42 sets the specific individual region R1 based on the position where the specific target is present (S2205), and this routine ends.
  • this routine ends.
  • the specific individual area is set in the low speed process, but the setting may be executed in the high speed process.
  • the vehicular lamp system 1 includes the imaging unit 12, the luminance analysis unit 14, the illuminance setting unit 42, the lamp unit 62, the light source control unit 20, and the pattern formation control. Part 46.
  • the luminance analysis unit 14 detects the luminance of each of the plurality of individual regions R arranged in front of the host vehicle.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14.
  • the light source control unit 20 controls the lamp unit 62 based on the illuminance value determined by the illuminance setting unit 42.
  • the vehicle lamp system 1 can form a first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analysis unit 14. Moreover, the vehicle lamp system 1 can form the second light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14.
  • the pattern formation control unit 46 forms the first light distribution pattern for the individual regions R in the predetermined position range. Further, the second light distribution pattern is formed for the other individual regions R. Thereby, it is possible to reduce the load on the control device 50 in the process of determining the first light distribution pattern. For this reason, the time required for forming the light distribution pattern can be shortened, and the change in the light distribution pattern can be made to follow the change in the situation ahead of the vehicle with high accuracy. Further, since different light distribution patterns can be formed for a plurality of sections ahead of the host vehicle, it is possible to form a light distribution pattern more suitable for the situation ahead of the host vehicle. As a result, driving safety can be improved.
  • the first light distribution pattern has a relatively low illuminance value in the individual region R in which the detected luminance is relatively low, with respect to the individual region R in which the luminance detected by the luminance analyzing unit 14 is in a predetermined range.
  • a high-contrast light distribution pattern in which a relatively high illuminance value is set in the individual region R that is set and detected has a relatively high luminance, or the luminance detected by the luminance analysis unit 14 is within a predetermined range. It is a luminance uniform light distribution pattern in which the illuminance value of each individual region R is set so that the detected luminance becomes the same value for the individual region R. According to these, the target detection accuracy by the situation analysis unit 16 can be improved. In addition, the driver can easily see the target existing in front of the host vehicle. Therefore, driving safety can be further improved.
  • the pattern formation control unit 46 forms the first light distribution pattern in the individual region R located in the region M1 below the horizontal line, and the second light distribution pattern in the individual region R located in the region M2 above the horizontal line. Form.
  • the pattern formation control unit 46 forms the first light distribution pattern in the individual region R that overlaps the lateral regions N1 and N2 outside the traveling road surface and excluding the sky above the host vehicle, and the individual overlapping the region N3 above the host vehicle.
  • a second light distribution pattern is formed in the region R, and a first light distribution pattern or a second light distribution pattern is formed in the individual region R overlapping the region N4 on the traveling road surface.
  • the pattern formation control unit 46 sets an individual region R that forms the first light distribution pattern and an individual region R that forms the second light distribution pattern according to the state of the host vehicle or the surrounding environment. For example, when the vehicle speed of the host vehicle is equal to or higher than a predetermined speed, the pattern formation control unit 46 forms the first light distribution pattern in the individual region R that overlaps the region N4 on the traveling road surface, and the second light distribution in the other individual region R. A light pattern is formed. When the vehicle speed is less than the predetermined speed, the first light distribution pattern is formed in the individual region R that overlaps the side regions N1 and N2 outside the traveling road surface and excluding the sky above the host vehicle. Two light distribution patterns are formed. As a result, it is possible to achieve both improvement in target detection accuracy due to the formation of the first light distribution pattern and reduction in load on the control device 50.
  • the vehicular lamp system according to the seventh embodiment is common to the configuration of the vehicular lamp system according to the sixth embodiment except that the lamp unit 62 includes another light source unit in addition to the light source unit 10.
  • the vehicular lamp system according to the seventh embodiment will be described mainly with respect to the configuration different from that of the sixth embodiment, and the common configuration will be described briefly or the description will be omitted.
  • FIG. 13 is a diagram showing a schematic configuration of the vehicular lamp system according to the seventh embodiment.
  • the vehicular lamp system 1 (1B) includes a lamp unit 62, an imaging unit 12, and a control device 50.
  • the lamp unit 62 has a lamp unit 60 as another light source unit in addition to the light source unit 10.
  • the lamp unit 60 forms a conventionally known low beam light distribution pattern, high beam light distribution pattern, or the like as the second light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14. be able to.
  • the light distribution pattern formed by the lamp unit 60 is appropriately referred to as a normal light distribution pattern.
  • the formation range of the normal light distribution pattern can be adjusted by a conventionally known technique such as a shade.
  • the control device 50 includes a luminance analysis unit 14, a situation analysis unit 16, a lamp control unit 18, and a light source control unit 20.
  • the lamp control unit 18 includes a tracking unit 40, an illuminance setting unit 42, and a pattern formation control unit 46.
  • the illuminance setting unit 42 determines a high contrast light distribution pattern and a luminance uniform light distribution pattern as the first light distribution pattern in which the illuminance value is set depending on the luminance detected by the luminance analysis unit 14.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42. Thereby, the first light distribution pattern is formed.
  • the illuminance setting unit 42 can form a second light distribution pattern.
  • the second light distribution pattern is a normal light distribution pattern formed by the lamp unit 60.
  • the illuminance setting unit 42 transmits a signal instructing the formation of the normal light distribution pattern to the light source control unit 20.
  • the light source control unit 20 receives the signal from the illuminance setting unit 42, the light source control unit 20 turns on the lamp unit 60.
