WO2023157116A1

WO2023157116A1 - Light distribution control device for vehicle

Info

Publication number: WO2023157116A1
Application number: PCT/JP2022/006126
Authority: WO
Inventors: 元貴堀口; 悟井上; 光昭岡田
Original assignee: 三菱電機株式会社
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2023-08-24
Also published as: JP7462861B2; JPWO2023157116A1

Abstract

A light distribution control device (1) for a vehicle comprises: a reception unit (11) that receives range information outputted by range sensors which are provided in a front portion and a rear portion of the vehicle and which detect an overtaking vehicle that overtakes the own vehicle; a location computation unit (12) that detects, on the basis of the range information, a separation distance between the own vehicle and the overtaking vehicle in the vehicle width direction and a corner of the overtaking vehicle; a relative speed computation unit (13) that calculates a relative speed of the overtaking vehicle on the basis of the corner; a glare generation direction computation unit (14) that predicts the direction of the overtaking vehicle on the basis of the separation distance and the relative speed; and a light distribution control unit (15) that issues a light-shield instruction to a headlight so as not to emit light toward the predicted direction.

Description

Vehicle light distribution control device

TECHNICAL FIELD The present disclosure relates to a vehicle light distribution control device, and more specifically, to prevent glare from being given to an overtaking vehicle that is overtaking the own vehicle when the own vehicle is traveling with high beams. .

Conventionally, there have been vehicles equipped with a forward imaging unit as a front camera that captures the forward direction, and controlling light distribution so as not to give glare to vehicles detected by this forward imaging unit. However, if another vehicle enters the field of view from the blind spot of the front camera, the camera recognizes the other vehicle and suppresses glare after the other vehicle enters the area illuminated by the headlights of the own vehicle. There is a time delay before the control is started, and during this time, glare continues to be given to other vehicles. Therefore, for example, in Patent Document 1, a detection sensor that detects the blind spots on the front side and the rear side of the own vehicle is provided, and when another vehicle is detected approaching the own vehicle from the blind spots, the low beam is changed from the high beam to the low beam in advance. or turning off a part of the area in advance.

JP 2021-109644 A

However, the conventional technology described in Patent Document 1 switches from a high beam to a low beam when detecting another vehicle approaching from a blind spot, or extinguishes a part of the area in advance by extinguishing the lamp that illuminates the other vehicle side. It was designed to uniformly turn off predetermined lamps when another vehicle approaches from the blind spot. That is, since the predetermined lamps are uniformly turned off until the other vehicle disappears out of the detection range after the other vehicle in the blind spot is sensed, the driver's field of vision is greatly sacrificed for a long time. There was a problem of making

The present disclosure has been made to solve the above-described problems, and even when an overtaking vehicle approaching from a blind spot is detected, the driver of the own vehicle does not give glare to the overtaking vehicle. The purpose is to ensure the visibility of

A vehicle light distribution control device according to the present disclosure includes a receiving unit that receives ranging information output by ranging sensors that are provided in front and behind a vehicle and detects an overtaking vehicle that overtakes the own vehicle, and based on the ranging information. a position calculation unit that detects the widthwise separation between the own vehicle and the passing vehicle and the corners of the passing vehicle, a relative speed calculation unit that calculates the relative speed of the passing vehicle based on the corners, a separation distance and Equipped with a glare generation direction calculator that predicts the direction of the passing vehicle based on the relative speed, and a light distribution controller that instructs the headlights to block light so as not to illuminate the predicted direction.

Even if the overtaking vehicle approaches from the blind spot of an imaging device for imaging the front of the own vehicle and overtakes the own vehicle, glare to the overtaking vehicle is suppressed and the driver's field of view of the own vehicle is maintained for a long time. Sacrifice can be restrained.

FIG. 3 is a diagram showing an example of a mode of light distribution control by the vehicle light distribution control device according to Embodiment 1; 1 is a block diagram showing a configuration example of a vehicle light distribution control device according to Embodiment 1; FIG. 4 is a flowchart for explaining the operation of the vehicle light distribution control device according to Embodiment 1; FIG. 4 is a diagram showing an example of a situation in which a right rear ranging sensor starts to detect an overtaking vehicle approaching from the right rear of the own vehicle in Embodiment 1; FIG. 4 is a diagram showing an example of a situation in which the right rear ranging sensor detects the left front corner of the passing vehicle after detecting the left front corner of the passing vehicle in the first embodiment; FIG. 4 is a diagram showing an example of a situation when a right front ranging sensor has started to detect an overtaking vehicle and a right rear ranging sensor has detected a left rear corner of the passing vehicle in the first embodiment; In the first embodiment, the right front ranging sensor detects the left front corner of the passing vehicle and then detects the left side of the passing vehicle, and the right rear ranging sensor detects the left rear corner of the passing vehicle. It is a figure which shows an example of the situation which stopped detecting. FIG. 7 is a block diagram showing a configuration example of a vehicle light distribution control device according to Embodiment 2; 9 is a flowchart for explaining the operation of the vehicle light distribution control device according to Embodiment 2; 1 is a diagram showing an example of a hardware configuration of a vehicle light distribution control device according to

Embodiments

1 and 2; FIG.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

Embodiment 1.
A vehicle light distribution control device 1 according to Embodiment 1 will be described with reference to FIGS. 1 to 7. FIG. A vehicle light distribution control device 1 according to Embodiment 1 is mounted on a vehicle and performs light distribution control for suppressing glare that is expected to occur to the driver of an overtaking vehicle.
FIG. 1 is a diagram showing an example of a mode of light distribution control by a vehicle light distribution control device 1 according to the first embodiment. In FIG. 1, a vehicle 2 is a vehicle equipped with the vehicle light distribution control device 1 according to the first embodiment (hereinafter referred to as "own vehicle").
The vehicle 3 is another vehicle (hereinafter referred to as "overtaking vehicle") that runs at a speed higher than the own vehicle 2 and overtakes the own vehicle 2. The passing vehicle 3 before overtaking the own vehicle 2 is indicated by the passing vehicle 3a with a dotted line. Also, the overtaking vehicle 3 after overtaking the own vehicle 2 is indicated by the overtaking vehicle 3b in solid lines.

