WO2024047777A1

WO2024047777A1 - Headlight control device and headlight control method

Info

Publication number: WO2024047777A1
Application number: PCT/JP2022/032693
Authority: WO
Inventors: 紫織島谷; 晃史山本; 真宗平; 尚嘉竹裏
Original assignee: 三菱電機株式会社
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2024-03-07

Abstract

The present invention comprises: an orientation detection unit (11) which detects the orientation of a driver of a vehicle (100) on the basis of an image in which the driver is captured; a travel-related information acquisition unit (12, 12a, 12b, 12c) which acquires travel-related information; a depth distance estimation unit (13, 13a, 13b, 13c) which estimates a depth distance on the basis of the information about the driver's orientation detected by the orientation detection unit (11) and the travel-related information acquired by the travel-related information acquisition unit (12, 12a, 12b, 12c); an irradiation determination unit (14, 14a, 14b) which determines an irradiation range of light from a headlight (2) on the basis of the depth distance estimated by the depth distance estimation unit (13, 13a, 13b, 13c); and a headlight control unit (15, 15a) which causes the headlight (2) to irradiate the irradiation range determined by the irradiation determination unit (14, 14a, 14b) with light.

Description

Headlight control device and headlight control method

The present disclosure relates to a headlight control device and a headlight control method.

Conventionally, in controlling the lighting of headlights in a vehicle, in order to improve the visibility of the driver, the light from the headlights is emitted in the direction the driver is facing, based on the direction the driver is facing. A technique for changing the irradiation range of headlights is known (for example, Patent Document 1).

Japanese Patent Application Publication No. 2009-120148

The conventional technology disclosed in Patent Document 1 has a problem in that the headlights cannot be controlled in consideration of how far ahead in the direction the driver is actually facing. As a result, there was a possibility that a situation occurred in which the area that the driver was actually trying to see could not be irradiated.

The present disclosure has been made to solve the above-mentioned problems, and in controlling the lighting of headlights in a vehicle based on the direction in which the driver is facing, it is possible to determine the direction in which the driver is actually facing. It is an object of the present invention to provide a headlight control device capable of controlling lighting in consideration of whether the person is trying to visually check the destination.

A headlight control device according to the present disclosure includes a direction detection unit that detects the orientation of a driver based on a captured image of a driver of a vehicle, and driving-related information that acquires driving-related information related to driving of a vehicle. Based on the acquisition unit, the orientation information regarding the driver's orientation detected by the orientation detection unit, and the driving-related information acquired by the driving-related information acquisition unit, the driver is faced from the installation position of the headlight provided on the vehicle. The depth distance estimator estimates the depth distance, which is the distance between the driver's visible position and the estimated visible position in the direction in which the driver is viewed, and the depth distance estimator calculates the amount of light emitted by the headlights based on the depth distance estimated by the depth distance estimator. The apparatus includes an irradiation determining section that determines an irradiation range, and a headlight control section that causes the headlight to irradiate the light onto the irradiation range determined by the irradiation determining section.

According to the present disclosure, when controlling the lighting of headlights in a vehicle based on the direction in which the driver is facing, the lighting control takes into consideration how far in the direction the driver is actually looking. can.

1 is a diagram showing a configuration example of a headlight control device according to Embodiment 1. FIG. FIG. 3 is a diagram illustrating an example of the content of depth distance estimation information used by the depth distance estimating unit to estimate the depth distance in the first embodiment. No. set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 6, an example of the driving state of the vehicle estimated from the driver's behavior and vehicle information and the estimated visible object of the driver, which is the basis for deriving the depth distance. FIG. FIG. 6 is a diagram for explaining an example of how the headlight control unit causes the headlight to irradiate the irradiation range determined by the irradiation determination unit in the first embodiment. 3 is a flowchart for explaining the operation of the headlight control device according to the first embodiment. 6A and 6B are diagrams illustrating an example of the hardware configuration of the headlight control device according to the first embodiment. FIG. 3 is a diagram showing a configuration example of a headlight control device according to a second embodiment. 7 is a diagram illustrating an example of the content of depth distance estimation information used by a depth distance estimation unit to estimate depth distance in Embodiment 2. FIG. No. set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 6, the driving state of the vehicle and the object visible to the driver are estimated from the driver's behavior, vehicle information, and map information, which are the basis for deriving the depth distance. It is a figure shown in correspondence with an example. FIG. 10A is a diagram for explaining an example of the depth distance estimated by the depth distance estimating section in the second embodiment, and FIG. 10B is a diagram for explaining an example of the depth distance estimated by the depth distance estimating section in the second embodiment. FIG. 10A is a diagram for explaining an example of how light is irradiated onto the irradiation range determined by the irradiation determining unit based on the depth distance as shown in FIG. 10A estimated by the depth distance estimating unit. FIGS. 11A and 11B show how, in Embodiment 1, the depth distance estimating unit specifically estimates how many meters to how many meters the depth distance range including the sidewalk near the intersection and the crosswalk at the intersection has a margin of 5 meters. FIG. 3 is a diagram for explaining an example of a method of calculating whether the range is within m. FIG. 12A is a diagram for explaining another example of the depth distance estimated by the depth distance estimating section in the second embodiment, and FIG. 12B is a diagram for explaining another example of the depth distance estimated by the depth distance estimating section in the second embodiment. 12A is a diagram for explaining an example of how light is irradiated onto the irradiation range determined by the irradiation determining unit based on the depth distance as shown in FIG. 12A estimated by the depth distance estimating unit. 7 is a flowchart for explaining the operation of the headlight control device according to the second embodiment. FIG. 7 is a diagram illustrating a configuration example of a headlight control device according to a third embodiment. FIG. 12 is a diagram showing an example of the content of depth distance estimation information used by the depth distance estimating unit to estimate the depth distance in Embodiment 3; No. set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 8, an example of the driving state of the vehicle and the object visible to the driver estimated from the driver's behavior and information outside the vehicle, which are the basis for deriving the depth distance. It is a diagram shown in correspondence. In the third embodiment, the irradiation determining unit determines the irradiation range based on the depth distance estimated by the depth distance estimating unit, and the headlight control unit applies light to the headlight in the irradiation range determined by the irradiation determining unit. FIG. 3 is a diagram for explaining an example of how the light is irradiated. In the third embodiment, the irradiation determining unit determines the irradiation range based on the depth distance estimated by the depth distance estimating unit, and the headlight control unit applies light to the headlight in the irradiation range determined by the irradiation determining unit. FIG. 7 is a diagram for explaining another example of how the light is irradiated. In the third embodiment, the irradiation determining unit determines the irradiation range based on the depth distance estimated by the depth distance estimating unit, and the headlight control unit applies light to the headlight in the irradiation range determined by the irradiation determining unit. FIG. 7 is a diagram for explaining another example of how the light is irradiated. 7 is a flowchart for explaining the operation of the headlight control device according to Embodiment 3. FIG. 7 is a diagram illustrating a configuration example of a headlight control device according to a fourth embodiment. FIG. FIG. 12 is a diagram showing an example of the contents of depth distance estimation information used by a depth distance estimating unit to estimate a depth distance in Embodiment 4; No. set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 7, the driving state of the vehicle and the driver's behavior estimated from the driver's behavior, vehicle information, map information, and external information are the basis for deriving the depth distance. It is a diagram shown in association with an example of a visible object. FIG. 24A is a diagram for explaining an example of the depth distance estimated by the depth distance estimating section in the fourth embodiment, and FIG. 24B is a diagram for explaining an example of the depth distance estimated by the depth distance estimating section in the fourth embodiment. FIG. 24A is a diagram for explaining an example of how light is irradiated onto the irradiation range determined by the irradiation determining unit based on the depth distance as shown in FIG. 24A estimated by the depth distance estimating unit. 7 is a flowchart for explaining the operation of the headlight control device according to Embodiment 4. FIG. FIG. 7 is a diagram illustrating a configuration example of a headlight control device according to a fifth embodiment. FIG. 12 is a diagram for explaining an example of a scene in which the reliability determination unit determines that the reliability of the driver's orientation detected by the orientation detection unit is low in the fifth embodiment. 7 is a flowchart for explaining the operation of the headlight control device according to Embodiment 5. FIG. FIG. 7 is a diagram showing a configuration example of a headlight control device according to a sixth embodiment. FIG. 7 is a diagram for explaining an example of how the headlight control unit causes the headlight to irradiate light onto the first irradiation range and the second irradiation range determined by the irradiation determination unit in the sixth embodiment; FIG. 30A is a side view showing how the first irradiation range and the second irradiation range are irradiated with light, and FIG. 30B is a diagram showing how the first irradiation range and the second irradiation range are irradiated with light. FIG. 12 is a flowchart for explaining the operation of the headlight control device according to the sixth embodiment. FIG. 7 is a diagram illustrating a configuration example of a headlight control device according to a seventh embodiment. FIG. 12 is a diagram for explaining an example of the content of the surroundings confirmation determination condition used by the surroundings confirmation determination unit to determine whether the driver is checking the surroundings in Embodiment 7; FIG. 12 is a diagram for explaining an example of how the surrounding confirmation determination unit irradiates the irradiation range with light after expanding the second irradiation range set by the irradiation determination unit in Embodiment 7; FIG. 7 is a diagram for explaining an example of the irradiation range of light that the headlight control device irradiates to the headlights in Embodiment 7, and is a bird's-eye view of the surroundings of the vehicle viewed from above. FIG. 36B is a diagram for explaining an example of the irradiation range of light that the headlight control device irradiates to the headlights in Embodiment 7, and FIG. 36A is a diagram illustrating an example of the irradiation range of light that the headlight control device irradiates to the headlights, and FIG. FIG. 3 is a diagram showing an example of an irradiation range of light emitted by a control device to a headlight. 13 is a flowchart for explaining the operation of the headlight control device according to Embodiment 7.

Embodiments of the present disclosure will be described in detail below with reference to the drawings.
Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a headlight control device 1 according to the first embodiment.
In the first embodiment, it is assumed that the headlight control device 1 is mounted on a vehicle 100.
The headlight control device 1 controls the headlights 2 provided in the vehicle 100 based on the orientation of the driver of the vehicle 100. In the first embodiment, the "driver's orientation" is expressed by the driver's face orientation or the driver's line of sight direction. In the first embodiment, the "driver's orientation" includes not only the driver's face orientation or the driver's line of sight direction, but also the driver's body orientation, in other words, the driver's posture. good. In Embodiment 1 below, as an example, it is assumed that the "driver's orientation" includes the driver's posture.
In the first embodiment, the light control of the headlights 2 based on the direction of the driver performed by the headlight control device 1 is performed in a dark place around the vehicle 100, such as a parking lot at night or a city area at night. It is assumed that this is performed when the headlights 2 are turned on by the driver, or when the headlight control device 1 determines that the headlights 2 should be automatically turned on based on the surrounding brightness and darkness.

The headlight control device 1 is connected to the headlights 2, the in-vehicle imaging device 3, and the driving-related information acquisition device 4. The headlight 2, the in-vehicle imaging device 3, and the driving-related information acquisition device 4 are provided in the vehicle 100.

The headlight 2 is a lighting device that illuminates the front of the vehicle 100. The headlight 2 is a general headlight that can emit, for example, a high beam, a low beam, and an auxiliary light, so a detailed description of the configuration example will be omitted. The headlights 2 include a left light (not shown) mounted on the left side of the vehicle 100 with respect to the traveling direction of the vehicle 100, and a right light (not shown) mounted on the right side of the vehicle 100 with respect to the traveling direction of the vehicle 100. (not shown). The left light and the right light each include a high beam unit (not shown) that illuminates a distant area, a low beam unit (not shown) that illuminates a nearby area, and an auxiliary light unit (not shown).
The high beam unit, low beam unit, and auxiliary light unit each include, for example, a plurality of light sources (not shown) such as LED light sources arranged in an array, and each light source can be turned on individually. Note that in the first embodiment, being arranged in an array means that the light sources are arranged in a line in the width direction of the vehicle 100. By lighting up each light source, a region in front of vehicle 100 is irradiated with high beam, low beam, or auxiliary light. The high beam unit, low beam unit, and auxiliary light unit may each use, for example, MEMS (Micro Electro Mechanical Systems). The high beam unit, low beam unit, and auxiliary light unit can control the light distribution range by reflecting light with a MEMS mirror.

In the first embodiment, the area in front of the vehicle 100 where the high beam unit can emit high beams is referred to as a "high beam irradiable area." How far in front of the vehicle 100 and in what range the high beam irradiation possible area extends is determined in advance according to the specifications of the high beam unit and the like. In the first embodiment, the area in front of the vehicle 100 where the low beam unit can emit a low beam is referred to as a "low beam irradiation possible area." How far in front of the vehicle 100 and in what range the low beam irradiation possible area extends is determined in advance according to the specifications of the low beam unit and the like. In the first embodiment, the area in front of the vehicle 100 where the auxiliary light unit can irradiate the auxiliary light is referred to as the "auxiliary light irradiation possible area." The extent to which the auxiliary light irradiation area is in front of the vehicle 100 is determined in advance according to the specifications of the auxiliary light unit and the like.

The headlight control device 1 according to the first embodiment performs control to emit or block high beam, low beam, or auxiliary light by, for example, turning each light source on or off. Thereby, the headlight control device 1 controls the range of light irradiated by the headlights 2.
Note that the headlight control device 1 can not only turn on and turn off each light source, but also control the amount of light when turned on. For example, the headlight control device 1 can also control the amount of light from the headlights 2 by controlling the current value of each light source of the headlights 2.

The in-vehicle imaging device 3 is a camera or the like installed in the vehicle 100 for the purpose of monitoring the inside of the vehicle 100, and is installed so as to be able to image at least the driver's face.
The in-vehicle imaging device 3 is an infrared camera, a visible light camera, or the like.
The in-vehicle imaging device 3 outputs the captured image (hereinafter referred to as “in-vehicle captured image”) to the headlight control device 1.
The in-vehicle imaging device 3 is, for example, shared with an imaging device included in a so-called “Driver Monitoring System (DMS)” that is installed in the vehicle 100 to monitor the condition of the driver inside the vehicle 100. There may be.

The driving-related information acquisition device 4 acquires information related to the driving of the vehicle 100 (hereinafter referred to as "driving-related information").
In the first embodiment, the driving-related information acquisition device 4 is assumed to be, for example, a vehicle speed sensor (not shown) or a steering wheel angle sensor (not shown). A device such as a vehicle speed sensor or a steering angle sensor acquires information regarding the vehicle 100 (hereinafter referred to as "vehicle information"), such as vehicle speed or steering angle, as travel-related information.
The driving-related information acquisition device 4 , here a device such as a vehicle speed sensor or a steering wheel angle sensor, outputs the acquired driving-related information, here vehicle information, to the headlight control device 1 .

The headlight control device 1 includes a direction detection section 11 , a driving-related information acquisition section 12 , a depth distance estimation section 13 , an irradiation determination section 14 , a headlight control section 15 , and a storage section 16 . The driving related information acquisition section 12 includes a vehicle information acquisition section 121.

The orientation detection unit 11 acquires an in-vehicle captured image from the in-vehicle imaging device 3. Then, the orientation detection unit 11 detects the orientation of the driver based on the in-vehicle captured image acquired from the in-vehicle imaging device 3.

The orientation detection unit 11 detects the driver's facial parts (e.g., eyes, nose, mouth, etc.) from the in-vehicle image obtained from the in-vehicle imaging device 3, and determines the direction of the person's face from the captured image in which the person's face is captured. The direction of the driver's face or the direction of the driver's line of sight is detected using a known image recognition technique for detecting the driver's face or a known image recognition technique for detecting the direction of the person's line of sight from a captured image of the person's face.
For example, when the in-vehicle imaging device 3 is an infrared camera, the direction detection unit 11 irradiates a near-infrared point light source and detects the direction of the driver's line of sight from the positional relationship between the Purkinje image reflected by the cornea and the pupil. can. For example, the orientation detection unit 11 determines the face orientation angle with the highest degree of similarity by pattern matching between a standard pattern of face images for each face orientation angle, which is prepared in advance and stored in the orientation detection unit 11, and the captured image inside the vehicle. By calculating this, the direction of the driver's face can be detected.

Additionally, the orientation detection unit 11 detects the driver's posture using a known image recognition technique that detects the posture of a person from a captured image of the person.

Note that the orientation detection unit 11 may be configured to detect at least one of the driver's face orientation and line-of-sight direction.
For example, the orientation detection unit 11 may detect both the driver's face orientation and line of sight direction, and select the one with higher reliability. For example, if the driver is wearing sunglasses or glasses, the orientation detection unit 11 determines that the direction of the driver's face is more reliable than the direction of the driver's line of sight.
For example, the orientation detection unit 11 may detect both the driver's face orientation and line-of-sight direction, prioritize them, and adopt either one as the driver's orientation. For example, if there is a large difference between the detected driver's face direction and the line of sight direction, the direction detection unit 11 adopts the driver's line of sight direction as the driver's direction, and uses the detected driver's face direction and line of sight direction. If the difference is small, the direction of the driver's face is adopted as the direction of the driver.

In the first embodiment, it is assumed that the orientation detection unit 11 detects, for example, the driver's face orientation or line-of-sight direction among the driver's orientations, with the center of the driver's head as a reference. Note that since the installation position and viewing angle of the in-vehicle imaging device 3 are known in advance, the orientation detection unit 11 can calculate the position of the center of the driver's head. The position of the center of the driver's head is a point in real space, and is represented by, for example, coordinate values that can be mapped on a map.
Further, in the first embodiment, among the driver's orientations, the driver's face direction or line of sight direction is, for example, horizontal to a straight line passing through the center of the driver's head and a point in front of the center of the head. shall be expressed as an angle and a vertical angle. Note that in the first embodiment, "horizontal" is not limited to strictly horizontal, but includes substantially horizontal. Furthermore, in the first embodiment, "vertical" is not limited to strictly vertical, but includes substantially vertical.
In detail, the driver's face direction or line of sight direction is based on, for example, when the driver faces forward with respect to the traveling direction of the vehicle 100 (0 degrees), and the driver faces forward. It is expressed as an angle that increases toward the right or upward with respect to the traveling direction of the vehicle 100. The direction of the driver's face or line of sight is, for example, based on when the driver is facing the document with respect to the direction of travel of the vehicle 100 (0 degrees), and when the driver is facing forward to the direction of the vehicle 100. The angle is expressed as a value that decreases as the direction of travel goes to the left or down. Note that in the first embodiment, the front is not limited to strictly directly in front, but includes substantially directly in front.

In Embodiment 1 below, when simply referring to "the driver's face direction", the "driver's face direction" refers to the "driver's face direction or line of sight direction" including the direction of the driver's line of sight. Say something.

The orientation detection unit 11 outputs information regarding the detected orientation of the driver (hereinafter referred to as “orientation information”) to the depth distance estimation unit 13 and causes the storage unit 16 to store the information. The orientation information includes information indicating the driver's face direction and posture, and more specifically, information indicating the horizontal angle and vertical angle of the driver's face direction, and information indicating the horizontal angle and vertical angle of the driver's posture. .
When storing the orientation information in the storage unit 16, the orientation detection unit 11, for example, adds a detection time to the orientation information and stores the orientation information.
For example, a plurality of storage units 16 (eg, 50) may be provided, and the orientation detection unit 11 may cause each storage unit 16 to store the latest 50 pieces of orientation information. In this case, the orientation detection unit 11 does not need to add the detection time to the orientation information when storing the orientation information in the storage unit 16.

In the first embodiment, when the direction detection section 11 does not detect the direction of the driver, the direction detection section 11 stores the direction information in the storage section 16 as an invalid value, for example, and stores the direction information in advance after the direction of the driver is no longer detected. It is determined whether a set time (hereinafter referred to as "direction detection determination time") has elapsed. If a detection time is not added to the orientation information when storing the orientation information in the storage unit 16, the orientation detection unit 11 determines the orientation detection determination time based on how many consecutive invalid values are stored in the storage unit 16. All you have to do is determine whether the time has passed. If the orientation detection determination time has not elapsed, the orientation detection unit 11 refers to the storage unit 16 and outputs orientation information indicating the driver's orientation detected immediately before to the depth distance estimation unit 13.
If it is determined that the orientation detection determination time has elapsed since the driver's orientation was no longer detected, the orientation detection unit 11 sends the headlight control unit 15 orientation information (with an invalid value set for the driver's orientation). (hereinafter referred to as "direction invalid information") is output. The orientation detection section 11 may output the orientation invalidation information to the headlight control section 15 via the depth distance estimation section 13 and the illumination determination section 14, or directly to the headlight control section 15. In addition, in FIG. 1, illustration of an arrow from the direction detection section 11 to the headlight control section 15 is omitted.

The travel-related information acquisition unit 12 acquires travel-related information from the travel-related information acquisition device 4 .
Specifically, the vehicle information acquisition unit 121 acquires vehicle information from the travel-related information acquisition device 4.
The vehicle information acquisition unit 121 outputs the acquired vehicle information to the depth distance estimation unit 13 as travel-related information.

The depth distance estimating unit 13 estimates the depth distance based on the orientation information regarding the direction of the driver detected by the orientation detecting unit 11 and the travel-related information acquired by the travel-related information acquisition unit 12.
Specifically, the depth distance estimating unit 13 compares orientation information, driving related information (vehicle information in this case), and depth distance estimation information in which information regarding the driver's behavior and driving related information are associated with each other. The depth distance is estimated by
In Embodiment 1, the depth distance refers to the position (hereinafter referred to as "the estimated position that the driver is trying to see") in the direction in which the driver is facing from the installation position of the headlight 2 provided in the vehicle 100. (referred to as the "estimated visual recognition position"). That is, the depth distance is the distance from a point indicating the installation position of the headlight 2 to a point indicating the estimated visual recognition position on a virtual straight line indicating the direction in which the driver is facing. Note that the depth distance may be the distance from the installation position of the right light to the estimated visual recognition position, or may be the distance from the installation position of the left light to the estimated visual recognition position.
The depth distance estimation information is information for estimating the depth distance, is set in advance by an administrator, etc., and is stored in a location that can be referenced by the depth distance estimation unit 13.

Here, FIG. 2 is a diagram showing an example of the contents of depth distance estimation information used by the depth distance estimation unit 13 to estimate the depth distance in the first embodiment.
As shown in FIG. 2, the depth distance estimation information is information in a table format in which input information and estimation information are defined and the input information and estimation information are associated with each other. In the first embodiment, as shown in FIG. 2, for example, driver behavior and vehicle information are defined as input information, and depth distance is defined as estimated information.
In the depth distance estimation information, the driver's behavior includes, for example, the vertical direction of the driver's face direction, the horizontal direction of the driver's face direction, and the driver's state. Furthermore, in the depth distance estimation information, the vehicle information includes, for example, vehicle speed and steering angle.
The vertical direction of the driver's face can be defined as "front" where the driver's face is facing forward, "upward" where the driver's face is facing upward, or "upward" where the driver's face is facing downward. It is expressed as "downward". The left and right direction of the driver's face can be defined as "front", where the driver's face is facing forward, "right", where the driver's face is facing to the right, or "right", where the driver's face is facing to the left. It is expressed as "left".
The driver's state includes, for example, a state in which the driver is leaning forward, a state in which the amount of change in the driver's face direction is less than or equal to a preset threshold value, and the like.