  • the lamp unit 60 may irradiate light to the individual region R where the high contrast light distribution pattern is formed when the high contrast light distribution pattern is formed. Thereby, it can avoid that a driver
  • the pattern formation control unit 46 forms the first light distribution pattern for the individual regions R in the predetermined position range, and forms the second light distribution pattern for the other individual regions R. For example, the pattern formation control unit 46 forms the first light distribution pattern in the individual region R located below the horizontal line, and forms the second light distribution pattern in the individual region R located above the horizontal line. Further, for example, the pattern formation control unit 46 forms a first light distribution pattern in the individual region R that overlaps the lateral region outside the traveling road surface and excluding the sky above the own vehicle, and the second light is formed in the individual region R that overlaps the sky above the own vehicle. A light distribution pattern is formed, and a first light distribution pattern or a second light distribution pattern is formed in the individual region R overlapping the traveling road surface.
  • the pattern formation control unit 46 can set the individual region R that forms the first light distribution pattern and the individual region R that forms the second light distribution pattern according to the state of the host vehicle or the surrounding environment. For example, when the vehicle speed of the host vehicle is equal to or higher than a predetermined speed, the pattern formation control unit 46 forms the first light distribution pattern in the individual region R that overlaps the traveling road surface, and the second light distribution pattern in the other individual region R. Form. Further, when the vehicle speed is less than a predetermined speed, the first light distribution pattern is formed in the individual region R that is outside the traveling road surface and overlaps the side region excluding the sky above the host vehicle, and the second light distribution in the other individual region R. Form a pattern.
  • the pattern formation control unit 46 periodically switches the light distribution pattern to be formed between the first light distribution pattern and the third light distribution pattern, and the first light distribution pattern and the third light distribution pattern are combined. A fourth light distribution pattern thus formed can be formed.
  • the timing for forming the first light distribution pattern and the timing for imaging by the low-speed camera 38 are synchronized.
  • the present invention is not limited to the above-described sixth and seventh embodiments, and it is possible to combine the respective embodiments or add various modifications such as various design changes based on the knowledge of those skilled in the art. New embodiments obtained by such combinations or modifications are also included in the scope of the present invention. Such a new embodiment has the effects of the combined embodiments and modifications.
  • the imaging unit 12, the luminance analysis unit 14, the situation analysis unit 16, the lamp control unit 18, and the light source control unit 20 are provided in the lamp chamber 8. It may be provided outside.
  • the low-speed camera 38 in the imaging unit 12 can use an existing camera mounted in the vehicle interior.
  • the situation analysis unit 16 detects the target using the image data of the high speed camera 36.
  • the imaging timing of the high-speed camera 36 and the formation timing of the first light distribution pattern are synchronized.
  • the fourth light distribution pattern can be substantially the same light distribution pattern as the third light distribution pattern.
  • the third light distribution pattern may be an optimal light distribution pattern for the driver's eyes determined based on ergonomics.
  • the lamp unit 60 may be used for forming the third light distribution pattern.
  • the first light distribution pattern is substantially invisible to humans, so the first light distribution pattern with respect to the individual regions R including the specific individual region R1. May be formed.
  • the third light distribution pattern is formed for the individual regions R excluding the specific individual region R1.
  • the light source unit 10 may include a scanning optical system that scans the front of the vehicle with the light source light, or an LED array in which LEDs corresponding to the individual regions R are arranged, instead of the light deflection device 26 that is a DMD.
  • FIGS. 14A to 14C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming the luminance uniform light distribution pattern. That is, in the example shown in FIG. 12, the set illuminance value is changed continuously and linearly with respect to the detected luminance value. However, it is not particularly limited to this relationship, and as shown in FIGS. 14A and 14B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 14C, the set illuminance value may be changed in a curve with respect to the detected luminance value. In FIG. 14C, an upward convex curve is shown, but a downward convex curve may be used.
  • FIGS. 7A to 7C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming a high-contrast light distribution pattern. That is, in the example shown in FIG. 4B, the set illuminance value is continuously and linearly changed with respect to the detected luminance value.
  • the present invention is not particularly limited to this relationship, and as shown in FIGS. 7A and 7B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 7C, the set illuminance value may be changed in a curve with respect to the detected luminance value.
  • FIG. 7C illustrates a convex curve upward
  • a convex curve may be used. Further, since the relationship between the detected luminance value and the coefficient is the same as the relationship between the detected luminance value and the set illuminance value, it is clear without needing to be illustrated.
  • a luminance analysis unit 14 for detecting the luminance of each of the plurality of individual regions R arranged in front of the host vehicle based on information obtained from the imaging unit 12 that images the front of the host vehicle; Based on the detection result of the luminance analysis unit 14, an illuminance setting unit 42 that determines the illuminance value of the light irradiated to each individual region R; Based on the illuminance value determined by the illuminance setting unit 42, the light source control unit 20 that controls the lamp unit 62 having at least the light source unit 10 capable of independently adjusting the illuminance of the light irradiated to each individual region R; A first light distribution pattern in which the illuminance value of each individual area R is set depending on the luminance detected by the luminance analysis unit 14 is formed for the individual area R in the predetermined position range, and the other individual areas A pattern formation control unit 46 that forms a second light distribution pattern in which an illuminance value is set for R without depending on the luminance detected by the luminance analysis unit 14; A control device 50 for
  • FIG. 16 is a diagram illustrating a schematic configuration of a vehicular lamp system according to an eighth embodiment.
  • FIG. 16 some of the components of the vehicular lamp system 1 are depicted as functional blocks. These functional blocks are realized by elements and circuits such as a CPU and a memory of a computer as a hardware configuration, and are realized by a computer program or the like as a software configuration. Those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.
