WO2023062710A1 - Vehicle headlight control device, vehicle headlight control system, and vehicle headlight control method - Google Patents

Vehicle headlight control device, vehicle headlight control system, and vehicle headlight control method Download PDF

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Publication number
WO2023062710A1
WO2023062710A1 PCT/JP2021/037674 JP2021037674W WO2023062710A1 WO 2023062710 A1 WO2023062710 A1 WO 2023062710A1 JP 2021037674 W JP2021037674 W JP 2021037674W WO 2023062710 A1 WO2023062710 A1 WO 2023062710A1
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WIPO (PCT)
Prior art keywords
vehicle
sight
unit
line
control device
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PCT/JP2021/037674
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French (fr)
Japanese (ja)
Inventor
行弘 沖本
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2023553785A priority Critical patent/JP7383210B2/en
Priority to PCT/JP2021/037674 priority patent/WO2023062710A1/en
Publication of WO2023062710A1 publication Critical patent/WO2023062710A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/06—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle
    • B60Q1/08—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights adjustable, e.g. remotely-controlled from inside vehicle automatically
    • 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
    • B60Q1/24—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 for lighting other areas than only the way ahead

Definitions

  • the present disclosure relates to a vehicle headlight control device, a vehicle headlight control system, and a vehicle headlight control method.
  • a vehicle lighting device described in Patent Document 1 which is an example of a vehicle headlight control device, illuminates a sign selected in advance by a user when the presence of the sign is recognized.
  • the vehicle illumination device described above illuminates the sign regardless of whether the user is looking at the sign.
  • the vehicular illumination device may irradiate the sign even though the user does not see the sign whose existence is recognized.
  • An object of the present disclosure is to provide a vehicle headlamp control device and a vehicle headlamp control method that can illuminate a sign that the driver is looking at among a plurality of signs.
  • a vehicle headlight control device includes a first detection unit that detects a plurality of road signs existing in front of a vehicle, and a line of sight of a front seat occupant of the vehicle. a second detection unit that detects one of the plurality of road signs detected by the first detection unit based on the line of sight of the front seat occupant detected by the second detection unit; A specifying unit for specifying, and a control unit for illuminating the one road sign specified by the specifying unit with a headlight.
  • the vehicle headlight control device it is possible to illuminate the sign seen by the front seat occupant among the plurality of signs.
  • FIG. 4 schematically shows the relationship between a vehicle SR and a road sign DH according to Embodiment 1.
  • FIG. 2 shows the positional relationship between a vehicle SR and a road sign DH according to Embodiment 1.
  • FIG. 2 is a functional block diagram of the vehicle headlamp control device SS of Embodiment 1.
  • FIG. 1 shows the configuration of a vehicle headlamp control device SS of Embodiment 1.
  • FIG. 4 is a flowchart showing the operation of the vehicle headlamp control device SS of Embodiment 1; 4 shows a guiding part AN of Embodiment 2;
  • FIG. 7A shows the operation (part 1) of the line-of-sight detection unit SH of the third embodiment.
  • FIG. 7B shows the operation (part 2) of the line-of-sight detection unit SH of the third embodiment.
  • FIG. 8A shows the operation (part 1) of the controller SE of the fourth embodiment.
  • FIG. 8B shows the operation (part 2) of the controller SE of the fourth embodiment.
  • 5 shows an obstacle SB of embodiment 5;
  • FIG. 10A shows the operation (part 1) of the obstacle detection unit SY of the fifth embodiment.
  • FIG. 10B shows the operation (part 2) of the obstacle detection unit SY of the fifth embodiment.
  • FIG. 11A shows a road sign DH (Part 1) of Embodiment 6.
  • FIG. FIG. 11B shows a road sign DH (No. 2) of Embodiment 6.
  • FIG. 11C shows a road sign DH (part 3) of Embodiment 6.
  • FIG. 11D shows a road sign DH (part 4) of Embodiment 6.
  • FIG. 11E shows a road sign DH (No. 5) of Embodiment 6.
  • Embodiment 1 The vehicle headlamp control device SS of Embodiment 1 will be described.
  • road sign DH a plurality of road signs DH1 to DH5 (for example, shown in FIG. 1) may be collectively referred to as one name "road sign DH”.
  • FIG. 1 schematically shows the relationship between a vehicle SR and road signs DH according to the first embodiment.
  • FIG. 2 shows the positional relationship between the vehicle SR and the road sign DH of Embodiment 1.
  • a vehicle headlamp control device SS (for example, shown in FIG. 3) is mounted on a vehicle SR (shown in FIGS. 1 and 2). Vehicle SR is driven by a driver US (shown in FIG. 2).
  • a plurality of road signs DH1 to DH5 exist at the intersection KT (illustrated in FIG. 2) in front of the road on which the vehicle SR travels.
  • the line of sight SI of the driver US is directed to, for example, the road sign DH4 “Sotobori Dori” as shown in FIG.
  • FIG. 3 is a functional block diagram of the vehicle headlamp control device SS of the first embodiment. Functions of the vehicle headlamp control device SS of Embodiment 1 will be described with reference to FIG.
  • the vehicle headlamp control device SS of Embodiment 1 includes a road sign detection unit DO, a line-of-sight detection unit SH, an obstacle detection unit SY, a specification unit TO, and a control unit SE. and a guide AN.
  • the road sign detection unit DO corresponds to the “first detection unit”
  • the line-of-sight detection unit SH corresponds to the “second detection unit”
  • the obstacle detection unit SY corresponds to the “third detection unit”.
  • the identification part TO corresponds to the "identification part”
  • the control part SE corresponds to the "control part”
  • the guidance part AN corresponds to the "guidance part”.
  • the road sign detection unit DO detects road signs DH1 to DH5 (shown in FIG. 2) present in front of the vehicle SR (shown in FIG. 2), for example, at the intersection KT (shown in FIG. 2).
  • the road sign detection unit DO performs the detection described above, for example, by analyzing captured images.
  • the road sign detection unit DO is composed of, for example, a camera (not shown) attached to the front portion outside the vehicle SR so as to perform the detection described above.
  • the line-of-sight detection unit SH detects the line-of-sight SI (illustrated in FIG. 2) of the driver US driving the vehicle SR.
  • the line-of-sight detection unit SH performs the detection described above, for example, based on the direction in which the face of the driver US is facing, the time period during which the driver US is gazing, and the like.
  • the line-of-sight detection unit SH is composed of, for example, a wide-angle camera (not shown) mounted inside the vehicle SR so as to perform the detection described above.
  • the obstacle detection unit SY detects an obstacle SB (shown in FIG. 9) that exists in front of the road DR on which the vehicle SR travels.
  • the obstacle detection unit SY is composed of, for example, a camera (not shown) in the same manner as the road sign detection unit DO so as to perform the detection described above.
  • the identification unit TO determines the line of sight SI (shown in FIG. 2) of the driver US detected by the line of sight detection unit SH among the plurality of road signs DH1 to DH5 (shown in FIG. 1) detected by the road sign detection unit DO. ), for example, the road sign DH4 (illustrated in FIG. 2) to which the line of sight SI of the driver US is directed is identified.
  • the control unit SE causes the headlight ZT to illuminate, for example, the road sign DH4 specified by the specifying unit TO.
  • the guidance unit AN informs the driver aurally (for example, by voice) or visually (for example, by display) that at least one of the road signs DH1 to DH5 detected by the road sign detection unit DO is present. US.
  • FIG. 4 shows the configuration of the vehicle headlamp control device SS of the first embodiment.
  • the vehicle headlamp control device SS of Embodiment 1 includes a processor P, a memory M, and a storage medium K as shown in FIG. 4 in order to achieve the functions described above. It further includes an input N and an output S.
  • a processor P is the core of a well-known computer that operates hardware according to software.
  • the memory M is composed of, for example, a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory).
  • the storage medium K is composed of, for example, a hard disk drive (HDD: Hard Disk Drive), a solid state drive (SSD: Solid State Drive), and a ROM (Read Only Memory).
  • a storage medium K stores a program PR.
  • the program PR is a group of instructions that define the content of processing to be executed by the processor P.
  • the input unit N is composed of, for example, a camera, a receiving unit, and the like.
  • the output section S is composed of, for example, a speaker, a liquid crystal monitor, and a transmission unit.
  • the processor P executes the program PR stored in the storage medium K on the memory M, and if necessary, the program PR stored in the storage medium K.
  • the functions of the road sign detection unit DO to the guidance unit AN are realized.
  • FIG. 5 is a flow chart showing the operation of the vehicle headlamp control device SS of the first embodiment. The operation of the vehicle headlamp control device SS of Embodiment 1 will be described with reference to the flowchart of FIG.
  • Step ST11 When the vehicle SR is traveling on the road DR at night, the road sign detector DO detects a plurality of road signs DH1 to DH5 (shown in FIG. 2) at the intersection KT (shown in FIG. 2) in front of the vehicle SR. 1, shown in FIG. 2). When a plurality of road signs DH1-DH5 are detected, the process proceeds to step ST12. In contrast, when multiple road signs DH1-DH5 are not detected, the process ends.
  • Step ST12 The line-of-sight detection unit SH detects the presence or absence of the line-of-sight SI (shown in FIG. 2) of the driver US of the vehicle SR, more specifically, the direction of the line-of-sight SI of the driver US.
  • the process proceeds to step ST13.
  • the process ends.
  • Step ST13 The identification unit TO, among the plurality of road signs DH1 to DH5 detected by the road sign detection unit DO, detects the line of sight SI of the driver US detected by the line of sight detection unit SH. Identify the road sign DH4 (illustrated in FIG. 2) to which the line of sight SI is directed.
  • Step ST14 The control unit SE causes the headlamp ZT to illuminate the road sign DH4 specified by the specifying unit TO.
  • Embodiment 1 As described above, in the vehicle headlamp control device SS of Embodiment 1, among the plurality of detected road signs DH1 to DH5, the road sign DH4 specified based on the detected line of sight SI of the driver US Illuminate the lamp ZT. This makes it possible to illuminate the road sign DH4 that the driver US actually sees among the plurality of road signs DH1 to DH5.
  • Line of sight may be used instead of using the line of sight SI of the driver US to specify one road sign DH4 out of the plurality of road signs DH1 to DH5 in Embodiment 1.
  • the road sign detection unit DO detects a plurality of road signs DH1 to DH5
  • the driver US is concentrating on the driving operation
  • the driver US has a plurality of objects (other vehicles, obstacles such as pedestrians, road conditions such as lanes, intersections and others).
  • the line of sight SI of the driver US may be frequently displaced and unstable.
  • the specifying unit TO specifies one road sign DH4, the driver US may not always have time to see the road sign DH4.
  • One road sign DH4 may be specified using the line of sight of a front passenger who is a seat occupant, and the specified road sign DH4 may be illuminated by the headlamp ZT. Information about the road sign DH4 that is viewed is expected to be verbally communicated from the front passenger to the driver US.
  • the line-of-sight detection unit SH is supplied with a signal from a front seat occupant monitoring device (not shown).
  • the front-seat occupant monitoring device has a wide-angle camera to monitor front-seat occupants, including the driver US and the front-seat occupant, and detect their line of sight.
