JP2011037414A - Headlamp system for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a headlamp system for a vehicle, which accurately detects the other cars in front of one's own car, to appropriately control the switching of a headlamp. <P>SOLUTION: The headlamp system for a vehicle 100 includes: a headlamp unit 210 delivering a pattern of light selected from among a plurality of light distribution patterns toward the front side of the own car; a peripheral information acquiring section 108 acquiring the peripheral situation information of the own car; a distribution data preparation section 110 preparing vehicle distribution data, which show the distribution situation of the other cars at least in front of the own car, using the peripheral information; and a vehicle control section 302 determining a light distribution pattern that suppresses glare given at least to the other cars after the preparation of the vehicle distribution data in accordance with the prepared vehicle distribution data and the light distribution pattern of the headlamp unit 210 in illumination or in preparation for illumination. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle headlamp system, and more particularly to a technique for quickly and efficiently detecting another vehicle ahead of the host vehicle and appropriately controlling the irradiation of the headlamp.

  Conventionally, a system has been proposed in which image data relating to the front of the host vehicle is acquired by an image acquisition device such as a camera mounted on the vehicle and used for vehicle control. In such a system, as the image data, a forward vehicle located in front of the host vehicle is detected, and glare with discomfort is not given to the detected oncoming vehicle or the driver of the preceding vehicle or passengers As described above, there is an apparatus that automatically controls the headlight of the own vehicle. For example, the system disclosed in Patent Document 1 forms a high-beam irradiation area that can be individually irradiated with a plurality of high-beam units, and acquires an image in front of the vehicle with a CCD camera or the like to detect irradiation-prohibited objects such as oncoming vehicles. is doing. Then, the high beam unit that irradiates the region where the irradiation prohibited object exists is turned off so that the irradiation prohibited object is not glare.

  As a system for detecting a forward vehicle existing ahead of the host vehicle, for example, there is a system that holds vehicle shape data and recognizes a vehicle if the acquired image data matches the shape data. . Further, a system has been proposed that recognizes that the vehicle is a front car when the two left and right light spots exhibit similar behavior in a set, paying attention to the light spots of the light sources that constitute the headlight and tail lamp.

JP 2008-37240 A

  By the way, it is generally said that the distance that the high beam of the own vehicle does not give glare to the driver of the oncoming vehicle is about 600 to 1000 m depending on the performance of the headlamp and the weather. Moreover, it is said that the distance which does not give a glare to the driver of a preceding vehicle is about 200-400m. This is because the driver of the preceding vehicle sees the high beam of the following vehicle (own vehicle) with the rearview mirror or rearview mirror. In this way, although there is a difference in the distance that glare is felt between the oncoming vehicle and the preceding vehicle, it is possible to use high beams by determining whether glare is to be given to vehicles that are far away in any case It is necessary to judge whether. However, when the front vehicle is detected by the camera as described above, the detection accuracy greatly depends on the camera performance. For example, the number of pixels of a camera that is generally used as a vehicle-mounted camera is about 300,000 pixels (640 × 480). In this case, when the angle of view in the range irradiated with the high beam is set to ± 30 °, the resolution is 125 mm per pixel at 300 m ahead, and the resolution is 334 mm per pixel at 800 m ahead. That is, it becomes difficult to determine whether the vehicle is far away due to a decrease in resolution at a distance. As a result, when there is a vehicle-like image in the image acquired by the camera, the low beam is used by performing the control on the safe side. Therefore, originally there is no vehicle that gives glare and the high beam can be used even though the high beam can be used. was there. If a high-definition camera or a plurality of cameras are installed, the detection accuracy can be improved, but this is not realistic because of increased costs and complicated systems.

  Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle front that can accurately detect other vehicles ahead of the host vehicle and perform appropriate headlamp switching control. It is to provide a lighting system.

  In order to solve the above problems, a vehicle headlamp system according to an aspect of the present invention includes a lamp unit that selectively irradiates one of a plurality of types of light distribution patterns in front of the host vehicle, and the host vehicle. A surrounding information acquisition unit that acquires situation information around the vehicle, a distribution data creation unit that creates vehicle distribution data indicating the distribution status of other vehicles existing at least in front of the host vehicle using the situation information, and the created vehicle distribution data And a controller that determines a light distribution pattern capable of suppressing at least glare for other vehicles after the creation of the vehicle distribution data according to the light distribution pattern during irradiation of the lamp unit or during preparation for irradiation.