  • the vehicular lamp system 1 (1A) is applied to a vehicular headlamp apparatus having a pair of headlamp units arranged on the left and right sides in front of the vehicle. Since the pair of headlamp units have substantially the same configuration except that they have a symmetrical structure, FIG. 16 shows the structure of one headlamp unit as the vehicle lamp 2.
  • the vehicular lamp 2 included in the vehicular lamp system 1 includes a lamp body 4 having an opening on the front side of the vehicle and a translucent cover 6 attached so as to cover the opening of the lamp body 4.
  • the translucent cover 6 is formed of a translucent resin or glass.
  • the lamp unit 62, the imaging unit 12, and the control device 50 are accommodated.
  • the lamp unit 62 has at least the light source unit 10.
  • the light source unit 10 is a device that can independently adjust the illuminance (intensity) of light applied to each of a plurality of individual regions (see FIG. 3) arranged in front of the host vehicle.
  • the light source unit 10 includes a light source 22, a reflection optical member 24, a light deflection device 26, and a projection optical member 28. Each part is attached to the lamp body 4 by a support mechanism (not shown).
  • a semiconductor light emitting device such as an LED (Light emitting diode), an LD (Laser diode), an EL (Electroluminescence) device, a light bulb, an incandescent lamp (halogen lamp), a discharge lamp (discharge lamp), or the like can be used. .
  • the reflection optical member 24 is configured to guide the light emitted from the light source 22 to the reflection surface of the light deflector 26.
  • the reflective optical member 24 is composed of a reflecting mirror whose inner surface is a predetermined reflecting surface.
  • the reflective optical member 24 may be a solid light guide or the like. Further, when the light emitted from the light source 22 can be directly guided to the light deflecting device 26, the reflection optical member 24 may not be provided.
  • the light deflection device 26 is arranged on the optical axis of the projection optical member 28 and is configured to selectively reflect the light emitted from the light source 22 to the projection optical member 28.
  • the optical deflecting device 26 is constituted by, for example, a DMD (Digital Mirror Device).
  • the optical deflecting device 26 is configured by arranging a plurality of micromirrors in an array (matrix). By controlling the angles of the reflection surfaces of the plurality of micromirrors, the reflection direction of the light emitted from the light source 22 can be selectively changed.
  • the light deflecting device 26 reflects a part of the light emitted from the light source 22 toward the projection optical member 28 and reflects the other light in a direction not effectively used by the projection optical member 28.
  • the direction that is not effectively used can be understood as, for example, a direction that enters the projection optical member 28 but hardly contributes to the formation of a light distribution pattern, or a direction toward a light absorbing member (light shielding member) (not shown). it can.
  • FIG. 2A is a front view showing a schematic configuration of the light deflection apparatus.
  • FIG. 2B is a cross-sectional view taken along the line AA of the optical deflection apparatus shown in FIG.
  • the optical deflection device 26 includes a micro mirror array 32 in which a plurality of minute mirror elements 30 are arranged in a matrix, and the front side of the reflection surface 30a of the mirror element 30 (the right side of the optical deflection device 26 shown in FIG. 2B). ) And a transparent cover member 34 disposed.
  • the cover member 34 is made of, for example, glass or plastic.
  • the mirror element 30 is substantially square and has a rotation shaft 30b that extends in the horizontal direction and divides the mirror element 30 substantially equally.
  • Each mirror element 30 of the micromirror array 32 reflects the light emitted from the light source 22 toward the projection optical member 28 so as to be used as a part of a desired light distribution pattern (FIG. 2 ( B) is configured to be switchable between a position indicated by a solid line) and a second reflection position (a position indicated by a dotted line in FIG. 2B) where the light emitted from the light source 22 is reflected so as not to be used effectively. Yes.
  • Each mirror element 30 rotates around the rotation axis 30b and is individually switched between the first reflection position and the second reflection position.
  • Each mirror element 30 takes a first reflection position when turned on and takes a second reflection position when turned off.
  • FIG. 3 is a diagram schematically showing the situation in front of the host vehicle.
  • the light source unit 10 includes a plurality of mirror elements 30 as individual irradiation units that can irradiate light independently of each other toward the front of the lamp.
  • the light source unit 10 can irradiate the plurality of individual regions R arranged in front of the host vehicle with the mirror element 30.
  • Each individual region R is a region corresponding to a set of one pixel or a plurality of pixels of the imaging unit 12, more specifically, for example, the high-speed camera 36.
  • each individual region R and each mirror element 30 are associated with each other.
  • the mirror elements 30 and the individual regions R are arranged in a horizontal 10 ⁇ vertical 8 configuration, but the number of the mirror elements 30 and the individual regions R is not particularly limited.
  • the resolution of the micromirror array 32 (in other words, the number of mirror elements 30 and individual regions R) is 1000 to 300,000 pixels.
  • the time required for the light source unit 10 to form one light distribution pattern is, for example, 0.1 to 5 ms. That is, the light source unit 10 can change the light distribution pattern every 0.1 to 5 ms.
  • the projection optical member 28 is composed of, for example, a free-form surface lens having a free-form surface on the front surface and the back surface.
  • the projection optical member 28 projects a light source image formed on the rear focal plane including the rear focal point in front of the lamp as a reverse image.
  • the projection optical member 28 is disposed such that its rear focal point is located on the optical axis of the vehicular lamp 2 and in the vicinity of the reflection surface of the micromirror array 32.
  • the projection optical member 28 may be a reflector.
  • the light emitted from the light source 22 is reflected by the reflective optical member 24 and is applied to the micromirror array 32 of the light deflector 26.
  • the light deflecting device 26 reflects light toward the projection optical member 28 by a predetermined mirror element 30 at the first reflection position.