  • the line-of-sight detection unit SH determines whether the driver US is busy based on the signal from the front seat occupant detection device. If the driver US is not busy, the vehicle headlamp control device SS performs the same operation as in the first embodiment described above.
  • the vehicle headlight control device SS detects the line of sight of the front passenger seat occupant based on the signal from the front seat occupant detection device. Then, one road sign specified based on the line of sight of the occupant in the front passenger seat is illuminated. Determination that the driver US is in a busy state is made when the line of sight of the driver US is displaced by a predetermined angle or more and the number of times the line of sight is displaced in a unit time is a predetermined number or more. It may be determined that the user is in a busy state when the frequency of calling is equal to or higher than a predetermined frequency. This determination is performed, for example, by the line-of-sight detection unit SH.
  • the line-of-sight detection unit SH When the driver US is not in a busy state, the line-of-sight detection unit SH outputs information on the line of sight SI of the driver US, and also outputs information on the line of sight SI of the driver US when the driver US is in a busy state. information about the line of sight of the occupant in the front passenger seat.
  • the line of sight SI of the driver US is used even if the driver US is busy. It is also possible to specify one road sign DH4.
  • the front seat occupant monitoring device monitors both the front seat occupant, the driver US, and the front passenger seat occupant. may be monitored.
  • Embodiment 2 A vehicle headlamp control device SS of Embodiment 2 will be described.
  • the functions and hardware configuration of the vehicle headlamp control device SS of the second embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
  • the line of sight SI of the driver US of the vehicle SR (illustrated in FIG. ” (illustrated in FIGS. 1 and 2) (different from the contents of FIG. 2).
  • the operation of the vehicle headlamp control device SS of Embodiment 2 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
  • the guide unit AN (shown in FIG. DH5 "Aoyama Dori" (illustrated in FIGS. 1 and 2) is notified to the driver US, that is, guided.
  • FIG. 6 shows the guide part AN of the second embodiment.
  • the guide part AN of the second embodiment is, for example, a pair of speakers, as shown in FIG. Instead of being the speaker itself, the guide section AN may control the operation of a speaker that is separate from the guide section AN.
  • the road sign detection unit DO detects a plurality of road signs DH1 to DH5 (shown in FIG. 3) as in step ST11 of the first embodiment. 1, shown in FIG. 2).
  • the guidance unit AN selects at least one of the plurality of road signs DH1 to DH5 detected in step ST11, for example, the road sign DH4 present relatively close to the vehicle SR.
  • Sotobori-dori" and DH5 "Aoyama-dori” are detected by, for example, the voice OS "Road signs DH4 and DH5 are on the front right side.” ).
  • the driver US In response to the voice OS from the guidance unit AN, the driver US directs the line of sight SI to the road sign DH4 " instead of the road sign DH1 "Akasaka Mitsuke” to which the line of sight SI of the driver US was initially directed. Sotobori Dori” or DH5 “Aoyama Dori”.
  • the guidance unit AN displays at least one of the detected road signs DH1 to DH5, for example, the road sign DH4 "Sotobori-dori" and DH5.
  • the presence of "Aoyama Dori” is announced to the driver US of the vehicle SR.
  • the driver US does not receive guidance from the voice OS to change the line of sight SI from the road sign DH1 "Akasakamitsuke” to at least one of the road signs DH4 "Sotobori-dori" and DH5 "Aoyama-dori.” You can do it calmly.
  • the guide unit AN may be a liquid crystal monitor (not shown) itself instead of the speaker itself described above, or may control the operation of the liquid crystal monitor.
  • the guidance unit AN displays the road sign DH4 on the map by, for example, the display "Road signs DH4 and DH5 are on the right front.” , to guide the driver US by displaying road signs DH5.
  • Embodiment 3 A vehicle headlamp control device SS of Embodiment 3 will be described.
  • Embodiment 3 The functions and hardware configuration of the vehicle headlamp control device SS of Embodiment 3 are the same as the functions and hardware configuration of the vehicle headlamp control device SS of Embodiment 1 (shown in FIGS. 3 and 4). is.
  • the operation of the vehicle headlamp control device SS of Embodiment 3 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
  • the line-of-sight detection unit SH detects when the driver US of the vehicle SR is gazing.
  • the sight line SI of the driver US is detected, in other words, the sight line SI of the driver US is recognized as valid.
  • FIG. 7 shows the operation of the line-of-sight detection unit SH of the third embodiment.
  • the line-of-sight detection unit SH of the third embodiment detects, for example, the line-of-sight SI of the driver US of the vehicle SR as shown in FIG. 7A when the driver US of the vehicle SR is watching. is fixed facing the road sign DH2, the line of sight SI of the driver US is detected.
  • the line-of-sight detection unit SH of the third embodiment detects the line-of-sight SI of the driver US when the driver US of the vehicle SR is not gazing at step ST12 as shown in FIG. 7B. does not detect
  • the line-of-sight detection unit SH also detects that the driver US of the vehicle SR mainly looks at the road sign DH4 "Sotobori-dori", glances at the road sign DH1 "Akasakamitsuke", and the road sign DH5 "Aoyama-dori".
  • the line of sight SI of the driver US changes as the line of sight SI4 ⁇ the line of sight SI5 ⁇ the line of sight SI4, or changes like the line of sight SI4 ⁇ the line of sight SI1 ⁇ the line of sight SI4, the line of sight of the driver US Does not detect SI.
  • the line-of-sight detection unit SH detects when the driver US is gazing, that is, when the line-of-sight SI of the driver US is fixed.
  • the line of sight SI of the driver US is detected.
  • Embodiment 4 A vehicle headlamp control device SS of Embodiment 4 will be described.
  • Embodiment 4 The functions and hardware configuration of the vehicle headlamp control device SS of the fourth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
  • the line of sight SI of the driver US of the vehicle SR is initially directed to the intersection KT (shown in FIG. 2). (Different from the content of FIG. 2). In other words, it is assumed that the controller SE (illustrated in FIG. 3) initially causes the headlight ZT to illuminate the intersection KT.
  • the operation of the vehicle headlamp control device SS of Embodiment 4 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
  • the controller SE controls, for example, the road sign DH4 ( 2) is illuminated by the headlamp ZT for a predetermined period of time, for example, for a predetermined period of time or for a predetermined distance.
  • FIG. 8 shows the operation of the control unit SE of the fourth embodiment.
  • the line-of-sight detection unit SH detects that the line-of-sight SI of the driver US has moved from the intersection KT to, for example, the road sign DH4 "Sotobori-dori" (shown in FIG. 2). to detect
  • control unit SE controls only for a predetermined period, that is, for an irradiation time T from time T1 to time T2, or for a location, as shown in FIGS. 8A and 8B.
  • the headlight ZT is made to illuminate the road sign DH4 "Sotobori-dori" only during the irradiation distance D from P1 to the place P2.
  • control unit SE causes the headlamps ZT to illuminate the intersection KT in the same way as at the beginning.
  • the controller SE causes the headlamps ZT to illuminate the road sign DH4 "Sotobori-dori", as shown in FIGS. 8A and 8B. This is done only during the irradiation time T or during the irradiation distance D. As a result, the driver US can visually recognize the road sign DH4 "Sotobori-dori" only during the irradiation time T or during the irradiation distance D, but after the irradiation time T or after the irradiation distance D has passed, , the driver US cannot see the road sign DH4. As a result, it is possible to avoid a situation in which the driver US is distracted by the road sign DH4 "Sotobori-dori" even though the driver US should pay attention to the intersection KT.
  • Embodiment 5 A vehicle headlamp control device SS of Embodiment 5 will be described.
  • Embodiment 5 The functions and hardware configuration of the vehicle headlamp control device SS of the fifth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
  • the operation of the vehicle headlamp control device SS of Embodiment 5 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
  • the operation of the vehicle headlamp control device SS of the fifth embodiment is also partially common to the operation of the vehicle headlamp control device SS of the fourth embodiment.
  • the controller SE illustrated in FIG. 3 initially causes the headlamp ZT to illuminate the intersection KT (illustrated in FIG. 2), as in the fourth embodiment.
  • the vehicle headlight control device SS of the fifth embodiment does not detect an obstacle SB (shown in FIG. 9) in front of the vehicle SR. ).
  • FIG. 9 shows the obstacle SB of Embodiment 5.
  • FIG. 10 shows the operation of the obstacle detection unit SY of the fifth embodiment.
  • the control unit SE starts to illuminate the road sign DH4 "Sotobori-dori" from the headlamp ZT.
  • the control unit SE should be controlled until the time T2 after the irradiation time T has elapsed from the time T1, or when the vehicle SR is moving from the location P1 to the time T2.
  • the headlight ZT should continue to illuminate the road sign DH4 "Sotobori-dori" until it reaches the location P2 after moving the illumination distance D.
  • the fifth embodiment unlike the fourth embodiment, during the time from the time T1 until the irradiation time T elapses, or until the vehicle SR moves by the irradiation distance D from the place P1, for example, As shown in 10B (bottom), at time T3, which is between time T1 and time T2, or at location P3, which is between location P1 and location P2, obstacle detector SY (illustrated in FIG. 3) , an obstacle SB (shown in FIG. 9) existing in front of the road DR on which the vehicle SR is traveling is detected. When the obstacle SB is detected, as shown in FIG.
  • control unit SE causes the headlight ZT to stop illuminating the road sign DH4 "Sotobori-dori", and the intersection KT (see FIG. 10B). 2), or start a new irradiation of the obstacle SB.
  • the obstacle detector SY detects an obstacle SB in front of the road DR on which the vehicle SR travels during the irradiation time T or during the irradiation distance D. is detected, the control unit SE stops illuminating the road sign DH4 "Sotobori-dori" with the headlight ZT, and resumes illuminating the intersection KT, or restarts illuminating the obstacle SB. Start. This makes it possible to avoid a situation in which the driver US of the vehicle SR is distracted by the road sign DH4 "Sotobori-dori" and delays in responding to the intersection KT or the obstacle SB.
  • Embodiment 6 A vehicle headlamp control device SS of Embodiment 6 will be described.
  • Embodiment 6 The functions and hardware configuration of the vehicle headlamp control device SS of the sixth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
  • the operation of the vehicle headlamp control device SS of Embodiment 6 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
  • the controller SE controls the road signs DH (illustrated in FIGS. 11A to 11E). , only the guide sign ANH (shown in FIG. 11A) is illuminated by the headlamp ZT.
  • FIG. 11 shows the road sign DH of Embodiment 6.
  • step ST13 when the road sign DH specified by the specifying unit TO is other than the guide sign ANH, in other words, the warning sign KEH , the regulatory sign KIH, the instruction sign SIH, or the auxiliary sign HOH, in step ST14, the control unit SE displays any one of the warning sign KEH, the regulatory sign KIH, the instruction sign SIH, and the auxiliary sign HOH on the headlamp ZT. Do not irradiate
  • the control unit SE controls that the road sign DH specified by the specifying unit TO generally takes a certain amount of time to complete visual recognition, understanding, judgment, and the like.
  • the headlight ZT is made to illuminate the guide sign ANH only when the guide sign ANH requires time.