The own vehicle 2 is provided with

distance measuring sensors

4L, 4R, 5L, and 5R on the front, rear, left, and right of the vehicle. Here, the left front ranging sensor is 4L, the right front ranging sensor is 4R, the left rear ranging sensor is 5L, and the right rear ranging sensor is 5R.
Symbols FSL, FSR, RSL, and RSR indicate detection ranges of the ranging

sensors

4L, 4R, 5L, and 5R. Symbol Hi indicates the light distribution area of the running lights illuminated by the headlights of the own vehicle 2 . The range Gl surrounded by the dashed line and the solid line in the light distribution area Hi is the range in which the driver of the overtaking vehicle 3 is caused to glare (hereinafter referred to as the "glare generation range"), that is, the headlights should be dimmed. A region (hereinafter referred to as a “light shielding region”) is shown. An arrow TP1 indicates the traveling direction of the own vehicle 2 .

The side mirrors of the overtaking vehicle 3 are indicated by symbol SM. A symbol FC indicates a front corner of the overtaking vehicle 3 . The symbol RC indicates the rear corner of the overtaking vehicle 3 . An arrow TP2 indicates the traveling direction of the overtaking vehicle 3 .

In the following description, as shown in FIG. 1, the overtaking vehicle 3 is traveling in the right lane at a faster speed than the own vehicle 2, and will overtake the own vehicle 2 from the right rear of the own vehicle 2. Here, side mirror SM will be described as a left side mirror. The illustration of the right side mirror is omitted. Further, it is assumed that the front corner FC of the overtaking vehicle 3 is the left front corner, and the rear corner RC is the left rear corner. In addition, the x-axis direction is the traveling direction of the vehicle, the y-axis direction is the vehicle width direction, and the z-axis direction is the vertical direction of the vehicle.

The vehicle light distribution control device 1 calculates the relative speed between the host vehicle 2 and the passing vehicle 3 and the inter-vehicle distance between the host vehicle 2 and the passing vehicle 3 in the vehicle width direction (hereinafter referred to as , “separation processing”), the direction of the overtaking vehicle 3 that gives glare to the driver of the overtaking vehicle 3 in the light distribution area Hi of the host vehicle 2 is accurately predicted. The vehicular light distribution control device 1 suppresses the generation of glare to the driver of the overtaking vehicle 3 by not illuminating the predicted direction and shielding the glare generation range Gl.
That is, the direction and timing of the overtaking vehicle 3 that generates glare to the driver of the overtaking vehicle 3 can be accurately predicted, the range in which the glare is generated can be shaded, and the decrease in the light distribution area of the own vehicle 2 can be minimized. Since it can be suppressed, it is possible to achieve light distribution that does not sacrifice the field of view of the driver of the own vehicle 2 .

Here, a process of estimating the direction of the passing vehicle 3 that causes glare to the driver of the passing vehicle 3 and shielding the glare generation range Gl by the vehicle light distribution control device 1 will be described.
In FIG. 1, the symbol X1 indicates the distance in the x-axis direction from the own vehicle 2 to the left front corner FC of the overtaking vehicle 3b. Specifically, in the first embodiment, the symbol X1 indicates the distance in the x-axis direction from the center front end FR of the own vehicle 2 to the left front corner FC of the overtaking vehicle 3 .
A symbol X2 indicates the distance in the x-axis direction from the center front end FR of the own vehicle 2 to the side mirror SM of the overtaking vehicle 3 .
The symbol ΔX indicates the distance between the left front corner FC of the overtaking vehicle 3 and the left side mirror SM.

In addition, in FIG. 1, symbol Y1 indicates the separation distance between own vehicle 2 and overtaking vehicle 3. A symbol Y2 indicates the distance in the y-axis direction from the center front end FR of the own vehicle 2 to the left side mirror SM of the overtaking vehicle 3 .

Symbol W is the width of the own vehicle 2 and is a known value determined for each vehicle type. The symbol SD indicates the distance between the right front ranging sensor 4R and the right rear ranging sensor 5R (hereinafter referred to as "distance between ranging sensors"). The distance between ranging sensors SD is a known value that is determined for each vehicle type.
Symbol D is the distance in the x-axis direction from the right front ranging sensor 4R to the central front end FR of the vehicle 2, and is a known value determined for each vehicle type.

The angle θ indicates the direction of the passing vehicle 3 that causes glare to the driver of the passing vehicle 3 (hereinafter referred to as "shading angle"). Here, the vehicular light distribution control device 1 calculates the light shielding angle θ based on the direction of the left side mirror SM of the overtaking vehicle 3 . This is because the direction of the left side mirror SM is the limit direction for giving glare to the driver because the light irradiated to the left side mirror SM is reflected and gives glare to the driver.

The vehicular light distribution control device 1 determines the inter-range sensor distance SD, the time T1 at which the left front corner FC is detected by the right front range sensor 4R when the overtaking vehicle 3a overtakes the own vehicle 2, and the left front corner Using the time T2 at which FC is detected by the right rear ranging sensor 5R, the relative speed Vr of the overtaking vehicle 3a is calculated by Equation (1).

Vr=SD/(T1-T2) (1)

In addition, the vehicle light distribution control device 1 calculates the separation distance Y1 based on the detection result of the right rear ranging sensor 5R. A method of calculating the separation distance Y1 will be described later.

Then, the vehicular light distribution control device 1 determines the direction of the overtaking vehicle 3b after T seconds when the overtaking vehicle 3a continues traveling at the relative speed Vr after detecting the left front corner FC. Prediction is made based on the distance Y1.
Specifically, the vehicular light distribution control device 1 uses the relative velocity Vr and the distance D to calculate the distance X1 after T seconds by Equation (2).

X1=T*Vr-D (2)

After that, the vehicle light distribution control device 1 predicts the direction of the overtaking vehicle 3b, that is, the light shielding angle θ, using the equation (3).

θ=tan ⁻¹ X2/Y2=tan ⁻¹ (X1−ΔX)/(Y+W/2) (3)

Then, the vehicular light distribution control device 1 blocks light in the direction indicated by the predicted light shielding angle θ and shields the glare generation range Gl.