The depth distance estimating unit 13 determines the driver's behavior based on the orientation information output from the orientation detecting unit 11, and calculates the determined behavior and the vehicle speed included in the vehicle information acquired by the vehicle information acquiring unit 121. The depth distance information as the estimated information is calculated by combining the information indicating the steering angle and the steering angle with the driver's behavior and vehicle information as the input information set in the depth distance estimation information as shown in Figure 2. Estimate the depth distance by

For example, the depth distance estimating unit 13 determines whether the vertical direction of the driver's face is "front" or "above" from information indicating the driver's vertical face orientation included in the orientation information. Determine whether it is "downward". For example, information (hereinafter referred to as " "vertical angle range information") is set and stored in a location that can be referenced by the depth distance estimation unit 13. Based on the driver's vertical face orientation detected by the orientation detection unit 11, the depth distance estimation unit 13 refers to the vertical angle range information and determines whether the vertical direction of the driver's face orientation is "front" or not. It is determined whether it is "upward" or "downward."

For example, the depth distance estimating unit 13 determines whether the horizontal direction of the driver's face is “front” or “right” from information indicating the driver's horizontal face orientation included in the orientation information. Determine whether it is on the left or on the left. For example, information (hereinafter referred to as " (referred to as "left and right angle range information") is set and stored in a location that can be referenced by the depth distance estimation unit 13. Based on the driver's vertical face orientation detected by the orientation detection unit 11, the depth distance estimating unit 13 refers to the left-right angle range information to determine whether the left-right direction of the driver's face is "front" or not. Determine whether it is "right" or "left."

Further, for example, the depth distance estimating unit 13 determines whether the driver's posture is a preset "leaning state" based on information indicating the driver's posture included in the orientation information. Determine whether or not. Conditions for determining how much the driver's posture must be tilted to determine that the driver is "leaning over" are set in advance by an administrator, etc., and are stored in a location where the depth distance estimating unit 13 can refer to them. ing.
For example, the depth distance estimating unit 13 calculates the amount of change in the driver's face orientation from the time-series orientation information stored in the storage unit 16, and determines whether the amount of change is less than or equal to a threshold value. judge. Note that the threshold value used for determining the amount of change is set in advance by an administrator or the like, and is stored in a location that can be referenced by the depth distance estimation unit 13.

For example, assume that the driver's face direction is within the "upward" range. Further, assume that the traveling speed of vehicle 100 is 90 km/h. Further, assume that the steering wheel angle of the vehicle 100 is 3 degrees to the right. Note that it is assumed that the depth distance estimation information has contents as shown in FIG. 2 .
In this case, the depth distance estimating unit 13 estimates that the depth distance is "80 to 100 m" using the orientation information, travel-related information (vehicle information in this case), and depth distance estimation information. (See No. 6 of the depth distance estimation information in FIG. 2).

For example, if the driver's face direction is "upward," the vehicle speed is "80 km/h" or more, and the steering wheel angle is "5 degrees or less to the right or left," the vehicle 100 is traveling on the highway. An object that is estimated to be in front of the driver's face when the driver is driving and is likely to be trying to see it; in other words, an object that is estimated to exist at the estimated visibility position (hereinafter referred to as "estimated visibility"). "object") is presumed to be a sign. Therefore, in the depth distance estimation information, the depth distance includes the driver who is driving while the vehicle 100 is traveling on the expressway at a speed of "80 km/h or more" and the steering wheel angle is "5 degrees or less to the right or left." When the user tries to check the sign, the depth distance is set to 80 to 100 m, which is assumed to be the depth distance of the sign (No. 6 of the depth distance estimation information in Figure 2). ).

Similarly, No. 2 of the depth distance estimation information in FIG. 1~No. Also in condition No. 5, the depth distance is set based on the driving state of the vehicle 100 estimated from the driver's behavior and vehicle information and the estimated visible object of the driver.
FIG. 3 shows No. 1 set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 6, the driving state of the vehicle 100 estimated from the driver's behavior and vehicle information and the estimated visible object of the driver are the basis for deriving the depth distance. It is a diagram showing an example in association with each other.
For example, the administrator or the like calculates the depth distance based on the correspondence relationship between the driving state of the vehicle 100 estimated from the driver's behavior and the vehicle information and an example of the driver's estimated visible object, as shown in FIG. Generate estimation information. The administrator or the like may, for example, verify the above-mentioned correspondence from information obtained by test driving the vehicle 100 and generate the depth distance estimation information.

Note that in the depth distance estimation information shown in FIG. 1~No. 6 patterns of conditions are set, but this is just an example. Moreover, the content of the depth distance estimation information as shown in FIG. 2 is only an example.
The depth distance estimation information may be any information that allows depth distance information to be obtained from orientation information and travel-related information (vehicle information in this case).

Further, as in the example described above, a value with a width may be set for the depth distance.
For example, when the depth distance estimating unit 13 estimates that the depth distance is “80 to 100 m”, in detail, the depth distance estimating unit 13 estimates that the depth distance is 80 m from the installation position of the headlight 2 to the estimated visible position. This means that the distance was estimated to be in the range of ~100m.

The depth distance estimation unit 13 outputs information regarding the estimated depth distance (hereinafter referred to as “depth distance information”) to the irradiation determination unit 14.
Depth distance information is information in which a depth distance and an estimated visible position are associated with each other. Note that since the installation position of the headlight 2 and the position of the center of the driver's head are known, the depth distance estimating unit 13 estimates the positional relationship between the installation position of the headlight 2 and the center of the driver's head. Based on the determined depth distance and the driver's orientation, the estimated visual recognition position can be estimated. The estimated visual recognition position is a point in real space, and is expressed, for example, by coordinate values with the right lamp or left lamp as the origin, or by coordinate values that can be mapped on a map.

Note that the depth distance estimating unit 13 uses orientation information regarding the driver's orientation detected by the orientation detecting unit 11 and travel-related information acquired by the travel-related information acquisition unit 12 (here, vehicle information acquired by the vehicle information acquisition unit 121). If the driver's behavior and vehicle information determined based on the information do not match the driver's behavior and vehicle information as input information set in the depth distance estimation information, for example, Assuming that the depth distance could not be estimated, the initial value of the depth distance is set as the depth distance. The initial value of the depth distance is set in advance by an administrator or the like, for example, and is stored in a location that can be referenced by the depth distance estimation unit 13.
The depth distance estimation unit 13 outputs depth distance information regarding the depth distance for which the initial value is set to the irradiation determination unit 14.

The irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13.
Specifically, the irradiation determining unit 14 determines which range of the irradiable area of the headlight 2, in other words, the high beam irradiable area, the low beam irradiable area, and the auxiliary light irradiable area, to which light is irradiated. The range is determined as the range of light irradiation by the headlights 2.
In the following description, the range of light irradiated by the headlight 2 is also simply referred to as the "irradiation range."

An example of a method for determining the irradiation range by the irradiation determining unit 14 will be described.
The irradiation determining unit 14 determines the vertical and horizontal directions of the irradiation range in the direction in which the driver is facing.
Specifically, the irradiation determining unit 14 sets the installation position of the headlight 2 as a reference position in the direction in which the driver is facing, and sets the irradiation angle of light irradiated from the installation position to the front as a reference (0 degree). , it is determined how many times the range in the vertical direction is to be defined as the vertical direction of the irradiation range, and from what range in the horizontal direction is to be defined as the range in the left and right direction of the irradiation range.

For example, in the vertical direction of the irradiation range, the irradiation determining unit 14 first determines a virtual line segment from the installation position of the headlight 2 to an estimated visibility position separated by a depth distance, and from the installation position of the headlight 2 to the vehicle 100. The vertical direction (hereinafter referred to as "depth distance vertical angle") formed by a virtual straight line drawn in the direction of movement of is calculated. The irradiation determining unit 14 can calculate the depth distance and vertical angle using the same method as the depth distance and horizontal angle.
Then, the irradiation determining unit 14 sets, for example, an angular range that is widened by a preset angle in the vertical direction from the depth distance vertical angle as the vertical direction of the irradiation range.

For example, in the left and right direction of the irradiation range, the irradiation determining unit 14 first determines a virtual line segment from the installation position of the headlight 2 to an estimated visibility position separated by a depth distance, and from the installation position of the headlight 2. The horizontal direction (hereinafter referred to as "depth distance horizontal angle") formed by a virtual straight line drawn in the traveling direction of vehicle 100 is calculated. The irradiation determining unit 14 can determine the depth distance and the estimated visible position based on the depth distance information. Further, the installation position of the headlight 2 is known in advance. The irradiation determination unit 14 can calculate the depth distance and horizontal angle based on the depth distance, the estimated visible position, and the installation position of the headlight 2.
Then, the irradiation determining unit 14 sets, for example, an angular range widened by a predetermined angle in the horizontal direction from the depth distance horizontal angle as the vertical direction of the irradiation range.

Note that, as described above, the depth distance estimation unit 13 may estimate the depth distance as a value with a range.
In this case, with respect to the vertical direction of the irradiation range, the irradiation determining unit 14 first determines the distance based on the smallest distance (for example, "80 m" in the example described above using FIG. 2) among the range of depth distances. A depth distance vertical angle (referred to as a first depth distance vertical angle) is calculated. Further, the irradiation determining unit 14 determines the depth distance vertical angle (first depth distance vertical angle) based on the largest distance (for example, "100 m" in the example described above using FIG. 2) among the depth distance ranges. ) is calculated.
Then, the irradiation determining unit 14 sets, for example, the range from the smaller to the larger of the first depth distance vertical angle and the second depth distance vertical angle as the vertical direction of the irradiation range.
The depth distance estimating unit 13 calculates the first depth distance horizontal angle and the second depth distance horizontal angle in the same manner in the left and right directions of the irradiation range, and for example, calculates the first depth distance horizontal angle and the second depth distance horizontal angle. The range from the smaller distance to the larger horizontal angle is defined as the left and right direction of the irradiation range.

For example, the irradiation determining unit 14 may determine the vertical direction of the irradiation range based on the center of the depth distance range. For example, when the depth distance is estimated to be "80 m to 100 m", the irradiation determining unit 14 calculates the depth distance vertical angle from the central depth distance "90 m". The irradiation determining unit 14 may set the calculated depth distance vertical angle as the center and set the angular range that is widened by a preset angle in the vertical direction from the depth distance vertical angle as the vertical direction of the irradiation range.
Further, for example, the irradiation determining unit 14 may determine the horizontal direction of the irradiation range based on the center of the depth distance range using a similar method.

Note that, when the depth distance estimating unit 13 sets the initial value of the depth distance as the depth distance, the irradiation determining unit 14 determines the irradiation range based on the initial value.
Specifically, when the depth distance estimating unit 13 outputs depth distance information regarding the depth distance for which the initial value has been set, the irradiation determining unit 14 determines whether the irradiation range is in the vertical and horizontal directions corresponding to the initial value of the depth distance. Determine.

The irradiation determining unit 14 outputs information regarding the determined irradiation range (hereinafter referred to as “irradiation information”) to the headlight control unit 15.
The irradiation information includes information indicating the angular range in the vertical direction and the angular range in the horizontal direction of the irradiation range, with the installation position of the headlight 2 as a reference position.

The headlight control unit 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination unit 14.

For example, assume that the irradiation determining unit 14 outputs irradiation information to the headlight control unit 15 indicating that θ ₁ degree to θ ₂ degrees are the vertical direction and φ ₁ degree to φ ₂ degrees are the horizontal direction.
In this case, the headlight control unit 15 individually controls the light source of the low beam unit, high beam unit, or auxiliary light unit of the headlight 2 in the range of φ ₁ degree to φ ₂ degrees in the left and right direction, and Control is performed to irradiate light in the range of θ ₁ degree to θ ₂ degrees in the vertical direction. The headlight control unit 15 may control, for example, a plurality of light sources such as a low beam unit, a high beam unit, or an auxiliary light unit to individually change the optical axis and irradiate the above range with light. However, by adjusting the light source to be turned on among the plurality of light sources of the low beam unit, high beam unit, or auxiliary light unit, control may be performed to irradiate the above range with light.

Thereby, the light irradiated by the headlight 2 comes to be irradiated to the irradiation range as explained using FIG. 4.
FIG. 4 is a diagram for explaining an example of how the headlight control unit 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination unit 14 in the first embodiment. .
In FIG. 4, the driver is indicated by "D", and the range of light irradiated by the headlight 2 is indicated by "LA". Note that FIG. 4 is a side view of the road on which the vehicle 100 is traveling. Further, in FIG. 4, as an example, the driver's face direction is within the "upward" range, the traveling speed of the vehicle 100 is 90 km/h, and the steering wheel angle of the vehicle 100 is 3 degrees to the right. In one case, the headlight control unit 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination unit 14.
In the example shown in FIG. 4, the depth distance estimating unit 13 calculates the depth distance based on the depth distance estimation information as shown in FIG. Estimation information No. 6, the depth distance is estimated to be 80 to 100 m, and the irradiation determining unit 14 estimates the depth distance to be 80 to 100 m, and the irradiation determining unit 14 determines that the depth distance is ₈₀ to ₁₀₀ m, and the irradiation determining unit 14 determines that the depth distance is ₈₀ to ₁₀₀ m. The range is determined to be the irradiation range (the irradiation range in the left and right direction is not shown in FIG. 4).
The irradiation determination unit 14 calculates a first depth distance vertical angle based on the depth distance "80 m" in the vertical direction of the irradiation range, calculates a second depth distance vertical angle based on the depth distance "100 m", and determines the irradiation range. It is assumed that the vertical direction of is determined.

The headlight control unit 15 estimates the depth distance estimation unit 13 in the direction in which the driver is facing with respect to the headlights 2, taking into consideration the driver's orientation and driving-related information (here, vehicle information). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the depth distance.
As a result, the headlight control unit 15 can control the headlight 2 so that light is irradiated onto the estimated visible object that is estimated to exist at the estimated visible position. The driver can visually recognize the estimated visible object.
In the situation shown in FIG. 4, the estimated visible object is estimated to be a sign (see FIG. 3). In other words, the headlight control unit 15 can cause light to be irradiated onto the sign, which is the estimated visible object of the driver. Note that in FIG. 4, a sign is also illustrated for ease of understanding, but the sign is an object that is presumed to exist, and does not necessarily exist actually.

Furthermore, when direction invalid information is output from the direction detection section 11, the headlight control section 15 causes the headlight 2 to emit light in the irradiation direction for when the direction of the driver cannot be obtained. The irradiation direction when the direction of the driver cannot be obtained is, for example, the front direction. Information regarding the range of the front direction is generated in advance by an administrator or the like, and is stored in a location where the headlight control unit 15 can refer to it.

The storage unit 16 stores various information.
Note that in FIG. 1, the storage unit 16 is included in the headlight control device 1, but this is only an example. The storage unit 16 may be provided at a location outside the headlight control device 1 that can be referenced by the headlight control device 1 .

The operation of the headlight control device 1 according to the first embodiment will be explained.
FIG. 5 is a flowchart for explaining the operation of the headlight control device 1 according to the first embodiment.
For example, when the headlight 2 or the headlight control device 1 is turned on, the headlight control device 1 determines to perform lighting control of the headlight 2 based on the direction of the driver, and performs the lighting control according to the flowchart of FIG. Start the action as shown. The headlight control device 1 operates according to the flowchart of FIG. 5 until, for example, the headlights 2 are turned off, the headlight control device 1 is turned off, or the power of the vehicle 100 is turned off. Repeat the actions shown in .
For example, the control unit (not shown) of the headlight control device 1 acquires information indicating the state of the headlights 2 from a headlight switch mounted on the vehicle 100, and determines whether the headlights 2 are on or not. Determine whether or not. Alternatively, if there is a driver direction tracking function switch, the control unit of the headlight control device 1 determines whether the headlight control device 1 is in an on state. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, driving related information acquisition unit 12, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the unit 13, the irradiation determining unit 14, and the headlight control unit 15.
Further, when the control unit determines that the headlights 2 are off, the headlight control device 1 is off, or the vehicle 100 is turned off, the control unit turns on the headlights 2 based on the direction of the driver. Information that determines to end the control and instructs the direction detection unit 11, driving-related information acquisition unit 12, depth distance estimation unit 13, irradiation determination unit 14, and headlight control unit 15 to end the lighting control of the headlights 2. Output.

The orientation detection unit 11 acquires an in-vehicle captured image from the in-vehicle imaging device 3, and detects the orientation of the driver based on the acquired in-vehicle captured image (step ST1-1).
The orientation detection unit 11 outputs orientation information to the depth distance estimation unit 13 and stores it in the storage unit 16.
In step ST1-1, if the orientation detection unit 11 does not detect the orientation of the driver, the orientation detection unit 11 stores the storage unit 16 until the orientation detection determination time elapses after the orientation of the driver is no longer detected. Direction information indicating the direction of the driver detected immediately before is output to the depth distance estimating section 13.
If the orientation detection determination time has elapsed since the driver's orientation is no longer detected, the orientation detection unit 11 outputs orientation invalidation information to the headlight control unit 15. When the orientation detection unit 11 outputs orientation invalidation information to the headlight control unit 15, the operation of the headlight control device 1 skips the processing of steps ST2 to ST3, which will be described later, and proceeds to the processing of step ST4.

The travel-related information acquisition unit 12 acquires travel-related information from the travel-related information acquisition device 4 .
Specifically, the vehicle information acquisition unit 121 acquires vehicle information from the driving-related information acquisition device 4 (step ST1-2).
The vehicle information acquisition unit 121 outputs the acquired vehicle information to the depth distance estimation unit 13.

The depth distance estimating unit 13 calculates the direction information regarding the direction of the driver detected by the direction detecting unit 11 in step ST1-1, the driving related information acquired by the driving related information acquiring unit 12 in step ST1-2, and the depth. The depth distance is estimated using the distance estimation information (step ST2).
The depth distance estimation unit 13 outputs depth distance information to the irradiation determination unit 14.

The irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13 in step ST2 (step ST3).
The irradiation determining section 14 outputs irradiation information to the headlight control section 15.

The headlight control section 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determining section 14 in step ST3 (step ST4).
If the direction detection section 11 outputs direction invalid information to the headlight control section 15 in step ST1-1, the headlight control section 15 determines the direction of the driver with respect to the headlights 2 in step ST4. irradiates light in the irradiation direction for when it cannot be obtained.

Note that, for example, in step ST2, when the depth distance cannot be estimated, the depth distance estimating unit 13 sets the initial value of the depth distance to the depth distance.
For example, assume that the depth distance estimation information is as shown in Figure 2, and the driver's face orientation is within the range of "front" in the vertical direction and "right" in the horizontal direction. Suppose that Further, it is assumed that the traveling speed of vehicle 100 is 30 km/h. It is also assumed that the steering wheel angle is 5 degrees. In this case, the driver's face orientation and vehicle speed are determined by the depth distance estimation information No. 2, but the steering wheel angles do not match. Therefore, the depth distance estimation unit 13 sets an initial value to the depth distance.
In this case, in step ST3, the irradiation determining unit 14 determines the irradiation range based on the depth distance for which the initial value is set, and in step ST4, the headlight control unit 15 Light is irradiated onto the irradiation range determined based on the depth distance with the set value.
For example, after that, if the depth distance estimation unit 13 can estimate the depth distance using the depth distance estimation information, the depth distance estimation unit 13 estimates the depth distance using the depth distance estimation information. For example, in the above example, assume that the steering wheel angle becomes 20 degrees while the driver's face direction and vehicle speed remain the same. It is assumed that the driver turns the steering wheel to the right in order to make a right turn. In this case, the depth distance estimating unit 13 determines that the driver's face orientation, vehicle speed, and steering angle are the No. 1 of the depth distance estimation information. 2, we estimate the depth distance to be 15 to 20 meters.
Then, the irradiation determination unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimating unit 13 based on the depth distance estimation information, and the headlight control unit 15 determines the irradiation range for the headlight 2. The irradiation range determined by the unit 14 is irradiated with light.
In other words, the headlight control device 1 changes from the lighting control of the headlights 2 with the depth distance as an initial value to the lighting control of the headlights 2 according to the depth distance estimated by the depth distance estimation unit 13. The lighting control is performed so that light is irradiated onto the estimated visible object that is estimated to exist at the estimated visible position.

The distance between the installation position of the headlight 2 and the position estimated to be actually viewed by the driver (estimated viewing position), that is, the depth distance, cannot be determined only from the direction of the driver. If it is fixedly determined how far ahead the headlights 2 should emit light, the headlights 2 will not be present at the location where the driver is estimated to actually be looking, or at the location concerned. It is difficult to irradiate light onto objects that are
Note that the position of the driver's head and the installation position of the headlight 2 are different. Therefore, if an attempt is made to irradiate the headlights 2 with light so as to cover the entire range in the direction in which the driver is facing, the irradiation range will be too wide, giving glare to pedestrians and drivers of other vehicles.
In the conventional technology as described above, the above matters are not taken into consideration, and a situation may occur in which the light of the headlights 2 cannot be irradiated to the estimated visual recognition position of the driver.

For example, a situation may occur where the driver's estimated visible position is closer than the fixed range of light irradiation from the headlights 2, and the headlight 2 cannot illuminate the driver's estimated visible position. .
To give a specific example, let's say that a driver is checking to see if a pedestrian is jumping out from behind a parked vehicle in front of him in an underground parking lot. In this case, the driver is actually checking a few meters ahead of the parked vehicle, but the driver may be visualizing it during normal driving, such as when driving in an area where there are no parked vehicles, etc. If the assumed several tens of meters ahead is fixedly determined as the distance from the headlight 2 that causes the headlight 2 to emit light, the light from the headlight 2 will not reach the upper body of a pedestrian in the shadow of a stopped vehicle. may not have been irradiated. This is because the distance several meters ahead may not be within the range of light irradiated by the headlights 2. In this way, even if you do not consider the depth distance and irradiate the light in a fixed distance from the headlight 2, it may not be possible to irradiate the pedestrian who jumps out. There is sex. In this case, the driver will be delayed in discovering the pedestrian.
Conversely, there may be situations where the driver's estimated visible position is farther than the fixed range of light irradiation from the headlights 2, and the light from the headlights 2 cannot illuminate the driver's estimated visible position. It can occur.
Specifically, for example, suppose that a driver checks a sign ahead while driving on an expressway. In this case, the sign that the driver is trying to check is further away than the fixed range of light irradiation from the headlights 2, and may not be within the range of light irradiation from the headlights 2. Even if the distance from the headlight 2 that is fixedly determined is irradiated with light without considering the depth distance, there is a possibility that the sign will not be irradiated with light. In this case, the driver is delayed in checking the sign.

On the other hand, as described above, the headlight control device 1 according to the first embodiment detects the direction of the driver based on the captured image inside the vehicle, and acquires driving-related information (here, vehicle information). The headlight control device 1 estimates a depth distance based on the detected orientation information regarding the direction of the driver and the acquired travel-related information, and determines the range of light irradiated by the headlights 2 based on the estimated depth distance. . Then, the headlight control device 1 causes the headlight 2 to irradiate the determined irradiation range with light.
Therefore, the headlight control device 1 can appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.