  The situation information around the host vehicle can be provided from an external system, for example. The range of the surrounding situation can be set to a range of, for example, a radius of 1500 m that exceeds the irradiation reach distance of the high beam light distribution pattern around the own vehicle. Further, since the glare is given to the front of the own vehicle, it may be in a range of 1500 m ahead of the own vehicle. It should be noted that the range of the surrounding situation is desirably determined as appropriate according to the performance of the high beam of the host vehicle. In your vehicle, you can check the current light distribution pattern and the shape of the light distribution pattern that you are going to irradiate by turning on the headlamps. It can be determined whether there is another vehicle to be given. That is, the control unit can select a light distribution pattern that does not give glare. As a result, it is possible to detect the presence or absence of a vehicle in which glare should be suppressed in the vehicle distribution data, and it is possible to use an appropriate light distribution pattern. In other words, the high beam light distribution pattern can be appropriately used.

  Further, a photographing unit capable of acquiring image data in front of the own vehicle including the light distribution pattern being irradiated, and at least a traveling other vehicle or a traveling preparation other vehicle within the irradiation region of the light distribution pattern being irradiated are extracted from the image data. Vehicle extraction means. The control unit may select a light distribution pattern capable of suppressing glare for at least the extracted other vehicle. According to this aspect, by acquiring the situation information around the own vehicle, the possibility of erroneously recognizing an object other than the vehicle as a vehicle when extracting the vehicle using the image data can be reduced. By acquiring the data, it becomes easy to identify vehicles that do not fall into the shadows of buildings, roadside trees, etc. in the situation information and do not receive a high beam from the vehicle, or parked vehicles in which the taillights and headlights cannot be turned on. As a result, the presence / absence of a vehicle for which glare should be suppressed can be detected with high accuracy, and an appropriate light distribution pattern can be used. In other words, the high beam light distribution pattern can be appropriately used.

  The control unit determines whether the other vehicle extracted according to the light spot feature included in the image data is a preceding vehicle or an oncoming vehicle, and the distance between the preceding vehicle and the own vehicle or the distance between the oncoming vehicle and the own vehicle. Accordingly, a light distribution pattern capable of suppressing glare for other vehicles may be selected. The light spot feature can be determined based on whether or not the tail lamp or headlight of the vehicle is turned on. When the light spot feature is red, it is a tail lamp and can be estimated as a preceding vehicle. When the light spot feature is not red, it is a headlight and can be estimated as an oncoming vehicle. Generally, the distance that the high beam of the vehicle does not give glare to the driver of the oncoming vehicle is said to be about 600 to 1000 m, although it depends on the performance of the headlamp and the weather. Moreover, it is said that the distance which does not give a glare to the driver of a preceding vehicle is about 200-400m. Therefore, when the distance to the oncoming vehicle exceeds 1000 m, the high beam light distribution pattern can be used. Further, when there is no oncoming vehicle within 1000 m and the distance to the preceding vehicle exceeds 400 m, the high beam light distribution pattern can be used, so that the frequency of use of the high beam light distribution pattern can be improved.

  The distribution data creation unit estimates the movement situation of other vehicles included in the situation information using the difference between the situation information acquired at least at two consecutive timings, and creates complementary data that complements the update interval of the situation information. Also good. The situation information acquired by the surrounding information acquisition unit cannot always be acquired continuously in real time. Therefore, a movement situation such as a movement speed and a movement direction of the vehicle is estimated from the difference between the situation information acquired at least at two consecutive timings. By creating complementary data in accordance with the movement status, it is possible to determine whether there is a vehicle for which glare should be suppressed in real time using image data acquired in real time by the imaging unit and the supplemented status information. As a result, an appropriate light distribution pattern can be used. In other words, the use frequency of the high beam light distribution pattern can be improved.

  The surrounding information acquisition unit may acquire at least information from any one of vehicle-to-vehicle communication, road-to-vehicle communication, vehicle-to-vehicle communication, and center-to-center communication. According to this configuration, highly accurate status information can be easily acquired.

  According to the vehicle headlamp system of the present invention, it is possible to accurately detect other vehicles ahead of the host vehicle and to appropriately control switching of the headlamp, and to improve the use frequency of the high beam light distribution pattern. .