  • the vehicle headlight control device can be used to illuminate the sign that the driver is looking at among the plurality of signs.
  • AN information unit ANH guide sign, D irradiation distance, DH road sign, DH1 to DH5 road sign, DO road sign detection unit, DR road, HOH auxiliary sign, K storage medium, KEH warning sign, KIH regulation sign, KT intersection, M Memory, N Input Unit, OS Voice, P Processor, P1-P3 Location, PR Program, S Output Unit, SB Obstacle, SE Control Unit, SH Line-of-sight Detection Unit, SI Line-of-sight, SI1-SI5 Line-of-sight, SIH Directional Sign, SR vehicle, SS vehicle headlight control device, SY obstacle detection unit, T irradiation time, TO identification unit, US driver, ZT headlight.

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  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)

Abstract

A vehicle headlight control device (SS) includes: a first detection unit (DO) that detects a plurality of road signs (DH) present in front of a vehicle (SR); a second detection unit (SH) that detects a line of sight (SI) of a front seat occupant of the vehicle (SR); a specification unit (TO) that specifies one road sign (DH) among the plurality of road signs (DH) detected by the first detection unit (DO), on the basis of the line of sight (SI) of the front seat occupant detected by the second detection unit (SH); and a control unit (SE) that causes a headlight (ZT) to illuminate the one road sign (DH) specified by the specification unit (TO).

Description

車両用前照灯制御装置、車両用前照灯制御システム及び車両用前照灯制御方法Vehicle headlight control device, vehicle headlight control system, and vehicle headlight control method
　本開示は、車両用前照灯制御装置、車両用前照灯制御システム及び車両用前照灯制御方法に関する。 The present disclosure relates to a vehicle headlight control device, a vehicle headlight control system, and a vehicle headlight control method.
　車両用前照灯制御装置の一例である、特許文献１に記載された車両用照明装置は、ユーザーにより予め選択された標識の存在が認識されたとき、前記標識を照射する。 A vehicle lighting device described in Patent Document 1, which is an example of a vehicle headlight control device, illuminates a sign selected in advance by a user when the presence of the sign is recognized.
特許第４５３４８７１号公報Japanese Patent No. 4534871
　しかしながら、上記した車両用照射装置は、前記標識を照射することを、前記ユーザーが当該標識を見ているか否かとは無関係に行う。これにより、前記車両用照射装置は、前記ユーザーが、前記存在が認識された標識を見ていないにも拘わらず、当該標識を照射することがあった。 However, the vehicle illumination device described above illuminates the sign regardless of whether the user is looking at the sign. As a result, the vehicular illumination device may irradiate the sign even though the user does not see the sign whose existence is recognized.
　本開示の目的は、複数の標識のうち運転者が見ている標識を照射することができる車両用前照灯制御装置及び車両用前照灯制御方法を提供することにある。 An object of the present disclosure is to provide a vehicle headlamp control device and a vehicle headlamp control method that can illuminate a sign that the driver is looking at among a plurality of signs.
　上記した課題を解決すべく、本開示に係る車両用前照灯制御装置は、車両の前方に存在する複数の道路標識を検出する第１の検出部と、前記車両の前席乗員の視線を検出する第２の検出部と、前記第１の検出部により検出された複数の道路標識のうち、前記第２の検出部により検出された前記前席乗員の視線に基づき、一の道路標識を特定する特定部と、前記特定部により特定された前記一の道路標識に前照灯を照射させる制御部と、を含む。 In order to solve the above-described problems, a vehicle headlight control device according to the present disclosure includes a first detection unit that detects a plurality of road signs existing in front of a vehicle, and a line of sight of a front seat occupant of the vehicle. a second detection unit that detects one of the plurality of road signs detected by the first detection unit based on the line of sight of the front seat occupant detected by the second detection unit; A specifying unit for specifying, and a control unit for illuminating the one road sign specified by the specifying unit with a headlight.
　本開示に係る車両用前照灯制御装置によれば、複数の標識のうち前席乗員が見ている標識を照射することができる。 According to the vehicle headlight control device according to the present disclosure, it is possible to illuminate the sign seen by the front seat occupant among the plurality of signs.
実施形態１の車両ＳＲと道路標識ＤＨとの関係を模式的に示す。4 schematically shows the relationship between a vehicle SR and a road sign DH according to Embodiment 1. FIG. 実施形態１の車両ＳＲと道路標識ＤＨとの位置関係を示す。2 shows the positional relationship between a vehicle SR and a road sign DH according to Embodiment 1. FIG. 実施形態１の車両用前照灯制御装置ＳＳの機能ブロック図である。2 is a functional block diagram of the vehicle headlamp control device SS of Embodiment 1. FIG. 実施形態１の車両用前照灯制御装置ＳＳの構成を示す。1 shows the configuration of a vehicle headlamp control device SS of Embodiment 1. FIG. 実施形態１の車両用前照灯制御装置ＳＳの動作を示すフローチャートである。4 is a flowchart showing the operation of the vehicle headlamp control device SS of Embodiment 1; 実施形態２の案内部ＡＮを示す。4 shows a guiding part AN of Embodiment 2; 図７Ａは、実施形態３の視線検出部ＳＨの動作（その１）を示す。図７Ｂは、実施形態３の視線検出部ＳＨの動作（その２）を示す。FIG. 7A shows the operation (part 1) of the line-of-sight detection unit SH of the third embodiment. FIG. 7B shows the operation (part 2) of the line-of-sight detection unit SH of the third embodiment. 図８Ａは、実施形態４の制御部ＳＥの動作（その１）を示す。図８Ｂは、実施形態４の制御部ＳＥの動作（その２）を示す。FIG. 8A shows the operation (part 1) of the controller SE of the fourth embodiment. FIG. 8B shows the operation (part 2) of the controller SE of the fourth embodiment. 実施形態５の障害物ＳＢを示す。5 shows an obstacle SB of embodiment 5; 図１０Ａは、実施形態５の障害物検出部ＳＹの動作（その１）を示す。図１０Ｂは、実施形態５の障害物検出部ＳＹの動作（その２）を示す。FIG. 10A shows the operation (part 1) of the obstacle detection unit SY of the fifth embodiment. FIG. 10B shows the operation (part 2) of the obstacle detection unit SY of the fifth embodiment. 図１１Ａは、実施形態６の道路標識ＤＨ（その１）を示す。図１１Ｂは、実施形態６の道路標識ＤＨ（その２）を示す。図１１Ｃは、実施形態６の道路標識ＤＨ（その３）を示す。図１１Ｄは、実施形態６の道路標識ＤＨ（その４）を示す。図１１Ｅは、実施形態６の道路標識ＤＨ（その５）を示す。FIG. 11A shows a road sign DH (Part 1) of Embodiment 6. FIG. FIG. 11B shows a road sign DH (No. 2) of Embodiment 6. FIG. FIG. 11C shows a road sign DH (part 3) of Embodiment 6. FIG. FIG. 11D shows a road sign DH (part 4) of Embodiment 6. FIG. FIG. 11E shows a road sign DH (No. 5) of Embodiment 6. FIG.
　本開示に係る車両用前照灯制御装置の実施形態について説明する。 An embodiment of a vehicle headlamp control device according to the present disclosure will be described.
実施形態１．
〈実施形態１〉
　実施形態１の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 1.
<Embodiment 1>
The vehicle headlamp control device SS of Embodiment 1 will be described.
　実施形態１の車両用前照灯制御装置ＳＳの説明に先立ち、車両ＳＲ及び道路標識ＤＨについて説明する。 Before describing the vehicle headlamp control device SS of Embodiment 1, the vehicle SR and road signs DH will be described.
　以下では、説明及び理解を容易にすべく、総称することがあり、例えば、複数の道路標識ＤＨ１～ＤＨ５（例えば、図１に図示。）を１つの名称「道路標識ＤＨ」で総称することがある。 Hereinafter, in order to facilitate explanation and understanding, a plurality of road signs DH1 to DH5 (for example, shown in FIG. 1) may be collectively referred to as one name "road sign DH". be.
〈車両ＳＲと道路標識ＤＨとの関係〉
　図１は、実施形態１の車両ＳＲと道路標識ＤＨとの関係を模式的に示す。 <Relationship between vehicle SR and road sign DH>
FIG. 1 schematically shows the relationship between a vehicle SR and road signs DH according to the first embodiment.
　図２は、実施形態１の車両ＳＲと道路標識ＤＨとの位置関係を示す。 FIG. 2 shows the positional relationship between the vehicle SR and the road sign DH of Embodiment 1.
　実施形態１では、車両用前照灯制御装置ＳＳ（例えば、図３に図示。）が車両ＳＲ（図１、図２に図示。）に搭載されている。車両ＳＲは、運転者ＵＳ（図２に図示。）により運転されている。 In Embodiment 1, a vehicle headlamp control device SS (for example, shown in FIG. 3) is mounted on a vehicle SR (shown in FIGS. 1 and 2). Vehicle SR is driven by a driver US (shown in FIG. 2).
　車両ＳＲが走行する道路の前方にある交差点ＫＴ（図２に図示。）に、複数の道路標識ＤＨ１～ＤＨ５（図１、図２に図示。）が、存在する。複数の道路標識ＤＨ１「赤坂見附」～ＤＨ５「青山通り」のうち、図２に示されるように、例えば、道路標識ＤＨ４「外堀通り」に、運転者ＵＳの視線ＳＩが向けられている。 A plurality of road signs DH1 to DH5 (illustrated in FIGS. 1 and 2) exist at the intersection KT (illustrated in FIG. 2) in front of the road on which the vehicle SR travels. Among the plurality of road signs DH1 “Akasaka Mitsuke” to DH5 “Aoyama Dori”, the line of sight SI of the driver US is directed to, for example, the road sign DH4 “Sotobori Dori” as shown in FIG.
〈実施形態１の機能〉
　図３は、実施形態１の車両用前照灯制御装置ＳＳの機能ブロック図である。実施形態１の車両用前照灯制御装置ＳＳの機能について、図３を参照して説明する。 <Functions of Embodiment 1>
FIG. 3 is a functional block diagram of the vehicle headlamp control device SS of the first embodiment. Functions of the vehicle headlamp control device SS of Embodiment 1 will be described with reference to FIG.
　実施形態１の車両用前照灯制御装置ＳＳは、図３に示されるように、道路標識検出部ＤＯと、視線検出部ＳＨと、障害物検出部ＳＹと、特定部ＴＯと、制御部ＳＥと、案内部ＡＮと、を含む。 As shown in FIG. 3, the vehicle headlamp control device SS of Embodiment 1 includes a road sign detection unit DO, a line-of-sight detection unit SH, an obstacle detection unit SY, a specification unit TO, and a control unit SE. and a guide AN.
　道路標識検出部ＤＯは、「第１の検出部」に対応し、視線検出部ＳＨは、「第２の検出部」に対応し、障害物検出部ＳＹは、「第３の検出部」に対応し、特定部ＴＯは、「特定部」に対応し、制御部ＳＥは、「制御部」に対応し、案内部ＡＮは、「案内部」に対応する。 The road sign detection unit DO corresponds to the “first detection unit”, the line-of-sight detection unit SH corresponds to the “second detection unit”, and the obstacle detection unit SY corresponds to the “third detection unit”. Correspondingly, the identification part TO corresponds to the "identification part", the control part SE corresponds to the "control part", and the guidance part AN corresponds to the "guidance part".