FIG. 2 is a block diagram showing a configuration example of the vehicle light distribution control device 1 according to the first embodiment.
A forward ranging sensor 4 , a rear ranging sensor 5 , an imaging device 6 and a headlight 7 are connected to the vehicle light distribution control device 1 .
The distance measurement sensor is an ultrasonic sensor, and transmits distance measurement information including information on the detection time and detection distance of the search wave to the receiving unit 11, which will be described later.
A forward ranging sensor 4 and a rear ranging sensor 5 detect an overtaking vehicle 3 overtaking the own vehicle 2 . The forward ranging sensors 4 are ranging

sensors

4R and 4L provided on the left and right sides in front of the vehicle 2 as shown in FIG. The rear ranging sensors 5 are ranging

sensors

5R and 5L provided on the left and right sides behind the vehicle 2 as shown in FIG.
In the following description, the front ranging sensor 4 is the right front ranging sensor 4R, and the rear ranging sensor 5 is the right rear ranging sensor 5R. Note that the ranging sensor may be a millimeter wave radar or LiDAR (Light Detection And Ranging).

The imaging device 6 is provided in the own vehicle 2 so as to photograph the vehicle traveling direction of the own vehicle 2 . The imaging device 6 captures an image of the direction in which the vehicle is traveling, and also detects a vehicle ahead of the own vehicle 2, that is, an overtaking vehicle 3, based on the captured image. The imaging device 6 transmits the detected direction of the passing vehicle 3 to the light distribution control unit 15, which will be described later. In the following description, it is assumed that the imaging device 6 detects the passing vehicle 3 by detecting the rear lamp (not shown) of the passing vehicle 3, but the present invention is not limited to this.

The headlights 7 include headlights for passing (low beam) and headlights for running (high beam). The running headlamp is a variable light distribution lamp (hereinafter referred to as "ADB (Advanced Driving Beam)") capable of controlling a light distribution pattern. ADB can block certain areas and illuminate others.

The vehicle light distribution control device 1 includes a receiver 11 , a position calculator 12 , a relative velocity calculator 13 , a glare generation direction calculator 14 and a light distribution controller 15 .
The receiving unit 11 receives ranging information transmitted by the right front ranging sensor 4R and the right rear ranging sensor 5R. The receiving unit 11 then transmits the received ranging information to the position calculating unit 12 as time-series information.

The position calculation unit 12 detects the separation distance Y1 between the host vehicle 2 and the passing vehicle 3 and the corner of the passing vehicle 3 based on the distance measurement information transmitted by the receiving unit 11 .
Here, the corner is the left front corner FC of the overtaking vehicle 3 . The position calculation unit 12 specifies each distance measurement information when the right front distance measurement sensor 4R and the right rear distance measurement sensor 5R detect the left front corner FC of the overtaking vehicle 3, and transmits the information to the relative speed calculation unit 13. .
Further, the position calculation unit 12 transmits the separation distance Y1 and distance measurement information when the right front distance measurement sensor 4R detects the left front corner FC to the glare generation direction calculation unit 14 .

The relative speed calculator 13 calculates the relative speed of the overtaking vehicle 3 based on the corner detected by the position calculator 12 . Specifically, the relative speed calculator 13 calculates the relative speed Vr of the overtaking vehicle 3 based on the detection time included in each distance measurement information transmitted from the position calculator 12 .

The relative speed calculator 13 detects the front left corner FC of the overtaking vehicle 3 at the time T1 included in the distance measurement information when the front right ranging sensor 4R detects the front left corner FC of the overtaking vehicle 3. The relative speed Vr of the overtaking vehicle 3 is calculated by Equation (1) using the time T2 included in the distance measurement information when FC is detected and the distance SD between the distance measurement sensors. The relative velocity calculator 13 then transmits the calculated relative velocity Vr to the glare generation direction calculator 14 .

The glare generation direction calculation unit 14 predicts the direction of the passing vehicle 3 based on the separation distance Y1 transmitted by the position calculation unit 12 and the relative speed Vr transmitted by the relative speed calculation unit 13 . Specifically, the glare generation direction calculator 14 calculates the light shielding angle θ using the above-described equation (3) using the separation distance Y1 and the relative velocity Vr. The glare generation direction calculation unit 14 then transmits the predicted direction to the light distribution control unit 15 .

The light distribution control unit 15 instructs the headlights 7 to block part of the light distribution so as not to illuminate the direction of the passing vehicle 3 transmitted by the glare generation direction calculation unit 14 .
Further, when the passing vehicle 3 is detected by the imaging device 6 , the light distribution control unit 15 controls the headlights 7 so as not to illuminate the passing vehicle 3 based on the direction of the passing vehicle 3 received from the imaging device 6 . instruct to block part of the light distribution.
That is, until the passing vehicle 3 is detected by the imaging device 6, the light distribution control unit 15 performs light distribution control based on the direction calculated by the glare generation direction computing unit 14, and the overtaking vehicle 3 is detected by the imaging device. After detection by 6 , light distribution control is performed based on the information output by imaging device 6 .

Next, the operation of the vehicle light distribution control device 1 according to Embodiment 1 will be described.
FIG. 3 is a flow chart for explaining the operation of the vehicle light distribution control device 1 according to the first embodiment.
Here, as shown in FIG. 1, it is assumed that the overtaking vehicle 3 overtakes the own vehicle 2 from the right rear at a higher speed than the own vehicle 2. FIG.

First, the right front ranging sensor 4R and the right rear ranging sensor 5R are driven. Then, the right front ranging sensor 4R and the right rear ranging sensor 5R transmit ranging information to the receiving section 11 (step ST101).
When the receiving unit 11 receives the ranging information transmitted by the right rear ranging sensor 5R ("YES" in step ST102), it determines that there is an overtaking vehicle 3, and converts the ranging information into time-series information. , to the position calculation unit 12 . After that, the processing of the vehicle light distribution control device 1 proceeds to step ST103. On the other hand, if the receiver 11 has not received the ranging information transmitted by the right rear ranging sensor 5R ("NO" in step ST102), it determines that there is no overtaking vehicle 3, and determines that there is no overtaking vehicle 3. The light control device 1 repeats the process of step ST102.