In the first embodiment described above, in the headlight control device 1, the depth distance estimating section 13 uses the direction information regarding the direction of the driver detected by the direction detection section 11 and the driving-related information acquired by the driving-related information acquisition section 12. More specifically, the depth distance was estimated using the vehicle information acquired by the vehicle information acquisition unit 121 and the depth distance estimation information. However, the present invention is not limited to this, and for example, the depth distance estimation unit 13 may estimate the width of the irradiation range (hereinafter referred to as "ideal width of the irradiation range") in addition to estimating the depth distance. For example, the administrator or the like sets the depth distance in the depth distance estimation information, and also sets the upper limit in the vertical direction and the upper limit in the horizontal direction of the irradiation range as the ideal width of the irradiation range. The depth distance estimation unit 13 estimates the depth distance and the ideal width of the irradiation range based on the orientation information, vehicle information, and depth distance estimation information.
In this case, the depth distance estimation section 13 outputs depth distance information and information regarding the ideal width of the irradiation range to the irradiation determination section 14.
The irradiation determining unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimating unit 13 and the ideal width of the irradiation range. In detail, for example, if the irradiation range calculated based on the depth distance estimated by the depth distance estimating unit 13 exceeds the ideal width of the irradiation range, the irradiation determining unit 14 determines that the range up to the ideal width of the irradiation range is is determined as the irradiation range.
For example, if the depth distance estimated by the depth distance estimation unit 13 is a value with a wide range, the irradiation range determined by the irradiation determination unit 14 based on the depth distance is too wide, and the light from the headlights 2 There is a risk of giving glare to cars etc.
The depth distance estimation unit 13 estimates the ideal width of the irradiation range, and the irradiation determination unit 14 determines the irradiation range with the ideal width of the irradiation range as the upper limit, so that the headlight control device 1 can reduce glare given to oncoming vehicles, etc. Can be reduced.

Further, in the first embodiment described above, the depth distance estimating unit 13 may estimate the depth distance and the amount of light irradiated by the headlights 2 (hereinafter referred to as "ideal light amount"). For example, an administrator or the like sets a depth distance in the depth distance estimation information, and also sets an ideal irradiation light amount according to the depth distance as the ideal light amount. For example, an administrator or the like sets a larger value for the ideal light amount as the depth distance becomes larger. The depth distance estimation unit 13 estimates the depth distance and the ideal light amount based on the orientation information, vehicle information, and depth distance estimation information.
In this case, the depth distance estimation section 13 outputs depth distance information to the irradiation determination section 14 and also outputs information regarding the estimated ideal light amount to the headlight control section 15.
The headlight control unit 15 causes the headlight 2 to irradiate light at the ideal light amount estimated by the depth distance estimating unit 13 in the irradiation range determined by the irradiation determining unit 14.
The depth distance estimating unit 13 estimates the ideal amount of light, and the headlight control unit 15 causes the headlights 2 to emit light at the ideal amount of light, so that the headlight control device 1 can Depending on the distance from the vehicle 100 to which the light is irradiated, the light can be irradiated with the amount of light that is assumed to be necessary for the driver to visually recognize the estimated visible object.

In the first embodiment described above, the depth distance estimation unit 13 may estimate the depth distance and the ideal width and ideal light amount of the irradiation range.

Further, in the first embodiment described above, the headlight control device 1 is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, and the irradiation determination section 12. It is assumed that the section 14, the headlight control section 15, and a control section (not shown) are included in the vehicle-mounted device. However, the present invention is not limited to this, and some of the orientation detection unit 11, driving-related information acquisition unit 12, depth distance estimation unit 13, irradiation determination unit 14, and headlight control unit 15 are provided in the on-vehicle device of the vehicle 100. Other components may be provided in a server connected to the in-vehicle device via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14, the headlight control unit 15, and a control unit (not shown). .

6A and 6B are diagrams showing an example of the hardware configuration of the headlight control device 1 according to the first embodiment.
In the first embodiment, the functions of the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14, the headlight control unit 15, and a control unit (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1 estimates the depth distance based on the driving-related information and the orientation information regarding the direction of the driver detected based on the in-vehicle image acquired from the in-vehicle imaging device 3, and applies the estimated depth distance to A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above-mentioned information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

When the processing circuit 1001 is dedicated hardware, the processing circuit 1001 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field-Programmable Circuit). Gate Array), or a combination of these.

When the processing circuit is the processor 1004, the functions of the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, the headlight control section 15, and the control section (not shown) are as follows. Realized by software, firmware, or a combination of software and firmware. Software or firmware is written as a program and stored in memory 1005. The processor 1004 reads out and executes the program stored in the memory 1005, thereby controlling the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, and the headlight control section. 15, the functions of a control section (not shown) are executed. That is, the headlight control device 1 stores a program that, when executed by the processor 1004, results in steps ST1-1, ST1-2 to ST4 in FIG. A memory 1005 is provided. Further, the program stored in the memory 1005 includes the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14, the headlight control unit 15, and the control unit (not shown). It can also be said to be something that causes a computer to execute a processing procedure or method. Here, the memory 1005 is, for example, RAM, ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically non-volatile or volatile semiconductors such as asable, programmable, read-only memory) This includes memory, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Discs), and the like.

Note that some of the functions of the direction detection unit 11, driving-related information acquisition unit 12, depth distance estimation unit 13, irradiation determination unit 14, headlight control unit 15, and control unit (not shown) are implemented using dedicated hardware. It may also be realized by software, and part of it may be realized by software or firmware. For example, the functions of the direction detection unit 11 and the driving-related information acquisition unit 12 are realized by the processing circuit 1001 as dedicated hardware, and the functions of the direction detection unit 11 and the driving-related information acquisition unit 12 are realized by the processing circuit 1001 as dedicated hardware, and the depth distance estimation unit 13, the illumination determination unit 14, and the headlight control unit 15. The functions of the control unit (not shown) can be realized by the processor 1004 reading and executing a program stored in the memory 1005.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1 also includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, the headlight control device 1 according to the first embodiment includes the orientation detection unit 11 that detects the orientation of the driver based on the captured image of the driver of the vehicle 100 (in-vehicle captured image); A driving-related information acquisition unit 12 that acquires driving-related information related to the driving of the vehicle 100, orientation information regarding the driver's orientation detected by the orientation detection unit 11, and driving-related information acquired by the driving-related information acquisition unit 12. Depth distance estimation for estimating the depth distance, which is the distance from the installation position of the headlight 2 provided in the vehicle 100 to the estimated visual position estimated to be the driver's visible position in the direction the driver is facing, based on 13; an irradiation determining unit 14 that determines the range of light irradiated by the headlights 2 based on the depth distance estimated by the depth distance estimating unit 13; The headlight controller 15 is configured to include a headlight control section 15 that irradiates a range with light.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1 determines how far ahead in the direction the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1 can appropriately illuminate the estimated visual position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Specifically, in the headlight control device 1, the driving-related information acquisition unit 12 includes a vehicle information acquisition unit 121 that acquires vehicle information regarding the vehicle 100 as driving-related information, and the depth distance estimating unit 13 includes direction information and The depth distance is estimated based on the vehicle information.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1 determines how far ahead in the direction the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1 can appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Embodiment 2.
In the first embodiment, the headlight control device estimates the depth distance based on direction information and vehicle information.
In Embodiment 2, an embodiment in which depth distance is estimated using map information will be further described.

FIG. 7 is a diagram showing a configuration example of a headlight control device 1a according to the second embodiment.
In the second embodiment, it is assumed that the headlight control device 1a is mounted on the vehicle 100.
The headlight control device 1a controls the headlights 2 provided in the vehicle 100 based on the orientation of the driver of the vehicle 100. In the second embodiment, the "driver's orientation" is expressed by the driver's face orientation or the driver's line of sight direction. In the second embodiment, the "driver's orientation" includes not only the driver's face orientation or the driver's line of sight direction, but also the driver's body orientation, in other words, the driver's posture. good.
In the second embodiment, the light control of the headlights 2 based on the direction of the driver performed by the headlight control device 1a is performed in a dark place around the vehicle 100, such as a parking lot at night or a city area at night. , is assumed to be performed when the headlight 2 is turned on.
In Embodiment 2 below, when simply referring to "driver's face direction", the "driver's face direction" includes "driver's face direction or line of sight direction", which also includes the direction of the driver's line of sight. It refers to

In FIG. 7, the same components as the headlight control device 1 described in Embodiment 1 using FIG. 1 are given the same reference numerals and redundant explanation will be omitted.
The headlight control device 1a according to the second embodiment is different from the headlight control device 1 according to the first embodiment in that the driving-related information acquisition section 12a includes a map information acquisition section 122 in addition to the vehicle information acquisition section 121. are different.
Further, the specific operation of the depth distance estimation section 13a in the headlight control device 1a according to the second embodiment is different from the specific operation of the depth distance estimation section 13 in the headlight control device 1 according to the first embodiment. different.

In the second embodiment, the driving-related information acquisition device 4 includes a vehicle speed sensor (not shown), a steering wheel angle sensor (not shown), a car navigation device, a GPS (Global Positioning System), a high-precision locator, etc. Including positioning equipment. Positioning devices such as car navigation devices hold map information.
The map information also includes the current location of the vehicle 100, route information regarding the route the vehicle 100 is traveling on, or information regarding the lane (here, the lane is a so-called lane) the vehicle 100 is traveling on. do. For example, the high-precision locator can acquire information about the current position of the vehicle 100 in units of several tens of centimeters, and therefore can acquire information about the lane in which the vehicle 100 is traveling.
The driving-related information acquisition device 4 outputs vehicle information and map information to the headlight control device 1a as driving-related information.

The map information acquisition unit 122 acquires map information from the travel-related information acquisition device 4.
The map information acquisition unit 122 outputs the acquired map information to the depth distance estimation unit 13a as travel-related information.

The depth distance estimation unit 13a uses the driver's orientation detected by the orientation detection unit 11 and the driving-related information acquisition unit 12a (specifically, the vehicle information acquired by the vehicle information acquisition unit 121 and the map acquired by the map information acquisition unit 122). The depth distance is estimated based on the information (information).
Specifically, the depth distance estimating unit 13a estimates the depth distance by comparing the orientation information, travel-related information (here, vehicle information and map information), and depth distance estimation information.

Here, FIG. 8 is a diagram showing an example of the contents of depth distance estimation information used by the depth distance estimating section 13a to estimate the depth distance in the second embodiment.
As shown in FIG. 8, in the second embodiment, the depth distance estimation information is, for example, a table in which driver behavior, vehicle information, map information, and depth distance are associated with each other.
In the depth distance estimation information, the driver's behavior includes, for example, the vertical direction of the driver's face direction and the horizontal direction of the driver's face direction. The vertical direction of the driver's face is expressed as "front,""above," or "down." The left and right direction of the driver's face is expressed as "front", "right", or "left".
Furthermore, in the depth distance estimation information, the vehicle information includes, for example, vehicle speed.
Further, in the depth distance estimation information, the map information includes, for example, information on the traveling position of the vehicle 100, route information, and information on the lane position.

The depth distance estimation unit 13a determines the driver's behavior based on the driver's orientation detected by the orientation detection unit 11, and the determined behavior and the vehicle information acquired by the vehicle information acquisition unit 121 include the behavior of the driver. Information indicating the vehicle speed and steering angle, information indicating the traveling position of the vehicle 100, route information, and information indicating the lane position included in the map information acquired by the map information acquisition unit 122 are shown in FIG. The depth distance is estimated by obtaining depth distance information by comparing the driver's behavior, vehicle information, and map information set in the depth distance estimation information as shown.

For example, the depth distance estimating unit 13a determines whether the vertical direction of the driver's face is "front" or "above" from information indicating the driver's vertical face orientation included in the orientation information. Determine whether it is "downward".
For example, the depth distance estimating unit 13a determines whether the horizontal direction of the driver's face is “front” or “right” from information indicating the driver's horizontal face orientation included in the orientation information. Determine whether it is on the left or on the left.
Determination by the depth distance estimating unit 13a whether the vertical and horizontal directions of the driver's face direction are "front", "up", "down", "right", or "left" The method is to determine whether the vertical and horizontal directions of the driver's face direction are "front", "above", or "down" by the depth distance estimating unit 13, which has already been explained in the first embodiment. Since the method for determining whether it is "right" or "left" is the same, duplicate explanation will be omitted.

For example, assume that the driver's face is now facing "front" in the vertical direction and "right" in the horizontal direction. Further, it is assumed that the traveling speed of vehicle 100 is 30 km/h. Further, it is assumed that the traveling position of the vehicle 100 is 15 meters before the intersection. Further, it is assumed that the route of the vehicle 100 is "turn right at the next intersection".
Note that it is assumed that the depth distance estimation information has contents as shown in FIG.
In this case, the depth distance estimating unit 13a uses the direction information, travel-related information (here, vehicle information and map information), and depth distance estimation information to determine the depth distance between the sidewalk and crosswalk at the intersection. (See No. 2 of the depth distance estimation information in FIG. 8).

For example, the driver's face orientation is "front to top" in the vertical direction, "right or left" in the horizontal direction, the vehicle speed is "15 to 35 km/h", and the vehicle 100 is "within 20 meters of an intersection". If the vehicle 100 is about to make a "right or left turn at the next intersection," the vehicle 100 is about to make a right or left turn at the intersection, and the estimated visible object of the driver is estimated to be a pedestrian. Therefore, in the depth distance estimation information, the depth distance includes the case where the vehicle 100 is trying to turn left or right at an intersection and is traveling at ``15 to 35 km/h'' within 20 meters of the intersection, and the driver tries to check for pedestrians. , a range with a margin of 5 m including the intersection sidewalk and crosswalk is set, in which it is assumed that the pedestrian is probably at this depth (depth distance estimation in Figure 8). Information No. 2).
Similarly, No. 8 of the depth distance estimation information in FIG. 1.No. 3~No. Also in condition No. 6, the depth distance is set based on the driving state of the vehicle 100 estimated from the driver's behavior, vehicle information, and map information and the estimated visible object of the driver.
FIG. 9 shows No. 1 set in the depth distance estimation information shown in FIG. 1~No. Regarding the depth distance corresponding to the input information under the condition 6, the driving state of the vehicle 100 and the driver's estimated visibility are estimated from the driver's behavior, vehicle information, and map information, which are the basis for deriving the depth distance. FIG. 2 is a diagram showing an example of objects in association with each other.

Note that in the depth distance estimation information shown in FIG. 1~No. 6 conditions are set, but this is just an example. Moreover, the content of the depth distance estimation information as shown in FIG. 8 is only an example.
In the depth distance estimation information shown in FIG. 8, a traveling position, route information, and lane position are set as map information, but this is only an example. , information indicating the distance to a certain position (for example, within 20 m to an intersection, within 50 m to an expressway interchange, etc.) may be set.
The depth distance estimation information only needs to be information that allows depth distance information to be obtained from orientation information and travel-related information (here, vehicle information and map information). It is only necessary that the face direction, vehicle speed, and driving position information be associated with the depth distance.

The depth distance estimation unit 13a outputs depth distance information to the irradiation determination unit 14.

Note that the depth distance estimation unit 13a uses the direction information regarding the driver's orientation detected by the direction detection unit 11 and the driving-related information acquired by the driving-related information acquisition unit 12a (here, the vehicle information acquired by the vehicle information acquisition unit 121). If the map information acquired by the map information acquisition unit 122 does not match the input information set in the depth distance estimation information, for example, it is assumed that the depth distance could not be estimated from the depth distance estimation information, and the corresponding Set the initial value of the depth distance to the depth distance.
The depth distance estimation unit 13a outputs depth distance information regarding the depth distance for which the initial value is set to the irradiation determination unit 14.

The irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13a, and outputs irradiation information to the headlight control unit 15. The headlight control section 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination section 14 with light.

Here, FIG. 10A is a diagram for explaining an example of the depth distance estimated by the depth distance estimation unit 13a in the second embodiment.
FIG. 10B shows that in the second embodiment, the headlight control unit 15 applies the irradiation to the headlight 2 determined by the irradiation determination unit 14 based on the depth distance as shown in FIG. FIG. 3 is a diagram for explaining an example of how a range is irradiated with light.
FIG. 10A is an overhead view of the road on which the vehicle 100 is traveling.
FIG. 10B is a side view of the road on which the vehicle 100 is traveling. In FIG. 10B, the driver is indicated by "D", and the range of light irradiated by the headlight 2 is indicated by "LA".
Note that in FIG. 10A, the depth distance is the distance from the right light to the estimated visual position of the driver. Further, although FIG. 10B shows the vehicle 100 as viewed from the left for convenience, the irradiation range shown in FIG. 10B is the irradiation range by the right light.
In FIGS. 10A and 10B, as an example, the driver's face is facing "front" in the vertical direction and "right" in the left-right direction, and the vehicle 100 passes the next intersection 15 meters before the intersection. When the vehicle is traveling at a speed of 30 km/h to make a right turn, the depth distance estimating section 13a estimates the depth distance using the depth distance estimation information, and the headlight control section 15 causes the headlights 2 to: It is assumed that the irradiation range determined by the irradiation determining unit 14 is irradiated with light. Note that it is assumed that the depth distance estimation information has contents as shown in FIG. 8 .

The depth distance estimating unit 13a calculates the distance between the driver's behavior determined from the direction information and driving-related information (vehicle information and map information here) based on the depth distance estimation information having the content as shown in FIG. Distance estimation information No. Assuming that 2 applies, the depth distance is estimated to be "an area with a 5m margin, including the intersection sidewalk and crosswalk." As a result, in the direction of the driver, a range of depth distance including the sidewalk near the intersection and the crosswalk at the intersection and has a margin of 5 m is estimated (see FIG. 10A). At this time, the depth distance estimating unit 13a determines specifically how many meters to how many meters the range of depth distance that includes the sidewalk near the intersection and the crosswalk at the intersection has a margin of 5 meters. is calculated based on the map information, for example, by a method as described using FIGS. 11A and 11B below. Note that the method described below with reference to FIGS. 11A and 11B is only an example, and the depth distance estimating unit 13a uses other methods to calculate a margin of 5 m including the sidewalk near the intersection and the crosswalk at the intersection. You may calculate the range of depth distances that have the following values.
Further, FIGS. 11A and 11B show how, in the first embodiment, the depth distance estimating unit 13a specifically calculates the range of depth distance that has a margin of 5 m, including the sidewalk near the intersection and the crosswalk at the intersection. This is a diagram for convenience to explain an example of a method of calculating the range of m to m, and the roads shown in FIGS. 11A and 11B do not match the road shown in FIG. 10A.

FIGS. 11A and 11B are overhead views of the road on which the vehicle 100 is traveling. In FIGS. 11A and 11B, illustration of the vehicle 100 is omitted for simplicity of explanation, but the vehicle 100 is traveling on a general road and is about to turn right at the next intersection, and the driver is looking to the right. It is assumed that there is It is assumed that the direction of the driver at this time is θd degrees.

<Obtaining various information>
First, the depth distance estimating unit 13a acquires information indicating the number of lanes of the road including the current lane and the lane to which the vehicle is turning right, and the distance to the intersection, from the map information. Here, for example, it is assumed that the depth distance estimating unit 13a has acquired information that the road including the own lane and the right turn destination lane is a road with two lanes on each side, and that the distance to the intersection is 15 meters.
In the example shown in FIGS. 11A and 11B, the driver is facing to the right. In this case, the depth distance estimation unit 13a estimates that the driver is looking at the sidewalk in front of the vehicle 100 based on the direction information and the map information. Furthermore, since the roads shown in FIGS. 11A and 11B are general roads, the depth distance estimation unit 13a assumes that the lane width is 3.5 m. Note that it is assumed that the assumed lane width is determined in advance depending on the road type. When a high-precision locator is used as the travel-related information acquisition device 4, the depth distance estimation unit 13a may use lane width information obtained from the high-precision locator.

<Calculating the distance from the installation position of headlight 2 to the front of the sidewalk>
The depth distance estimation unit 13a calculates the distance from the installation position of the headlight 2 to the front of the sidewalk. Specifically, the depth distance estimation unit 13a calculates the distance from the center of the driver's head to the front of the sidewalk of a virtual straight line indicating the direction the driver is facing (indicated by "D11" in FIG. 11A). ), and based on this, the distance from the installation position of the headlight 2 to the front of the sidewalk is calculated.
Since the vehicle 100 is about to turn right, the depth distance estimating unit 13a estimates that the vehicle 100 is currently traveling in the right lane of a road with two lanes on each side. Note that when a high-precision locator is used as the driving-related information acquisition device 4, the depth distance estimation unit 13a may estimate the lane in which the vehicle 100 is traveling using information on the actual driving lane. .
The depth distance estimation unit 13a calculates driving distance from the center of the driver's head based on the position of the center of the driver's head, the orientation of the driver, the assumed lane width, and the number of road lanes obtained from the map information. The distance from a virtual straight line indicating the direction the person is facing to the front of the sidewalk is calculated. It is assumed that the lane in which the vehicle 100 is currently traveling is the right lane of a road with two lanes on each side, and the lane width is 3.5 m. Further, the direction of the driver is set to θd degrees. For example, if the position of the center of the driver's head is the widthwise center of the travel lane of the vehicle 100, the depth distance estimation unit 13a calculates (3.5×2.5)/sinθd(m). , is calculated as the distance from the center of the driver's head to the front of the sidewalk of a virtual straight line indicating the direction the driver is facing. Then, the depth distance estimating unit 13a calculates the distance from the installation position of the headlight 2 to the sidewalk, based on the calculated distance from the center of the driver's head to the front of the sidewalk of a virtual straight line indicating the direction the driver is facing. Calculate the distance to the front. Note that since the positional relationship between the position of the center of the driver's head and the installation position of the headlight 2 is known, the depth distance estimation unit 13a indicates the direction in which the driver is facing from the center of the driver's head. Based on the distance from the virtual straight line to the front of the sidewalk, the distance from the installation position of the headlight 2 to the front of the sidewalk can be calculated.

<Calculating the distance from the installation position of headlight 2 to the back of the sidewalk>
The depth distance estimation unit 13a calculates the distance from the installation position of the headlight 2 to the back of the sidewalk using the same method as calculating the distance from the installation position of the headlight 2 to the front of the sidewalk. Specifically, the depth distance estimation unit 13a calculates the distance from the center of the driver's head to the back of the sidewalk (indicated by "D12" in FIG. 11B) of a virtual straight line indicating the direction the driver is facing. ), and based on this, the distance from the installation position of the headlight 2 to the back of the sidewalk is calculated.
Here, the depth distance estimation unit 13a calculates {15-(3.5×2)}/sinθd(m) as the distance to the back of the sidewalk of a virtual straight line indicating the direction in which the driver is facing. Based on this distance, the distance from the installation position of the headlight 2 to the back of the sidewalk is calculated.

<Calculation of depth distance range>
The depth distance estimation unit 13a calculates the range of depth distance based on the calculated distance from the installation position of the headlight 2 to the front of the sidewalk and the distance from the installation position of the headlight 2 to the back of the sidewalk.
It is assumed that the depth distance estimating unit 13a calculates, for example, a range of depth distances that includes the sidewalk near the intersection and the crosswalk at the intersection and has a margin of 5 meters. For example, if the distance from the installation position of the headlight 2 to the front of the sidewalk calculated by the depth distance estimation unit 13a is "Am" and the distance from the installation position of the headlight 2 to the back of the sidewalk is "Bm", then the depth distance The estimation unit 13a adds a margin of 5m to these distances, and calculates the range from "Am-5m" to "Bm+5m" as a depth distance with a margin of 5m, including the sidewalk near the intersection and the crosswalk at the intersection. Calculate as a range.

Returning to the explanation using FIG. 10A.
Here, it is assumed that the depth distance estimating unit 13a estimates the depth distance to be "10 m to 30 m" using, for example, the method described using FIGS. 11A and 11B above. Specifically, after calculating that the distance from the installation position of headlight 2 to the front of the sidewalk is 15m, and the distance from the installation position of headlight 2 to the back of the sidewalk is 25m, a margin of 5m is added to each, and ``15m'' is calculated. -5m=10m" to "25m+5m=30m" is the depth distance range.
Further, for example, the irradiation determining unit 14 determines the range of φ ₃ degrees to φ ₄ degrees in the left-right direction and θ 3 degrees to θ 3 degrees in the vertical direction, based on the depth distance “10 m to 30 m” estimated by the depth distance estimating unit _13a . The range of θ ₄ degrees is determined as the irradiation range (see FIG. 10B. In FIG. 10B, the irradiation range in the left and right direction is not shown).
Note that here, the irradiation determining unit 14 calculates a first depth distance vertical angle based on a depth distance of "10 m" in the vertical direction of the irradiation range, and calculates a second depth distance vertical angle based on a depth distance of "30 m". Then, the vertical direction of the irradiation range is determined.