　道路標識検出部ＤＯは、車両ＳＲ（図２に図示。）の前方、例えば、交差点ＫＴ（図２に図示。）に存在する道路標識ＤＨ１～ＤＨ５（図２に図示。）を検出する。道路標識検出部ＤＯは、前記した検出を、例えば、撮像した画像を分析することにより行う。道路標識検出部ＤＯは、前記した検出を行うべく、例えば、車両ＳＲの車外の前部に取り付けられたカメラ（図示なし。）から構成されている。 The road sign detection unit DO detects road signs DH1 to DH5 (shown in FIG. 2) present in front of the vehicle SR (shown in FIG. 2), for example, at the intersection KT (shown in FIG. 2). The road sign detection unit DO performs the detection described above, for example, by analyzing captured images. The road sign detection unit DO is composed of, for example, a camera (not shown) attached to the front portion outside the vehicle SR so as to perform the detection described above.
　視線検出部ＳＨは、車両ＳＲを運転する運転者ＵＳの視線ＳＩ（図２に図示。）を検出する。視線検出部ＳＨは、前記した検出を、例えば、運転者ＵＳの顔が向いている方向、及び運転者ＵＳが注視している時間等に基づき行う。視線検出部ＳＨは、前記検出を行うべく、例えば、車両ＳＲの車内に取り付けられた広角カメラ（図示なし。）から構成されている。 The line-of-sight detection unit SH detects the line-of-sight SI (illustrated in FIG. 2) of the driver US driving the vehicle SR. The line-of-sight detection unit SH performs the detection described above, for example, based on the direction in which the face of the driver US is facing, the time period during which the driver US is gazing, and the like. The line-of-sight detection unit SH is composed of, for example, a wide-angle camera (not shown) mounted inside the vehicle SR so as to perform the detection described above.
　障害物検出部ＳＹは、車両ＳＲが走行する道路ＤＲの前方に存在する障害物ＳＢ（図９に図示。）を検出する。障害物検出部ＳＹは、前記検出を行うべく、道路標識検出部ＤＯと同様に、例えば、カメラ（図示なし。）から構成されている。 The obstacle detection unit SY detects an obstacle SB (shown in FIG. 9) that exists in front of the road DR on which the vehicle SR travels. The obstacle detection unit SY is composed of, for example, a camera (not shown) in the same manner as the road sign detection unit DO so as to perform the detection described above.
　特定部ＴＯは、道路標識検出部ＤＯにより検出された複数の道路標識ＤＨ１～ＤＨ５（図１に図示。）のうち、視線検出部ＳＨにより検出された運転者ＵＳの視線ＳＩ（図２に図示。）に基づき、例えば、運転者ＵＳの視線ＳＩが向けられている道路標識ＤＨ４（図２に図示。）を特定する。 The identification unit TO determines the line of sight SI (shown in FIG. 2) of the driver US detected by the line of sight detection unit SH among the plurality of road signs DH1 to DH5 (shown in FIG. 1) detected by the road sign detection unit DO. ), for example, the road sign DH4 (illustrated in FIG. 2) to which the line of sight SI of the driver US is directed is identified.
　制御部ＳＥは、特定部ＴＯにより特定された、例えば、道路標識ＤＨ４に向けて前照灯ＺＴを照射させる。 The control unit SE causes the headlight ZT to illuminate, for example, the road sign DH4 specified by the specifying unit TO.
　案内部ＡＮは、道路標識検出部ＤＯにより検出された道路標識ＤＨ１～ＤＨ５のうちの少なくとも１つが存在することを、聴覚的に（例えば、音声により）または視覚的に（例えば、表示により）運転者ＵＳに案内する。 The guidance unit AN informs the driver aurally (for example, by voice) or visually (for example, by display) that at least one of the road signs DH1 to DH5 detected by the road sign detection unit DO is present. US.
〈実施形態１のハードウェア構成〉
　図４は、実施形態１の車両用前照灯制御装置ＳＳの構成を示す。 <Hardware Configuration of Embodiment 1>
FIG. 4 shows the configuration of the vehicle headlamp control device SS of the first embodiment.
　実施形態１の車両用前照灯制御装置ＳＳは、上述した機能を果たすべく、図４に示されるように、プロセッサＰと、メモリＭと、記憶媒体Ｋと、を含み、必要に応じて、入力部Ｎと、出力部Ｓと、を更に含む。 The vehicle headlamp control device SS of Embodiment 1 includes a processor P, a memory M, and a storage medium K as shown in FIG. 4 in order to achieve the functions described above. It further includes an input N and an output S.
　プロセッサＰは、ソフトウェアに従ってハードウェアを動作させる、よく知られたコンピュータの中核である。メモリＭは、例えば、ＤＲＡＭ（Dynamic Random Access Memory）、ＳＲＡＭ（Static Random Access Memory）から構成される。記憶媒体Ｋは、例えば、ハードディスクドライブ（ＨＤＤ：Hard Disk Drive）、ソリッドステートドライブ（ＳＳＤ：Solid State Drive）、ＲＯＭ（Read Only Memory）から構成される。記憶媒体Ｋは、プログラムＰＲを記憶する。プログラムＰＲは、プロセッサＰが実行すべき処理の内容を規定する命令群である。 A processor P is the core of a well-known computer that operates hardware according to software. The memory M is composed of, for example, a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory). The storage medium K is composed of, for example, a hard disk drive (HDD: Hard Disk Drive), a solid state drive (SSD: Solid State Drive), and a ROM (Read Only Memory). A storage medium K stores a program PR. The program PR is a group of instructions that define the content of processing to be executed by the processor P.
　入力部Ｎは、例えば、カメラ、受信ユニット等から構成される。出力部Ｓは、例えば、スピーカ、液晶モニター、送信ユニットから構成される。 The input unit N is composed of, for example, a camera, a receiving unit, and the like. The output section S is composed of, for example, a speaker, a liquid crystal monitor, and a transmission unit.
　車両用前照灯制御装置ＳＳにおける機能とハードウェア構成との関係については、ハードウェア上で、プロセッサＰが、記憶媒体Ｋに記憶されたプログラムＰＲをメモリＭ上で実行すると共に、必要に応じて、入力部Ｎ及び出力部Ｓの動作を制御することにより、道路標識検出部ＤＯ～案内部ＡＮの各部の機能を実現する。 Regarding the relationship between the functions and the hardware configuration of the vehicle headlight control device SS, the processor P executes the program PR stored in the storage medium K on the memory M, and if necessary, the program PR stored in the storage medium K. By controlling the operations of the input unit N and the output unit S, the functions of the road sign detection unit DO to the guidance unit AN are realized.
〈実施形態１の動作〉
　図５は、実施形態１の車両用前照灯制御装置ＳＳの動作を示すフローチャートである。実施形態１の車両用前照灯制御装置ＳＳの動作について、図５のフローチャートを参照して説明する。 <Operation of Embodiment 1>
FIG. 5 is a flow chart showing the operation of the vehicle headlamp control device SS of the first embodiment. The operation of the vehicle headlamp control device SS of Embodiment 1 will be described with reference to the flowchart of FIG.
　ステップＳＴ１１：車両ＳＲが夜間の道路ＤＲを走行しているとき、道路標識検出部ＤＯは、車両ＳＲの前方にある交差点ＫＴ（図２に図示。）で、複数の道路標識ＤＨ１～ＤＨ５（図１、図２に図示。）の有無を検出する。複数の道路標識ＤＨ１～ＤＨ５が検出されたとき、処理は、ステップＳＴ１２へ進む。対照的に、複数の道路標識ＤＨ１～ＤＨ５が検出されないとき、処理は、終了する。 Step ST11: When the vehicle SR is traveling on the road DR at night, the road sign detector DO detects a plurality of road signs DH1 to DH5 (shown in FIG. 2) at the intersection KT (shown in FIG. 2) in front of the vehicle SR. 1, shown in FIG. 2). When a plurality of road signs DH1-DH5 are detected, the process proceeds to step ST12. In contrast, when multiple road signs DH1-DH5 are not detected, the process ends.
　ステップＳＴ１２：視線検出部ＳＨは、車両ＳＲの運転者ＵＳの視線ＳＩ（図２に図示。）の有無、より詳しくは、運転者ＵＳの視線ＳＩの方向を検出する。運転者ＵＳの視線ＳＩが検出されたとき、ステップＳＴ１３へ進む。対照的に、運転者ＵＳの視線ＳＩが検出されないとき、処理は、終了する。 Step ST12: The line-of-sight detection unit SH detects the presence or absence of the line-of-sight SI (shown in FIG. 2) of the driver US of the vehicle SR, more specifically, the direction of the line-of-sight SI of the driver US. When the line of sight SI of the driver US is detected, the process proceeds to step ST13. In contrast, when the line of sight SI of the driver US is not detected, the process ends.
　ステップＳＴ１３：特定部ＴＯは、道路標識検出部ＤＯにより検出された複数の道路標識ＤＨ１～ＤＨ５のうち、視線検出部ＳＨにより検出された運転者ＵＳの視線ＳＩに基づき、例えば、運転者ＵＳの視線ＳＩが向けられている道路標識ＤＨ４（図２に図示。）を特定する。 Step ST13: The identification unit TO, among the plurality of road signs DH1 to DH5 detected by the road sign detection unit DO, detects the line of sight SI of the driver US detected by the line of sight detection unit SH. Identify the road sign DH4 (illustrated in FIG. 2) to which the line of sight SI is directed.
　ステップＳＴ１４：制御部ＳＥは、特定部ＴＯにより特定された道路標識ＤＨ４を前照灯ＺＴに照射させる。 Step ST14: The control unit SE causes the headlamp ZT to illuminate the road sign DH4 specified by the specifying unit TO.
〈実施形態１の効果〉
　上述したように、実施形態１の車両用前照灯制御装置ＳＳでは、検出された複数の道路標識ＤＨ１～ＤＨ５のうち、検出された運転者ＵＳの視線ＳＩ基づき特定される道路標識ＤＨ４に前照灯ＺＴを照射させる。これにより、複数の道路標識ＤＨ１～ＤＨ５のうち運転者ＵＳが実際に見ている道路標識ＤＨ４を照射することができる。 <Effect of Embodiment 1>
As described above, in the vehicle headlamp control device SS of Embodiment 1, among the plurality of detected road signs DH1 to DH5, the road sign DH4 specified based on the detected line of sight SI of the driver US Illuminate the lamp ZT. This makes it possible to illuminate the road sign DH4 that the driver US actually sees among the plurality of road signs DH1 to DH5.
〈変形例〉
　実施形態１における、複数の道路標識ＤＨ１～ＤＨ５のうち一の道路標識ＤＨ４を特定するために、運転者ＵＳの視線ＳＩを用いていることに代えて、助手席乗員（図示せず。）の視線を用いてもよい。 <Modification>
Instead of using the line of sight SI of the driver US to specify one road sign DH4 out of the plurality of road signs DH1 to DH5 in Embodiment 1, Line of sight may be used.