  • the reflected light passes through the projection optical member 28 and travels forward of the lamp, and is applied to each individual region R corresponding to each mirror element 30.
  • a light distribution pattern having a predetermined shape is formed in front of the lamp.
  • the imaging unit 12 is a device that images the front of the host vehicle.
  • the imaging unit 12 includes a high-speed camera 36.
  • the high-speed camera 36 has a relatively high frame rate, for example, 200 fps or more and 10000 fps or less (0.1 to 5 ms per frame).
  • the high-speed camera 36 has a relatively small resolution, for example, 300,000 pixels or more and less than 5 million pixels.
  • the high-speed camera 36 images all the individual areas R.
  • the control device 50 includes a luminance analysis unit 14, a lamp control unit 18, and a light source control unit 20.
  • the image data acquired by the imaging unit 12 is sent to the luminance analysis unit 14.
  • the luminance analysis unit 14 detects the luminance of each individual region R based on information (image data) obtained from the imaging unit 12.
  • the luminance analysis unit 14 is a high-speed analysis unit that outputs an analysis result at high speed.
  • the luminance analysis unit 14 according to the present embodiment detects the luminance of each individual region R based on information obtained from the high speed camera 36.
  • the luminance analysis unit 14 detects the luminance of each individual region R, for example, every 0.1 to 5 ms.
  • a detection result of the luminance analysis unit 14, that is, a signal indicating luminance information of the individual region R is transmitted to the lamp control unit 18.
  • the lamp control unit 18 executes setting of an illuminance value of light irradiated to each individual region R, switching of a light distribution pattern to be formed, and the like.
  • the lamp control unit 18 includes an illuminance setting unit 42 and a switching control unit 44.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14. That is, the illuminance setting unit 42 determines a light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analysis unit 14.
  • the illuminance setting unit 42 according to the present embodiment determines a high-contrast light distribution pattern and a luminance uniform light distribution pattern as light distribution patterns in which illuminance values are set depending on the luminance detected by the luminance analysis unit 14. .
  • a relatively low illuminance value is set in the individual region R in which the detected luminance is relatively low for the individual region R in which the luminance detected by the luminance analysis unit 14 is in a predetermined range.
  • This is a light distribution pattern obtained by setting a relatively high illuminance value in the individual region R where the detected luminance is relatively high.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. 4A and 4B described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is referred to as the “predetermined range”.
  • the illuminance setting unit 42 assigns an illuminance value lower than the illuminance value set for the individual region R having a higher luminance than the threshold value to the individual region R having a lower luminance than a predetermined threshold value.
  • an illuminance value higher than the illuminance value set for the individual region R having a luminance lower than the threshold is set in the individual region R having a luminance higher than the threshold.
  • the illuminance value of the individual region R having a relatively high luminance is higher than the illuminance value of the individual region R having a relatively low luminance.
  • the illuminance setting unit 42 sets an illuminance value lower than the currently set illuminance value in the individual region R whose luminance is lower than the threshold value.
  • an illuminance value higher than the currently set illuminance value is set in the individual region R having a luminance higher than the threshold value.
  • the illuminance value to be set may be lowered as the luminance decreases with reference to the luminance of the individual region R having the highest luminance.
  • the high contrast light distribution pattern is a light distribution pattern in which the bright individual region R becomes brighter and the dark individual region R becomes darker.
  • the light / dark contrast is enhanced in the irradiation object in front of the host vehicle. This makes it easier for the driver to visually recognize the target existing ahead of the host vehicle.
  • the target include an oncoming vehicle, a pedestrian, a preceding vehicle, an obstacle that hinders the traveling of the host vehicle, a road sign, a road marking, a road shape, and the like.
  • the newly set relatively low illuminance value is lower than the currently set illuminance value, and the newly set relatively high illuminance value is The illuminance value can be higher than the currently set illuminance value. Therefore, when the formation of the high-contrast light distribution pattern is repeated, positive feedback is applied and eventually the set illuminance value is bipolarized between 0 and the maximum value. If the illuminance value is bipolar, it may be difficult to ensure the driver's visibility in the individual region R where the illuminance value 0 is set.
  • the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value, and multiplies the set coefficient by a predetermined reference illuminance value M to obtain the illuminance. Set the value.
  • FIG. 4A is a diagram showing the relationship between the detected luminance value and the coefficient when forming a high-contrast light distribution pattern.
  • FIG. 4B is a diagram illustrating a relationship between a detected luminance value and a set illuminance value when forming a high contrast light distribution pattern.
  • the illuminance setting unit 42 has a predetermined coefficient set in advance according to the magnitude of the detected luminance value.
  • a relatively large coefficient is set for a relatively large detected luminance value, and a relatively small coefficient is set for a relatively small detected luminance value.
  • the value of the coefficient can be set as appropriate based on the results of experiments and simulations in consideration of the degree of improvement in target detection accuracy.
  • a coefficient of 1.0 is set for the threshold value of the detected luminance value
  • a coefficient of 1.5 is set for the maximum luminance value
  • a coefficient of 0.5 is set for the minimum luminance value.
  • the illuminance setting unit 42 sets a coefficient for each individual region R based on the detection result of the luminance analysis unit 14.
  • the illuminance setting unit 42 has a predetermined reference illuminance value M set in advance as shown in FIG.
  • the illuminance setting unit 42 sets the illuminance value of the individual area R by multiplying the reference illuminance value M by the coefficient set for each individual area R. Thereby, a low illuminance value is set in the individual region R with a low detected luminance value, and a high illuminance value is set in the individual region R with a high detected luminance value.