FIG. 4 is a diagram showing an example of a situation in which the right rear ranging sensor 5R begins to detect the overtaking vehicle 3 approaching from the right rear of the own vehicle 2. As shown in FIG.
FIG. 4A is a diagram showing an example of the positional relationship between the own vehicle 2 and the passing vehicle 3 when the passing vehicle 3 enters the detection range RSR from the outside of the detection range RSR of the right rear ranging sensor 5R. be.
4B shows distance measurement information output by the right rear distance measurement sensor 5R and the right front distance measurement sensor 4R until the overtaking vehicle 3 approaches from the right rear of the own vehicle 2 and the positional relationship shown in FIG. 4A is established. It is a figure which shows an example. In FIG. 4B, the vertical axis is time and the horizontal axis is the detected distance output by the range finding sensor, and the results of detection by the range finding sensor are plotted.

In FIG. 4B, plotted points t51 and t52 are ranging information output by the right rear ranging sensor 5R.
A plot point t51 indicates the detection distance and the detection time when the right rear ranging sensor 5R detects the passing vehicle 3 for the first time. In the following description, the time at which the right rear ranging sensor 5R first detects the overtaking vehicle 3 will be used as a reference.
A plot point t52 indicates distance measurement information when the right rear distance measurement sensor 5R detects the overtaking vehicle 3 approaching the host vehicle 2 thereafter.
Here, since the passing vehicle 3 is not within the detection range FSR of the front right ranging sensor 4R, there is no plotted point indicating the detection result of the front right ranging sensor 4R in FIG. 4B.

The right rear ranging sensor 5R transmits ranging information corresponding to the plot points t51 and t52 to the receiving section 11. The receiving unit 11 receives the ranging information transmitted by the right rear ranging sensor 5R. Since the receiving unit 11 has received the ranging information transmitted by the right rear ranging sensor 5R ("YES" in step ST102), it determines that there is an overtaking vehicle 3, and converts the ranging information into time-series information. , to the position calculation unit 12 .

Subsequently, the position calculation unit 12 specifies the distance measurement information when the left front corner FC of the overtaking vehicle 3 is detected by the right rear distance measurement sensor 5R based on the distance measurement information transmitted by the reception unit 11. (Step ST103).

FIG. 5 is a diagram showing the situation when the overtaking vehicle 3 moves further forward from the situation shown in FIG. FIG. 5 is a diagram showing an example of a situation in which the right rear ranging sensor 5R detects the left side of the overtaking vehicle 3 after detecting the left front corner FC of the overtaking vehicle 3. As shown in FIG. FIG. 5A shows the positional relationship between the own vehicle 2 and the passing vehicle 3 when the right rear ranging sensor 5R detects the left front corner FC of the passing vehicle 3 and then detects the left side of the passing vehicle 3. It is a figure which shows an example.

FIG. 5B shows an example of ranging information output by the right rear ranging sensor 5R and the right front ranging sensor 4R from the time the overtaking vehicle 3 approaches from the right rear of the own vehicle 2 to the situation in FIG. 5A. FIG. 4 is a diagram showing; In FIG. 5B, plotted points t53 to t55 are ranging information output by the right rear ranging sensor 5R from the situation in FIG. 4A to the situation in FIG. 5A.

A plot point t<b>53 indicates distance measurement information when the right rear distance measurement sensor 5</b>R detects the left front corner FC of the overtaking vehicle 3 . Plot points t54 and t55 indicate distance measurement information when the right rear distance measurement sensor 5R detects the left side of the overtaking vehicle 3. FIG. Since the overtaking vehicle 3 is running parallel to the own vehicle 2 and the right rear ranging sensor 5R detects the left side of the overtaking vehicle 3, the detection distance transmitted by the right rear ranging sensor 5R is plotted. As shown from point t53 to plotted point t55, the variation decreases and becomes almost constant.
Since the passing vehicle 3 is not within the detection range FSR of the front right ranging sensor 4R, there is no plotted point indicating the detection result of the front right ranging sensor 4R in FIG. 5B.

Here, based on the ranging information shown in FIG. 5B, the position calculating unit 12 specifies ranging information when the left front corner FC of the overtaking vehicle 3 is detected by the right rear ranging sensor 5R. Specifically, the position calculation unit 12 selects the first ranging information among the plurality of ranging information in the range where the detection distance is almost constant with little variation in the ranging information of the right rear ranging sensor 5R. That is, the plot point t53 in FIG. 5B is specified as the distance measurement information when the left front corner FC is detected by the right rear distance measurement sensor 5R (step ST103). The position calculation unit 12 then transmits the specified distance measurement information t<b>53 to the relative speed calculation unit 13 .

Subsequently, when the receiving unit 11 receives the ranging information transmitted by the right front ranging sensor 4R ("YES" in step ST104), the overtaking vehicle 3 is detected by the right front ranging sensor 4R. If so, it is determined that the overtaking vehicle 3 has advanced to the side of the own vehicle 2, and the processing of the vehicle light distribution control device 1 proceeds to step ST105.
On the other hand, if the receiver 11 has not received the ranging information transmitted by the right front ranging sensor 4R ("NO" in step ST104), the overtaking vehicle 3 has advanced to the side of the own vehicle 2. The vehicular light distribution control device 1 repeats the process of step ST104.

FIG. 6 is a diagram showing a situation when the overtaking vehicle 3 moves further forward from the situation shown in FIG. FIG. 6 is a diagram showing an example of a situation when the right front ranging sensor 4R has started to detect the passing vehicle 3 and the right rear ranging sensor 5R has detected the left rear corner RC of the passing vehicle 3. In FIG. be.
FIG. 6A shows when the overtaking vehicle 3 moves from outside the detection range FSR of the right front ranging sensor 4R into the detection range FSR, and the right rear ranging sensor 5R detects the left rear corner RC of the overtaking vehicle 3. is a diagram showing an example of the positional relationship between the own vehicle 2 and the overtaking vehicle 3 when is detected.
FIG. 6B shows an example of ranging information output by the right rear ranging sensor 5R and the right front ranging sensor 4R from the time the overtaking vehicle 3 approaches from the right rear of the own vehicle 2 to the situation in FIG. 6B. FIG. 4 is a diagram showing;

In FIG. 6B, plotted points t56 and t57 are ranging information output by the right rear ranging sensor 5R from the situation in FIG. 5A to the situation in FIG. 6A. A plot point t41 and a plot point t42 are ranging information output by the right front ranging sensor 4R.
A plot point t56 is distance measurement information when the right rear distance measurement sensor 5R detects the left side of the overtaking vehicle 3. FIG. A plot point t57 is distance measurement information when the right rear distance measurement sensor 5R detects the left rear corner RC of the overtaking vehicle 3. FIG. Since the own vehicle 2 and the passing vehicle 3 are running side by side, the variation in the detection distance between the plotted points t56 and t57 decreases and becomes almost constant, like the plotted points t53 to t55.