The headlight control unit 15 uses the depth distance estimating unit 13a to calculate the direction in which the driver is facing with respect to the headlights 2, taking into account the driver's orientation and driving-related information (here, vehicle information and map information). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the estimated depth distance.
As a result, the headlight control unit 15 can control the headlight 2 so that light is irradiated onto the estimated visible object that is estimated to exist at the estimated visible position. The driver can visually recognize the estimated visible object.

In the situations shown in FIGS. 10A and 10B, the estimated visible object is estimated to be a pedestrian (see FIG. 9). In other words, the headlight control unit 15 controls a pedestrian A (indicated by W1 in FIGS. 10A and 10B) that is estimated to be a visible object of the driver and is estimated to exist in the direction the driver is facing. can be illuminated with light. The driver's current direction is a direction that includes the sidewalk in front of the intersection and the road in the direction of travel. Therefore, the pedestrian who is the estimated visible object of the driver is estimated to be Pedestrian A who is crossing the sidewalk in front of the intersection or the crosswalk on the road in the direction of travel.
For example, on the route of the vehicle 100, there may be a pedestrian B (indicated by W2 in FIG. 10A) on the sidewalk on the other side of the intersection. However, the pedestrian B does not exist in the direction that the driver is facing. Therefore, it is not presumed to be an object that is estimated to be visible to the driver. In other words, pedestrian B is not irradiated with light.
The headlight control unit 15 is configured to irradiate light onto an object that is estimated to be visible to the driver and is estimated to be located at a position (estimated visible position) that is an estimated depth distance away from the driver in the direction in which the driver is facing. , controls the headlights 2.
Note that in FIGS. 10A and 10B, pedestrian A and pedestrian B are also illustrated for ease of understanding, but pedestrian A and pedestrian B are estimated to exist, and may not actually exist. Not necessarily.

Here, FIG. 12A is a diagram for explaining another example of the depth distance estimated by the depth distance estimation unit 13a in the second embodiment.
FIG. 12B shows that in the second embodiment, the headlight control unit 15 applies irradiation to the headlight 2 determined by the irradiation determination unit 14 based on the depth distance as shown in FIG. 12A estimated by the depth distance estimation unit 13a. FIG. 3 is a diagram for explaining an example of how a range is irradiated with light.
FIG. 12A is an overhead view of the road on which the vehicle 100 is traveling.
FIG. 12B is a side view of the road on which the vehicle 100 is traveling. In FIG. 12B, the driver is indicated by "D", and the range of light irradiated by the headlight 2 is indicated by "LA".
Note that in FIG. 12A, the depth distance is the distance from the right light to the driver's estimated visual recognition position. Further, although FIG. 12B shows the vehicle 100 as viewed from the left side with respect to the traveling direction for convenience, the irradiation range shown in FIG. 12B is the irradiation range by the right light.
Also, in FIGS. 12A and 12B, as in FIGS. 10A and 10B, as an example, the driver's face is facing "front" in the vertical direction and "right" in the horizontal direction, and the vehicle 100 is When you are driving at a speed of 30 km/h to make a right turn at the next intersection 15 meters before the intersection, the depth distance estimation unit 13a estimates the depth distance using the depth distance estimation information, and the headlight control unit 15 indicates that the headlight 2 is caused to irradiate light onto the irradiation range determined by the irradiation determining unit 14. Further, it is assumed that the depth distance estimation information had contents as shown in FIG. 8 .
The direction of the driver's face is different between FIG. 10 and FIG. 12.

In this case, the depth distance estimating unit 13a calculates the driver's behavior determined from the direction information and driving-related information (here, vehicle information and map information) based on the depth distance estimation information as shown in FIG. is the No. of the depth distance estimation information. Assuming that 2 applies, the depth distance is estimated to be "an area with a 5m margin including the intersection sidewalk and crosswalk." As a result, in the direction in which the driver is facing, a depth distance is estimated that includes the sidewalk near the intersection and the crosswalk at the intersection and has a margin of 5 meters (see FIG. 12B).
Here, it is assumed that the depth distance estimation unit 13a estimates the depth distance to be, for example, "20 m to 37 m" based on the map information. Specifically, after calculating that the distance from the installation position of headlight 2 to the front of the sidewalk is 25m, and the distance from the installation position of headlight 2 to the back of the sidewalk is 32m, a margin of 5m is added to each, and ``25m'' is calculated. -5m=20m" to "32m+5m=37m" is the range of depth distance.
Further, for example, the irradiation determining unit 14 determines the range of φ ₅ degrees to φ _{6 degrees in the left-right direction and θ 5 degrees to θ in the vertical direction based on the depth distance “20 m to 37 m” estimated by the depth distance estimating unit 13a} _. The range of θ ₆ degrees is determined as the irradiation range (see FIG. 12B. In FIG. 12B, the irradiation range in the left and right direction is not shown).
Note that here, the irradiation determining unit 14 calculates the first depth distance vertical angle based on the depth distance "20 m" in the vertical direction of the irradiation range, and calculates the second depth distance vertical angle based on the depth distance "37 m". Then, the vertical direction of the irradiation range is determined.

The headlight control unit 15 uses the depth distance estimating unit 13 to calculate the direction in which the driver is facing with respect to the headlights 2, taking into account the driver's orientation and travel-related information (here, vehicle information and map information). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the estimated depth distance.
In the situation shown in FIGS. 12A and 12B, the estimated visible object is estimated to be a pedestrian (see FIG. 9), but now, as shown in FIGS. 12A and 12B, the driver is facing the object. The direction includes the road in the traveling direction of vehicle 100 and the sidewalk on the other side of the intersection. In this case, the driver's estimated visible object is pedestrian B (indicated by W2 in FIGS. 12A and 12B) who is crossing the sidewalk on the other side of the intersection or the crosswalk on the road in the direction of travel. It is estimated to be.
The headlight control unit 15 is capable of irradiating light onto a pedestrian B who is estimated to be a visible object of the driver and who is estimated to exist in the direction the driver is facing.
Even if there is a pedestrian A (indicated by W1 in FIG. 12A) on the sidewalk before the intersection on the route of the vehicle 100, the pedestrian A is present in the direction the driver is facing. do not. Therefore, it is not estimated to be an object that is estimated to be visible to the driver. In other words, pedestrian A is not irradiated with light.

In this way, the headlight control device 1a directs light to the estimated visible object of the driver according to the depth distance estimated using the orientation information, vehicle information, map information, and depth distance estimation information. Appropriate lighting control of the headlights 2 can be performed so that the headlights are illuminated.

In the headlight control device 1 according to the first embodiment, the depth distance estimation unit 13 estimates the depth distance from the direction information and the vehicle information using the depth distance estimation information. The depth distance estimation unit 13 did not take map information into consideration when estimating the depth distance.
Therefore, for example, in the headlight control device 1 according to the first embodiment, the depth distance estimation unit 13 estimates the depth distance using the depth distance estimation information as shown in FIG. The person's face is ``front'' in the vertical direction and ``right'' in the horizontal direction, and the vehicle 100 is traveling at a speed of 30 km/h to turn right at the next intersection 15 meters before the intersection. In this case, the depth distance estimation unit 13 cannot estimate the depth distance unless the driver turns the steering wheel to a certain degree (for example, 20 degrees or more) to turn right.
Under such circumstances, the depth distance estimating unit 13 can estimate the depth distance to be, for example, "15 to 20 m" (see FIG. (See No. 2). This is because it is difficult to estimate the running state of the vehicle 100 and the estimated visible object of the driver until the steering wheel is turned to the right to some extent.

In contrast, in the headlight control device 1a according to the second embodiment, the depth distance estimation information used by the depth distance estimating section 13a to estimate the depth distance includes map information. Note that when generating the depth distance estimation information, the administrator or the like can, for example, estimate the estimated visible object based on the route of the vehicle 100 and set the depth distance.
The depth distance estimation unit 13a estimates the depth distance using orientation information, vehicle information, map information, and depth distance estimation information.
As a result, the depth distance estimating unit 13a can estimate the depth distance at a timing earlier than when the driver turns the steering wheel to some extent to make a right turn, for example in the above example.
That is, the headlight control device 1a according to the second embodiment can control the lighting of the headlights 2 according to the depth distance at an earlier timing than the headlight control device 1 according to the first embodiment. For example, the headlight control device 1a according to the second embodiment starts the lighting control of the headlight 2 with the depth distance as an initial value at an earlier timing than the headlight control device 1 according to the first embodiment. Lighting control of the headlight 2 according to the depth distance estimated by the estimation unit 13a, in other words, lighting control so that light is irradiated to the estimated visible object that is estimated to exist at the estimated visible position of the driver, You can switch to .

The operation of the headlight control device 1a according to the second embodiment will be explained.
FIG. 13 is a flowchart for explaining the operation of the headlight control device 1a according to the second embodiment.
For example, when the headlights 2 are turned on, the headlight control device 1a determines that the lighting control of the headlights 2 is to be performed based on the direction of the driver, and starts operations as shown in the flowchart of FIG. do. The headlight control device 1a repeats the operation shown in the flowchart of FIG. 13, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1a acquires information indicating the state of the headlights 2 from a headlight switch mounted on the vehicle 100, and determines whether the headlights 2 are on or not. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the driver's direction, and the direction detection unit 11, driving related information acquisition unit 12a, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the section 13a, the irradiation determining section 14, and the headlight control section 15.
Further, when the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the travel-related information acquisition section 12a, the depth distance estimation section 13a, the irradiation determination section 14, and the headlight control section 15.

Regarding the operation shown in the flowchart of FIG. 13, the processing contents of step ST1-1, step ST1-2, and steps ST3 to ST4 are the headlight control shown in the flowchart of FIG. 5, which have already been explained in the first embodiment. Since the processing contents are the same as those of steps ST1-1, ST1-2, and steps ST3 to ST4 of the operation of the apparatus 1, duplicate explanations will be omitted.

The map information acquisition unit 122 acquires map information from the travel-related information acquisition device 4 (step ST1-3).
The map information acquisition unit 122 outputs the acquired map information to the depth distance estimation unit 13a as travel-related information.

The depth distance estimating unit 13a uses the orientation information regarding the driver's orientation detected by the orientation detecting unit 11 in step ST1-1, the vehicle information acquired by the vehicle information acquiring unit 121 in step ST1-2, and the vehicle information acquired in step ST1-2. The depth distance is estimated using the map information acquired by the map information acquisition unit 122 in step ST2 and the depth distance estimation information (step ST2a).

In step ST3, the irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13 in step ST2a (step ST3).

In this way, the headlight control device 1a detects the direction of the driver based on the captured image inside the vehicle, and acquires travel-related information (here, vehicle information and map information). The headlight control device 1a estimates a depth distance based on the detected orientation information regarding the direction of the driver and the acquired travel-related information, and determines the range of light irradiation by the headlights 2 based on the estimated depth distance. . Then, the headlight control device 1a causes the headlight 2 to irradiate the determined irradiation range with light.
Therefore, the headlight control device 1a can appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.
By using map information to estimate the depth distance, the headlight control device 1a can estimate the depth distance even in situations where it is difficult to estimate the depth distance using only the driver's orientation and vehicle information. The system can provide driving support when driving.

In the second embodiment described above, for example, the depth distance estimation unit 13a may estimate the depth distance and the ideal width of the irradiation range. In this case, the depth distance estimation section 13a outputs depth distance information and information regarding the ideal width of the irradiation range to the irradiation determination section 14.
The irradiation determining unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimating unit 13a and the ideal width of the irradiation range. Specifically, when the irradiation range calculated based on the depth distance estimated by the depth distance estimation unit 13a exceeds the ideal width of the irradiation range, the irradiation determining unit 14 determines the range up to the ideal width of the irradiation range. Determine the irradiation range.
The depth distance estimating unit 13a estimates the ideal width of the irradiation range, and the irradiation determining unit 14 determines the irradiation range with the ideal width of the irradiation range as the upper limit, so that the headlight control device 1a reduces glare imparted to oncoming vehicles, etc. Can be reduced.

Furthermore, in the second embodiment described above, the depth distance estimating unit 13a may estimate the ideal light amount by the headlights 2 as well as estimating the depth distance. In this case, the depth distance estimation section 13a outputs depth distance information to the irradiation determination section 14, and also outputs information regarding the estimated ideal light amount to the headlight control section 15.
The headlight control unit 15 causes the headlight 2 to irradiate light in the irradiation range determined by the irradiation determination unit 14 at the ideal light amount estimated by the depth distance estimation unit 13a.
The depth distance estimating unit 13a estimates the ideal amount of light, and the headlight control unit 15 causes the headlights 2 to emit light at the ideal amount of light, so that the headlight control device 1a, in the direction in which the driver is facing, Depending on the distance from the vehicle 100 to which the light is irradiated, the light can be irradiated with the amount of light that is assumed to be necessary for the driver to visually recognize the estimated visible object.

In the second embodiment described above, the depth distance estimation unit 13a may estimate the depth distance and the ideal width and ideal light amount of the irradiation range.

Further, in the second embodiment described above, the headlight control device 1a is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the driving-related information acquisition section 12a, the depth distance estimation section 13a, and the irradiation determination section 12a. It is assumed that the section 14, the headlight control section 15, and a control section (not shown) are included in the vehicle-mounted device. The present invention is not limited to this, and some of the direction detection section 11, driving-related information acquisition section 12a, depth distance estimation section 13a, irradiation determination section 14, headlight control section 15, and control section (not shown) 100 in-vehicle devices, and the other in-vehicle devices may be provided in servers connected to the in-vehicle devices via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12a, the depth distance estimation unit 13a, the irradiation determination unit 14, the headlight control unit 15, and a control unit (not shown). .

The hardware configuration of the headlight control device 1a according to the second embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, so illustration thereof is omitted. do.
In the second embodiment, the functions of the direction detection section 11, the travel-related information acquisition section 12a, the depth distance estimation section 13a, the irradiation determination section 14, the headlight control section 15, and a control section (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1a estimates the depth distance based on the driving-related information and the direction information regarding the direction of the driver detected based on the in-vehicle image acquired from the in-vehicle imaging device 3, and applies the estimated depth distance to A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above-mentioned information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection section 11, the travel-related information acquisition section 12a, the depth distance estimation section 13a, the irradiation determination section 14, and the headlight control section. 15 and a control section (not shown). That is, when the headlight control device 1a is executed by the processing circuit 1001, steps ST1-1, ST1-2, and ST1-3 to ST4 in FIG. 13 described above are executed as a result. A memory 1005 is provided for storing a program. Further, the program stored in the memory 1005 includes the direction detection unit 11, the travel-related information acquisition unit 12a, the depth distance estimation unit 13a, the irradiation determination unit 14, the headlight control unit 15, and the control unit (not shown). It can also be said that it causes a computer to execute a processing procedure or method.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1a includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, the headlight control device 1a according to the second embodiment includes the orientation detection unit 11 that detects the orientation of the driver based on the captured image of the driver of the vehicle 100 (in-vehicle captured image); A driving-related information acquisition unit 12a that acquires driving-related information related to driving of the vehicle 100, orientation information regarding the driver's orientation detected by the orientation detection unit 11, and driving-related information acquired by the driving-related information acquisition unit 12a. a depth distance estimating unit 13a that estimates the depth distance based on the depth distance; an irradiation determining unit 14 that determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13a; On the other hand, the headlight control section 15 is configured to irradiate light onto the irradiation range determined by the irradiation determining section 14.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1a determines how far ahead in the direction the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1a can appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.

Specifically, in the headlight control device 1a, the driving-related information acquisition unit 12a includes a vehicle information acquisition unit 121 that acquires vehicle information regarding the vehicle 100 as driving-related information, and a map information acquisition unit 121 that acquires map information as driving-related information. The depth distance estimation section 13a estimates the depth distance based on the orientation information, vehicle information, and map information.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1a determines how far ahead in the direction the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1a can appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.

Embodiment 3.
In the first embodiment, the headlight control device estimates the depth distance based on direction information and vehicle information.
In Embodiment 3, an embodiment will be described in which a depth distance is estimated based on orientation information and information around the vehicle.

FIG. 14 is a diagram showing a configuration example of a headlight control device 1b according to the third embodiment.
In the third embodiment, it is assumed that the headlight control device 1b is mounted on the vehicle 100.
The headlight control device 1b controls the headlights 2 provided in the vehicle 100 based on the orientation of the driver of the vehicle 100. In the third embodiment, the "driver's orientation" is expressed by the driver's face orientation or the driver's line of sight direction. In the third embodiment, the "driver's orientation" includes not only the driver's face orientation or the driver's line of sight direction, but also the driver's body orientation, in other words, the driver's posture. good.
In the third embodiment, the headlight control device 1b performs the light control of the headlights 2 based on the direction of the driver in a place where the surroundings of the vehicle 100 are dark, such as a parking lot at night or a city area at night. , is assumed to be performed when the headlight 2 is turned on.
In Embodiment 3 below, when simply referring to "driver's face direction", the "driver's face direction" includes "driver's face direction or line of sight direction", which also includes the direction of the driver's line of sight. It refers to

In FIG. 14, the same components as the headlight control device 1 described using FIG. 1 in Embodiment 1 are given the same reference numerals and redundant explanation will be omitted.
The headlight control device 1b according to the third embodiment differs from the headlight control device 1 according to the first embodiment in that the driving-related information acquisition section 12b includes an external information acquisition section 123 instead of the vehicle information acquisition section 121. The points are different.
Further, the specific operation of the depth distance estimation section 13b in the headlight control device 1b according to the third embodiment is different from the specific operation of the depth distance estimation section 13 in the headlight control device 1 according to the first embodiment. different.

In the third embodiment, the driving-related information acquisition device 4 is assumed to be a device such as an external imaging device (not shown) or a radar (not shown). The driving-related information acquisition device 4, such as an external imaging device or a radar, acquires information regarding objects around the vehicle 100 (hereinafter referred to as "external information") as driving-related information. The information outside the vehicle includes, for example, a captured image of the surroundings of the vehicle 100 (hereinafter referred to as the "external captured image"), and information regarding the distance to objects existing around the vehicle 100 (hereinafter referred to as "distance information"). and is included.

The external imaging device images at least the front of the vehicle 100. The external imaging device may be configured to image not only the front of the vehicle 100 but also the side or rear of the vehicle 100.
The external imaging device outputs the captured external image to the headlight control device 1b as travel-related information.
Note that although it is assumed here that one external imaging device is connected to the headlight control device 1b, this is only an example. For example, a plurality of external imaging devices may be mounted on the vehicle 100, and the plurality of external imaging devices may be connected to the headlight control device 1b.

The radar obtains at least the distance to an object that exists in front of the vehicle 100. The radar may be configured to obtain the distance to an object not only in front of the vehicle 100 but also to the side or rear of the vehicle 100.
The radar outputs the acquired distance information regarding the distance to the object to the headlight control device 1b as travel-related information. The distance information includes, for example, information indicating the presence of an object, the position of the object, the distance to the object, and the like.
Note that although it is assumed here that one radar is connected to the headlight control device 1b, this is only an example. For example, a plurality of radars may be mounted on the vehicle 100, and the plurality of radars may be connected to the headlight control device 1b. For example, a plurality of radars of different types may be connected to the headlight control device 1b, such as a radar that obtains the distance to a nearby object and a radar that obtains the distance to a distant object.

The vehicle exterior information acquisition unit 123 acquires vehicle exterior information from the driving-related information acquisition device 4 .
Specifically, the outside-vehicle information acquisition unit 123 acquires an outside-vehicle captured image from an outside-vehicle imaging device, and acquires distance information from a radar.
The outside-vehicle information acquisition unit 123 outputs the acquired outside-vehicle information to the depth distance estimation unit 13b as travel-related information.

The depth distance estimating unit 13b estimates the depth distance based on the direction information regarding the direction of the driver detected by the direction detecting unit 11 and the external information acquired by the external information acquiring unit 123.
Specifically, the depth distance estimating unit 13b estimates the depth distance by comparing the orientation information, driving related information (here, information outside the vehicle), and information for estimating depth distance.

Here, FIG. 15 is a diagram showing an example of the contents of depth distance estimation information used by the depth distance estimation unit 13b to estimate the depth distance in the third embodiment.
As shown in FIG. 15, in the third embodiment, the depth distance estimation information is, for example, a table in which the driver's behavior, external vehicle information, and depth distance are associated with each other.
In the depth distance estimation information, the driver's behavior includes, for example, the vertical direction of the driver's face direction and the left/right direction of the driver's face direction. The vertical direction of the driver's face is expressed as "front,""above," or "down." The left and right direction of the driver's face is expressed as "front", "right", or "left".
Further, in the depth distance estimation information, the outside-vehicle information includes, for example, information regarding an object existing in front of the vehicle 100.

In Embodiment 3, when the depth distance estimating unit 13b estimates the depth distance using the depth distance estimation information, the depth distance estimation unit 13b converts the estimated depth distance into conditions for depth distance adjustment (details will be described later) based on the information outside the vehicle. Refer to and make adjustments. The depth distance estimation unit 13b determines the adjusted depth distance as the estimated depth distance. Hereinafter, a detailed description will be given of a flow in which the depth distance estimation unit 13b estimates a depth distance, adjusts the estimated depth distance, and finalizes the estimated depth distance.

<Estimation of depth distance>
First, the depth distance estimation unit 13b determines the driver's behavior based on the direction information. For example, the depth distance estimating unit 13b determines whether the vertical direction of the driver's face is "front" or "above" from information indicating the driver's vertical face orientation included in the orientation information. Determine whether it is "downward". For example, the depth distance estimating unit 13b determines whether the horizontal direction of the driver's face is “front” or “right” from information indicating the driver's horizontal face orientation included in the orientation information. Determine whether it is on the left or on the left.
Determination by the depth distance estimating unit 13b whether the vertical and horizontal directions of the driver's face direction are "front", "up", "down", "right", or "left" The method is to determine whether the vertical and horizontal directions of the driver's face direction are "front", "above", or "down" by the depth distance estimating unit 13, which has already been explained in the first embodiment. Since the method for determining whether it is "right" or "left" is the same, duplicate explanation will be omitted.

Further, the depth distance estimation unit 13b determines objects (for example, signs, pedestrians, white lines, vehicles, etc.) existing around the vehicle 100 based on the external information acquired by the external information acquisition unit 123. For example, the depth distance estimating unit 13b can determine objects existing around the vehicle 100 by performing image recognition processing using a known image recognition technique on the image taken outside the vehicle. In addition, since the installation position and angle of view of the external imaging device and the installation position and detection range of the radar are known in advance, the depth distance estimating unit 13b can detect objects on the external imaging image and the distance information indicated by the distance information. It is possible to make correspondences with existing objects. That is, the depth distance estimating unit 13b estimates how far from the vehicle 100 the object imaged in the external image is located based on the external image and the distance information. Can be linked. Note that the depth distance estimating unit 13b uses, for example, a method of considering objects that are close to each other as the same object based on the coordinates indicating the position of the object on the image taken outside the vehicle and the coordinates indicating the position of the object in the distance information. Various known methods may be used to associate the object on the outside-of-vehicle image with the object indicated by the distance information. Further, since the relationship between the installation position of the radar and the position of the vehicle 100 is known in advance, the depth distance estimating unit 13b determines how far from the vehicle 100 the object detected by the radar is based on the distance information. It can be determined whether it exists in the location.