  • the illuminance setting unit 42 has a lower limit value and an upper limit value of preset illuminance values. Then, the illuminance setting unit 42 sets a predetermined coefficient for each individual region R according to the magnitude of the detected luminance value. Then, a new illuminance value is calculated by multiplying the set illuminance value by the current illuminance value instead of the reference illuminance value M.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or greater than the predetermined lower limit value, and maintains the current illuminance value when the calculated illuminance value falls below the lower limit value. To do.
  • the illuminance setting unit 42 updates the current illuminance value to the calculated illuminance value when the calculated illuminance value is equal to or less than the predetermined upper limit value, and the current illuminance value when the calculated illuminance value exceeds the upper limit value. To maintain. Note that if the illuminance setting unit 42 has at least a lower limit value of the illuminance value, setting the illuminance value 0 to the dark individual region R can be avoided.
  • the brightness uniformed light distribution pattern has a brightness detected by the brightness analyzing unit 14 in a state where the brightness uniformed light distribution pattern is formed for the individual region R in which the brightness detected by the brightness analyzing unit 14 is in a predetermined range. It is a light distribution pattern in which the illuminance value of each individual region R is set so that the same value is obtained in each individual region R.
  • the “predetermined range” may be the entire range of luminance that can be detected by the luminance analysis unit 14, or may be a partial range. In FIG. 12 described below, the entire range of luminance that can be detected by the luminance analysis unit 14 is the “predetermined range”.
  • FIG. 12 is a diagram showing a relationship among a detected luminance value, a target luminance value, and a set illuminance value when forming a luminance uniform light distribution pattern.
  • the illuminance setting unit 42 first sets a target luminance value when setting the illuminance value.
  • the target luminance value means the luminance that should be detected by the luminance analyzing unit 14 in a state where the light distribution pattern is formed.
  • the illuminance setting unit 42 sets the target luminance value to the same value for the individual regions R in which the luminance detected by the luminance analysis unit 14 is included in a predetermined range.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the target luminance value of each individual region R and the detection result of the luminance analysis unit 14. Specifically, the illuminance setting unit 42 sets a relatively high illuminance value in the individual region R where the detected luminance is relatively low, and relative to the individual region R where the detected luminance is relatively high. Set a low illuminance value.
  • a luminance uniform light distribution pattern that makes the brightness in front of the host vehicle uniform is formed. According to the brightness uniform light distribution pattern, a target existing in a dark area ahead of the host vehicle can be illuminated brightly. For this reason, it becomes easier for the driver to visually recognize the target existing in front of the host vehicle in a method or a mode different from the high contrast light distribution pattern.
  • the illuminance setting unit 42 determines a light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14.
  • An example of such a light distribution pattern is a constant illuminance light distribution pattern in which the illuminance values of light applied to the individual regions R are the same.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the illuminance setting unit 42 sets the illuminance value, for example, every 0.1 to 5 ms.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42.
  • the light source control unit 20 controls turning on / off of the light source 22 and on / off switching of each mirror element 30.
  • the light source control unit 20 adjusts the ON time ratio (width and density) of each mirror element 30 based on the illuminance value of the light applied to each individual region R. Thereby, the illumination intensity of the light irradiated to each individual area
  • the light source control unit 20 transmits a drive signal to the light source 22 and / or the optical deflection device 26, for example, every 0.1 to 5 ms.
  • the switching control unit 44 depends on the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analyzing unit 14 and the luminance detected by the luminance analyzing unit 14. Between the second light distribution pattern in which the illuminance value of each individual region R is set and is different from the first light distribution pattern or the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14 Then, the light distribution pattern to be formed is switched.
  • the switching control unit 44 transmits a signal instructing switching of the light distribution pattern to the illuminance setting unit 42.
  • the illuminance setting unit 42 receives this signal, sets the illuminance value of each individual region R, and transmits an illuminance value signal to the light source control unit 20.
  • the first light distribution pattern is a high contrast light distribution pattern
  • the second light distribution pattern is a luminance uniform light distribution pattern or a constant illuminance light distribution pattern. That is, the switching control unit 44 switches the light distribution pattern to be formed between the high contrast light distribution pattern and the luminance uniform light distribution pattern or between the high contrast light distribution pattern and the constant illuminance light distribution pattern. It is also possible to combine both switching.
  • the first light distribution pattern is a luminance uniform light distribution pattern
  • the second light distribution pattern is a high-contrast light distribution pattern or a constant illuminance light distribution pattern. That is, the switching control unit 44 switches the light distribution pattern to be formed between the luminance uniform light distribution pattern and the high contrast light distribution pattern or between the luminance uniform light distribution pattern and the constant illuminance light distribution pattern. . It is also possible to combine both switching.
  • the switching control unit 44 dynamically switches the light distribution pattern to be formed according to the surrounding situation of the host vehicle or the driver's state. As an example, as illustrated in FIG. 16, the switching control unit 44 switches the light distribution pattern based on information obtained from a car navigation system 70 mounted on a vehicle or a driver camera 72 that images the driver.
  • the switching of the light distribution pattern according to the situation around the vehicle will be described by taking as an example a situation where a high contrast light distribution pattern is formed as the first light distribution pattern.
  • a high contrast light distribution pattern is formed as the first light distribution pattern.
  • the individual area R that overlaps the traffic regulation area that is, the area that is less necessary for the driver to visually recognize, is bright.
  • the individual area R that overlaps the traffic area that is, the area that is highly necessary for the driver to see, may become dark.
  • the switching control unit 44 receives information indicating that the host vehicle enters the construction section from the car navigation system 70, for example.
  • the switching control unit 44 switches the light distribution pattern to be formed from the high-contrast light distribution pattern to the luminance uniform light distribution pattern or the constant illuminance light distribution pattern as the second light distribution pattern. .