1 is a conceptual diagram of a configuration of a vehicle headlamp system according to an embodiment. It is a schematic sectional drawing explaining the internal structure of the headlamp unit in the vehicle headlamp system of this embodiment. It is a schematic perspective view of the rotation shade which can be mounted in the vehicle headlamp system of this embodiment. It is explanatory drawing which illustrates the light distribution pattern which can be formed with the vehicle headlamp system of embodiment. It is a functional block diagram explaining the operation | movement cooperation of the irradiation control part of the headlamp unit of the vehicle headlamp system of this embodiment, and the vehicle control part by the side of a vehicle. It is explanatory drawing which shows the vehicle distribution data of the vehicle headlamp system of embodiment. It is a flowchart explaining the irradiation control based on the vehicle detection of the vehicle headlamp system of embodiment. It is explanatory drawing explaining the application example of the vehicle headlamp system of embodiment.

  EMBODIMENT OF THE INVENTION Hereinafter, the form (henceforth embodiment) for implementing this invention is demonstrated based on drawing.

  FIG. 1 is a conceptual diagram of a configuration of a vehicle headlamp system 100 according to the present embodiment. The vehicle headlamp system 100 is mainly configured by a vehicle distribution data creation unit 102, a photographing unit 104, a vehicle control unit 302, and a headlamp unit 210. In the headlight unit 210, a left headlight unit 210L and a right headlight unit 210R are disposed one by one at the end of the vehicle in the vehicle width direction. The headlamp units 210L and 210R of the present embodiment form a low beam light distribution pattern by blocking, for example, a part of a beam irradiated from one light source, and form a high beam light distribution pattern when not blocking. This is a so-called variable light distribution headlamp.

  The lamp unit 10 included in each of the headlamp units 210L and 210R forms a plurality of light distribution patterns having an optical axis facing the front of the vehicle orthogonal to the vehicle width direction. Each of the headlamp units 210L and 210R includes a left-passing low-beam light distribution pattern and a high-beam light distribution pattern used in an area where traffic regulations are left-handed. Further, a high-beam light distribution pattern that can form a one-side light distribution pattern in which the own lane side or the opposite lane side is shielded, a concave concave light distribution pattern in which the central portion is shielded, or the like may be included.

  The vehicle distribution data creation unit 102 obtains situation information around the own vehicle from an external system, creates at least vehicle distribution data indicating the distribution situation of other vehicles existing ahead of the own vehicle, and provides the vehicle control unit 302 with the vehicle distribution data. To do. The photographing unit 104 can be composed of, for example, a CCD camera that acquires image data in front of the vehicle. It is desirable that the photographing unit 104 is fixed at a position within the wiper wiping range, such as a rear-side bracket (inside the windshield) of the rearview mirror, such as the front of the vehicle. The shooting range of the shooting unit 104 is preferably a range in front of the host vehicle including at least the host vehicle lane on which the host vehicle travels, the oncoming lane, and the roadside, and the irradiation region of the high beam light distribution pattern. Moreover, in the case of one side multiple lanes, it is desirable to include the own lane and at least the left and right lanes of the own lane, and the range including the irradiation area of the high beam light distribution pattern. In addition, when it has a swivel function, it is desirable to set it as the range which added the swivel angle. The angle of view of the photographing unit 104 can be ± 30 ° with respect to the front of the vehicle, for example. Further, the number of pixels of the CCD camera constituting the photographing unit 104 can be, for example, about 300,000 pixels (640 × 480) used as a normal vehicle-mounted camera. When the angle of view of the CCD camera is set to ± 30 °, the resolution is 125 mm per pixel at 300 m ahead, and the resolution is 334 mm per pixel at 800 m ahead. Image data photographed by the photographing unit 104 is provided to the vehicle control unit 302.

  Based on the provided vehicle distribution map and image data, the vehicle control unit 302 detects other vehicles in front of the host vehicle, and glare due to the high beam light distribution pattern emitted by the other vehicle is suppressed. It is determined whether or not the vehicle is a target vehicle. The vehicle control unit 302 provides the light distribution pattern formation information based on the determination result to the irradiation control units 228L and 228R of the headlamp units 210L and 210R. The irradiation controllers 228L and 228R execute light distribution pattern formation control suitable for the presence state of the other vehicle based on the provided light distribution pattern formation information.