Note that the depth distance estimating unit 13b stores the outside vehicle information outputted from the outside vehicle information acquisition unit 123 in the storage unit 16 with an acquisition date and time, and calculates the acceleration of the detected object from the past outside information. If it is determined that the calculated acceleration has changed significantly, in other words, that the object has moved rapidly, the object may be determined to be an erroneously detected object. The depth distance estimating unit 13b does not use the outside-vehicle information regarding the object determined to be an erroneously detected object for estimating the depth distance.

Further, the outside-vehicle information acquisition unit 123 may associate the object on the outside-the-vehicle captured image with the object indicated by the distance information. In this case, for example, the outside-vehicle information acquisition unit 123 outputs the outside-vehicle information to the depth distance estimating unit 13b in a form that allows the corresponding object to be identified.
Further, the outside-vehicle information acquisition unit 123 may determine whether an object has been erroneously detected based on past outside-the-vehicle information. The outside-vehicle information acquisition unit 123 does not output outside-vehicle information regarding an object determined to be an erroneously detected object to the depth distance estimation unit 13b.

Then, the depth distance estimating unit 13b combines the determined behavior and information indicating objects existing around the vehicle 100 with the driver's behavior and the information outside the vehicle set in the depth distance estimation information as shown in FIG. The depth distance is estimated by comparing the information and obtaining the depth distance information.

For example, assume that the driver's face is facing "front", that there are a plurality of "sideways stopped vehicles" in front of the vehicle 100, and that there are "pedestrians". It is assumed that the depth distance estimation information has contents as shown in FIG. 15.
In this case, the depth distance estimating unit 13b determines that the depth distance is "5 to 15 m" using orientation information regarding the driver's orientation, travel-related information (here, information outside the vehicle), and depth distance estimation information. (See No. 1 of depth distance estimation information in FIG. 15).

For example, if the driver's face direction is "front to top" in the vertical direction, there are multiple "sideways stopped vehicles" in front of the vehicle 100, and there is a "pedestrian", the vehicle 100 is parked or stopped. The driver's estimated visible object is estimated to be a pedestrian (or a place where a pedestrian is likely to be found). Therefore, in the depth distance estimation information, if the driver tries to check for a pedestrian (or a place where a pedestrian is likely to be found) when the vehicle 100 is about to park or stop, The area where a person is likely to be located is set to 5 to 15 m, which is assumed to be at a depth of about this distance (No. 1 of information for estimating depth distance in Figure 15). .
Similarly, No. 1 of the depth distance estimation information in FIG. 2~No. Also in condition No. 8, the depth distance is set based on the driving state of the vehicle 100 estimated from the driver's behavior and information outside the vehicle, and the estimated visible object of the driver.
FIG. 16 shows No. 1 set in the depth distance estimation information shown in FIG. 15. 1~No. Regarding the depth distance corresponding to the input information under the condition 8, an example of the driving state of the vehicle 100 estimated from the behavior of the driver and information outside the vehicle and the object visible to the driver, which is the basis for deriving the depth distance. FIG.

Note that in the depth distance estimation information shown in FIG. 1~No. Although 8 patterns of conditions are set, this is just an example. Moreover, the content of the depth distance estimation information as shown in FIG. 15 is only an example.
For example, in the depth distance estimation information, information indicating an object existing behind the vehicle and information indicating the type of the adjacent lane (passing lane or oncoming lane) may be set as information outside the vehicle. For example, if the object behind the vehicle is a vehicle and the type of the adjacent lane is a passing lane, the depth distance indicates that the vehicle 100 is traveling on an expressway and the driver's estimated visible object is a sign. The value is set assuming that.
Further, for example, in the depth distance estimation information, information indicating an object existing on the side of the vehicle and information indicating the height of the object may be set as the vehicle exterior information. For example, if the object present on the side of the vehicle is a stationary object such as a building wall, and the height of the stationary object is equal to or higher than a predetermined threshold, the depth distance may include a vehicle 100 traveling at an intersection with poor visibility. The depth distance is set assuming that the driver's estimated visible object is a pedestrian.
The depth distance estimation information only needs to be information that allows depth distance information to be obtained from orientation information and travel-related information (here, information outside the vehicle).

Further, the depth distance estimating unit 13b includes orientation information regarding the direction of the driver detected by the orientation detecting unit 11 and travel-related information acquired by the travel-related information acquisition unit 12b (here, vehicle exterior information acquired by the vehicle exterior information acquisition unit 123). However, if the input information does not match the input information set in the depth distance estimation information, for example, it is assumed that the depth distance could not be estimated from the depth distance estimation information, and the initial value of the depth distance is set as the depth distance. .

<Adjustment of estimated depth distance>
After estimating the depth distance, the depth distance estimation unit 13b adjusts the estimated depth distance based on the estimated depth distance and the information outside the vehicle, and finalizes the estimated depth distance. Note that the depth distance estimation unit 13b does not perform this adjustment when the depth distance estimated based on the depth distance estimation information does not have a width.
Specifically, the depth distance estimating unit 13b adjusts the depth distance based on the estimated depth distance and the information outside the vehicle, with reference to depth distance adjustment conditions for adjusting the depth distance.
The depth distance adjustment conditions are generated in advance by an administrator or the like and stored in a location that can be referenced by the depth distance estimating unit 13b.

For example, conditions such as (condition 1) to (condition 4) below are set as conditions for depth distance adjustment.

(Condition 1)
If there is a moving object in front of the vehicle in the direction the driver is facing and the distance from the headlights to the moving object is within the depth distance range, the estimated depth distance is calculated from the headlights to the moving object. The distance to the body.

(Condition 2)
If there is a moving object in front of the vehicle in the direction the driver is facing, and the distance from the headlights to the moving object is outside the depth distance range, the depth distance based on the depth distance estimation information is used as the depth. Distance.

(Condition 3)
In front of the vehicle, there is no moving object in the direction the driver is facing, but there are objects other than moving objects around the vehicle, in other words, stationary objects, and the distance from the headlights to the stationary object is the depth distance. If it is smaller than the depth distance estimated based on the estimation information, the estimated depth distance is set to (distance from the headlight to the stationary object + preset addition distance).

(Condition 4)
If there is no moving object in front of the vehicle in the direction the driver is facing, and there are no stationary objects around the vehicle, the depth distance estimated based on the depth distance estimation information is used as the depth distance. do.
Additionally, if there is no moving object in front of the vehicle in the direction the driver is facing and there is a stationary object around the vehicle, the distance from the headlights to the stationary object is the depth distance estimation information. If the depth distance is outside the range of the depth distance estimated based on the depth distance, the depth distance estimated based on the depth distance estimation information is used as the depth distance.

In the depth distance adjustment conditions, the moving object includes a person.
Further, in the depth distance adjustment conditions, the addition distance is set in advance by an administrator or the like, and is stored in a location that can be referenced by the depth distance estimation unit 13b. For example, a distance between 2 and 5 meters is set as the addition distance. Here, as an example, it is assumed that "3 m" is set as the addition distance. The addition distance may be set to a value with a width.

The depth distance estimation unit 13b determines whether or not there is an object in front of the vehicle 100 in the direction in which the driver is facing, based on the external information acquired by the external information acquisition unit 123. can determine its type, here whether it is a moving object or a stationary object.
Since the installation position and detection range of the radar are known in advance, the depth distance estimation unit 13b can determine whether or not there is an object in the direction in which the driver is facing. Note that the depth distance estimation unit 13b can determine the direction in which the driver is facing from the orientation information. Further, as described above, the depth distance estimating unit 13b is capable of associating an object on an image taken outside the vehicle with an object indicated by the distance information. Therefore, when determining that there is an object in the direction that the driver is facing, the depth distance estimating unit 13b performs image recognition processing using a known image recognition technique on the image taken outside the vehicle, for example. It is possible to determine the type of the object, in other words, whether it is a moving object or a stationary object. The depth distance estimation unit 13b may determine the type of object using distance information, for example. The distance information includes, for example, information regarding the speed of the object.
Further, since the relationship between the installation position of the radar, the position of the vehicle 100, and the installation position of the headlight 2 is known in advance, the depth distance estimating unit 13b calculates the object detected by the radar based on the positional relationship and distance information. It is possible to determine how far away the vehicle is from the headlights 2. Note that the depth distance estimating unit 13b uses, for example, a range expanded vertically and horizontally by a preset angle around the driver's face orientation as a target for determining whether or not an object exists. It may be "the direction in which the driver is facing".

Note that the conditions for adjusting the depth distance as described above are only an example, and the conditions for adjusting the depth distance can be set as appropriate.
In addition, the depth distance adjustment conditions include, for example, the type of the detected object, the distance from the headlight 2 to the object, and information indicating the difference in depth distance estimated based on the depth distance estimation information, and the information after adjustment. The information may be in a table format in which the information indicating the depth distance is associated with the information.

After adjusting the depth distance, the depth distance estimation unit 13b sets the adjusted depth distance as the estimated depth distance, and outputs depth distance information to the irradiation determination unit 14.

Note that the depth distance estimation unit 13b uses the direction information regarding the driver's orientation detected by the direction detection unit 11 and the driving-related information acquired by the driving-related information acquisition unit 12b (here, the outside-vehicle information acquired by the outside-vehicle information acquisition unit 123). If the driver's behavior and the information outside the vehicle determined based on the information do not match the driver's behavior and the information outside the vehicle as input information set in the depth distance estimation information, for example, Assuming that the depth distance could not be estimated, the initial value of the depth distance is set as the depth distance.
The depth distance estimation unit 13b outputs depth distance information regarding the depth distance for which the initial value is set to the irradiation determination unit 14.

The irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13b, and outputs irradiation information to the headlight control unit 15. The headlight control section 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination section 14 with light.

Here, FIGS. 17, 18, and 19 show that in the third embodiment, the irradiation determining unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimation unit 13b, and the headlight control unit 15 is a diagram for explaining an example of how the headlight 2 is caused to irradiate light onto the irradiation range determined by the irradiation determining unit 14. Note that it is assumed that the depth distance estimation information used by the depth distance estimation unit 13b to estimate the depth distance has contents as shown in FIG. Further, the depth distance estimating unit 13b is assumed to adjust the depth distance according to the depth distance adjustment conditions (condition 1) to (condition 4) described above.
17, 18, and 19 are views of the road on which the vehicle 100 is traveling viewed from the side. In FIGS. 17, 18, and 19, the driver is indicated by "D", and the range of light irradiated by the headlight 2 is indicated by "LA".

In the example shown in FIG. 17, the driver's face direction is within the "front" range in the vertical direction, and there are a plurality of parked vehicles (indicated by "C" in FIG. 17) in front of the vehicle 100. Note that in FIG. 17, only one stopped vehicle is shown for ease of explanation), and there is a pedestrian (indicated by "W" in FIG. 17), and the vehicle 100 is Suppose you are running. It is assumed that the pedestrian exists at a distance of 12 m from the headlight 2 in the direction the driver is facing.
In this case, the depth distance estimating unit 13b determines that the driver's face orientation and travel-related information (here, outside-vehicle information) are the Nos. of the depth distance estimation information based on the depth distance estimation information. Assuming that 1 applies, the depth distance is estimated to be 5 to 15 m. After that, the depth distance estimating unit 13b adjusts the estimated depth distance to "5 to 15". In the example shown in FIG. 17, since there is a pedestrian within the range of "5 to 15 m" in the direction the driver is facing, the depth distance estimating unit 13b adjusts the depth distance to "12 m". Let it be the estimated depth distance.
The irradiation determining unit 14 determines the irradiation range based on the depth distance “12 m” estimated by the depth distance estimating unit 13b. Here, it is assumed that the irradiation determining unit 14 has determined the range of φ ₇ degrees to φ ₈ degrees in the horizontal direction and the range of θ ₇ degrees to θ ₇ degrees in the vertical direction as the irradiation range (in FIG. The irradiation range in the direction is not shown).
Note that here, the irradiation determining unit 14 calculates the depth distance vertical angle based on the depth distance "12 m" in the vertical direction of the irradiation range, and widens the depth distance vertical angle by a preset angle in the vertical direction. The range of angles determined is the range of angles in the vertical direction of the irradiation range.

The headlight control unit 15 estimates the distance in the direction in which the driver is facing with respect to the headlights 2 by the depth estimation unit 13b in consideration of the driver's orientation and driving-related information (here, information outside the vehicle). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the depth distance.
As a result, the headlight control unit 15 can control the headlights 2 so that light is irradiated onto pedestrians in the direction in which the driver is facing. The driver can visually recognize pedestrians.
The depth distance estimated using the depth distance estimation information is not estimated in consideration of objects actually existing in the direction in which the driver is facing. On the other hand, if a moving object actually exists within the depth distance estimated using the depth distance estimation information in the direction the driver is facing, the driver is attempting to visually recognize the moving object. It can be said that the probability is high. The depth distance estimating unit 13b adjusts the depth distance based on the moving objects that actually exist in the direction the driver is facing, so that the estimated visible object has a high probability of being an object that actually exists. Light will now be irradiated onto the moving object (in this case, a pedestrian).

In the example shown in FIG. 18, similar to the example shown in FIG. There is a pedestrian (indicated by "W" in FIG. 18) and a pedestrian (indicated by "W" in FIG. 18). Assume that the vehicle 100 is traveling in a situation where there is a driver. However, it is assumed that the pedestrian exists at a distance of 20 m from the headlight 2 in the direction in which the driver is facing.
In this case, since there are no pedestrians within the range of "5 to 15 m" in the direction the driver is facing, the depth distance estimation unit 13b estimates the depth to be "5 to 15 m" based on the depth distance estimation information. The depth distance is directly used as the estimated depth distance.
The irradiation determining unit 14 determines the irradiation range based on the depth distance “5 to 15 m” estimated by the depth distance estimating unit 13b. Here, it is assumed that the irradiation determining unit 14 has determined the irradiation range to be a range of φ ₉ degrees to φ ₁₀ degrees in the horizontal direction and a range of θ ₉ degrees to θ ₁₀ degrees in the vertical direction (in FIG. The irradiation range in the direction is not shown).
Note that, here, the irradiation determining unit 14 calculates the first depth distance vertical angle based on the depth distance "5 m" and calculates the second depth distance vertical angle based on the depth distance "15 m" in the vertical direction of the irradiation range. Then, the vertical direction of the irradiation range is determined.

The headlight control unit 15 estimates the distance in the direction in which the driver is facing with respect to the headlights 2 by the depth estimation unit 13b in consideration of the driver's orientation and driving-related information (here, information outside the vehicle). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the depth distance.
As a result, the headlight control unit 15 controls the headlights 2 so that the light is irradiated onto the estimated visible object of the driver. Here, the position where the pedestrian actually exists is not included in the light irradiation range of the headlight 2. That is, pedestrians are not irradiated with the light of the headlights 2. When viewed from the headlight 2, a pedestrian located further away than the depth distance estimated using the depth distance estimation information is not an estimated visible object, but an estimated visible object exists at a closer distance than the pedestrian. It is estimated that there are. When the depth distance estimation unit 13b adjusts the depth distance, even if a pedestrian actually exists in the direction the driver is facing, the depth distance of the pedestrian is farther than the depth distance estimated using the depth distance estimation information. If the object exists at the position, the depth distance is not increased, but the depth distance estimated using the depth distance estimation information is left unchanged.
As a result, the headlight control device 1b does not irradiate light to a pedestrian that is unlikely to be an estimated visible object even if the pedestrian actually exists, and reduces the possibility that an estimated visible object exists. The headlights 2 can be controlled so that the light is irradiated to a range where it is estimated that the height is higher.

In the example shown in FIG. 19, the driver's face direction is within the "front" range in the vertical direction, and there are a plurality of parked vehicles (indicated by "C" in FIG. 19) in front of the vehicle 100. Note that it is assumed that the vehicle 100 is traveling in a situation where only one stopped vehicle is shown in FIG. 19 for simplicity of explanation. There are no moving objects such as pedestrians around the vehicle 100. It is assumed that the distance to the stopped vehicle is "4 m".
In this case, there is no moving object in the direction the driver is facing, but there is a stopped vehicle, and the distance from the headlight 2 to the stopped vehicle is 5 to 15 m, which is estimated based on the depth distance estimation information. Since it is within the range, the depth distance estimation unit 13b adjusts the depth distance and sets "7 m" as the estimated depth distance.
The irradiation determining unit 14 determines the irradiation range based on the depth distance “7 m” estimated by the depth distance estimating unit 13b. Here, it is assumed that the irradiation determining unit 14 has determined the range of φ ₁₁ degrees to φ ₁₂ degrees in the horizontal direction and the range of θ ₁₁ degrees to θ ₁₂ degrees in the vertical direction as the irradiation range (in FIG. The irradiation range in the direction is not shown).
Note that here, the irradiation determining unit 14 calculates the depth distance vertical angle based on the depth distance "7 m" in the vertical direction of the irradiation range, and widens the depth distance vertical angle by a preset angle in the vertical direction. The range of angles determined is the range of angles in the vertical direction of the irradiation range.

The headlight control unit 15 estimates the distance in the direction in which the driver is facing with respect to the headlights 2 by the depth estimation unit 13b in consideration of the driver's orientation and driving-related information (here, information outside the vehicle). Light is irradiated onto the irradiation range determined by the irradiation determining unit 14 based on the depth distance.
As a result, the headlight control unit 15 controls the headlight 2 so that the light is irradiated onto the estimated visible object of the driver. Here, the light of the headlights 2 is irradiated to a range behind the stopped vehicle when viewed from the vehicle 100. For example, if there is a stationary object in the direction the driver is facing, there is a possibility that a moving object such as a pedestrian may jump out from behind the stationary object, and the driver should visually check for any such objects. It is estimated that By adjusting the depth distance by the depth distance estimating unit 13b, if the direction in which the driver is facing is a situation where a run-out is likely to occur, the depth distance is set as the estimated visual recognition position of a place where the run-out is likely to occur. Adjusted to depth distance.
Thereby, the headlight control device 1b can control the headlights 2 so that light is irradiated to a range where it is estimated that there is a higher possibility that the estimated visible object exists.

For example, the headlight control device 1 according to the first embodiment does not estimate the depth distance in consideration of objects actually existing around the vehicle 100.
On the other hand, as described above, the headlight control device 1b according to the third embodiment estimates the depth distance based on the information outside the vehicle, and more specifically, uses the depth distance estimated based on the information for estimating the depth distance as the information outside the vehicle. By performing adjustment based on the depth distance and estimating the depth distance to determine the depth distance, the depth distance is estimated in consideration of objects actually existing around the vehicle 100. The headlight control device 1b estimates a depth distance that is more in line with the actual situation, based on whether there is an object that actually exists in the direction that the driver is facing.
Thereby, the headlight control device 1b can more appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.

The operation of the headlight control device 1b according to the third embodiment will be explained.
FIG. 20 is a flowchart for explaining the operation of the headlight control device 1b according to the third embodiment.
For example, when the headlights 2 are turned on, the headlight control device 1b determines that the lighting control of the headlights 2 is to be performed based on the direction of the driver, and starts an operation as shown in the flowchart of FIG. do. The headlight control device 1b repeats the operation shown in the flowchart of FIG. 20, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1b acquires information indicating the state of the headlights 2 from the headlight switch mounted on the vehicle 100, and determines whether the headlights 2 are in the on state. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, driving related information acquisition unit 12b, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the section 13b, the irradiation determining section 14, and the headlight control section 15.
Further, if the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the travel-related information acquisition section 12b, the depth distance estimation section 13b, the irradiation determination section 14, and the headlight control section 15.

Regarding the operation shown in the flowchart of FIG. 20, the processing contents of step ST1-1 and steps ST3 to ST4 are the same as those of the headlight control device 1 shown in the flowchart of FIG. 5, which have already been explained in the first embodiment. Since the processing contents are the same as those of step ST1-1 and steps ST3 to ST4, duplicate explanation will be omitted.

The vehicle exterior information acquisition unit 123 acquires vehicle exterior information from the driving-related information acquisition device 4 (step ST1-4).
Specifically, the outside-vehicle information acquisition unit 123 acquires an outside-vehicle captured image from an outside-vehicle imaging device, and acquires distance information from a radar.
The outside-vehicle information acquisition unit 123 outputs the acquired outside-vehicle information to the depth distance estimation unit 13b as travel-related information.

The depth distance estimation unit 13b uses the orientation information regarding the driver's orientation detected by the orientation detection unit 11 in step ST1-1, the external information acquired by the external information acquisition unit 123 in step ST1-4, and the depth distance estimation. The depth distance is estimated using this information (step ST2b).
Specifically, when the depth distance estimating unit 13b estimates the depth distance using the depth distance estimation information, the depth distance estimating unit 13b adjusts the estimated depth distance based on the vehicle exterior information and with reference to the depth distance adjustment conditions, and estimates the depth distance. Determine the depth distance.
The depth distance estimation section 13b outputs depth distance information to the irradiation determination section 14.

In step ST3, the irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13b in step ST2b (step ST3).

In this way, the headlight control device 1b detects the orientation of the driver based on the captured image inside the vehicle, and acquires travel-related information (here, information outside the vehicle). The headlight control device 1b estimates the depth distance based on the detected orientation information regarding the driver's orientation and the acquired travel-related information. At this time, the headlight control device 1b adjusts the depth distance estimated using the depth distance estimation information based on the vehicle exterior information and the depth distance adjustment conditions, and converts the adjusted depth distance information into the estimated depth information. do. Then, the headlight control device 1b determines the irradiation range of light by the headlight 2 based on the estimated depth distance, and causes the headlight 2 to irradiate the determined irradiation range with light.
Therefore, the headlight control device 1b can illuminate the estimated visible position of the driver more appropriately, and can provide driving support when the vehicle 100 runs at night or the like.

In the third embodiment described above, for example, the depth distance estimation unit 13b may estimate the depth distance and also estimate the ideal width of the irradiation range. In this case, the depth distance estimation section 13b outputs depth distance information and information regarding the ideal width of the irradiation range to the irradiation determination section 14.
The irradiation determining unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimating unit 13b and the ideal width of the irradiation range. Specifically, when the irradiation range calculated based on the depth distance estimated by the depth distance estimation unit 13b exceeds the ideal width of the irradiation range, the irradiation determination unit 14 determines the range up to the ideal width of the irradiation range. Determine the irradiation range.
The depth distance estimation unit 13b estimates the ideal width of the irradiation range, and the irradiation determination unit 14 determines the irradiation range with the ideal width of the irradiation range as the upper limit, so that the headlight control device 1b reduces the glare given to oncoming vehicles etc. Can be reduced.

Furthermore, in the third embodiment described above, the depth distance estimating unit 13b may estimate the ideal amount of light from the headlights 2 as well as estimating the depth distance. In this case, the depth distance estimation section 13b outputs depth distance information to the irradiation determination section 14, and also outputs information regarding the estimated ideal light amount to the headlight control section 15.
The headlight control unit 15 causes the headlight 2 to irradiate light at the ideal light amount estimated by the depth distance estimation unit 13b in the irradiation range determined by the irradiation determination unit 14.
The depth distance estimating unit 13b estimates the ideal amount of light, and the headlight control unit 15 causes the headlights 2 to emit light at the ideal amount of light, so that the headlight control device 1b can Depending on the distance from the vehicle 100 to which the light is irradiated, the light can be irradiated with the amount of light that is assumed to be necessary for the driver to visually recognize the estimated visible object.