  • the switching control unit 44 receives information indicating that the host vehicle has passed the construction section from the car navigation system 70.
  • the switching control unit 44 returns the light distribution pattern to be formed to the high contrast light distribution pattern.
  • the switching control unit 44 receives driver image data from the driver camera 72.
  • the switching control unit 44 recognizes that the driver feels sleepy from the image data of the driver based on a conventionally known image sensing technique or the like. Based on the recognition, the switching control unit 44 switches the light distribution pattern to be formed from the high-contrast light distribution pattern to the luminance uniform light distribution pattern or the constant illuminance light distribution pattern as the second light distribution pattern.
  • the switching control unit 44 returns the high-contrast light distribution pattern after forming the luminance uniform light distribution pattern or the constant illuminance light distribution pattern, for example, from several tens of ms to several hundreds of ms. Such a change in the light distribution pattern can alert the driver. Switching between the first light distribution pattern and the second light distribution pattern may be repeated a plurality of times.
  • the switching control unit 44 can switch the light distribution pattern to be formed based on the operation of the driver.
  • a light switch 74 is mounted on the vehicle. The driver can select the type of light distribution pattern to be formed by operating the light switch 74. When the driver operates the light switch 74, a signal indicating the operation content is transmitted from the light switch 74 to the switching control unit 44. The switching control unit 44 switches to the light distribution pattern selected by the driver based on the signal received from the light switch 74.
  • the light switch 74 can be regarded as a part of the switching control unit. Alternatively, the light switch 74 can be regarded as the switching control unit itself. In this case, the switching control unit 44 included in the lamp control unit 18 can be omitted.
  • the light switch 74 as the switching control unit directly transmits a signal instructing switching of the light distribution pattern to the illuminance setting unit 42.
  • the light switch 74 may be capable of selecting switching between formation and non-formation of the light distribution pattern.
  • the imaging unit 12 includes a low speed camera 38.
  • the low-speed camera 38 has a relatively low frame rate, for example, 30 fps or more and 120 fps or less (about 8 to 33 ms per frame).
  • the low-speed camera 38 has a relatively large resolution, for example, 5 million pixels or more.
  • the low-speed camera 38 images all the individual areas R. Imaging by the low-speed camera 38 is executed in a situation where a high-contrast light distribution pattern or a luminance uniform light distribution pattern is formed.
  • the resolutions of the high-speed camera 36 and the low-speed camera 38 are not limited to the above numerical values, and can be set to arbitrary values within a technically consistent range.
  • the control device 50 has a situation analysis unit 16.
  • the situation analysis unit 16 detects the situation ahead of the host vehicle based on information obtained from the imaging unit 12. For example, the situation analysis unit 16 detects a target existing ahead of the host vehicle.
  • the situation analysis unit 16 is a low-speed and high-precision analysis unit that performs image analysis with higher accuracy than the luminance analysis unit 14 and outputs an analysis result at a low speed.
  • the situation analysis unit 16 according to the present embodiment detects the situation ahead of the host vehicle based on information obtained from the low speed camera 38.
  • the image data of the low-speed camera 38 is information acquired in a state where a high-contrast light distribution pattern or a luminance uniform light distribution pattern is formed. For this reason, the situation analysis unit 16 can detect the target with higher accuracy.
  • the situation analysis unit 16 detects the situation every 50 ms, for example.
  • Examples of the target detected by the situation analysis unit 16 include an oncoming vehicle 100 and a pedestrian 200, as shown in FIG.
  • the target vehicle also includes preceding vehicles, obstacles that hinder the traveling of the host vehicle, road signs, road markings, road shapes, and the like.
  • the situation analysis unit 16 can detect a target using a conventionally known method including algorithm recognition and deep learning. For example, the situation analysis unit 16 holds a feature point indicating the oncoming vehicle 100 in advance. Then, the situation analysis unit 16 recognizes the position of the oncoming vehicle 100 when there is data including a feature point indicating the oncoming vehicle 100 in the imaging data of the low speed camera 38.
  • the “feature point indicating the oncoming vehicle 100” is, for example, a light spot 102 (see FIG. 3) having a predetermined luminous intensity or higher that appears in the estimated presence area of the headlamp of the oncoming vehicle 100.
  • the situation analysis unit 16 holds feature points indicating the pedestrian 200 and other targets in advance, and when there is data including these feature points in the imaging data of the low-speed camera 38, Recognize the position of the target corresponding to the feature point.
  • a detection result of the situation analysis unit 16, that is, a signal indicating target information ahead of the host vehicle is transmitted to the lamp control unit 18.
  • the lamp control unit 18 includes a tracking unit 40.
  • the tracking unit 40 determines a specific target from the targets detected by the situation analysis unit 16.
  • the tracking unit 40 detects the displacement of the specific target based on the detection result of the luminance analysis unit 14.
  • the oncoming vehicle 100 is a specific target.
  • the tracking unit 40 integrates the detection result of the luminance analysis unit 14 and the detection result of the situation analysis unit 16. Then, among the brightness of each individual area R detected by the brightness analysis unit 14, the brightness of the individual area R where the light spot 102 of the oncoming vehicle 100, which is a specific target, is associated with the oncoming vehicle 100.
  • the tracking unit 40 can detect the displacement of the oncoming vehicle 100 that is the specific target by recognizing the position of the luminance associated with the oncoming vehicle 100 in the detection result of the luminance analyzing unit 14 acquired thereafter.