A plot point t41 indicates distance measurement information when the right front distance measurement sensor 4R first detects the overtaking vehicle 3. A plot point t42 indicates distance measurement information when the forward right distance measurement sensor 4R detects the overtaking vehicle 3 that has moved forward thereafter.

The receiving unit 11 receives the ranging information output by the right rear ranging sensor 5R and the right front ranging sensor 4R (step ST104).

Since the receiver 11 has received the ranging information transmitted by the right front ranging sensor 4R ("YES" in step ST104), it determines that the overtaking vehicle 3 has advanced to the side of the own vehicle 2. Then, the distance measurement information output from the right rear distance measurement sensor 5R and the right front distance measurement sensor 4R is transmitted to the position calculation unit 12 as time-series information.

Next, the position calculation unit 12 specifies the distance measurement information when the right front distance measurement sensor 4R detects the left front corner FC of the overtaking vehicle 3 based on the distance measurement information transmitted by the reception unit 11. (step ST105). After that, the position calculation section 12 calculates the separation distance Y1 between the own vehicle 2 and the overtaking vehicle 3 based on the distance measurement information of the right rear distance measurement sensor 5R (step ST106).

FIG. 7 is a diagram showing a situation when the overtaking vehicle 3 has moved further forward from the situation shown in FIG. FIG. 7 shows that the right front ranging sensor 4R detects the left front corner FC of the overtaking vehicle 3 and then detects the left side of the overtaking vehicle 3, and the right rear ranging sensor 5R detects the left front corner FC of the overtaking vehicle 3. FIG. 10 is a diagram showing an example of a situation in which the left rear corner RC is no longer detected;
FIG. 7A shows that the right front ranging sensor 4R detects the left front corner FC of the passing vehicle 3 and then detects the left side of the passing vehicle 3, and the left rear corner RC of the passing vehicle 3 is detected on the right side. 4 is a diagram showing an example of the positional relationship between the own vehicle 2 and the overtaking vehicle 3 when the vehicle moves out of the detection range RSR of the rear ranging sensor 5R. FIG.
FIG. 7B shows an example of ranging information output by the right rear ranging sensor 5R and the right front ranging sensor 4R from the time the overtaking vehicle 3 approaches from the right rear of the own vehicle 2 to the situation in FIG. 7A. FIG. 4 is a diagram showing;

In FIG. 7B, plotted points t58 and t59 are ranging information output by the right rear ranging sensor 5R from the situation in FIG. 6A to the situation in FIG. 7A. Plotted points t43 to t45 are ranging information output by the right front ranging sensor 4R.
Plotted points t58 and t59 are plotted when the overtaking vehicle 3 moves away from the right rear ranging sensor 5R, that is, when it moves out of the detection range RSR from within the detection range RSR. This is ranging information output by 5R. Since the overtaking vehicle 3 moves away from the right rear ranging sensor 5R, the detection distance increases as time elapses.

A plot point t43 indicates distance measurement information when the right front distance measurement sensor 4R detects the left front corner FC of the overtaking vehicle 3. FIG. A plot point t44 and a plot point t45 indicate distance measurement information when the right front distance measurement sensor 4R detects the left side of the overtaking vehicle 3. FIG.
Since the overtaking vehicle 3 is running parallel to the own vehicle 2 and the right front ranging sensor 4R detects the left side of the overtaking vehicle 3, the detection distance transmitted by the right front ranging sensor 4R is plotted from t43. As shown at point t45, the variation is reduced and becomes almost constant.

Here, based on the ranging information shown in FIG. 7B, the position calculating unit 12 specifies ranging information when the front left corner FC of the overtaking vehicle 3 is detected by the forward right ranging sensor 4R. Specifically, the position calculation unit 12 selects the first distance measurement information among the plurality of distance measurement information in the range where the detection distance is almost constant with little variation in the distance measurement information of the right front distance measurement sensor 4R. That is, the plotted point t43 in FIG. 7B is specified as the distance measurement information in which the left front corner FC is detected by the right front distance measurement sensor 4R (step ST105). The position calculation unit 12 then transmits the specified distance measurement information t<b>43 to the relative speed calculation unit 13 .

Further, the position calculation unit 12 calculates the distance Y1 between the own vehicle 2 and the overtaking vehicle 3 based on the distance measurement information output by the right rear distance measurement sensor 5R (step ST106). Specifically, when the right front ranging sensor 4R detects the left front corner FC of the overtaking vehicle 3, the position calculation unit 12 determines that the distance measurement information from the right rear ranging sensor 5R has variations in the detected distance. The separation distance Y1 is calculated as an average value of a plurality of pieces of distance measurement information within a small and substantially constant range, for example, the detection distance from the plot point t54 to the plot point t56.
Then, the position calculation unit 12 transmits distance measurement information t43 when the distance Y1 and the left front corner FC are detected by the right front distance measurement sensor 4R to the glare occurrence direction calculation unit 14 .

Subsequently, the relative speed calculator 13 calculates the relative speed of the overtaking vehicle 3 based on the corner detected by the position calculator 12 (step ST107). Specifically, the relative speed Vr of the passing vehicle 3 is calculated based on each time when the left front corner FC of the passing vehicle 3 is detected by the right front ranging sensor 4R and the right rear ranging sensor 5R (step ST107). ). Then, the overtaking vehicle 3 transmits the calculated relative velocity Vr to the glare generation direction calculator 14 .

Here, the relative velocity calculation unit 13 receives from the position calculation unit 12 the detection time T1 included in the distance measurement information t43 when the right front distance measurement sensor 4R detects the left front corner FC, the right rear distance measurement The overtaking vehicle 3 is calculated (step ST107). The relative velocity calculator 13 then transmits the relative velocity Vr to the glare generation direction calculator 14 .