In the third embodiment described above, the depth distance estimation unit 13b may estimate the depth distance and the ideal width and ideal light amount of the irradiation range.

Further, in the third embodiment described above, the headlight control device 1b is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the travel-related information acquisition section 12b, the depth distance estimation section 13b, and the irradiation determination section 12b. It is assumed that the section 14, the headlight control section 15, and a control section (not shown) are included in the vehicle-mounted device. However, the present invention is not limited to this, and some of the direction detection section 11, driving-related information acquisition section 12b, depth distance estimation section 13b, irradiation determination section 14, headlight control section 15, and control section (not shown) 100 in-vehicle devices, and the other in-vehicle devices may be provided in servers connected to the in-vehicle devices via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12b, the depth distance estimation unit 13b, the irradiation determination unit 14, the headlight control unit 15, and a control unit (not shown). .

The hardware configuration of the headlight control device 1b according to the third embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, so illustration thereof is omitted. do.
In the third embodiment, the functions of the direction detection section 11, the travel-related information acquisition section 12b, the depth distance estimation section 13b, the irradiation determination section 14, the headlight control section 15, and a control section (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1b estimates the depth distance based on the direction information related to the direction of the driver detected based on the in-vehicle image acquired from the in-vehicle imaging device 3 and the driving-related information, and applies the estimated depth distance to A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection unit 11, the travel-related information acquisition unit 12b, the depth distance estimation unit 13b, the irradiation determination unit 14, and the headlight control unit. 15 and a control section (not shown). That is, the headlight control device 1b stores a program that, when executed by the processing circuit 1001, results in steps ST1-1, ST1-4 to ST4 in FIG. 20 described above being executed. A memory 1005 is provided for the purpose. Further, the program stored in the memory 1005 includes the direction detection section 11, the travel-related information acquisition section 12b, the depth distance estimation section 13b, the irradiation determination section 14, the headlight control section 15, and the control section (not shown). It can also be said to be something that causes a computer to execute a processing procedure or method.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1b includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, the headlight control device 1b according to the third embodiment includes the orientation detection unit 11 that detects the orientation of the driver based on the captured image of the driver of the vehicle 100 (in-vehicle captured image); A driving-related information acquisition unit 12b that acquires driving-related information related to the driving of the vehicle 100, orientation information regarding the driver's orientation detected by the orientation detection unit 11, and driving-related information acquired by the driving-related information acquisition unit 12b. a depth distance estimation unit 13b that estimates the depth distance based on the depth distance; an irradiation determination unit 14 that determines the range of light irradiation by the headlight 2 based on the depth distance estimated by the depth distance estimation unit 13b; On the other hand, the headlight control section 15 is configured to irradiate light onto the irradiation range determined by the irradiation determining section 14.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1b determines how far ahead in the direction in which the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1b can more appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Specifically, in the headlight control device 1b, the driving-related information acquisition unit 12b has an external information acquisition unit 123 that acquires external information regarding the front of the vehicle 100 as driving-related information, and the depth distance estimating unit 13b has a direction The depth distance is estimated based on the information and the information outside the vehicle.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1b determines how far ahead in the direction the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1b can more appropriately illuminate the estimated visual position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Embodiment 4.
In the second embodiment, the headlight control device in the first embodiment acquires map information in addition to vehicle information, and estimates the depth distance based on the orientation information, vehicle information, and map information.
In the third embodiment, in the headlight control device in the first embodiment, information outside the vehicle is acquired instead of vehicle information, and the depth distance is estimated based on the orientation information and the information outside the vehicle.
In Embodiment 4, an embodiment that is a combination of Embodiment 2 and Embodiment 3 will be described.

FIG. 21 is a diagram showing a configuration example of a headlight control device 1c according to the fourth embodiment.
In the fourth embodiment, it is assumed that the headlight control device 1c is mounted on the vehicle 100.
In FIG. 21,

headlight control devices

1, 1a, and 1b, which were explained using FIG. 1, FIG. 7, and FIG. 14 in Embodiment 1, Embodiment 2, and Embodiment 3, respectively. Similar configurations will be given the same reference numerals and redundant explanations will be omitted.

In the headlight control device 1c, the driving-related information acquisition section 12c includes a vehicle information acquisition section 121, a map information acquisition section 122, and an external information acquisition section 123.

The depth distance estimation unit 13c acquires orientation information regarding the driver's orientation detected by the orientation detection unit 11, vehicle information acquired by the vehicle information acquisition unit 121, map information acquired by the map information acquisition unit 122, and information outside the vehicle. The depth distance is estimated based on the outside information acquired by the unit 123.
Specifically, the depth distance estimating unit 13b estimates the depth distance by comparing the orientation information, travel-related information (vehicle information, map information, and information outside the vehicle) with the depth distance estimation information.

FIG. 22 is a diagram illustrating an example of the contents of depth distance estimation information used by the depth distance estimation unit 13c to estimate the depth distance in the fourth embodiment.
As shown in FIG. 22, in the fourth embodiment, the depth distance estimation information is, for example, a table in which driver behavior, vehicle information, map information, outside vehicle information, and depth distance are associated with each other. be.
In addition, in Embodiment 4, when the depth distance estimating unit 13c estimates the depth distance using the depth distance estimation information, the depth distance estimating unit 13c calculates the estimated depth distance by referring to the depth distance adjustment conditions based on the information outside the vehicle. adjust. The depth distance estimation unit 13c determines the adjusted depth distance as the estimated depth distance.
The depth distance estimation section 13c outputs depth distance information to the irradiation determination section 14.

FIG. 23 shows No. 2 set in the depth distance estimation information shown in FIG. 22. 1~No. Regarding the depth distance corresponding to the input information under the condition 7, the driving state of the vehicle 100 and the driver estimated from the driver's behavior, vehicle information, map information, and external information, which are the basis for deriving the depth distance. FIG. 2 is a diagram showing an example of a visually recognized object.

Note that the depth distance estimation unit 13c uses the orientation information regarding the driver's orientation detected by the orientation detection unit 11 and the driving-related information acquired by the driving-related information acquisition unit 12c (here, the vehicle information acquired by the vehicle information acquisition unit 121, The driver's behavior, vehicle information, map information, and vehicle exterior information determined based on the map information acquired by the map information acquisition unit 122 and the vehicle exterior information acquired by the vehicle exterior information acquisition unit 123 are used as depth distance estimation information. If the driver's behavior, vehicle information, map information, and external information set as input information do not match, for example, the depth distance cannot be estimated from the depth distance estimation information, and the depth distance is Set the initial value of the depth distance.
The depth distance estimation unit 13c outputs depth distance information regarding the depth distance for which the initial value has been set to the irradiation determination unit 14.

The irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13c, and outputs irradiation information to the headlight control unit 15. The headlight control section 15 causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination section 14 with light.

Here, FIG. 24A is a diagram for explaining an example of the depth distance estimated by the depth distance estimation unit 13c in the fourth embodiment.
FIG. 24B shows the irradiation determined by the irradiation determination unit 14 based on the depth distance as shown in FIG. FIG. 3 is a diagram for explaining an example of how a range is irradiated with light.
FIG. 24A is an overhead view of the road on which the vehicle 100 is traveling.
FIG. 24B is a side view of the road on which the vehicle 100 is traveling. In FIG. 24B, the driver is indicated by "D", and the range of light irradiated by the headlight 2 is indicated by "LA".
Note that in FIG. 24A, the depth distance is the distance from the right light to the estimated visual position of the driver. Further, although FIG. 24B shows the vehicle 100 as viewed from the left side with respect to the traveling direction for convenience, the irradiation range shown in FIG. 24B is the irradiation range by the right light.

In FIGS. 24A and 24B, as an example, the driver's face is in the "front" range in the vertical direction, and two people are walking around the vehicle 100 in the direction in which the driver is facing. It is assumed that there are pedestrians (pedestrian C, pedestrian D, shown as "W3" and "W4" in FIGS. 24A and 24B, respectively). It is assumed that the distance between pedestrian C and headlight 2 is "6 m", and the distance between pedestrian D and headlight 2 is "22 m". Further, it is assumed that there is a sign (not shown in FIGS. 24A and 24B) in front of the vehicle 100, and that the white line is interrupted in the lane in which the vehicle 100 is traveling (the lane referred to here is a so-called lane).
In this case, the depth distance estimating unit 13c calculates the driver's behavior determined from the direction information and driving-related information (here, vehicle information, map information, and , outside vehicle information) is the No. 1 of the depth distance estimation information. Assuming that 3 applies, the depth distance is estimated to be "an area with a 5m margin including the intersection sidewalk and crosswalk." It is assumed that the depth distance estimating unit 13c calculates the "range including the intersection sidewalk and crosswalk with a margin of 5 m" to be "5 m to 20 m" based on the map information (see FIG. 24A). Since the distance from the headlight 2 to the pedestrian C is within the depth distance range, the depth distance estimation unit 13c adjusts the depth distance to "6 m" and sets "6 m" as the estimated depth distance.

The irradiation determining unit 14 determines the irradiation range based on the depth distance “6 m” estimated by the depth distance estimating unit 13c. Here, it is assumed that the range of φ ₁₃ degrees to φ ₁₄ degrees in the horizontal direction and the range of θ ₁₃ degrees to θ ₁₄ degrees in the vertical direction is determined as the irradiation range (see FIG. 24B. (The irradiation range is omitted from the illustration).
Note that here, the irradiation determining unit 14 calculates the depth distance vertical angle based on the depth distance "6 m" in the vertical direction of the irradiation range, and widens the depth distance vertical angle by a preset angle in the vertical direction. The range of angles determined is the range of angles in the vertical direction of the irradiation range.

As a result, the headlight control unit 15 can control the headlights 2 so that the pedestrians C who are present in the direction the driver is facing are irradiated with light. The driver can visually recognize the pedestrian C.
Pedestrian D is not irradiated with light from the headlight 2.

Note that it is assumed that pedestrian D exists at a distance of "12 m" from headlight 2. Both pedestrian C and pedestrian D exist within the depth distance range estimated by the depth distance estimation unit 13c based on the depth distance estimation information. In this case, the depth distance estimation unit 13c may estimate, for example, a range including the distance from the headlight 2 to the pedestrian C and the distance from the headlight 2 to the pedestrian D as the depth distance. In this case, the conditions for depth distance adjustment include, for example, ``If there are multiple moving objects whose distance from the headlights is within the depth distance range estimated based on the depth distance estimation information, "The range including the distances to the plurality of moving objects is adjusted so that it becomes the range of depth distance estimated based on the depth distance estimation information."
The headlight control unit 15 controls the headlight 2 so that both the pedestrian C and the pedestrian D are irradiated with light.

In this way, the headlight control device 1c according to the fourth embodiment is a headlight control device that is a combination of the headlight control device 1a according to the second embodiment and the headlight control device 1b according to the third embodiment. This makes it possible to control the headlights 2 in more situations, and also adjusts the depth distance more closely to the actual situation based on whether there is an object that actually exists in the direction the driver is facing. Estimate.
Thereby, the headlight control device 1b can more appropriately illuminate the estimated visible position of the driver, and can provide driving support when the vehicle 100 runs at night or the like.

The operation of the headlight control device 1c according to the fourth embodiment will be explained.
FIG. 25 is a flowchart for explaining the operation of the headlight control device 1c according to the fourth embodiment.
For example, when the headlights 2 are turned on, the headlight control device 1c determines that the lighting control of the headlights 2 is to be performed based on the direction of the driver, and starts an operation as shown in the flowchart of FIG. 25. do. The headlight control device 1c repeats the operation shown in the flowchart of FIG. 25, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1c acquires information indicating the state of the headlights 2 from a headlight switch installed in the vehicle 100, and determines whether the headlights 2 are on or not. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, it determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, driving related information acquisition unit 12c, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the unit 13c, the irradiation determining unit 14, and the headlight control unit 15.
Further, when the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the travel-related information acquisition section 12c, the depth distance estimation section 13c, the irradiation determination section 14, and the headlight control section 15.

Regarding the operation shown in the flowchart of FIG. 25, the processing contents of step ST1-1, step ST1-2, step ST1-3, and steps ST3 to ST4 are shown in the flowchart of FIG. 13, which has already been explained in the second embodiment. Since the processing contents are the same as those of steps ST1-1, ST1-2, ST1-3, and ST3-4 of the operation of the headlight control device 1a shown in FIG. Further, regarding the operation shown in the flowchart of FIG. 25, the processing content of step ST1-4 is the same as the processing of step ST1-4 of the operation of the headlight control device 1b shown in the flowchart of FIG. 20, which has already been explained in the third embodiment. Since the contents are the same, duplicate explanations will be omitted.

The depth distance estimation unit 13c uses the orientation information regarding the driver's orientation detected by the orientation detection unit 11 in step ST1-1, the vehicle information acquired by the vehicle information acquisition unit 121 in step ST1-2, and the vehicle information acquired in step ST1-2. The depth distance is estimated using the map information acquired by the map information acquisition unit 122 in step ST1-4, the external information acquired by the vehicle exterior information acquisition unit 123 in step ST1-4, and the depth distance estimation information (step ST1-4). ST2c).
Specifically, when the depth distance estimation unit 13c estimates the depth distance using the depth distance estimation information, the depth distance estimating unit 13c adjusts the estimated depth distance based on the vehicle exterior information and with reference to the depth distance adjustment conditions, and estimates the depth distance. Determine the depth distance.
The depth distance estimation section 13c outputs depth distance information to the irradiation determination section 14.

In step ST3, the irradiation determining unit 14 determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13c in step ST2c (step ST3).

In this way, the headlight control device 1c detects the direction of the driver based on the captured image inside the vehicle, and acquires travel-related information (here, vehicle information, map information, and information outside the vehicle). The headlight control device 1c estimates the depth distance based on the detected orientation information regarding the driver's orientation and the acquired travel-related information. At that time, the headlight control device 1c adjusts the depth distance estimated using the depth distance estimation information based on the vehicle exterior information and the depth distance adjustment conditions, and converts the adjusted depth distance information into the estimated depth information. shall be. Then, the headlight control device 1c determines the irradiation range of light by the headlight 2 based on the estimated depth distance, and causes the headlight 2 to irradiate the determined irradiation range with light.
Therefore, the headlight control device 1c can illuminate the estimated visible position of the driver more appropriately, and can provide driving support when the vehicle 100 runs at night or the like.

In the fourth embodiment described above, for example, the depth distance estimation unit 13c may estimate the ideal width of the irradiation range as well as the depth distance. In this case, the depth distance estimation unit 13c outputs depth distance information and information regarding the ideal width of the irradiation range to the irradiation determination unit 14.
The irradiation determining unit 14 determines the irradiation range based on the depth distance estimated by the depth distance estimating unit 13c and the ideal width of the irradiation range.

Furthermore, in the fourth embodiment described above, the depth distance estimating unit 13c may estimate the ideal amount of light from the headlights 2 as well as estimating the depth distance. In this case, the depth distance estimation section 13c outputs depth distance information to the irradiation determination section 14, and also outputs information regarding the estimated ideal light amount to the headlight control section 15.
The headlight control unit 15 causes the headlight 2 to irradiate light in the irradiation range determined by the irradiation determination unit 14 at the ideal light amount estimated by the depth distance estimation unit 13c.

In the above fourth embodiment, the depth distance estimating unit 13c may estimate the depth distance and the ideal width and ideal light amount of the irradiation range.

Further, in the above-described fourth embodiment, the headlight control device 1c is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the travel-related information acquisition section 12c, the depth distance estimation section 13c, and the irradiation determination section 13c. It is assumed that the section 14, the headlight control section 15, and a control section (not shown) are included in the vehicle-mounted device. However, the present invention is not limited to this, and some of the direction detection section 11, driving-related information acquisition section 12c, depth distance estimation section 13c, irradiation determination section 14, headlight control section 15, and control section (not shown) 100 in-vehicle devices, and the other in-vehicle devices may be provided in servers connected to the in-vehicle devices via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12c, the depth distance estimation unit 13c, the irradiation determination unit 14, the headlight control unit 15, and a control unit (not shown). .

Furthermore, although Embodiment 4 above is an embodiment that combines Embodiment 2 and Embodiment 3, the present invention is not limited to this. It can also be a form. In this case, in the configuration example of the headlight control device 1b shown in FIG. 14, the driving-related information acquisition section 12b of the headlight control device 1b includes a vehicle information acquisition section 121 and an external information acquisition section 123. The depth distance estimating unit 13b estimates the depth distance based on the orientation information, vehicle information, and information outside the vehicle. Specifically, the depth distance estimating unit 13b determines whether map information is set as input information among the depth distance estimation information as shown in FIG. 22, based on orientation information, vehicle information, and vehicle exterior information. Depth distance is estimated by comparing with depth distance estimation information that is not available.

The hardware configuration of the headlight control device 1c according to the fourth embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, so illustration thereof is omitted. do.
In the fourth embodiment, the functions of the direction detection section 11, the travel-related information acquisition section 12c, the depth distance estimation section 13c, the irradiation determination section 14, the headlight control section 15, and a control section (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1c estimates the depth distance based on the direction information regarding the direction of the driver detected based on the in-vehicle captured image acquired from the in-vehicle imaging device 3 and the travel-related information, and applies the estimated depth distance to the driving-related information. A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection section 11, the travel-related information acquisition section 12c, the depth distance estimation section 13c, the irradiation determination section 14, and the headlight control section. 15 and a control section (not shown). That is, when the headlight control device 1c is executed by the processing circuit 1001, steps ST1-1, ST1-2, ST1-3, and ST1-4 to ST4 in FIG. 25 described above are executed as a result. A memory 1005 is provided for storing programs to be executed. Further, the program stored in the memory 1005 includes the direction detection unit 11, the travel-related information acquisition unit 12c, the depth distance estimation unit 13c, the irradiation determination unit 14, the headlight control unit 15, and the control unit (not shown). It can also be said that it causes a computer to execute a processing procedure or method.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1c includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, the headlight control device 1c according to the fourth embodiment includes the orientation detection unit 11 that detects the orientation of the driver based on the captured image of the driver of the vehicle 100 (in-vehicle captured image); Based on the driving-related information acquisition unit 12c that acquires driving-related information related to the driving of the vehicle 100, the orientation of the driver detected by the orientation detection unit 11, and the driving-related information acquired by the driving-related information acquisition unit 12c, A depth distance estimating unit 13c that estimates a depth distance, an irradiation determining unit 14 that determines the range of light irradiated by the headlight 2 based on the depth distance estimated by the depth distance estimating unit 13c, and the headlight 2, The headlight control section 15 is configured to irradiate light onto the irradiation range determined by the irradiation determining section 14.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1c determines how far ahead in the direction in which the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1c can more appropriately illuminate the estimated visual position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Specifically, in the headlight control device 1c, the driving-related information acquisition unit 12c has an external information acquisition unit 123 that acquires external information regarding the front of the vehicle 100 as driving-related information, and the depth distance estimating unit 13c has a direction Depth distance is estimated based on information, vehicle information, map information, and information outside the vehicle.
Therefore, in controlling the lighting of the headlights 2 in the vehicle 100 based on the direction in which the driver is facing, the headlight control device 1c determines how far ahead in the direction in which the driver is actually facing. Lighting control can be done with consideration.
The headlight control device 1c can more appropriately illuminate the estimated visual position of the driver, and can provide driving support when the vehicle 100 travels at night or the like.

Embodiment 5.
For example, a driver may nod his head, look away momentarily so that the headlights 2 do not need to follow him, or turn his head without intending to see something, such as squinting. obtain. In this case, the driver's orientation should not be used to estimate depth distance.
In Embodiment 5, the light from the headlights 2 is emitted in the direction the driver is facing based on the reliability that indicates whether the driver's orientation can be estimated to be the orientation when trying to visually recognize something. An embodiment in which control is performed will be described.

FIG. 26 is a diagram showing a configuration example of a headlight control device 1d according to the fifth embodiment.
In the fifth embodiment, it is assumed that the headlight control device 1d is mounted on the vehicle 100.
The headlight control device 1d controls the headlights 2 provided in the vehicle 100 based on the orientation of the driver of the vehicle 100. In the fifth embodiment, the "driver's orientation" is expressed by the driver's face orientation or the driver's line of sight direction. In the fifth embodiment, the "driver's orientation" includes not only the driver's face orientation or the driver's line of sight direction, but also the driver's body orientation, in other words, the driver's posture. good.
In the fifth embodiment, the light control of the headlights 2 based on the direction of the driver performed by the headlight control device 1d is performed in a dark place around the vehicle 100, such as a parking lot at night or a city area at night. , is assumed to be performed when the headlight 2 is turned on.

In FIG. 26, the same components as the headlight control device 1 described in Embodiment 1 using FIG. 1 are given the same reference numerals and redundant explanation will be omitted.
The headlight control device 1d according to the fifth embodiment differs from the headlight control device 1 according to the first embodiment in that it includes a reliability determination section 17.

The reliability determination unit 17 determines the reliability of the driver's orientation detected by the orientation detection unit 11. In Embodiment 5, the "reliability" of the driver's orientation indicates the degree to which it can be estimated that the orientation is the one in which the driver is trying to visually recognize something. This includes both a case where there is a possibility that the accuracy of the detected driver's direction is low and a case where the detected direction of the driver is a direction that does not require illumination by the headlights 2. Note that an example of a case where the accuracy of the detected direction of the driver may be low is, for example, a case where the driver is squinting. Examples of directions in which the headlights 2 do not need to illuminate include the direction of the driver when the driver is nodding, or the direction of the driver when the driver is looking away. It will be done.
In the fifth embodiment, as an example, the reliability determining unit 17 determines whether the reliability of the direction of the driver is "high" or "low."
For example, the reliability determination unit 17 determines the reliability of the driver's orientation based on the driver's orientation detected by the orientation detection unit 11 retroactively over a preset period (hereinafter referred to as "reliability determination period"). Determine the degree. The reliability determination unit 17 may determine the orientation of the driver detected by the orientation detection unit 11 from the orientation information stored in the storage unit 16 going back through the reliability determination period.

For example, if the driver's orientation changes by a certain amount or more during the reliability determination period, the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is “low”.
Scenes in which the driver's orientation changes for a certain period or more during the reliability determination period include, for example, a scene in which the driver nods his head, a scene in which the driver momentarily looks away, and the like.
Furthermore, for example, the reliability of the driver's orientation detected in a scene where the driver is squinting is also considered to be "low." In this case, the reliability can be determined at any time from the detected orientation of the driver, regardless of whether or not the orientation of the driver has changed by more than a certain value during the reliability determination period. Therefore, for example, the reliability determination unit 17 determines the reliability in a scene where the driver is squinting based on the orientation of the driver detected by the orientation detection unit 11, regardless of the reliability determination period. You can always go.

When the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is “low”, the reliability determination unit 17 does not output orientation information indicating the orientation to the depth distance estimation unit 13. . For example, the reliability determination unit 17 rewrites the orientation information output from the orientation detection unit 11 to the orientation information most recently determined to have “high” reliability, and the rewritten orientation information is transferred to the depth distance estimation unit 13. Output to.
The depth distance estimating unit 13 does not use the orientation of the driver for which the reliability determining unit 17 has determined that the reliability is low for estimating the depth distance.
Note that when the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is “high”, the reliability determination unit 17 uses the orientation information output from the orientation detection unit 11 to the depth distance estimation unit. Output to 13.