　例えば、道路標識検出部ＤＯが複数の道路標識ＤＨ１～ＤＨ５を検出した場合に、運転者ＵＳが運転の操作に注力していたとき、運転者ＵＳには注視すべき複数の対象（他車両、歩行者などの障害物、車線、交差点などの道路状況及びその他）がある。このとき、運転者ＵＳの視線ＳＩは、頻繁に変位し定まらないことがある。このような場合に、特定部ＴＯは、運転者ＵＳの視線ＳＩを用いて一の道路標識ＤＨ４を特定することは困難である。仮に、特定部ＴＯが一の道路標識ＤＨ４を特定しても、運転者ＵＳにはその道路標識ＤＨ４を見る余裕があるとは限らない。 For example, when the road sign detection unit DO detects a plurality of road signs DH1 to DH5, and the driver US is concentrating on the driving operation, the driver US has a plurality of objects (other vehicles, obstacles such as pedestrians, road conditions such as lanes, intersections and others). At this time, the line of sight SI of the driver US may be frequently displaced and unstable. In such a case, it is difficult for the identifying unit TO to identify one road sign DH4 using the line of sight SI of the driver US. Even if the specifying unit TO specifies one road sign DH4, the driver US may not always have time to see the road sign DH4.
　そこで、運転者ＵＳが運転操作に注力している状態、いわゆるビジー状態を検出し、運転者ＵＳがビジー状態にあるときには、前席乗員である運転者ＵＳの視線を用いることに代えて、前席乗員である助手席乗員の視線を用いて一の道路標識ＤＨ４を特定し、当該特定された道路標識ＤＨ４を前照灯ＺＴで照射するようにしてもよい。視認された道路標識ＤＨ４に関する情報は、助手席乗員から運転者ＵＳに口頭で伝達されることが期待される。 Therefore, a state in which the driver US is concentrating on the driving operation, that is, a so-called busy state is detected. One road sign DH4 may be specified using the line of sight of a front passenger who is a seat occupant, and the specified road sign DH4 may be illuminated by the headlamp ZT. Information about the road sign DH4 that is viewed is expected to be verbally communicated from the front passenger to the driver US.
　例えば、視線検出部ＳＨには、図示しない前席乗員監視装置の信号が与えられる。前席乗員監視装置は、広角カメラを有し、運転者ＵＳおよび助手席乗員を含む前席乗員を監視しその視線を検出する。複数の道路標識ＤＨ１～ＤＨ５を検出したとき、視線検出部ＳＨは、前席乗員検出装置からの信号に基づいて運転者ＵＳがビジー状態であるか否か判断する。運転者ＵＳがビジー状態でなければ、車両用前照灯制御装置ＳＳは、上述した実施形態１と同様な動作を行う。 For example, the line-of-sight detection unit SH is supplied with a signal from a front seat occupant monitoring device (not shown). The front-seat occupant monitoring device has a wide-angle camera to monitor front-seat occupants, including the driver US and the front-seat occupant, and detect their line of sight. When a plurality of road signs DH1 to DH5 are detected, the line-of-sight detection unit SH determines whether the driver US is busy based on the signal from the front seat occupant detection device. If the driver US is not busy, the vehicle headlamp control device SS performs the same operation as in the first embodiment described above.
　他方で、運転者ＵＳがビジー状態にあるとき、車両用前照灯制御装置ＳＳは、前席乗員検出装置からの信号に基づいて助手席乗員の視線を検出する。そして、助手席乗員の視線に基づいて特定した一の道路標識を照射する。運転者ＵＳがビジー状態にあることの判断は、運転者ＵＳの視線が予め定めた角度以上の変位があり、かつ単位時間におけるその変位の回数が予め定めた回数以上あるとき、すなわち視線が変位する頻度が予め定めた頻度以上であるとき、ビジー状態にあると判定してもよい。この判定は、例えば視線検出部ＳＨで行われ、視線検出部ＳＨは、運転者ＵＳがビジー状態にないとき、運転者ＵＳの視線ＳＩの情報を出力するとともに、運転者ＵＳがビジー状態にあるとき、助手席乗員の視線の情報を出力する。 On the other hand, when the driver US is in a busy state, the vehicle headlight control device SS detects the line of sight of the front passenger seat occupant based on the signal from the front seat occupant detection device. Then, one road sign specified based on the line of sight of the occupant in the front passenger seat is illuminated. Determination that the driver US is in a busy state is made when the line of sight of the driver US is displaced by a predetermined angle or more and the number of times the line of sight is displaced in a unit time is a predetermined number or more. It may be determined that the user is in a busy state when the frequency of calling is equal to or higher than a predetermined frequency. This determination is performed, for example, by the line-of-sight detection unit SH. When the driver US is not in a busy state, the line-of-sight detection unit SH outputs information on the line of sight SI of the driver US, and also outputs information on the line of sight SI of the driver US when the driver US is in a busy state. information about the line of sight of the occupant in the front passenger seat.
　なお、運転者ＵＳがビジー状態にあり、かつ、助手席乗員がいずれの道路標識も見ていない場合は、原則に戻り、運転者ＵＳがビジー状態にあっても運転者ＵＳの視線ＳＩに基づいて一の道路標識ＤＨ４を特定するようにしてもよい。 If the driver US is busy and the front passenger is not looking at any road sign, then the line of sight SI of the driver US is used even if the driver US is busy. It is also possible to specify one road sign DH4.
　前席乗員監視装置は、前席乗員である運転者ＵＳおよび助手席乗員の両者を監視することに代えて、助手席乗員の視線を用いない場合には、前席乗員である運転者ＵＳのみを監視してもよい。 The front seat occupant monitoring device monitors both the front seat occupant, the driver US, and the front passenger seat occupant. may be monitored.
実施形態２．
〈実施形態２〉
　実施形態２の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 2.
<Embodiment 2>
A vehicle headlamp control device SS of Embodiment 2 will be described.
〈実施形態２の機能及びハードウェア構成〉
　実施形態２の車両用前照灯制御装置ＳＳの機能及びハードウェア構成は、実施形態１の車両用前照灯制御装置ＳＳの機能及びハードウェア構成（図３、図４に図示。）と同様である。 <Functions and hardware configuration of the second embodiment>
The functions and hardware configuration of the vehicle headlamp control device SS of the second embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
〈実施形態２の動作〉 <Operation of Embodiment 2>
　実施形態２の動作の説明及び理解を容易にすべく、実施形態１とは相違して、車両ＳＲの運転者ＵＳの視線ＳＩ（図２に図示。）は、当初、道路標識ＤＨ１「赤坂見附」（図１、図２に図示。）に向けられていることを想定する（図２の内容とは相違。）。 In order to facilitate the explanation and understanding of the operation of the second embodiment, unlike the first embodiment, the line of sight SI of the driver US of the vehicle SR (illustrated in FIG. ” (illustrated in FIGS. 1 and 2) (different from the contents of FIG. 2).
　実施形態２の車両用前照灯制御装置ＳＳの動作は、基本的に、実施形態１の車両用前照灯制御装置ＳＳの動作（図５に図示。）と同様である。 The operation of the vehicle headlamp control device SS of Embodiment 2 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
　実施形態２の車両用前照灯制御装置ＳＳでは、実施形態１の車両用前照灯制御装置ＳＳと相違して、案内部ＡＮ（図３に図示。）が、例えば、道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」（図１、図２に図示。）の存在を運転者ＵＳに知らせ、即ち、案内する。 In the vehicle headlamp control device SS of the second embodiment, unlike the vehicle headlamp control device SS of the first embodiment, the guide unit AN (shown in FIG. DH5 "Aoyama Dori" (illustrated in FIGS. 1 and 2) is notified to the driver US, that is, guided.
　図６は、実施形態２の案内部ＡＮを示す。 FIG. 6 shows the guide part AN of the second embodiment.
　実施形態２の案内部ＡＮは、図６に示されるように、例えば、一対のスピーカである。案内部ＡＮは、スピーカ自体であることに代えて、案内部ＡＮとは別体であるスピーカの動作を制御してもよい。 The guide part AN of the second embodiment is, for example, a pair of speakers, as shown in FIG. Instead of being the speaker itself, the guide section AN may control the operation of a speaker that is separate from the guide section AN.
　実施形態２では、図５に図示のフローチャートにおけるステップＳＴ１１のとき、実施形態１のステップＳＴ１１と同様に、道路標識検出部ＤＯ（図３に図示。）は、複数の道路標識ＤＨ１～ＤＨ５（図１、図２に図示。）を検出する。 In the second embodiment, at step ST11 in the flowchart shown in FIG. 5, the road sign detection unit DO (shown in FIG. 3) detects a plurality of road signs DH1 to DH5 (shown in FIG. 3) as in step ST11 of the first embodiment. 1, shown in FIG. 2).
　上記のステップＳＴ１１の後に、案内部ＡＮは、ステップＳＴ１１で検出された複数の道路標識ＤＨ１～ＤＨ５のうちの少なくとも１つ、例えば、例えば、車両ＳＲに比較的近い位置に存在する道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」（図２に図示。）が存在することを、例えば、音声ＯＳ「道路標識ＤＨ４、ＤＨ５が前方右側にあります。」により、車両ＳＲの運転者ＵＳ（図２に図示。）に案内する。 After step ST11, the guidance unit AN selects at least one of the plurality of road signs DH1 to DH5 detected in step ST11, for example, the road sign DH4 present relatively close to the vehicle SR. Sotobori-dori" and DH5 "Aoyama-dori" (shown in FIG. 2) are detected by, for example, the voice OS "Road signs DH4 and DH5 are on the front right side." ).
　運転者ＵＳは、案内部ＡＮからの上記の音声ＯＳに応答して、当初、運転者ＵＳの視線ＳＩが向けられていた道路標識ＤＨ１「赤坂見附」に代えて、視線ＳＩを道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」の少なくともいずれかに向ける。 In response to the voice OS from the guidance unit AN, the driver US directs the line of sight SI to the road sign DH4 " instead of the road sign DH1 "Akasaka Mitsuke" to which the line of sight SI of the driver US was initially directed. Sotobori Dori” or DH5 “Aoyama Dori”.
〈実施形態２の効果〉
　上述したように、実施形態２の車両用前照灯制御装置ＳＳでは、案内部ＡＮが、検出された道路標識ＤＨ１～ＤＨ５のうちの少なくとも１つ、例えば、道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」の存在を車両ＳＲの運転者ＵＳに案内する。これにより、運転者ＵＳは、視線ＳＩを道路標識ＤＨ１「赤坂見附」から道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」の少なくともいずれかへ変更することを、上記した音声ＯＳによる案内が無いことに比して落ち着いて行うことができる。 <Effect of Embodiment 2>
As described above, in the vehicle headlamp control device SS of Embodiment 2, the guidance unit AN displays at least one of the detected road signs DH1 to DH5, for example, the road sign DH4 "Sotobori-dori" and DH5. The presence of "Aoyama Dori" is announced to the driver US of the vehicle SR. As a result, the driver US does not receive guidance from the voice OS to change the line of sight SI from the road sign DH1 "Akasakamitsuke" to at least one of the road signs DH4 "Sotobori-dori" and DH5 "Aoyama-dori." You can do it calmly.