  • the tracking unit 40 executes a specific target determination process, for example, every 50 ms. Further, the tracking unit 40 executes displacement detection processing (tracking) of the specific target every 0.1 to 5 ms, for example.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14 and the detection result of the tracking unit 40. In each individual area R, a specific illuminance value is determined for the specific individual area R1 determined according to the position where the specific target is present. Specifically, the illuminance setting unit 42 first determines the specific individual region R1 based on the location of the oncoming vehicle 100 that is the specific target. For example, the illuminance setting unit 42 determines the specific individual region R ⁇ b> 1 based on the position information of the oncoming vehicle 100 included in the detection result of the tracking unit 40.
  • the illuminance setting unit 42 is a predetermined predetermined with respect to the horizontal distance a (see FIG. 3) between the two light spots 102 corresponding to the headlamp of the oncoming vehicle 100.
  • the vertical distance b of the ratio is determined, and the individual area R that overlaps the dimension range of width a ⁇ length b is defined as a specific individual area R1 (see FIG. 3).
  • the specific individual area R1 includes an individual area R that overlaps with the driver of the oncoming vehicle.
  • the illuminance setting unit 42 determines a specific illuminance value for the specific individual region R1. For example, the specific illuminance value 0 is set. In addition, the illuminance setting unit 42 forms a predetermined light distribution pattern in accordance with the light distribution pattern switching control by the switching control unit 44 for the individual regions R other than the specific individual region R1. Further, the illuminance setting unit 42 recognizes the displacement of the specific individual region R1 based on the detection result of the tracking unit 40, and updates the position information of the specific individual region R1. And the illuminance value of the light irradiated to each individual area
  • the vehicular lamp system 1 includes the imaging unit 12, the luminance analysis unit 14, the illuminance setting unit 42, the lamp unit 62, the light source control unit 20, and the switching control unit. 44.
  • the luminance analyzing unit 14 detects the luminance of each of the plurality of individual regions R arranged in front of the host vehicle based on information obtained from the imaging unit 12.
  • the illuminance setting unit 42 determines the illuminance value of the light irradiated to each individual region R based on the detection result of the luminance analysis unit 14.
  • the light source control unit 20 controls the lamp unit 62 based on the illuminance value determined by the illuminance setting unit 42.
  • the vehicle lamp system 1 can form a light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analysis unit 14.
  • the vehicular lamp system 1 can also form a light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14.
  • the switching control unit 44 uses the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analysis unit 14, and also each individual region R depending on the detected luminance.
  • the light distribution pattern in which the illuminance value is set depending on the luminance is detected by setting the relatively low illuminance value in the individual region R detected by the luminance analyzing unit 14 and having the relatively low luminance.
  • the switching control unit 44 dynamically switches the light distribution pattern to be formed according to the surrounding situation of the own vehicle or the driver's state. For example, the switching control unit 44 switches the light distribution pattern based on information obtained from the car navigation system 70 or the driver camera 72 that images the driver. Or the switching control part 44 switches a light distribution pattern based on a driver
  • the vehicular lamp system according to the ninth embodiment is the same as the configuration of the vehicular lamp system according to the eighth embodiment except that the lamp unit 62 includes another light source unit in addition to the light source unit 10.
  • the vehicular lamp system according to the ninth embodiment will be described focusing on the configuration different from that of the eighth embodiment, and the common configuration will be briefly described or the description thereof will be omitted.
  • FIG. 17 is a diagram illustrating a schematic configuration of a vehicle lamp system according to the ninth embodiment.
  • the vehicular lamp system 1 (1B) includes a lamp unit 62, an imaging unit 12, and a control device 50.
  • the lamp unit 62 has a lamp unit 60 as another light source unit in addition to the light source unit 10.
  • the lamp unit 60 may form a conventionally known low beam light distribution pattern, high beam light distribution pattern, or the like as a light distribution pattern in which the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14. it can.
  • the light distribution pattern formed by the lamp unit 60 is appropriately referred to as a normal light distribution pattern.
  • the illuminance setting unit 42 determines a high contrast light distribution pattern and a luminance uniform light distribution pattern as the light distribution pattern in which the illuminance value is set depending on the luminance detected by the luminance analysis unit 14.
  • the illuminance setting unit 42 transmits a signal indicating the illuminance value of each individual region R to the light source control unit 20.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42. Thereby, a high contrast light distribution pattern or a luminance uniform light distribution pattern is formed.
  • the switching control unit 44 depends on the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analyzing unit 14 and the luminance detected by the luminance analyzing unit 14. Between the second light distribution pattern in which the illuminance value of each individual region R is set and is different from the first light distribution pattern or the illuminance value is set without depending on the luminance detected by the luminance analysis unit 14 Then, the light distribution pattern to be formed is switched. The switching control unit 44 transmits a signal instructing switching of the light distribution pattern to the illuminance setting unit 42.
  • the illuminance setting unit 42 sets the illuminance value of each individual region R and transmits an illuminance value signal to the light source control unit 20.
  • the illuminance setting unit 42 transmits a signal instructing lighting of the lamp unit 60 to the light source control unit 20.
  • the light source control unit 20 controls the light source unit 10 based on the illuminance value determined by the illuminance setting unit 42 or turns off the light source unit 10 and turns on the lamp unit 60.
  • the lamp unit 60 may be used as a light source for irradiating light to the individual region R in which a relatively low illuminance value is set in the high contrast light distribution pattern. Thereby, even if the illuminance of each individual region R in the high-contrast light distribution pattern is bipolar, it is possible to suppress a decrease in the visibility of the driver in the individual region R with low illuminance.
  • the present invention is not limited to the above-described eighth and ninth embodiments, and it is possible to combine the respective embodiments or add various modifications such as various design changes based on the knowledge of those skilled in the art. New embodiments obtained by such combinations or modifications are also included in the scope of the present invention. Such a new embodiment has the effects of the combined embodiments and modifications.