  FIG. 2 is a schematic cross-sectional view for explaining the internal structure of the headlamp unit 210. As described above, the headlamp unit 210 is a variable light distribution headlamp that is disposed on the left and right sides of the vehicle in the vehicle width direction. The structure of the headlight unit 210R to be arranged will be described. The headlamp unit 210 </ b> R includes a lamp body 212 and a transparent cover 214. The lamp body 212 has an opening in the front direction of the vehicle, and has a detachable cover 212a to be removed when the bulb 14 is replaced on the rear side. A transparent cover 214 is connected to the opening in front of the lamp body 212 to form a lamp chamber 216. The lamp chamber 216 houses the lamp unit 10 that irradiates light in the forward direction of the vehicle. A lamp bracket 218 having a pivot mechanism 218 a serving as a swing center of the lamp unit 10 is formed in a part of the lamp unit 10. The lamp bracket 218 is connected to an aiming adjustment screw 220 that is rotatably supported on the wall surface of the lamp body 212. Therefore, the lamp unit 10 is supported in a state where it can tilt to a predetermined position in the lamp chamber 216 determined by the adjustment state of the aiming adjustment screw 220.

  Further, on the lower surface of the lamp unit 10, a rotating shaft 222a of a swivel actuator 222 for constituting a curved road light distribution variable headlamp (Adaptive Front-lighing System: AFS) that illuminates the traveling direction when traveling on a curved road or the like. Is fixed. The swivel actuator 222 moves the lamp unit 10 around the pivot mechanism 218a based on the steering amount data provided from the vehicle side, the shape data of the traveling road provided from the navigation system, the relationship between the relative position of the vehicle ahead and the own vehicle, etc. Swivel in the direction of travel. As a result, the irradiation area of the lamp unit 10 is directed to the tip of the curved road instead of the front of the vehicle, so that the driver's forward visibility is improved. The swivel actuator 222 can be constituted by a stepping motor, for example. The mechanism including the swivel actuator 222 functions as an optical axis swing mechanism that swings the optical axis in the vehicle width direction. When the swivel angle is a fixed value, a solenoid or the like can be used.

  The swivel actuator 222 is fixed to the unit bracket 224. A leveling actuator 226 disposed outside the lamp body 212 is connected to the unit bracket 224. The leveling actuator 226 is composed of, for example, a motor that expands and contracts the rod 226a in the directions of arrows M and N. When the rod 226a extends in the direction of the arrow M, the lamp unit 10 swings so as to be in a backward inclined posture with the pivot mechanism 218a as the center. On the other hand, when the rod 226a is shortened in the direction of arrow N, the lamp unit 10 swings so as to assume a forward leaning posture with the pivot mechanism 218a as the center. When the lamp unit 10 is tilted backward, leveling adjustment with the optical axis directed upward can be performed. In addition, when the lamp unit 10 is in the forward tilted posture, leveling adjustment that directs the optical axis downward can be performed. By performing such leveling adjustment, the optical axis can be adjusted according to the vehicle posture. As a result, the reach distance of the front irradiation by the headlamp unit 210 can be adjusted to an optimum distance. The mechanism including the leveling actuator 226 can also be referred to as an optical axis swing mechanism.

  This leveling adjustment can also be executed according to the running vehicle posture. For example, when the vehicle accelerates while traveling, it is in a backward leaning posture, and conversely when it is decelerated, it is in a forward leaning posture. Therefore, the irradiation direction of the headlamp unit 210 also fluctuates up and down corresponding to the posture state of the vehicle, and the front irradiation distance becomes longer or shorter. Therefore, by executing the leveling adjustment of the lamp unit 10 in real time based on the vehicle posture, it is possible to optimally adjust the front irradiation reach distance even during traveling. This is sometimes referred to as “auto-leveling”.

  On the inner wall surface of the lamp chamber 216, for example, a position below the lamp unit 10, an irradiation control unit 228 that performs lighting on / off control of the lamp unit 10 and light distribution pattern formation control is disposed. In the case of FIG. 2, an irradiation control unit 228R for controlling the headlamp unit 210R is arranged. The irradiation controller 228R also controls the swivel actuator 222, the leveling actuator 226, and the like. The headlamp unit 210L may have a dedicated irradiation control unit 228L, or the irradiation control unit 228R provided in the headlamp unit 210R may include each of the headlamp unit 210R and the headlamp unit 210L. Actuator control and light distribution pattern formation control may be collectively controlled.