　案内部ＡＮは、上記したスピーカ自体であることに代えて、液晶モニター（図示せず。）自体であってもよく、また、液晶モニターの動作を制御してもよい。案内部ＡＮは、音声ＯＳ「道路標識ＤＨ４、ＤＨ５が前方右側にあります。」に代えて、例えば、表示「道路標識ＤＨ４、ＤＨ５が前方右側にあります。」により、また、地図上に道路標識ＤＨ４、道路標識ＤＨ５を表示することにより、運転者ＵＳに案内する。 The guide unit AN may be a liquid crystal monitor (not shown) itself instead of the speaker itself described above, or may control the operation of the liquid crystal monitor. The guidance unit AN displays the road sign DH4 on the map by, for example, the display "Road signs DH4 and DH5 are on the right front." , to guide the driver US by displaying road signs DH5.
実施形態３．
〈実施形態３〉
　実施形態３の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 3.
<Embodiment 3>
A vehicle headlamp control device SS of Embodiment 3 will be described.
〈実施形態３の機能及びハードウェア構成〉
　実施形態３の車両用前照灯制御装置ＳＳの機能及びハードウェア構成は、実施形態１の車両用前照灯制御装置ＳＳの機能及びハードウェア構成（図３、図４に図示。）と同様である。 <Functions and Hardware Configuration of Embodiment 3>
The functions and hardware configuration of the vehicle headlamp control device SS of Embodiment 3 are the same as the functions and hardware configuration of the vehicle headlamp control device SS of Embodiment 1 (shown in FIGS. 3 and 4). is.
〈実施形態３の動作〉 <Operation of Embodiment 3>
　実施形態３の車両用前照灯制御装置ＳＳの動作は、基本的に、実施形態１の車両用前照灯制御装置ＳＳの動作（図５に図示。）と同様である。 The operation of the vehicle headlamp control device SS of Embodiment 3 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
　実施形態３の車両用前照灯制御装置ＳＳでは、実施形態１の車両用前照灯制御装置ＳＳと相違して、視線検出部ＳＨは、車両ＳＲの運転者ＵＳが注視しているとき、運転者ＵＳの視線ＳＩを検出し、換言すれば、運転者ＵＳの視線ＳＩを有効であると認識する。 In the vehicle headlight control device SS of the third embodiment, unlike the vehicle headlight control device SS of the first embodiment, the line-of-sight detection unit SH detects when the driver US of the vehicle SR is gazing. The sight line SI of the driver US is detected, in other words, the sight line SI of the driver US is recognized as valid.
　図７は、実施形態３の視線検出部ＳＨの動作を示す。 FIG. 7 shows the operation of the line-of-sight detection unit SH of the third embodiment.
　実施形態３の視線検出部ＳＨは、図５に図示のフローチャートにおけるステップＳＴ１２で、図７Ａに示されるように、車両ＳＲの運転者ＵＳが注視しているとき、例えば、運転者ＵＳの視線ＳＩが道路標識ＤＨ２に向けられて固定されているとき、運転者ＵＳの視線ＳＩを検出する。 In step ST12 in the flowchart shown in FIG. 5, the line-of-sight detection unit SH of the third embodiment detects, for example, the line-of-sight SI of the driver US of the vehicle SR as shown in FIG. 7A when the driver US of the vehicle SR is watching. is fixed facing the road sign DH2, the line of sight SI of the driver US is detected.
　実施形態３の視線検出部ＳＨは、上記とは対照的に、上記したステップＳＴ１２で、図７Ｂに示されるように、車両ＳＲの運転者ＵＳが注視していないとき、運転者ＵＳの視線ＳＩを検出しない。 In contrast to the above, the line-of-sight detection unit SH of the third embodiment detects the line-of-sight SI of the driver US when the driver US of the vehicle SR is not gazing at step ST12 as shown in FIG. 7B. does not detect
　より詳しくは、視線検出部ＳＨは、車両ＳＲの運転者ＵＳが、道路標識ＤＨ１「赤坂見附」、道路標識ＤＨ４「外堀通り」、ＤＨ５「青山通り」を次々に見ているとき、即ち、運転者ＵＳの視線ＳＩが、視線ＳＩ１→視線ＳＩ４→視線ＳＩ５→視線ＳＩ４→視線ＳＩ１→、、、、のように次々と変化するとき、運転者ＵＳの視線ＳＩを検出しない。 More specifically, when the driver US of the vehicle SR is looking at the road sign DH1 "Akasaka Mitsuke", the road sign DH4 "Sotobori Dori" and the road sign DH5 "Aoyama Dori" one after another, that is, when the driver US is driving. When the line of sight SI of the person US changes successively in the order of line of sight SI1→line of sight SI4→line of sight SI5→line of sight SI4→line of sight SI1→ . . . , the line of sight SI of the driver US is not detected.
　視線検出部ＳＨは、また、車両ＳＲの運転者ＵＳが、道路標識ＤＨ４「外堀通り」を主に見ているもの、道路標識ＤＨ１「赤坂見附」、道路標識ＤＨ５「青山通り」をちらっと見ることがあるとき、即ち、運転者ＵＳの視線ＳＩが、視線ＳＩ４→視線ＳＩ５→視線ＳＩ４のように変化するとき、または視線ＳＩ４→視線ＳＩ１→視線ＳＩ４のように変化するとき、運転者ＵＳの視線ＳＩを検出しない。 The line-of-sight detection unit SH also detects that the driver US of the vehicle SR mainly looks at the road sign DH4 "Sotobori-dori", glances at the road sign DH1 "Akasakamitsuke", and the road sign DH5 "Aoyama-dori". When there is a line of sight SI of the driver US, that is, when the line of sight SI of the driver US changes as the line of sight SI4→the line of sight SI5→the line of sight SI4, or changes like the line of sight SI4→the line of sight SI1→the line of sight SI4, the line of sight of the driver US Does not detect SI.
〈実施形態３の効果〉
　上述したように、実施形態３の車両用前照灯制御装置ＳＳでは、視線検出部ＳＨは、運転者ＵＳが注視しているとき、即ち、運転者ＵＳの視線ＳＩが固定されているとき、運転者ＵＳの視線ＳＩを検出する。これにより、例えば、運転者ＵＳのちら見に反応することにより運転者ＵＳが注視していない道路標識ＤＨ１「赤坂見附」、ＤＨ５「青山通り」を前照灯ＺＴに照射させるとの事態を回避することが可能となる。 <Effect of Embodiment 3>
As described above, in the vehicle headlamp control device SS of Embodiment 3, the line-of-sight detection unit SH detects when the driver US is gazing, that is, when the line-of-sight SI of the driver US is fixed. The line of sight SI of the driver US is detected. As a result, for example, a situation in which the headlight ZT illuminates the road signs DH1 "Akasaka Mitsuke" and DH5 "Aoyama Dori", which the driver US does not pay attention to, by reacting to the glimpse of the driver US is avoided. becomes possible.
実施形態４．
〈実施形態４〉
　実施形態４の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 4.
<Embodiment 4>
A vehicle headlamp control device SS of Embodiment 4 will be described.
〈実施形態４の機能及びハードウェア構成〉
　実施形態４の車両用前照灯制御装置ＳＳの機能及びハードウェア構成は、実施形態１の車両用前照灯制御装置ＳＳの機能及びハードウェア構成（図３、図４に図示。）と同様である。 <Functions and Hardware Configuration of Embodiment 4>
The functions and hardware configuration of the vehicle headlamp control device SS of the fourth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
〈実施形態４の動作〉 <Operation of Embodiment 4>
　実施形態４の動作の説明及び理解を容易にすべく、実施形態１と相違して、車両ＳＲの運転者ＵＳの視線ＳＩは、当初、交差点ＫＴ（図２に図示。）に向けられていることを想定する（図２の内容とは相違。）。換言すれば、制御部ＳＥ（図３に図示。）は、当初、前照灯ＺＴに交差点ＫＴを照射させていることを想定する。 In order to facilitate the explanation and understanding of the operation of the fourth embodiment, unlike the first embodiment, the line of sight SI of the driver US of the vehicle SR is initially directed to the intersection KT (shown in FIG. 2). (Different from the content of FIG. 2). In other words, it is assumed that the controller SE (illustrated in FIG. 3) initially causes the headlight ZT to illuminate the intersection KT.
　実施形態４の車両用前照灯制御装置ＳＳの動作は、基本的に、実施形態１の車両用前照灯制御装置ＳＳの動作（図５に図示。）と同様である。 The operation of the vehicle headlamp control device SS of Embodiment 4 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
　実施形態４の車両用前照灯制御装置ＳＳでは、実施形態１の車両用前照灯制御装置ＳＳと相違して、制御部ＳＥ（図３に図示。）は、例えば、道路標識ＤＨ４（図２に図示。）を前照灯ＺＴに照射させることを、予め定められた間、例えば、予め定められた時間だけ、または予め定められた距離だけ行う。 In the vehicle headlamp control device SS of the fourth embodiment, unlike the vehicle headlamp control device SS of the first embodiment, the controller SE (illustrated in FIG. 3) controls, for example, the road sign DH4 ( 2) is illuminated by the headlamp ZT for a predetermined period of time, for example, for a predetermined period of time or for a predetermined distance.
　図８は、実施形態４の制御部ＳＥの動作を示す。 FIG. 8 shows the operation of the control unit SE of the fourth embodiment.
　実施形態４の車両用前照灯制御装置ＳＳでは、図８Ａ、図８Ｂに示されるように、図５に図示のフローチャートにおけるステップＳＴ１４である時刻Ｔ１のとき、または、車両ＳＲが前記ステップＳＴ１４で場所Ｐ１にいるとき、視線検出部ＳＨ（図３に図示。）は、運転者ＵＳの視線ＳＩが交差点ＫＴから、例えば、道路標識ＤＨ４「外堀通り」（図２に図示。）へ移動したことを検出する。 As shown in FIGS. 8A and 8B, in the vehicle headlamp control device SS of Embodiment 4, at time T1, which is step ST14 in the flowchart shown in FIG. When the driver US is at the place P1, the line-of-sight detection unit SH (shown in FIG. 3) detects that the line-of-sight SI of the driver US has moved from the intersection KT to, for example, the road sign DH4 "Sotobori-dori" (shown in FIG. 2). to detect
　前記検出の後、制御部ＳＥは、図８Ａ、図８Ｂに示されるように、予め定められた間だけ、即ち、時刻Ｔ１から時刻Ｔ２へ至るまでである照射時間Ｔの間だけ、または、場所Ｐ１から場所Ｐ２へ至るまでである照射距離Ｄの間だけ、道路標識ＤＨ４「外堀通り」を前照灯ＺＴに照射させる。 After the detection, the control unit SE controls only for a predetermined period, that is, for an irradiation time T from time T1 to time T2, or for a location, as shown in FIGS. 8A and 8B. The headlight ZT is made to illuminate the road sign DH4 "Sotobori-dori" only during the irradiation distance D from P1 to the place P2.