  • the imaging unit 12, the luminance analysis unit 14, the lamp control unit 18, and the light source control unit 20 are provided in the lamp chamber 8, but each is provided outside the lamp chamber 8 as appropriate. Also good.
  • the light source unit 10 may include a scanning optical system that scans the front of the vehicle with the light source light, or an LED array in which LEDs corresponding to the individual regions R are arranged, instead of the light deflection device 26 that is a DMD.
  • FIGS. 14A to 14C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming the luminance uniform light distribution pattern. That is, in the example shown in FIG. 12, the set illuminance value is changed continuously and linearly with respect to the detected luminance value. However, it is not particularly limited to this relationship, and as shown in FIGS. 14A and 14B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 14C, the set illuminance value may be changed in a curve with respect to the detected luminance value. In FIG. 14C, an upward convex curve is shown, but a downward convex curve may be used.
  • FIGS. 7A to 7C are diagrams showing other examples of the relationship between the detected luminance value and the set illuminance value when forming a high-contrast light distribution pattern. That is, in the example shown in FIG. 4B, the set illuminance value is continuously and linearly changed with respect to the detected luminance value.
  • the present invention is not particularly limited to this relationship, and as shown in FIGS. 7A and 7B, the set illuminance value may be changed stepwise with respect to the detected luminance value. Further, as shown in FIG. 7C, the set illuminance value may be changed in a curve with respect to the detected luminance value.
  • FIG. 7C illustrates a convex curve upward
  • a convex curve may be used. Further, since the relationship between the detected luminance value and the coefficient is the same as the relationship between the detected luminance value and the set illuminance value, it is clear without needing to be illustrated.
  • a luminance analysis unit 14 that detects the luminance of each of the plurality of individual regions R arranged in front of the host vehicle based on information obtained from the imaging unit 12 that images the front of the host vehicle; Based on the detection result of the luminance analysis unit 14, an illuminance setting unit 42 that determines the illuminance value of the light irradiated to each individual region R; Based on the illuminance value determined by the illuminance setting unit 42, the light source control unit 20 that controls the lamp unit 62 having at least the light source unit 10 capable of independently adjusting the illuminance of the light irradiated to each individual region R;
  • the first light distribution pattern in which the illuminance value of each individual region R is set depending on the luminance detected by the luminance analyzing unit 14, and the illuminance of each individual region R depending on the luminance detected by the luminance analyzing unit 14 Light distribution formed between the second light distribution pattern in which the value is set and is different from the first light distribution pattern, or the illuminance value is set without depending on
  • SYMBOLS 1 Vehicle lamp system 2 Vehicle lamp, 10 Light source part, 12 Imaging part, 14 Brightness analysis part, 16 Situation analysis part, 20 Light source control part, 42 Illuminance setting part, 44 Switching control part, 46 Pattern formation control part, 50 control devices, 62 lamp parts, 70 car navigation system, 72 driver camera, 74 light switch, R individual area.
  • the present invention can be used in a vehicular lamp system, a vehicular lamp control device, and a vehicular lamp control method.

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Abstract

L'invention concerne un système de lampe de véhicule (1) comprenant : une unité de capture d'image (12) permettant de capturer une image devant un véhicule hôte ; une unité d'analyse de luminance (14) permettant de détecter, sur la base d'informations obtenues à partir de l'unité de capture d'image (12), une luminance dans chaque zone d'une pluralité de zones individuelles agencées devant le véhicule hôte ; une unité de réglage d'éclairement (42) permettant de déterminer, sur la base des résultats de détection de l'unité d'analyse de luminance (14), une valeur d'éclairement de lumière devant être rayonnée vers chacune des zones individuelles ; une unité de source de lumière (10) apte à régler indépendamment l'éclairement de la lumière rayonnée vers chacune de la pluralité de zones individuelles ; et une unité de commande de source de lumière (20) permettant de commander l'unité de source de lumière (10) sur la base de la valeur d'éclairement déterminée par l'unité de réglage d'éclairement (42). L'unité de réglage d'éclairement (42) règle, pour les zones individuelles dont les luminances détectées par l'unité d'analyse de luminance (14) s'inscrivent dans une plage prédéterminée, des valeurs d'éclairement relativement faibles pour les zones individuelles où les luminances détectées sont relativement faibles et des valeurs d'éclairement relativement élevées pour les zones individuelles où les luminances détectées sont relativement élevées.
PCT/JP2018/021365 2017-06-08 2018-06-04 Système de lampe de véhicule, dispositif de commande pour lampe de véhicule, et procédé de commande pour lampe de véhicule WO2018225684A1 (fr)

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EP4102818A1 (fr) * 2019-12-04 2022-12-14 Koito Manufacturing Co., Ltd. Dispositif de détection de véhicule, système de lampe de véhicule, procédé de détection de véhicule et dispositif de commande de distribution de lumière et procédé de commande de distribution de lumière
EP4070994A4 (fr) * 2019-12-04 2023-01-18 Koito Manufacturing Co., Ltd. Dispositif de détection de véhicule, système de lampe de véhicule, procédé de détection de véhicule, dispositif de commande de distribution de lumière et procédé de commande de distribution de lumière
US11628762B2 (en) 2019-12-04 2023-04-18 Koito Manufacturing Co., Ltd. Vehicle detecting device, vehicle lamp system, vehicle detecting method, light distribution controlling device, and light distribution controlling method
US11827140B2 (en) 2019-12-04 2023-11-28 Koito Manufacturing Co., Ltd. Vehicle detecting device, vehicle lamp system, vehicle detecting method, light distribution controlling device, and light distribution controlling method

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