Thereafter, the glare generation direction calculation unit 14 predicts the direction of the passing vehicle based on the separation distance calculated by the position calculation unit 12 and the relative speed of the passing vehicle 3 calculated by the relative speed calculation unit 13 (step ST108). . Specifically, the light shielding angle θ is calculated based on the formula (3) described above.
Then, the light distribution control unit 15 instructs the headlight 7 to block part of the light distribution so as not to emit light in the glare generation direction calculated by the glare generation direction calculation unit 14 (step ST109).

In FIG. 1, the passing vehicle 3b indicated by the solid line is an example of the situation when the passing vehicle 3 overtakes the own vehicle 2, that is, the situation of the passing vehicle 3 predicted by the glare generation direction calculation unit 14. Specifically, the passing vehicle 3b is an example of the situation of the passing vehicle 3 T seconds after the left front corner FC of the passing vehicle 3 is detected by the right front ranging sensor 4R.

The glare generation direction calculation unit 14 receives distance measurement information from the position calculation unit 12 when the separation distance Y1 and the left front corner FC are detected by the right front distance measurement sensor 4R. Also, the glare generation direction calculation unit 14 receives the relative speed Vr from the relative speed calculation unit 13 . Then, the glare generation direction calculation unit 14 predicts the direction of the overtaking vehicle 3b after T seconds when the overtaking vehicle 3 continues traveling at the relative speed Vr after the detection of the left front corner FC. Specifically, the glare generation direction calculator 14 calculates the light shielding angle θ by the above-described formula (3) (step ST108).

The light distribution control unit 15 instructs the headlight 7 to block part of the light distribution so as not to irradiate the glare generation direction transmitted by the glare generation direction calculation unit 14, that is, the direction of the blocking angle θ. (Step ST109). Specifically, the light distribution control unit 15 instructs the headlight 7 to block light based on the blocking angle θ so as not to irradiate the glare generation range Gl shown in FIG. 1 .

When the passing vehicle 3 is detected by the imaging device 6 and the direction of the passing vehicle 3 transmitted by the imaging device 6 is received (“YES” in step ST110), the light distribution control unit 15 changes the received direction. The headlight 7 is instructed to shield part of the light distribution so as not to irradiate (step ST111). On the other hand, if the passing vehicle 3 is not detected by the imaging device 6 ("NO" in step ST110), the process returns to step ST108.

This is because the glare generation range Gl changes according to the direction of the passing vehicle 3 that changes with the passage of time. This is for controlling the light shielding area based on information such as the relative velocity Vr. Specifically, the vehicular light distribution control device 1 predicts the direction of the passing vehicle 3 when the passing vehicle 3 continues traveling at the current relative speed Vr, and the glare of the passing vehicle 3 occurs in the predicted direction. Calculating the range Gl.

The light shielding control following the direction of the overtaking vehicle 3 described above is performed in a short period from when the overtaking vehicle 3 is positioned in front of the own vehicle 2 until it is detected by the imaging device 6. Even if the vehicle speed of the overtaking vehicle 3 changes, no large error occurs.

As described above, the vehicle light distribution control device 1 gives glare to the driver of the passing vehicle in the light distribution area of the own vehicle based on the relative speed and distance from the passing vehicle, and accurately determines the direction of the passing vehicle. predict to The vehicular light distribution control device 1 suppresses the occurrence of glare to the driver of the overtaking vehicle by not emitting the light in the predicted direction.
In other words, it is possible to accurately predict the direction and timing of the overtaking vehicle that causes glare to the driver of the overtaking vehicle, shade the range in which glare is generated, and minimize the decrease in the light distribution area of the own vehicle. can.
Therefore, even if the passing vehicle overtakes the own vehicle from the blind spot of the imaging device that images the front of the own vehicle, the glare to the passing vehicle is suppressed and the visibility of the driver of the own vehicle is sacrificed for a long time. can be suppressed.

Although the direction of the overtaking vehicle 3, that is, the light shielding angle θ is calculated based on the center front end FR of the own vehicle 2, it is not limited to this. For example, the light shielding angle θ may be calculated based on the position of the right headlight of the own vehicle 2 . In this case, the distance X2 is the distance from the right headlight of the own vehicle 2 to the left side mirror SM of the overtaking vehicle 3 in the x-axis direction. Further, the distance Y2 is the distance in the y-axis direction from the right headlight of the own vehicle 2 to the left side mirror SM of the overtaking vehicle 3 .
Here, the distance D is the distance in the x-axis direction from the right front ranging sensor 4R to the right headlight, and a known value determined for each vehicle type may be used. Also, since the distance from the right side of the vehicle 2 to the right headlight is a known value that is determined for each vehicle type, the distance Y2 can be calculated by adding the distance Y1 to that distance.

Embodiment 2.
FIG. 8 is a diagram showing a configuration example of a vehicle light distribution control device 1a according to Embodiment 2. As shown in FIG. A vehicle light distribution control device 1a according to the second embodiment has a configuration in which a vehicle length calculation unit 16 is added to the vehicle light distribution control device 1 of the first embodiment shown in FIG. In FIG. 8, parts identical or corresponding to those in FIG.

In the vehicle light distribution control device 1 according to Embodiment 1, the distance between the left front corner FC of the passing vehicle 3 and the left side mirror SM is constant. However, the distance differs depending on the vehicle type of the overtaking vehicle 3 .
Therefore, the vehicle light distribution control device 1a determines the vehicle type of the overtaking vehicle 3 by calculating the vehicle length of the overtaking vehicle 3, and based on the vehicle type, the position of the left side mirror SM of the overtaking vehicle 3, specifically, estimates the distance ΔX between the left front corner FC and the left side mirror SM.

As a result, it is possible to predict the direction in which the driver of the overtaking vehicle 3 will experience glare according to the vehicle type of the overtaking vehicle 3, so that the glare to other vehicles can be suppressed and the own vehicle can be illuminated for a long period of time. 2, sacrificing the driver's field of view can be suppressed.
Here, the vehicle type is information indicating whether the vehicle is a compact vehicle such as a light vehicle, a standard vehicle, or a large vehicle such as a truck. Since there is no great difference in the positions of the side mirrors in the same vehicle type, the predetermined distance ΔXa is defined for each vehicle type.