FIG. 27 is a diagram for explaining an example of a scene in which the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is low in the fifth embodiment. Note that in FIG. 27, the light irradiation range of the headlight 2 is indicated by "LA".
For example, when the driver nods, the direction of the driver's face momentarily changes downward.
In this case, the reliability determining unit 17 determines that the reliability of the driver's orientation is "low", and the reliability is determined to be "high" most recently, in this case, the orientation before the driver nods. The information is output to the depth distance estimation section 13.
The depth distance estimating unit 13 estimates the depth distance using the orientation information before the driver nods, the vehicle information, and the depth distance estimation information.
As a result, the headlight 2 is controlled by the headlight control unit 15 to irradiate light onto the presumed visible object in the direction in which the driver is facing before the driver nods.

The headlight control device 1d prevents unnecessary leveling by excluding detected driver orientations with low reliability from the targets for estimating the depth distance. It is possible to reduce the annoyance caused by the light from the headlights 2 that follows a direction that is not the one the driver is trying to see. In the first embodiment, unnecessary leveling means, for example, when the headlight 2 follows the direction of the driver and illuminates downward at the moment the driver nods, or when the driver squints. The problem is that the line of sight detection accuracy decreases and the headlights 2 illuminate directions that the driver is not looking at.

The operation of the headlight control device 1d according to the fifth embodiment will be explained.
FIG. 28 is a flowchart for explaining the operation of the headlight control device 1d according to the fifth embodiment.
For example, when the headlights 2 are turned on, the headlight control device 1d determines that the lighting control of the headlights 2 is to be performed based on the direction of the driver, and starts an operation as shown in the flowchart of FIG. do. The headlight control device 1d repeats the operation shown in the flowchart of FIG. 28, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1d acquires information indicating the state of the headlights 2 from a headlight switch installed in the vehicle 100, and determines whether the headlights 2 are on or not. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, the reliability determination unit 17, and the driving related information acquisition 12, depth distance estimation section 13, irradiation determining section 14, and headlight control section 15, information instructing the start of lighting control of headlight 2 is output.
Further, when the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the reliability determination section 17, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, and the headlight control section 15.

Regarding the operation shown in the flowchart of FIG. 28, the processing contents of step ST1-11, step ST1-2, and steps ST2 to ST4 are the headlight control device shown in the flowchart of FIG. 5, which have already been explained in the first embodiment. Since the processing contents are the same as those of step ST1-1, step ST1-2, and steps ST2-4 in operation 1, duplicate explanation will be omitted.

The reliability determination unit 17 determines the reliability of the driver's orientation detected by the orientation detection unit 11 in step ST1-11 (step ST1-12).
The reliability determining unit 17 determines the reliability of the driver's orientation, for example, based on the driver's orientation detected by the orientation detecting unit 11 going back a reliability determination period.
When the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is “low”, the reliability determination unit 17 outputs the orientation information output from the orientation detection unit 11 to the depth distance estimation unit 13. Try not to. For example, the reliability determination unit 17 rewrites the orientation information output from the orientation detection unit 11 to the orientation information most recently determined to have “high” reliability, and the rewritten orientation information is transferred to the depth distance estimation unit 13. Output to.
When the reliability determination unit 17 determines that the reliability of the driver's orientation detected by the orientation detection unit 11 is “high”, the reliability determination unit 17 transmits the orientation information output from the orientation detection unit 11 to the depth distance estimation unit 13. Output.

In this way, the headlight control device 1d determines the reliability of the detected driver's orientation, and if the driver's orientation is determined to have low reliability, it is used to estimate the depth distance using the depth distance estimation information. Avoid using it.
The headlight control device 1d prevents unnecessary leveling by excluding detected driver orientations with low reliability from the targets for estimating the depth distance. It is possible to reduce the annoyance caused by the light from the headlights 2 that follows a direction that is not the one the driver is trying to see.

Note that in the fifth embodiment described above, the reliability determination unit 17 determines the reliability of the driver's orientation detected by the orientation detection unit 11, but this is only an example; The unit 17 may determine the reliability of the parts of the driver's face detected by the orientation detection unit 11. In this case, for example, the orientation detection unit 11 outputs information regarding the parts of the driver's face used to detect the driver's orientation to the reliability determination unit 17 together with the orientation information.
When the reliability determination unit 17 determines that the reliability of the detected driver's facial parts is "low," the reliability determining unit 17 determines whether the reliability is based on the driver's facial parts whose reliability was most recently determined to be "high." to re-detect the driver's direction. The reliability determination unit 17 may re-detect the orientation of the driver. Note that, for example, the reliability determination unit 17 may not be able to acquire some of the detected facial parts of the driver.

Further, in the fifth embodiment described above, the headlight control device 1d is an in-vehicle device mounted on the vehicle 100, and includes the orientation detection section 11, the reliability determination section 17, the driving-related information acquisition section 12, and the depth distance estimation section. The unit 13, the irradiation determining unit 14, the headlight control unit 15, and a control unit (not shown) are included in the vehicle-mounted device. The present invention is not limited to this, but includes the direction detection section 11, the reliability determination section 17, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, the headlight control section 15, and a control section (not shown). Some of them may be provided in the on-vehicle device of the vehicle 100, and the rest may be provided in a server connected to the on-vehicle device via a network. In addition, the orientation detection section 11, the reliability determination section 17, the driving-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, the headlight control section 15, and all the control sections (not shown) It may be provided in the server.

Furthermore, in the fifth embodiment described above, the headlight control device 1 according to the first embodiment includes the reliability determination section 17, but this is only an example. For example, the headlight control device 1a according to the second embodiment, the headlight control device 1b according to the third embodiment, or the headlight control device 1c according to the fourth embodiment may be configured to include the reliability determination unit 17. good.

The hardware configuration of the headlight control device 1d according to the fifth embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, so illustration thereof is omitted. do.
In the fifth embodiment, the direction detection unit 11, the reliability determination unit 17, the driving-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14, the headlight control unit 15, and a control not shown The functions of the section are realized by the processing circuit 1001. That is, the headlight control device 1d estimates the depth distance based on driving-related information and direction information related to the direction of the driver detected based on the in-vehicle captured image acquired from the in-vehicle imaging device 3, and calculates the estimated depth distance. A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the following.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection section 11, the reliability determination section 17, the travel-related information acquisition section 12, the depth distance estimation section 13, and the irradiation determination section. 14, a headlight control section 15, and a control section (not shown). That is, when the headlight control device 1d is executed by the processing circuit 1001, steps ST1-11 to ST1-12, ST1-2, and ST2 to ST4 in FIG. 28 described above are executed as a result. A memory 1005 is provided for storing different programs. Further, the program stored in the memory 1005 includes the direction detection section 11, the reliability determination section 17, the driving related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14, and the headlight control section 15. It can also be said that it causes a computer to execute a processing procedure or method of a control unit (not shown).
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1d includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, the headlight control device 1d according to the fifth embodiment uses the direction of the driver detected by the direction detection section 11 based on the direction of the driver detected by the direction detection section 11 retroactively during the reliability determination period. The depth distance estimating unit 13 includes a reliability determining unit 17 that determines the reliability of the orientation, and the depth distance estimating unit 13 is configured not to use the orientation of the driver that the reliability determining unit 17 determines to have low reliability for estimating the depth distance. Configured.
Therefore, the headlight control device 1d prevents unnecessary leveling and reduces the annoyance to the driver caused by the light from the headlights 2 that follows a direction that is not the one the driver is trying to see. be able to.

Embodiment 6.
Embodiment 6 will describe an embodiment in which a headlight control device sets a plurality of irradiation ranges with different light intensities.

FIG. 29 is a diagram showing a configuration example of a headlight control device 1e according to the sixth embodiment.
In the sixth embodiment, it is assumed that the headlight control device 1e is mounted on the vehicle 100.
The headlight control device 1e controls the headlights 2 provided in the vehicle 100 based on the direction of the driver of the vehicle 100. In the sixth embodiment, the "driver's orientation" is expressed by the driver's face orientation or the driver's line of sight direction. In the sixth embodiment, the "driver's orientation" includes not only the driver's face orientation or the driver's line of sight direction, but also the driver's body orientation, in other words, the driver's posture. good.
In the sixth embodiment, the headlight control device 1e performs the light control of the headlights 2 based on the direction of the driver in a dark place around the vehicle 100, such as a parking lot at night or a city area at night. , is assumed to be performed when the headlight 2 is turned on.

In FIG. 29, the same components as the headlight control device 1 described in Embodiment 1 using FIG. 1 are denoted by the same reference numerals, and redundant explanation will be omitted.
In the headlight control device 1e according to the sixth embodiment, the specific operations of the irradiation determining section 14a and the headlight control section 15a are the same as the irradiation determining section 14 and the headlight control section 14 in the headlight control device 1 according to the first embodiment. The specific operation of the unit 15 is different.

The irradiation determining unit 14a sets a plurality of irradiation ranges in which the intensity of light irradiated to the headlight 2 differs. In Embodiment 6, "the light emitted by the headlights 2 is strong" means that the amount of light emitted by the headlights 2 is large.
In the sixth embodiment, as an example, the irradiation determining unit 14a determines an irradiation range (referred to as a first irradiation range) in which the amount of light irradiated by the headlights 2 is increased, and an irradiation range (referred to as a second irradiation range) in which the amount of light irradiated by the headlights 2 is decreased. Assume that two irradiation ranges are set in which the amounts of light irradiated by the headlights 2 are different.
The amount of irradiation light in the first irradiation range can be set as appropriate, but it is assumed that the amount of irradiation light is such that the driver can sufficiently see the presumed visible object that may exist in the first irradiation range. The amount of light irradiated in the second irradiation range is smaller than the amount of light irradiated in the first irradiation range, and is set to be a small amount of light that does not cause glare to pedestrians or other vehicles that may be present in the second irradiation range.

For example, the irradiation determination unit 14a selects a first irradiation range that is preset in the vertical direction of the irradiation range calculated based on the depth distance estimated by the depth distance estimating unit 13. up to the upper limit angle in the vertical direction. For example, the irradiation determination unit 14a sets the range that is expanded vertically from the vertical center of the irradiation range calculated based on the depth distance to the upper limit angle as the first irradiation range in the vertical direction. The irradiation determination unit 14a sets the range other than the first irradiation range in the vertical direction of the irradiation range calculated based on the depth distance as the left and right direction of the second irradiation range.
In addition, the irradiation determining unit 14a also selects a first irradiation range that is set in advance in the horizontal direction of the irradiation range calculated based on the depth distance estimated by the depth distance estimating unit 13 in the left and right direction of the first irradiation range. Up to the upper limit angle in the left and right direction of the irradiation range. For example, the irradiation determining unit 14a sets the range that is expanded from the center in the left-right direction of the irradiation range calculated based on the depth distance to the upper limit angle in the horizontal direction as the first irradiation range in the left-right direction. The irradiation determining unit 14a sets a range other than the first irradiation range in the left-right direction of the irradiation range calculated based on the depth distance as the left-right direction of the second irradiation range.
Note that the upper limit angle in the vertical direction and the upper limit angle in the horizontal direction of the first irradiation range are set by, for example, an administrator and stored in a location that can be referenced by the irradiation determining unit 14a.

For example, the upper limit angle in the vertical direction of the first irradiation range is "5 degrees", and the upper limit angle in the horizontal direction is "8 degrees". Further, for example, the vertical direction and horizontal direction of the irradiation range calculated based on the depth distance estimated by the depth distance estimating unit 13 are "3 degrees to 13 degrees" with the installation position of the headlight 2 as a reference (0 degrees). It is assumed that the temperature is in the range of 0.5 degrees to 12.5 degrees. In this case, the irradiation determining unit 14a sets the range of "5.5 degrees to 10.5 degrees", which is expanded from "8 degrees" in the vertical center of the irradiation range to 5 degrees in the vertical direction, as the first irradiation range. The first irradiation range is 2.5 degrees to 8.5 degrees, which is determined in the vertical direction of Determine the left and right direction. The depth distance estimating unit 13 defines a second irradiation range, which is a range of "3 degrees to 5.5 degrees" and a range of "10.5 degrees to 13 degrees" in the vertical direction based on the installation position of the headlight 2. determined in the vertical direction, and the range of "0.5 degrees to 5.5 degrees" and the range of "10.5 degrees to 12.5 degrees" in the horizontal direction based on the installation position of the headlight 2, The second irradiation range is determined in the horizontal direction.

The irradiation determining section 14a outputs irradiation information regarding the determined irradiation range to the headlight control section 15a.
The irradiation information output by the irradiation determining unit 14a includes information indicating the vertical angle range and horizontal angle range of the first irradiation range, and information indicating the vertical angle range and the horizontal angle range of the second irradiation range. Contains information.

The headlight control unit 15a causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination unit 14a.
Specifically, the headlight control unit 15a causes the headlight 2 to irradiate the second irradiation range set by the irradiation determining unit 14a among the irradiation ranges, and irradiate the first irradiation range set by the irradiation determining unit 14a. irradiate light with a smaller irradiation light amount than the light to be used.

Here, FIG. 30 shows how the headlight control unit 15a causes the headlight 2 to irradiate light onto the first irradiation range and the second irradiation range determined by the irradiation determination unit 14a in the sixth embodiment. It is a figure for explaining an example.
FIG. 30A is a diagram showing how the first irradiation range and the second irradiation range are irradiated with light when viewed from the side of the road on which the vehicle 100 is traveling, and FIG. 30B is a diagram showing the first irradiation range and the second irradiation range. The figure shows how the range is irradiated with light as seen from the vehicle 100 side.
In FIG. 30, the driver is indicated by "D", the first irradiation range of the light irradiation range by the headlight 2 is indicated by "LA1", and the second irradiation range is indicated by "LA2". . Note that in FIG. 30B, illustration of the vehicle 100 and the like is omitted.

For example, if the depth distance estimated by the depth distance estimating unit 13 is a distance with a width such as “5 to 15 m” or “80 to 100 m”, the irradiation determining unit 14a temporarily determines the depth distance. If the irradiation range is determined so that light is irradiated within the width range, the width of the irradiation range of the light that the headlight control unit 15a causes the headlight 2 to irradiate becomes large. In this case, the headlight control device 1d may give glare to pedestrians or drivers of other vehicles.
Therefore, the headlight control device 1d according to the sixth embodiment sets a first irradiation range in which the amount of light irradiated by the headlight 2 is increased and a second irradiation range in which the amount of light irradiated by the headlight 2 is decreased. On the other hand, among the irradiation ranges, the second irradiation range set by the irradiation determining unit 14a is irradiated with light of a smaller amount of light than the light irradiated to the first irradiation range set by the irradiation determining unit 14a.
Thereby, the headlight control device 1d can reduce the glare that would be given to pedestrians or drivers of other vehicles, while also allowing the driver of the vehicle 100 to detect an estimated visible object in the direction in which the driver is facing. Light can be irradiated to make it visible.

Note that the method of determining the first irradiation range and the second irradiation range by the irradiation determining unit 14a as described above is only an example. The irradiation determining unit 14a may determine the first irradiation range and the second irradiation range using other methods.
For example, of the irradiation range calculated based on the depth distance estimated by the depth distance estimation unit 13, a proportion of the first irradiation range in the vertical direction and a proportion of the first irradiation range in the horizontal direction are set respectively. Alternatively, the irradiation determining unit 14a may set the vertical direction and horizontal direction of the first irradiation range based on a preset ratio.

For example, the irradiation determining unit 14a determines how much of the irradiation range calculated based on the depth distance estimated by the depth distance estimating unit 13 should be in the vertical direction and the horizontal direction of the first irradiation range. may be set based on the driving state of the vehicle 100 estimated from the driver's behavior and driving-related information, which is the basis for deriving the depth distance. For example, if the running state of the vehicle 100 is parked or stopped, the depth distance estimating unit 13 sets the upper limit angle in the vertical direction and the upper limit angle in the horizontal direction of the first irradiation range to "10 degrees", If the traveling state is running, the upper limit angle in the vertical direction and the upper limit angle in the horizontal direction of the first irradiation range may be set to "5 degrees", and the vertical direction and the horizontal direction of the first irradiation range may be set. In addition, in what state the vehicle 100 is running, how far the first irradiation range should be in the vertical direction and the horizontal direction is determined in advance.
In this case, for example, as described in Embodiment 1 using FIG. 3, information in which the driving state of vehicle 100 and the estimated visible object of the driver are associated is generated in advance by an administrator, etc., and It is stored in a location that can be referenced by the determination unit 14a. Further, the depth distance estimating unit 13 outputs orientation information and driving related information along with the depth distance information to the irradiation determining unit 14a.

For example, when the depth distance estimating unit 13 estimates the depth distance and also estimates the ideal width of the irradiation range, the irradiation determining unit 14a sets the irradiation range corresponding to the ideal width of the irradiation range as the first irradiation range, and Among the irradiation ranges based on distance, a range other than the first irradiation range may be set as the second irradiation range.

The operation of the headlight control device 1e according to the sixth embodiment will be explained.
FIG. 31 is a flowchart for explaining the operation of the headlight control device 1e according to the sixth embodiment.
For example, when the headlights 2 are turned on, the headlight control device 1e determines that the lighting control of the headlights 2 is to be performed based on the direction of the driver, and starts an operation as shown in the flowchart of FIG. 31. do. The headlight control device 1e repeats the operation shown in the flowchart of FIG. 31, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1e acquires information indicating the state of the headlights 2 from a headlight switch mounted on the vehicle 100, and determines whether the headlights 2 are on or not. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, driving related information acquisition unit 12, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the unit 13, the irradiation determining unit 14a, and the headlight control unit 15a.
Further, when the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the driving-related information acquisition section 12, the depth distance estimating section 13, the illumination determining section 14a, and the headlight control section 15a.

Regarding the operation shown in the flowchart of FIG. 31, the processing contents of step ST1-1, step ST1-2, and step ST2 are the same as those of the headlight control device 1 shown in the flowchart of FIG. 5, which have already been explained in the first embodiment. Since the processing content is the same as that of steps ST1-1, ST1-2, and ST2 of the operation, duplicate explanation will be omitted.

The irradiation determining unit 14a determines a first irradiation range in which the amount of light irradiated by the headlights 2 is increased and a second irradiation range in which the amount of light irradiated by the headlights 2 is decreased based on the depth distance estimated by the depth distance estimation unit 13 in step ST2. A range is set (step ST3a).
The irradiation determining section 14a outputs irradiation information regarding the determined irradiation range to the headlight control section 15a.

The headlight control unit 15a causes the headlight 2 to irradiate the irradiation range determined by the irradiation determination unit 14a in step ST3a (step ST4a).
Specifically, the headlight control unit 15a causes the headlight 2 to irradiate the second irradiation range set by the irradiation determining unit 14a among the irradiation ranges, and irradiate the first irradiation range set by the irradiation determining unit 14a. irradiate light with a smaller irradiation light amount than the light to be used.

In this way, the headlight control device 1e sets the first irradiation range and the second irradiation range in which the amount of light irradiated by the headlight 2 is smaller than the first irradiation range in the irradiation range determined based on the depth distance. , the headlight 2 is caused to irradiate a second irradiation range of the irradiation range with a smaller amount of light than the light irradiated onto one irradiation range.
Therefore, the headlight control device 1e allows the driver of the vehicle 100 to visually recognize the presumed visible object in the direction in which the driver of the vehicle 100 is facing, while reducing glare that may be given to pedestrians or drivers of other vehicles. You can irradiate it with light so that you can do it.

Note that in the above sixth embodiment, the position of the irradiation range is changed to follow the change in the driver's orientation, but the headlight control device 1e is changed to follow the change in the driver's orientation. The speed of movement of the position of the first irradiation range may be different from the speed of movement of the position of the second irradiation range, which is changed in accordance with a change in the orientation of the driver. For example, in the headlight control device 1e, the irradiation determining unit 14a controls the moving speed of the first irradiation range, which is changed in accordance with a change in the driver's orientation, by a short-time average of the driver's orientation, and The moving speed of the second irradiation range, which is changed to follow changes in the orientation of the driver, may be controlled by a long-term average of the driver's orientation.
As a result, the headlight control device 1e can remain within the second irradiation range for a while even in a direction that the driver is no longer facing, and can continue to be irradiated with light from the headlights 2. As a result, for example, when a pedestrian jumps out in the direction that the driver is no longer facing, the headlight control device 1e illuminates the pedestrian with the light of the headlight 2 and directs the driver toward the pedestrian. Pedestrians can be detected early.

Note that in the above sixth embodiment, the irradiation determining unit 14a sets two irradiation ranges with different amounts of light irradiated by the headlight 2, but this is only an example, and the irradiation determining unit 14a Three or more irradiation ranges may be set in which the amount of light irradiated by the light 2 differs in stages.

Further, in the above-described sixth embodiment, the irradiation determining unit 14a defines two irradiation ranges (a first irradiation range and a second irradiation range) having different irradiation light amounts in the vertical and horizontal directions of the irradiation range. ), but this is just an example. For example, the irradiation determining unit 14a may set an irradiation range in which the amount of irradiation light differs only in the vertical direction of the irradiation range, or may set an irradiation range in which the amount of irradiation light differs only in the left and right directions of the irradiation range.

Further, in the above sixth embodiment, the headlight control device 1e is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, and the irradiation determination section 12. It is assumed that the section 14a, the headlight control section 15a, and a control section (not shown) are included in the in-vehicle device. The present invention is not limited to this, and some of the direction detection section 11, driving-related information acquisition section 12, depth distance estimation section 13, irradiation determination section 14a, headlight control section 15a, and control section (not shown) 100 in-vehicle devices, and the other in-vehicle devices may be provided in servers connected to the in-vehicle devices via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14a, the headlight control unit 15a, and a control unit (not shown). .

Further, in the sixth embodiment described above, the first irradiation range and the second irradiation range are set in the headlight control device 1 according to the first embodiment, but this is only an example. For example, the headlight control device 1a according to the second embodiment, the headlight control device 1b according to the third embodiment, the headlight control device 1c according to the fourth embodiment, or the headlight control device according to the fifth embodiment In 1d, a first irradiation range and a second irradiation range may be set.
Note that the headlight control device 1b according to Embodiment 3 and the headlight control device 1c according to Embodiment 4 adjust the depth distance by taking into account objects that actually exist in the driver's direction. do. Therefore, for example, if the distance between the headlights 2 and a moving object that is facing the driver is estimated to be a depth distance, the depth distance is likely to be a distance that has no width. In this case, it is assumed that the width of the irradiation range of the light that the headlight control devices 1b and 1c irradiates onto the headlight 2 does not become large. However, for example, the position of the object measured by an external imaging device or radar may include a measurement error. Therefore, for example, the headlight control devices 1b and 1c may set the range of the measurement error as the second irradiation range.

The hardware configuration of the headlight control device 1e according to the sixth embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, so illustration thereof is omitted. do.
In the sixth embodiment, the functions of the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14a, the headlight control section 15a, and a control section (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1e estimates the depth distance based on the driving-related information and the orientation information regarding the direction of the driver detected based on the in-vehicle image acquired from the in-vehicle imaging device 3, and applies the estimated depth distance to the driving-related information. A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14a, and the headlight control section. The functions of the unit 15a and a control unit (not shown) are executed. That is, the headlight control device 1e executes a program that, when executed by the processing circuit 1001, results in steps ST1-1, ST1-2, and ST2 to ST4a in FIG. A memory 1005 is provided for storing. Further, the program stored in the memory 1005 includes the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14a, the headlight control unit 15a, and the control unit (not shown). It can also be said to be something that causes a computer to execute a processing procedure or method.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1e includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, in the headlight control device 1e according to the sixth embodiment, the irradiation determining unit 14a sets the first irradiation range and the second irradiation amount by the headlight 2 to be smaller than the first irradiation range in the irradiation range. The headlight control unit 15a sets the irradiation range for the headlight 2 in the second irradiation range set by the irradiation determination unit 14a among the irradiation ranges for the headlight 2. It is configured to irradiate a smaller amount of light than the light irradiated onto the area.
Therefore, the headlight control device 1e allows the driver of the vehicle 100 to visually recognize the estimated visible object in the direction in which the driver of the vehicle 100 is facing, while reducing glare that would be given to pedestrians or drivers of other vehicles. It is possible to irradiate light to make it possible.