　図８Ａ、図８Ｂに示されるように、上記した照射時間Ｔが経過した後に時刻Ｔ２に至ると、または、車両ＳＲが上記した照射距離Ｄを移動した後に場所Ｐ２に至ると、制御部ＳＥは、道路標識ＤＨ４「外堀通り」を前照灯ＺＴに照射させること終了する。 As shown in FIGS. 8A and 8B, when the time T2 is reached after the above-described irradiation time T has passed, or when the vehicle SR reaches the place P2 after moving the above-described irradiation distance D, the control unit SE , the road sign DH4 "Sotobori-dori" is illuminated by the headlamp ZT, and the process ends.
　上記した道路標識ＤＨ４「外堀通り」への照射を終了すると、制御部ＳＥは、当初と同様に、前照灯ＺＴに交差点ＫＴを照射させる。 When the illumination of the above road sign DH4 "Sotobori-dori" ends, the control unit SE causes the headlamps ZT to illuminate the intersection KT in the same way as at the beginning.
〈実施形態４の効果〉
　上述したように、実施形態４の車両用前照灯制御装置ＳＳでは、制御部ＳＥは、図８Ａ、図８Ｂに示されるように、道路標識ＤＨ４「外堀通り」を前照灯ＺＴに照射させることを、照射時間Ｔの間だけ又は照射距離Ｄの間だけ行う。これにより、照射時間Ｔの間だけ又は照射距離Ｄの間だけ、運転者ＵＳは道路標識ＤＨ４「外堀通り」を視認することができるものの、照射時間Ｔの経過後又は照射距離Ｄの移動後には、運転者ＵＳは道路標識ＤＨ４を視認することができない。その結果、運転者ＵＳが交差点ＫＴを注視すべきにも拘わらず、道路標識ＤＨ４「外堀通り」に気を取られるという事態を回避することができる。 <Effect of Embodiment 4>
As described above, in the vehicle headlamp control device SS of Embodiment 4, the controller SE causes the headlamps ZT to illuminate the road sign DH4 "Sotobori-dori", as shown in FIGS. 8A and 8B. This is done only during the irradiation time T or during the irradiation distance D. As a result, the driver US can visually recognize the road sign DH4 "Sotobori-dori" only during the irradiation time T or during the irradiation distance D, but after the irradiation time T or after the irradiation distance D has passed, , the driver US cannot see the road sign DH4. As a result, it is possible to avoid a situation in which the driver US is distracted by the road sign DH4 "Sotobori-dori" even though the driver US should pay attention to the intersection KT.
実施形態５．
〈実施形態５〉
　実施形態５の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 5.
<Embodiment 5>
A vehicle headlamp control device SS of Embodiment 5 will be described.
〈実施形態５の機能及びハードウェア構成〉
　実施形態５の車両用前照灯制御装置ＳＳの機能及びハードウェア構成は、実施形態１の車両用前照灯制御装置ＳＳの機能及びハードウェア構成（図３、図４に図示。）と同様である。 <Functions and Hardware Configuration of Embodiment 5>
The functions and hardware configuration of the vehicle headlamp control device SS of the fifth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
〈実施形態５の動作〉 <Operation of Embodiment 5>
　実施形態５の車両用前照灯制御装置ＳＳの動作は、基本的に、実施形態１の車両用前照灯制御装置ＳＳの動作（図５に図示。）と同様である。実施形態５の車両用前照灯制御装置ＳＳの動作は、また、実施形態４の車両用前照灯制御装置ＳＳの動作と部分的に共通する。例えば、制御部ＳＥ（図３に図示。）は、実施形態４と同様に、当初、前照灯ＺＴに交差点ＫＴ（図２に図示。）を照射させている。 The operation of the vehicle headlamp control device SS of Embodiment 5 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5). The operation of the vehicle headlamp control device SS of the fifth embodiment is also partially common to the operation of the vehicle headlamp control device SS of the fourth embodiment. For example, the controller SE (illustrated in FIG. 3) initially causes the headlamp ZT to illuminate the intersection KT (illustrated in FIG. 2), as in the fourth embodiment.
　実施形態５の車両用前照灯制御装置ＳＳでは、他方で、実施形態１の車両用前照灯制御装置ＳＳと相違して、車両ＳＲの前方に存在する障害物ＳＢ（図９に図示。）への対応を行う。 On the other hand, unlike the vehicle headlight control device SS of the first embodiment, the vehicle headlight control device SS of the fifth embodiment does not detect an obstacle SB (shown in FIG. 9) in front of the vehicle SR. ).
　図９は、実施形態５の障害物ＳＢを示す。 FIG. 9 shows the obstacle SB of Embodiment 5.
　図１０は、実施形態５の障害物検出部ＳＹの動作を示す。 FIG. 10 shows the operation of the obstacle detection unit SY of the fifth embodiment.
　実施形態５の車両用前照灯制御装置ＳＳでは、実施形態４の車両用前照灯制御装置ＳＳと同様に、図１０Ａに示されるように、図５に図示のフローチャートにおけるステップＳＴ１４である時刻Ｔ１のとき、または、車両ＳＲがステップＳＴ１４で場所Ｐ１にいるとき、制御部ＳＥは、前照灯ＺＴに道路標識ＤＨ４「外堀通り」を照射させることを開始する。 In the vehicle headlamp control device SS of Embodiment 5, as in the vehicle headlamp control device SS of Embodiment 4, as shown in FIG. At T1, or when the vehicle SR is at the location P1 in step ST14, the control unit SE starts to illuminate the road sign DH4 "Sotobori-dori" from the headlamp ZT.
　本来であれば、制御部ＳＥは、実施形態４と同様に、図１０Ａに示されるように、時刻Ｔ１から照射時間Ｔだけ経過し時刻Ｔ２に至るまでの間、または、車両ＳＲが場所Ｐ１から照射距離Ｄだけ移動し場所Ｐ２に至るまでの間、前照灯ＺＴに道路標識ＤＨ４「外堀通り」への照射を継続させるべきである。 Originally, as in the fourth embodiment, as shown in FIG. 10A, the control unit SE should be controlled until the time T2 after the irradiation time T has elapsed from the time T1, or when the vehicle SR is moving from the location P1 to the time T2. The headlight ZT should continue to illuminate the road sign DH4 "Sotobori-dori" until it reaches the location P2 after moving the illumination distance D.
　しかし、実施形態５では、実施形態４と相違し、時刻Ｔ１から照射時間Ｔだけ経過するまでの間に、または、車両ＳＲが場所Ｐ１から照射距離Ｄだけ移動するまでの間に、例えば、図１０Ｂ（下側）に示されるように、時刻Ｔ１及び時刻Ｔ２間である時刻Ｔ３で、又は、場所Ｐ１及び場所Ｐ２間である場所Ｐ３で、障害物検出部ＳＹ（図３に図示。）は、車両ＳＲが走行している道路ＤＲの前方に存在する障害物ＳＢ（図９に図示。）を検出する。障害物ＳＢが検出されると、制御部ＳＥは、図１０Ｂ（上側）に示されるように、前照灯ＺＴに道路標識ＤＨ４「外堀通り」への照射を中止させ、かつ、交差点ＫＴ（図２に図示。）への照射を再開させ、または、障害物ＳＢへの新たな照射を開始させる。 However, in the fifth embodiment, unlike the fourth embodiment, during the time from the time T1 until the irradiation time T elapses, or until the vehicle SR moves by the irradiation distance D from the place P1, for example, As shown in 10B (bottom), at time T3, which is between time T1 and time T2, or at location P3, which is between location P1 and location P2, obstacle detector SY (illustrated in FIG. 3) , an obstacle SB (shown in FIG. 9) existing in front of the road DR on which the vehicle SR is traveling is detected. When the obstacle SB is detected, as shown in FIG. 10B (upper side), the control unit SE causes the headlight ZT to stop illuminating the road sign DH4 "Sotobori-dori", and the intersection KT (see FIG. 10B). 2), or start a new irradiation of the obstacle SB.
〈実施形態５の効果〉
　上述したように、実施形態５の車両用前照灯制御装置ＳＳでは、照射時間Ｔの間又は照射距離Ｄの間に障害物検出部ＳＹにより車両ＳＲが走行する道路ＤＲの前方で障害物ＳＢが検出されたとき、制御部ＳＥは、道路標識ＤＨ４「外堀通り」への前照灯ＺＴの照射を中止させ、かつ、交差点ＫＴへの照射を再開させ又は障害物ＳＢへの新たな照射を開始する。これにより、車両ＳＲの運転者ＵＳが、道路標識ＤＨ４「外堀通り」に気を取られ、交差点ＫＴまたは障害物ＳＢへの対応が遅れるとの事態を回避することが可能となる。 <Effect of Embodiment 5>
As described above, in the vehicle headlamp control device SS of Embodiment 5, the obstacle detector SY detects an obstacle SB in front of the road DR on which the vehicle SR travels during the irradiation time T or during the irradiation distance D. is detected, the control unit SE stops illuminating the road sign DH4 "Sotobori-dori" with the headlight ZT, and resumes illuminating the intersection KT, or restarts illuminating the obstacle SB. Start. This makes it possible to avoid a situation in which the driver US of the vehicle SR is distracted by the road sign DH4 "Sotobori-dori" and delays in responding to the intersection KT or the obstacle SB.
実施形態６．
〈実施形態６〉
　実施形態６の車両用前照灯制御装置ＳＳについて説明する。 Embodiment 6.
<Embodiment 6>
A vehicle headlamp control device SS of Embodiment 6 will be described.
〈実施形態６の機能及びハードウェア構成〉
　実施形態６の車両用前照灯制御装置ＳＳの機能及びハードウェア構成は、実施形態１の車両用前照灯制御装置ＳＳの機能及びハードウェア構成（図３、図４に図示。）と同様である。 <Functions and Hardware Configuration of Embodiment 6>
The functions and hardware configuration of the vehicle headlamp control device SS of the sixth embodiment are the same as the functions and hardware configuration of the vehicle headlamp control device SS of the first embodiment (shown in FIGS. 3 and 4). is.
〈実施形態６の動作〉 <Operation of Embodiment 6>
　実施形態６の車両用前照灯制御装置ＳＳの動作は、基本的に、実施形態１の車両用前照灯制御装置ＳＳの動作（図５に図示。）と同様である。 The operation of the vehicle headlamp control device SS of Embodiment 6 is basically the same as the operation of the vehicle headlamp control device SS of Embodiment 1 (shown in FIG. 5).
　実施形態６の車両用前照灯制御装置ＳＳでは、実施形態１とは相違して、制御部ＳＥ（図３に図示。）は、道路標識ＤＨ（図１１Ａ～図１１Ｅに図示。）のうち、案内標識ＡＮＨ（図１１Ａに図示。）のみを前照灯ＺＴに照射させる。 In the vehicle headlamp control device SS of the sixth embodiment, unlike the first embodiment, the controller SE (illustrated in FIG. 3) controls the road signs DH (illustrated in FIGS. 11A to 11E). , only the guide sign ANH (shown in FIG. 11A) is illuminated by the headlamp ZT.