The position calculation unit 12a specifies the distance measurement information when the left front corner FC and the left rear corner RC of the overtaking vehicle 3 are detected by the right rear distance measurement sensor 5R of the own vehicle 2, and outputs each distance measurement information to the vehicle. It is transmitted to the length calculation unit 16 .
Also, the relative speed calculator 13 a transmits the calculated relative speed Vr to the vehicle length calculator 16 .

The vehicle length calculation unit 16 calculates the vehicle type of the overtaking vehicle 3 based on the vehicle length of the overtaking vehicle 3 calculated based on the detection time of the left front corner FC and the left rear corner RC of the overtaking vehicle 3 and the relative speed Vr. discriminate. Then, the vehicle length calculation unit 16 transmits the determined vehicle type to the glare occurrence direction calculation unit 14a.
Here, the detection time of the left front corner FC and the left rear corner RC of the overtaking vehicle 3 is the detection time included in each distance measurement information transmitted by the position calculation unit 12a.

The vehicle length calculator 16 calculates the difference Δt between the detection times included in the distance measurement information transmitted by the position calculator 12a. Δt is the time required from the detection of the left front corner FC of the overtaking vehicle 3 by the right rear ranging sensor 5R to the detection of the left rear corner RC by the right rear ranging sensor 5R.
Then, the vehicle length calculation unit 16 calculates the vehicle length L of the overtaking vehicle 3 using the equation (4) based on the relative speed Vr and the difference Δt between the detection times.

L=Vr*Δt (4)

For example, when the vehicle length L is shorter than a predetermined vehicle length L1, the vehicle length calculation unit 16 determines that the vehicle type of the overtaking vehicle 3 is a light vehicle. Further, when the vehicle length L is longer than the vehicle length L1 and shorter than the predetermined vehicle length L2, the vehicle length calculation unit 16 determines that the vehicle type of the overtaking vehicle 3 is an ordinary vehicle. Further, when the vehicle length L is longer than the vehicle length L2, the vehicle length calculation unit 16 determines that the vehicle type of the overtaking vehicle 3 is a large vehicle.

The glare generation direction calculation unit 14 a adjusts the predicted glare generation direction based on the vehicle type transmitted by the vehicle length calculation unit 16 .
The glare generation direction calculator 14a estimates the distance ΔXa between the left front corner FC of the overtaking vehicle 3 and the left side mirror SM based on the vehicle type. For example, the glare generation direction calculator 14a stores the correspondence between the vehicle type and the distance ΔXa in a memory (not shown), and estimates the distance ΔXa corresponding to the vehicle type by referring to the correspondence. Then, the glare generation direction calculator 14a uses the estimated distance ΔXa to adjust the glare generation direction.
Specifically, the glare generation direction calculation unit 14a calculates the light blocking angle θ using the distance ΔXa estimated based on the vehicle type instead of the predetermined distance ΔX in the above-described formula (3).

Next, the operation of the vehicle light distribution control device 1a according to the second embodiment will be described.
FIG. 9 is a flow chart for explaining the operation of the vehicle light distribution control device 1a according to the second embodiment. Note that the processing from steps ST201 to ST207 and from steps ST211 to ST213 in FIG. 9 are the same as the processing from steps ST101 to ST107 and from steps ST109 to ST111 in FIG.
Here, as in the first embodiment, as shown in FIGS. 4A to 7A, it is assumed that the passing vehicle 3 overtakes the own vehicle 2 from the right rear at a higher speed than the own vehicle 2. FIG.

Also, as a result of the processing from step ST201 to step ST207, it is assumed that the positional relationship between own vehicle 2 and overtaking vehicle 3 is as shown in FIG. 7A. At this time, the distance measurement information t53 when the left front corner FC is detected by the right rear distance measurement sensor 5R and the distance measurement when the left front corner FC is detected by the right front distance measurement sensor 4R are obtained by the position calculation unit 12a. Information t43 is specified. Also, the separation distance Y1 is calculated by the position calculation unit 12a.
Also, the relative velocity Vr is calculated by the relative velocity calculator 13a.

Based on the ranging information shown in FIG. 7B transmitted by the receiving unit 11, the position calculating unit 12a calculates the ranging information when the right rear ranging sensor 5R detects the left rear corner RC of the overtaking vehicle 3. Identify (step ST208).
Specifically, the position calculation unit 12a selects the last ranging information among the plurality of ranging information in the range where the detection distance is almost constant with little variation in the ranging information of the right rear ranging sensor 5R. That is, the plotted point t57 in FIG. 7B is specified, and the plotted point t57 is specified as the distance measurement information when the left rear corner RC is detected.
Then, the position calculation unit 12a calculates the vehicle length using the distance measurement information t53 when the left front corner FC is detected by the right rear distance measurement sensor 5R and the distance measurement information t57 when the left rear corner RC is detected. Send to unit 16 .

The vehicle length calculation unit 16 calculates the vehicle length of the overtaking vehicle 3 based on the distance measurement information transmitted by the position calculation unit 12a and the relative vehicle speed Vr calculated by the relative speed calculation unit 13a. The vehicle type of the overtaking vehicle 3 is discriminated based on the length (step ST209).
Here, the vehicle length calculation unit 16 calculates the vehicle length L by the above-described formula (4) based on the detection time T57 included in the ranging information t57, the detection time T53 included in the ranging information t53, and the relative speed Vr. = Vr*(T57-T53) is calculated. Then, based on the calculated vehicle length L, the vehicle type of the overtaking vehicle 3 is determined.

Then, the glare occurrence direction calculation unit 14a estimates the distance ΔXa corresponding to the vehicle type calculated by the vehicle length calculation unit 16, and uses the distance ΔXa to calculate the light shielding angle θ based on the above-described formula (3). do. (Step ST210).

As described above, the vehicle length of the overtaking vehicle is calculated, and the direction of the left side mirror of the overtaking vehicle is estimated based on the vehicle type determined from the vehicle length.
As a result, it is possible to predict the direction and timing of generating glare to the driver of the passing vehicle according to the vehicle type of the passing vehicle. It is possible to suppress sacrificing the driver's field of view.