Embodiment 7.
In Embodiment 7, when the headlight control device sets a plurality of irradiation ranges with different light intensities, the headlight control device expands the irradiation range with weak light even further than the range set in Embodiment 6. The form will be explained.

FIG. 32 is a diagram showing a configuration example of a headlight control device 1f according to the seventh embodiment.
Regarding the configuration example of the headlight control device 1f according to the seventh embodiment, the same components as the configuration example of the headlight control device 1e according to the sixth embodiment described using FIG. 29 are denoted by the same reference numerals. Omit duplicate explanations.
The configuration example of the headlight control device 1f according to the seventh embodiment is different from the headlight control device 1e according to the sixth embodiment described using FIG. The difference is that

The surrounding confirmation determination unit 141 uses the information regarding the driver's orientation detected by the orientation detection unit 11 and the driving-related information acquired by the driving-related information acquisition unit 12 (here, the vehicle-related information acquired by the vehicle information acquisition unit 121). Based on this, it is determined whether the driver is checking the surroundings, and if it is determined that the driver is checking the surroundings, the second irradiation range set by the irradiation determining unit 14b is expanded.
In detail, for example, the surroundings confirmation determination unit 141 uses direction information, driving-related information (vehicle information in this case), and surroundings confirmation determination conditions for determining whether or not the driver is checking the surroundings. It is determined whether or not the driver is checking his/her surroundings.

Here, FIG. 33 is a diagram for explaining an example of the contents of the surroundings confirmation determination condition used by the surroundings confirmation determining unit 141 to determine whether the driver is checking the surroundings in the seventh embodiment. It is a diagram.
The surrounding confirmation determination condition is, for example, a table in which driver behavior and vehicle information are associated with each other. The conditions for surroundings confirmation determination are generated in advance by an administrator or the like, and are stored in a location where the surroundings confirmation determination unit 141 can refer to them.
Surrounding confirmation determining unit 141 determines the driver's behavior, vehicle speed, etc. from the direction information and vehicle information, and if the determined driver's behavior, vehicle speed, etc. match the surrounding confirmation determination conditions, the driver It is determined that the verification is being carried out.
The surroundings confirmation determination unit 141 determines that the driver has not checked the surroundings if the determined driver's behavior, vehicle speed, etc. do not match the surroundings confirmation determination conditions.

When the surroundings confirmation determining unit 141 determines that the driver is checking the surroundings, the second irradiation range set by the irradiation determining unit 14b is expanded.
Note that the irradiation determination unit 14b may set the first irradiation range and the second irradiation range in the same manner as the irradiation determination unit 14a included in the headlight control device 1e according to the sixth embodiment, so the explanation will be redundant. omitted.
Here, for example, when the surroundings confirmation determining unit 141 determines that the driver is checking the surroundings, the left and right direction of the second irradiation range is defined as an area where the headlight 2 can irradiate light, in other words, Expand the high beam irradiable area, low beam irradiable area, and auxiliary light irradiable area to their limits.

The irradiation determining unit 14b includes information indicating the first irradiation range set by the irradiation determining unit 14b, and information indicating the expanded second irradiation range when the surrounding confirmation determining unit 141 expands the second irradiation range. The irradiation information including the above is output to the headlight control section 15a.
If the surrounding confirmation determination unit 141 does not expand the second irradiation range, the irradiation determination unit 14b transmits the irradiation information including information indicating the first irradiation range and the second irradiation range set by the irradiation determination unit 14b to the headlights. It is output to the control section 15a.

FIG. 34 is a diagram for explaining an example of how the surrounding confirmation determining unit 141 irradiates the irradiation range with light after expanding the second irradiation range set by the irradiation determining unit 14b in the seventh embodiment. It is a diagram.
FIG. 34 is a diagram showing how the first irradiation range and the second irradiation range are irradiated with light, as seen from the vehicle 100 side.
In FIG. 34, the first irradiation range is indicated by "LA1", and the second irradiation range is indicated by "LA2".
Note that if the surrounding confirmation determination unit 141 does not expand the second irradiation range, the first irradiation range and the second irradiation range set by the irradiation determination unit 14b, in which light is irradiated, are as shown in FIG. 30B in the sixth embodiment. This is the range shown in .

By expanding the second irradiation range by the surrounding confirmation determination unit 141, as shown in FIG. It is also possible to brighten areas where there may be objects that are unlikely to exist.
Note that the headlight control device 1f widens the second irradiation range, in other words, the range that is smaller than the first irradiation range and is irradiated with an amount of light that does not cause glare to pedestrians, drivers of other vehicles, etc. . Therefore, the headlight control device 1f brightens areas where objects that are likely not seen by the driver may be present, and also reduces glare to pedestrians or drivers of other vehicles in directions where the driver is not looking. It is possible to avoid giving

35 and 36 are diagrams for explaining an example of the irradiation range of light that the headlight control device 1f irradiates to the headlight 2 in the seventh embodiment.
FIG. 35 is an overhead view of the surroundings 100 of the vehicle 100.
36B is a diagram showing an example of the irradiation range of light that the headlight control device 1f irradiates to the headlights 2 in the surrounding situation of the vehicle 100 as shown in FIG. FIG. 12 is a diagram showing an example of the irradiation range of light emitted to the headlights 2 by the headlight control device 1e according to the sixth embodiment in the situation around the vehicle 100 as shown in FIG.

For example, the vehicle 100 is currently traveling in an underground parking lot, and in front of the vehicle 100, there are first parked vehicles (Fig. It is assumed that a second stopped vehicle (indicated by "C2" in FIG. 35) and a second stopped vehicle (indicated by "C2" in FIG. 35) are stopped. Furthermore, as viewed from the vehicle 100, a pedestrian (indicated by "W" in FIG. 35) is about to come out from behind the first stopped vehicle on the right front.
The driver is facing toward the left front when viewed from the vehicle 100.

In this case, for example, in the headlight control device 1e according to the sixth embodiment, as shown in FIG. 36A, in the irradiation range determined based on the estimated depth distance, the second irradiation range of the irradiation range is is set in the direction in which the driver is facing, that is, in the left front of the vehicle 100. Then, the right front of the vehicle 100 from which the pedestrian (indicated by "W" in FIG. 36A) is about to exit will be on the opposite side to the direction in which the driver is facing, and no irradiation range will be set. As a result, the area near the pedestrian becomes dark, and the driver is delayed in finding the pedestrian.

In contrast, the headlight control device 1f according to the seventh embodiment, as shown in FIG. 36B, sets the second irradiation to the left front of the vehicle 100 in the irradiation range determined based on the estimated depth distance. Expand the range in the left and right directions to the limit of the irradiable area. As a result, the right front of the vehicle 100 where the pedestrian (indicated by "W" in FIG. 36B) is about to exit is set as the irradiation range, specifically, the second irradiation range. As a result, the headlights 2 illuminate the vicinity of pedestrians, allowing the driver to spot pedestrians early.

Note that the extent to which the surrounding confirmation determination unit 141 expands the second irradiation range can be set as appropriate.
In the seventh embodiment described above, the surrounding confirmation determination unit 141 expands the second irradiation range in the horizontal direction to the limit of the area where the headlight 2 can irradiate light, but this is only an example. The surrounding confirmation determination unit 141 may widen the second irradiation range in the left and right direction by a preset range. The surrounding confirmation determination unit 141 may be configured such that the irradiation determination unit 14b makes the irradiation range wider than the second irradiation range determined based on the depth distance estimated by the depth distance estimation unit 13.

The surrounding confirmation determining unit 141 also determines how much the second irradiation range should be expanded by determining the driving state of the vehicle 100 estimated from the driver's behavior and driving-related information, which is the basis for deriving the depth distance (for example, It may be set based on the vehicle speed of the vehicle 100 (while parked or stopped, or while turning right or left at an intersection) or the vehicle speed of the vehicle 100. In this case, for example, as described with reference to FIG. 3 in Embodiment 1, information in which the driving state of vehicle 100 and the estimated visible object of the driver are associated is generated in advance by an administrator, etc., and It is stored in a location that can be referenced by the confirmation determination unit 141. Further, the depth distance estimating unit 13 outputs direction information and travel-related information along with the depth distance information to the irradiation determining unit 14b.

Further, in the seventh embodiment described above, the surroundings confirmation determining unit 141 widens the second irradiation range only in the left and right direction of the second irradiation range, but this is only an example, and the surroundings confirmation determining unit 141 may extend the second irradiation range in the vertical direction of the second irradiation range.

The operation of the headlight control device 1f according to the seventh embodiment will be described.
FIG. 37 is a flowchart for explaining the operation of the headlight control device 1f according to the seventh embodiment.
For example, when the headlight 2 is turned on, the headlight control device 1f determines that the lighting control of the headlight 2 is to be performed based on the direction of the driver, and starts an operation as shown in the flowchart of FIG. 37. . The headlight control device 1f repeats the operation shown in the flowchart of FIG. 37, for example, until the headlights 2 are turned off or the power of the vehicle 100 is turned off.
For example, the control unit (not shown) of the headlight control device 1f acquires information indicating the state of the headlights 2 from the headlight switch mounted on the vehicle 100, and determines whether the headlights 2 are in the on state. Determine whether or not. When the control unit determines that the headlights 2 are in the on state, the control unit determines to start lighting control of the headlights 2 based on the direction of the driver, and the direction detection unit 11, driving related information acquisition unit 12, and depth distance estimation Information instructing the start of lighting control of the headlights 2 is output to the unit 13, the irradiation determining unit 14b, and the headlight control unit 15a.
Further, if the control unit determines that the headlights 2 are in an off state or that the vehicle 100 is turned off, the control unit determines to end the lighting control of the headlights 2 based on the driver's orientation, and the orientation detection unit 11, Information instructing the end of the lighting control of the headlights 2 is output to the driving-related information acquisition section 12, the depth distance estimation section 13, the illumination determination section 14b, and the headlight control section 15a.

Regarding the operation shown in the flowchart of FIG. 37, the processing contents of step ST1-1, step ST1-2, step ST2 to step ST3a, and step ST4a are shown in the flowchart of FIG. 31, which have already been explained in the sixth embodiment. Since the processing content is the same as that of step ST1-1, step ST1-2, step ST2 to step ST3a, and step ST4a of the operation of the headlight control device 1e, duplicate explanation will be omitted.
The operation of the headlight control device 1f according to the seventh embodiment starts from the operation of the headlight control device 1e according to the sixth embodiment described using the flowchart of FIG. has been added.

In step ST3a, when the irradiation determination unit 14a sets the first irradiation range and the second irradiation range based on the depth distance estimated by the depth distance estimation unit 13 in step ST2, the surrounding confirmation determination unit 141 The driver checks the surroundings based on the orientation information regarding the driver's orientation detected by the orientation detection unit 11 in step ST1-1 and the vehicle-related information acquired by the vehicle information acquisition unit 121 in step ST1-2. It is determined whether or not there is one (step ST3a-1).

If it is determined in step ST3a-1 that the driver is checking the surroundings (“YES” in step ST3a-1), the surroundings confirmation determining unit 141 determines that the irradiation determining unit 14b is checking the surroundings in step ST3a. The set second irradiation range is expanded (step ST3a-2).
The irradiation determining unit 14b receives irradiation information including information indicating the first irradiation range set in step ST3a and information indicating the second irradiation range expanded by the surrounding confirmation determination unit 141 in step ST3a-2. , is output to the headlight control section 15a.

If it is determined in step ST3a-1 that the driver has not checked the surroundings (“NO” in step ST3a-1), the irradiation determining unit 14b selects the first irradiation range set in step ST3a. And irradiation information including information indicating the second irradiation range is output to the headlight control section 15a. Then, the operation of the headlight control device 1b skips the process of step ST3a-2 and proceeds to the process of step ST4a.

In this way, the headlight control device 1f determines whether or not the driver is checking the surroundings based on the direction information regarding the driver's direction and driving-related information (vehicle information in this case), and If it is determined that the person is checking the surrounding area, the second irradiation range is expanded.
Therefore, the headlight control device 1f can brighten not only the estimated visible target in the direction in which the driver is looking, but also a place where there may be an object that is likely not seen by the driver. In addition, the headlight control device 1f brightens areas where there may be objects that the driver is not likely to see, and also provides glare to pedestrians or drivers of other vehicles in directions that the driver is not looking at. It is possible to avoid giving

In the seventh embodiment described above, the headlight control device 1f is an in-vehicle device mounted on the vehicle 100, and includes the direction detection section 11, the driving-related information acquisition section 12, the depth distance estimation section 13, and the irradiation determination section 12. It is assumed that the section 14b, the headlight control section 15a, and a control section (not shown) are included in the in-vehicle device. However, the present invention is not limited to this, and some of the direction detection section 11, driving-related information acquisition section 12, depth distance estimation section 13, irradiation determination section 14b, headlight control section 15a, and control section (not shown) are 100 in-vehicle devices, and the other in-vehicle devices may be provided in servers connected to the in-vehicle devices via a network. Further, the server may include all of the direction detection unit 11, the travel-related information acquisition unit 12, the depth distance estimation unit 13, the irradiation determination unit 14b, the headlight control unit 15a, and a control unit (not shown). .

The hardware configuration of the headlight control device 1f according to the seventh embodiment is the same as the hardware configuration of the headlight control device 1 described using FIGS. 6A and 6B in the first embodiment, and therefore is not illustrated. do.
In the seventh embodiment, the functions of the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14b, the headlight control section 15a, and a control section (not shown) are performed by a processing circuit. This is realized by 1001. That is, the headlight control device 1f estimates the depth distance based on the driving-related information and the direction information regarding the direction of the driver detected based on the in-vehicle image acquired from the in-vehicle imaging device 3, and applies the estimated depth distance to A processing circuit 1001 is provided for controlling the lighting of the headlights 2 based on the above information.
Processing circuit 1001 may be dedicated hardware as shown in FIG. 6A, or may be processor 1004 that executes a program stored in memory 1005 as shown in FIG. 6B.

The processing circuit 1001 reads out and executes a program stored in the memory 1005, thereby controlling the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14b, and the headlight control section. The functions of the unit 15a and a control unit (not shown) are executed. That is, the headlight control device 1f executes a program that, when executed by the processing circuit 1001, results in steps ST1-1, ST1-2, and ST2 to ST4a in FIG. A memory 1005 is provided for storing. Further, the program stored in the memory 1005 includes the direction detection section 11, the travel-related information acquisition section 12, the depth distance estimation section 13, the irradiation determination section 14b, the headlight control section 15a, and the control section (not shown). It can also be said to be something that causes a computer to execute a processing procedure or method.
The storage unit 16 includes, for example, a memory 1005.
The headlight control device 1f includes an input interface device 1002 and an output interface device 1003 that perform wired or wireless communication with devices such as the headlight 2, the in-vehicle imaging device 3, or the driving-related information acquisition device 4.

As described above, in the headlight control device 1f according to the seventh embodiment, the irradiation determining unit 14b combines information regarding the driver's orientation detected by the orientation detecting unit 11 and driving-related information acquired by the driving-related information acquisition unit 12. Based on this, it is determined whether or not the driver is checking the surroundings, and when it is determined that the driver is checking the surroundings, the surroundings confirmation determining unit 141 is configured to widen the second irradiation range. Configured.
Therefore, the headlight control device 1f can brighten not only the estimated visible target in the direction in which the driver is looking, but also a place where there may be an object that is likely not seen by the driver. In addition, the headlight control device 1f brightens areas where there may be objects that the driver is not likely to see, and also provides glare to pedestrians or drivers of other vehicles in directions that the driver is not looking at. It is possible to avoid giving

Note that in the first to seventh embodiments described above, the depth

distance estimating units

13, 13a, 13b, and 13c estimate the depth distance using the depth distance estimation information. However, this is just one example.
For example, the depth

distance estimating units

13, 13a, 13b, and 13c use a trained model (hereinafter referred to as a "machine learning model") that inputs orientation information and outputs a depth distance to estimate the depth distance. Good too.
The machine learning model may be a model that inputs orientation information and outputs depth distance and ideal width of the irradiation range, or a model that inputs orientation information and outputs depth distance and ideal light amount. However, it may be a model that inputs direction information and outputs the depth distance, the ideal width of the irradiation range, and the ideal amount of light.
For example, the administrator or the like may take the vehicle 100 for a test run and collect orientation information and depth distance information to an object that the driver attempted to see during the test run, and then use the collected orientation information and depth distance information. The learning device generates a machine learning model as learning data. The generated machine learning model is stored in a location where the

headlight control devices

1, 1a, 1b, 1c, 1d, 1e, and 1f can refer to it.
Furthermore, the machine learning model may be a model that inputs not only orientation information but also map information, vehicle information, or information outside the vehicle, and outputs the depth distance and the ideal width of the irradiation range.
By estimating the depth distance using a machine learning model, the

headlight control devices

1, 1a, 1b, 1c, 1d, 1e, and 1f can estimate the corresponding depth distance based on variations in orientation information.

Furthermore, it is possible to freely combine the embodiments, to modify any component of each embodiment, or to omit any component in each embodiment.

The headlight control device according to the present disclosure takes into consideration how far ahead in the direction of the driver's face or line of sight the driver is actually trying to see, when controlling the lighting of headlights in a vehicle based on the direction the driver is facing. You can control the lighting.

1, 1a, 1b, 1c, 1d, 1e, 1f headlight control device, 11 direction detection unit, 12, 12a, 12b, 12c driving related information acquisition unit, 121 vehicle information acquisition unit, 122 map information acquisition unit, 123 outside the vehicle Information acquisition unit, 13, 13a, 13b, 13c Depth distance estimation unit, 14, 14a, 14b Irradiation determination unit, 141 Surrounding confirmation determination unit, 15, 15a Headlight control unit, 16 Storage unit, 17 Reliability determination unit, 2 Headlight, 3 In-vehicle imaging device, 4 Driving-related information acquisition device, 100 Vehicle, 1001 Processing circuit, 1002 Input interface device, 1003 Output interface device, 1004 Processor, 1005 Memory.

Claims

an orientation detection unit that detects the orientation of the driver based on a captured image of the driver of the vehicle;
a driving-related information acquisition unit that acquires driving-related information related to driving of the vehicle;
Based on the direction information regarding the driver's direction detected by the direction detection unit and the driving related information acquired by the driving related information acquisition unit, the driver is detected from the installation position of the headlight provided in the vehicle. a depth distance estimation unit that estimates a depth distance that is a distance between the driver's visual position and the estimated visual position in the direction in which the driver is facing;
an irradiation determining unit that determines an irradiation range of light from the headlights based on the depth distance estimated by the depth distance estimating unit;
A headlight control device comprising: a headlight control unit that causes the headlight to irradiate the light onto the irradiation range determined by the irradiation determination unit.
The depth distance estimator includes:
The depth distance is estimated by comparing the orientation information, the driving-related information, and depth distance estimation information in which the driver's behavior information and the driving-related information are associated with each other. The headlight control device according to claim 1.
The depth distance estimator includes:
The depth distance is estimated based on the orientation information, the travel-related information, and a machine learning model that receives the orientation information and the travel-related information as input and outputs information regarding the depth distance. 1. The headlight control device according to 1.
The driving-related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information regarding the vehicle as the driving-related information,
The headlight control device according to any one of claims 1 to 3, wherein the depth distance estimation unit estimates the depth distance based on the direction information and the vehicle information.
The driving-related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information regarding the vehicle as the driving-related information, and a map information acquisition unit that acquires map information as the driving-related information,
The head according to any one of claims 1 to 3, wherein the depth distance estimation unit estimates the depth distance based on the orientation information, the vehicle information, and the map information. Light control device.
The driving-related information acquisition unit includes an external information acquisition unit that acquires external information regarding the surroundings of the vehicle as the driving-related information,
The headlight control device according to any one of claims 1 to 3, wherein the depth distance estimation unit estimates the depth distance based on the orientation information and the vehicle exterior information.
The driving-related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information regarding the vehicle as the driving-related information, and an external information acquisition unit that acquires external information regarding the surroundings of the vehicle as the driving-related information. ,
The head according to any one of claims 1 to 3, wherein the depth distance estimation unit estimates the depth distance based on the orientation information, the vehicle information, and the vehicle exterior information. Light control device.
The driving-related information acquisition unit includes a vehicle information acquisition unit that acquires vehicle information regarding the vehicle as the driving-related information, a map information acquisition unit that acquires map information as the driving-related information, and a map information acquisition unit that acquires map information as the driving-related information; and an external information acquisition unit that acquires external information regarding the front of the vehicle,
Any one of claims 1 to 3, wherein the depth distance estimation unit estimates the depth distance based on the orientation information, the vehicle information, the map information, and the vehicle exterior information. The headlight control device described in Section 1.
The vehicle exterior information acquired by the vehicle exterior information acquisition unit includes information regarding a distance to an object existing around the vehicle,
The depth distance estimating unit adjusts the depth distance based on a distance to the object located in front of the vehicle, and sets the adjusted depth distance as the estimated depth distance. The headlight control device according to any one of claims 6 to 8.
comprising a reliability determination unit that determines the reliability of the orientation of the driver detected by the orientation detection unit,
The depth distance estimating unit does not use the orientation of the driver for which the reliability determining unit has determined that the reliability is low for estimating the depth distance. The headlight control device according to any one of the above.
The irradiation determining unit sets, in the irradiation range, a first irradiation range and a second irradiation range in which the amount of light irradiated by the headlight is smaller than the first irradiation range,
The headlight control unit causes the headlight to irradiate the second irradiation range set by the irradiation determining unit of the irradiation range to the first irradiation range set by the irradiation determining unit. The headlight control device according to any one of claims 1 to 10, wherein the light is irradiated with the irradiation light amount smaller than the light.
The irradiation determining unit determines whether the driver is checking the surroundings based on the orientation information and the driving-related information, and when determining that the driver is checking the surroundings. 12. The headlight control device according to claim 11, further comprising a surroundings confirmation determination unit that expands the second irradiation range.
The depth distance estimation unit estimates the depth distance and an ideal width of the irradiation range,
The irradiation determining unit determines the irradiation range based on the depth distance estimated by the depth distance estimating unit and the ideal width of the irradiation range. The headlight control device according to any one of the items.
The depth distance estimation unit estimates the depth distance and an ideal amount of light from the headlights,
The headlight control unit causes the headlight to irradiate the light at the ideal light amount estimated by the depth distance estimating unit in the irradiation range determined by the irradiation determining unit. A headlight control device according to any one of claims 1 to 13.
a step in which the orientation detection unit detects the orientation of the driver of the vehicle based on the captured image of the driver;
a step in which the driving-related information acquisition unit acquires driving-related information related to driving of the vehicle;
The depth distance estimating unit calculates the distance between headlights installed in the vehicle based on the direction information regarding the direction of the driver detected by the direction detecting unit and the driving related information acquired by the driving related information acquiring unit. estimating a depth distance that is a distance from an installation position to an estimated visual recognition position that is estimated to be a visual recognition position of the driver in the direction in which the driver is facing;
an irradiation determining unit determining an irradiation range of light from the headlights based on the depth distance estimated by the depth distance estimating unit;
A headlight control method comprising: a headlight control section causing the headlight to irradiate the light onto the irradiation range determined by the irradiation determining section.