　図１１は、実施形態６の道路標識ＤＨを示す。 FIG. 11 shows the road sign DH of Embodiment 6.
　図５に図示されたフローチャートにおけるステップＳＴ１３で、図１１Ａに示されるように、特定部ＴＯにより特定された道路標識ＤＨが案内標識ＡＮＨであるときのみ、ステップＳＴ１４で、制御部ＳＥは、前照灯ＺＴに案内標識ＡＮＨを照射させる。 Only when the road sign DH specified by the specifying unit TO is the guide sign ANH at step ST13 in the flowchart shown in FIG. 5 as shown in FIG. The light ZT is made to illuminate the guide sign ANH.
　上記とは対照的に、上記のステップＳＴ１３で、図１１Ｂ～図１１Ｅに示されるように、特定部ＴＯにより特定された道路標識ＤＨが案内標識ＡＮＨ以外であるとき、換言すれば、警戒標識ＫＥＨ、規制標識ＫＩＨ、指示標識ＳＩＨ、補助標識ＨＯＨのいずれかであるとき、ステップＳＴ１４で、制御部ＳＥは、前照灯ＺＴに警戒標識ＫＥＨ、規制標識ＫＩＨ、指示標識ＳＩＨ、補助標識ＨＯＨのいずれをも照射させない。 In contrast to the above, in step ST13, as shown in FIGS. 11B to 11E, when the road sign DH specified by the specifying unit TO is other than the guide sign ANH, in other words, the warning sign KEH , the regulatory sign KIH, the instruction sign SIH, or the auxiliary sign HOH, in step ST14, the control unit SE displays any one of the warning sign KEH, the regulatory sign KIH, the instruction sign SIH, and the auxiliary sign HOH on the headlamp ZT. Do not irradiate
〈実施形態６の効果〉
　上述したように、実施形態６の車両用前照灯制御装置ＳＳでは、制御部ＳＥは、特定部ＴＯにより特定された道路標識ＤＨが、一般に視認、理解、判断等を終えるまでにある程度の長い時間を要する案内標識ＡＮＨであるときに限り、前照灯ＺＴに案内標識ＡＮＨを照射させる。これにより、実施形態１と同様に、運転者ＵＳの運転上での視認性を向上させ、かつ、実施形態６として固有に、運転者ＵＳの運転上での安全を確保することが可能となる。 <Effect of Embodiment 6>
As described above, in the vehicle headlamp control device SS of Embodiment 6, the control unit SE controls that the road sign DH specified by the specifying unit TO generally takes a certain amount of time to complete visual recognition, understanding, judgment, and the like. The headlight ZT is made to illuminate the guide sign ANH only when the guide sign ANH requires time. As a result, as in the first embodiment, it is possible to improve the visibility of the driver US while driving and, uniquely as the sixth embodiment, to ensure the safety of the driver US while driving. .
　本開示の要旨を逸脱しない範囲で、上述した実施形態同士を組み合わせてもよく、また、各実施形態中の構成要素を適宜、削除し、変更し、または、他の構成要素を追加してもよい。 The above-described embodiments may be combined without departing from the gist of the present disclosure, and components in each embodiment may be deleted, changed, or added as appropriate. good.
　本開示に係る車両用前照灯制御装置は、複数の標識のうち運転者が見ている標識を照射することに利用可能である。 The vehicle headlight control device according to the present disclosure can be used to illuminate the sign that the driver is looking at among the plurality of signs.
ＡＮ　案内部、ＡＮＨ　案内標識、Ｄ　照射距離、ＤＨ　道路標識、ＤＨ１～ＤＨ５　道路標識、ＤＯ　道路標識検出部、ＤＲ　道路、ＨＯＨ　補助標識、Ｋ　記憶媒体、ＫＥＨ　警戒標識、ＫＩＨ　規制標識、ＫＴ　交差点、Ｍ　メモリ、Ｎ　入力部、ＯＳ　音声、Ｐ　プロセッサ、Ｐ１～Ｐ３　場所、ＰＲ　プログラム、Ｓ　出力部、ＳＢ　障害物、ＳＥ　制御部、ＳＨ　視線検出部、ＳＩ　視線、ＳＩ１～ＳＩ５　視線、ＳＩＨ　指示標識、ＳＲ　車両、ＳＳ　車両用前照灯制御装置、ＳＹ　障害物検出部、Ｔ　照射時間、ＴＯ　特定部、ＵＳ　運転者、ＺＴ　前照灯。 AN information unit, ANH guide sign, D irradiation distance, DH road sign, DH1 to DH5 road sign, DO road sign detection unit, DR road, HOH auxiliary sign, K storage medium, KEH warning sign, KIH regulation sign, KT intersection, M Memory, N Input Unit, OS Voice, P Processor, P1-P3 Location, PR Program, S Output Unit, SB Obstacle, SE Control Unit, SH Line-of-sight Detection Unit, SI Line-of-sight, SI1-SI5 Line-of-sight, SIH Directional Sign, SR vehicle, SS vehicle headlight control device, SY obstacle detection unit, T irradiation time, TO identification unit, US driver, ZT headlight.

Claims (9)

  1. 　車両の前方に存在する複数の道路標識を検出する第１の検出部と、
    　前記車両の前席乗員の視線を検出する第２の検出部と、
    　前記第１の検出部により検出された複数の道路標識のうち、前記第２の検出部により検出された前記前席乗員の視線に基づき、一の道路標識を特定する特定部と、
    　前記特定部により特定された前記一の道路標識に前照灯を照射させる制御部と、
    　を含む車両用前照灯制御装置。     a first detection unit that detects a plurality of road signs present in front of the vehicle;
    a second detection unit that detects a line of sight of a front seat occupant of the vehicle;
    an identifying unit that identifies one of the plurality of road signs detected by the first detecting unit based on the line of sight of the front seat occupant detected by the second detecting unit;
    a control unit that irradiates a headlight on the one road sign specified by the specifying unit;
    A vehicle headlight control device comprising:
  2. 　前記第１の検出部が前記複数の道路標識を検出した後に、前記複数の道路標識のうちの少なくとも一つを音声で案内する案内部を、更に含む、
    　請求項１に記載の車両用前照灯制御装置。     further comprising a guidance unit that guides at least one of the plurality of road signs by voice after the first detection unit detects the plurality of road signs;
    The vehicle headlamp control device according to claim 1 .
  3. 　前記第２の検出部は、前記前席乗員が注視しているとき、前記前席乗員の視線を検出する、
    　請求項１に記載の車両用前照灯制御装置。     The second detection unit detects the line of sight of the front seat occupant when the front seat occupant is gazing.
    The vehicle headlamp control device according to claim 1 .
  4. 　前記制御部は、前記一の道路標識を前記前照灯に照射させることを、予め定められた間だけ行わせる、
    　請求項１に記載の車両用前照灯制御装置。     The control unit causes the headlamp to illuminate the one road sign only for a predetermined period of time.
    The vehicle headlamp control device according to claim 1 .
  5. 　前記車両の前方に存在する障害物を検出する第３の検出部を更に含み、
    　前記制御部は、前記予め定められた間に、前記第３の検出部が前記障害物を検出したとき、前記一の道路標識を前記前照灯に照射させることを中止させる、
    　請求項４に記載の車両用前照灯制御装置。     further comprising a third detection unit that detects an obstacle existing in front of the vehicle;
    The control unit causes the headlamp to stop illuminating the one road sign when the third detection unit detects the obstacle during the predetermined period of time.
    The vehicle headlamp control device according to claim 4.
  6. 　前記第１の検出部は、前記複数の道路標識のうち案内標識のみを検出する、
    　請求項１に記載の車両用前照灯制御装置。     The first detection unit detects only guide signs among the plurality of road signs.
    The vehicle headlamp control device according to claim 1 .
  7. 　前記第２の検出部は、前記前席乗員である運転者の視線が予め定められた頻度以上で変位するとき前記運転者がビジー状態にあると判断し、前記運転者がビジー状態にあるとき、前記前席乗員である助手席乗員の視線を検出する、
    　請求項１に記載の車両用前照灯制御装置。     The second detection unit determines that the driver is in a busy state when the line of sight of the driver who is the front seat occupant changes at a predetermined frequency or more, and determines that the driver is in a busy state. , detecting the line of sight of the passenger seat passenger who is the front seat passenger;
    The vehicle headlamp control device according to claim 1 .
  8. 　車両の前方に存在する複数の道路標識を検出する第１の検出部と、
    　前記車両の前席乗員の視線を検出する第２の検出部と、
    　前記第１の検出部により検出された複数の道路標識のうち、前記第２の検出部により検出された前記前席乗員の視線に基づき、一の道路標識を特定する特定部と、
    　前記特定部により特定された前記一の道路標識に前照灯を照射させる制御部とを含む車両用前照灯制御装置と、
    　前記制御部による制御の下で前記一の道路標識を照射する前照灯と、
    　含む車両用前照灯制御システム。     a first detection unit that detects a plurality of road signs present in front of the vehicle;
    a second detection unit that detects a line of sight of a front seat occupant of the vehicle;
    an identifying unit that identifies one of the plurality of road signs detected by the first detecting unit based on the line of sight of the front seat occupant detected by the second detecting unit;
    a vehicle headlight control device including a control unit for illuminating the one road sign specified by the specifying unit with a headlight;
    a headlight that illuminates the one road sign under the control of the control unit;
    Including vehicle headlight control system.
  9. 　第１の検出部が、車両の前方に存在する複数の道路標識を検出し、
    　第２の検出部が、前記車両の前席乗員の視線を検出し、
    　特定部が、前記第１の検出部により検出された複数の道路標識のうち、前記第２の検出部により検出された前記前席乗員の視線に基づき、一の道路標識を特定し、
    　制御部が、前記特定部により特定された前記一の道路標識に前照灯を照射させる、
    　車両用前照灯制御方法。     A first detection unit detects a plurality of road signs present in front of the vehicle,
    A second detection unit detects a line of sight of a front seat occupant of the vehicle,
    a specifying unit specifying one road sign based on the line of sight of the front seat occupant detected by the second detecting unit, from among the plurality of road signs detected by the first detecting unit;
    The control unit illuminates the one road sign identified by the identification unit with a headlight;
    Vehicle headlight control method.
PCT/JP2021/037674 2021-10-12 2021-10-12 Vehicle headlight control device, vehicle headlight control system, and vehicle headlight control method WO2023062710A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009012608A (en) * 2007-07-04 2009-01-22 Denso Corp Vehicular lighting device
JP4534871B2 (en) * 2005-05-25 2010-09-01 株式会社デンソー Vehicle lighting device
JP2021107975A (en) * 2019-12-27 2021-07-29 本田技研工業株式会社 Vehicle control device, vehicle control method, and program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4534871B2 (en) * 2005-05-25 2010-09-01 株式会社デンソー Vehicle lighting device
JP2009012608A (en) * 2007-07-04 2009-01-22 Denso Corp Vehicular lighting device
JP2021107975A (en) * 2019-12-27 2021-07-29 本田技研工業株式会社 Vehicle control device, vehicle control method, and program

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