If the overtaking vehicle 3 is a large vehicle, when the left rear corner RC of the overtaking vehicle 3 is detected by the right rear ranging sensor 5R, the overtaking vehicle 3 has already advanced to a position where glare is generated for the driver. It is assumed that
Therefore, the vehicle length calculation unit 16 detects the front left corner FC of the passing vehicle 3 by both the front right ranging sensor 4R and the rear right ranging sensor 5R, and detects the front left corner FC of the passing vehicle 3. After being detected by the distance sensor 4R, the overtaking vehicle 3 leads the own vehicle 2 by a predetermined distance, and the left rear corner RC of the overtaking vehicle 3 is detected by the right rear ranging sensor 5R. If not, it may be determined that the overtaking vehicle 3 is a large vehicle.

10A and 10B are diagrams showing an example of the hardware configuration of the vehicle light distribution control devices 1 and 1a according to

Embodiments

1 and 2. FIG. The vehicle light distribution control device 1 according to the first embodiment and the vehicle light distribution control device 1a according to the second embodiment have the same hardware configuration.
In

Embodiments

1 and 2, the receiver 11, the

position calculators

12 and 12a, the relative velocity calculators 13 and 13a, the glare generation direction calculators 14 and 14a, the light distribution controller 15, The function of the vehicle length calculator 16 is implemented by the processing circuit 21 . That is, the vehicle light distribution control device 1, 1a predicts the direction of the overtaking vehicle based on the distance and relative speed between the own vehicle and the overtaking vehicle, and controls the headlights 7 so as not to illuminate the predicted direction. A processing circuit 21 is provided for performing control to block part of the light distribution.

The processing circuit 21 may be dedicated hardware as shown in FIG. 10A, or may be a CPU (Central Processing Unit) 22 that executes a program stored in the memory 23 as shown in FIG. 10B.

When the processing circuit 21 is dedicated hardware, the processing circuit 21 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.

When the processing circuit 21 is a CPU 22, the receiving unit 11, the

position calculation units

12 and 12a, the relative speed calculation units 13 and 13a, the glare generation direction calculation units 14 and 14a, the light distribution control unit 15, and the vehicle length calculation. The functions of the unit 16 are implemented by software, firmware, or a combination of software and firmware. That is, the receiver 11, the

position calculators

12 and 12a, the relative velocity calculators 13 and 13a, the glare generation direction calculators 14 and 14a, the light distribution controller 15, and the vehicle length calculator 16 are integrated into the memory 23. It is realized by a processing circuit such as a CPU 22 that executes a program stored in a system LSI (Large-Scale Integration) or the like. The programs stored in the memory 23 or the like include the receiving unit 11, the

position calculation units

12 and 12a, the relative speed calculation units 13 and 13a, the glare generation direction calculation units 14 and 14a, and the light distribution control unit 15. , the procedure and method of the vehicle length calculation unit 16 can be said to be executed by a computer. Here, the memory 23 is, for example, a non-volatile or Volatile A semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or the like is applicable.

Regarding the functions of the receiver 11, the

position calculators

12 and 12a, the relative speed calculators 13 and 13a, the glare generation direction calculators 14 and 14a, the light distribution controller 15, and the vehicle length calculator 16, A part may be realized by dedicated hardware and a part may be realized by software or firmware.

The vehicle light distribution control devices 1 and 1a also have an input interface device 24 and an output interface device 25 that communicate with the front ranging sensor 4, the rear ranging sensor 5, the imaging device 6, the headlights 7, or the like. have

It should be noted that in the first and second embodiments described above, the high beam is ADB, but the present invention is not limited to this, and the light distribution pattern may be uncontrollable. In this case, the light distribution control unit 15 may switch to the low beam so as not to irradiate the direction indicated by the shielding angle θ calculated by the glare generation direction calculation unit with the high beam.

It should be noted that the present disclosure allows modification of any component of the embodiment or omission of any component of the embodiment.

Reference Signs List 1, 1a vehicle light distribution control device 2 host vehicle 3, 3a,

3b passing vehicle

4, 4L, 4R forward ranging

sensor

5, 5L, 5R rear ranging sensor 6 imaging device 7 headlight 11

receiver

12, 12a position Calculation units 13, 13a Relative velocity calculation units 14, 14a Glare generation direction calculation unit 15 Light distribution control unit 16 Vehicle length calculation unit 21 Processing circuit 22 CPU
23 Memory 24 Input interface device 25 Output interface device Hi Light distribution area of high beam Gl Range of glare occurrence FSL Detection range of range sensor 4L RSL Detection range of range sensor 5L FSR Detection range of range sensor 4R RSR Range sensor 5R Detection range FC Front corner of passing vehicle RC Rear corner of passing vehicle SM Side mirror TP1 Traveling direction of own vehicle TP2 Traveling direction of passing vehicle

Claims

a receiver for receiving distance measurement information output by distance measurement sensors provided in front and rear of the vehicle for detecting an overtaking vehicle overtaking the own vehicle;
a position calculation unit that detects a separation distance in the vehicle width direction between the own vehicle and the overtaking vehicle and a corner portion of the overtaking vehicle based on the distance measurement information;
a relative speed calculator that calculates the relative speed of the overtaking vehicle based on the corner;
a glare occurrence direction calculator that predicts the direction of the overtaking vehicle based on the separation distance and the relative speed;
a light distribution control unit that instructs the headlight to block light so as not to illuminate the predicted direction;
A vehicle light distribution control device comprising:
a vehicle length calculation unit that determines the vehicle type of the overtaking vehicle based on the vehicle length of the overtaking vehicle calculated based on the detection time of the front corner and the rear corner of the overtaking vehicle and the relative speed;
2. The vehicle light distribution control device according to claim 1, wherein the glare occurrence direction calculation unit adjusts the predicted direction according to the vehicle type.
The vehicle length calculation unit detects a front corner of the overtaking vehicle with both the front and rear ranging sensors of the own vehicle, and after detecting the front corner of the overtaking vehicle, the overtaking vehicle moves from the own vehicle. is a predetermined distance ahead of the vehicle, and if the rear corner of the overtaking vehicle cannot be detected by the ranging sensor at the rear of the vehicle, it is determined that the overtaking vehicle is a large vehicle. 2. The vehicle light distribution control device according to claim 1.
The light distribution control unit captures an image of the traveling direction of the vehicle, receives information from an imaging device that detects the passing vehicle, and receives the direction of the passing vehicle from the imaging device when the imaging device detects the passing vehicle. 2. A light distribution control device for a vehicle according to claim 1, wherein a light shielding instruction is given to the headlight so as not to irradiate the light.