  The lamp unit 10 can include an aiming adjustment mechanism. For example, an aiming pivot mechanism serving as a swing center at the time of aiming adjustment is disposed at a connecting portion between the rod 226a of the leveling actuator 226 and the unit bracket 224. In addition, a pair of the above-described aiming adjustment screws 220 are disposed on the lamp bracket 218 at intervals in the vehicle width direction. For example, if the two aiming adjustment screws 220 are rotated counterclockwise, the lamp unit 10 is inclined forward with the aiming pivot mechanism as the center, and the optical axis is adjusted downward. Similarly, if the two aiming adjusting screws 220 are rotated in the clockwise direction, the lamp unit 10 is tilted backward with the aiming pivot mechanism as the center, and the optical axis is adjusted upward. Further, if the aiming adjustment screw 220 on the left side in the vehicle width direction is rotated counterclockwise, the lamp unit 10 assumes a right turning posture around the aiming pivot mechanism, and the optical axis is adjusted rightward. If the aiming adjustment screw 220 on the right side in the vehicle width direction is rotated in the counterclockwise direction, the lamp unit 10 assumes a left turning posture around the aiming pivot mechanism, and the optical axis is adjusted in the left direction. This aiming adjustment is performed when the vehicle is shipped or inspected, or when the headlamp unit 210 is replaced. The headlamp unit 210 is adjusted to a posture determined by design, and the light distribution pattern formation control of this embodiment is performed based on this posture.

  The lamp unit 10 includes a shade mechanism 18 including a rotary shade 12 (sometimes referred to as a variable shade), a bulb 14 as a light source, a lamp housing 17 that supports a reflector 16 on an inner wall, and a projection lens 20. As the bulb 14, for example, an incandescent bulb, a halogen lamp, a discharge bulb, an LED, or the like can be used. In the present embodiment, an example in which the bulb 14 is constituted by a halogen lamp is shown. The reflector 16 reflects light emitted from the bulb 14. A part of the light from the bulb 14 and the light reflected by the reflector 16 is guided to the projection lens 20 through the rotary shade 12 constituting the shade mechanism 18.

  FIG. 3 is a schematic perspective view of the rotary shade 12. The rotary shade 12 is a cylindrical member that can rotate around a rotary shaft 12a. Further, the rotary shade 12 has a notch 22 that is partially cut in the axial direction, and a plurality of plate-like shade plates 24 are held on the outer peripheral surface 12 b other than the notch 22. The rotary shade 12 can move either the notch 22 or the shade plate 24 to the position of the rear focal plane including the rear focal point of the projection lens 20 according to the rotation angle. And the light distribution pattern according to the shape of the ridgeline part of the shade plate 24 located on the optical axis O corresponding to the rotation angle of the rotary shade 12 is formed. For example, by moving any one of the shade plates 24 of the rotary shade 12 onto the optical axis O and blocking a part of the light emitted from the bulb 14, the low beam beam as shown in FIG. A light distribution pattern including a feature of the light distribution pattern for low beam in part or a part of the light distribution pattern is formed. Further, by moving the notch 22 on the optical axis O to make the light irradiated from the bulb 14 non-shielded, a high beam light distribution pattern as shown in FIG. 4B is formed. Similarly, depending on the shape of the shade plate 24, a concave-shaped light distribution pattern as shown in FIG. 4C and a one-side light distribution pattern including features of a high-beam light distribution pattern in a part as shown in FIG. 4D. Etc.

  The rotary shade 12 can be rotated by, for example, a motor drive, and moves by moving the shade plate 24 or the notch 22 on the optical axis O to form a desired light distribution pattern by controlling the rotation amount of the motor. Let Note that the cutout portion 22 of the outer peripheral surface 12b of the rotary shade 12 may be omitted, and the rotary shade 12 may have only a light shielding function. When forming a high beam light distribution pattern, for example, a solenoid or the like may be driven to retract the rotary shade 12 from the position of the optical axis O. In this case, since the rotary shade 12 does not have the notch 22, for example, even if the motor that rotates the rotary shade 12 fails, the rotary shade 12 is fixed with the low beam light distribution pattern or a similar light distribution pattern. That is, the fail-safe function can be realized by reliably avoiding that the rotary shade 12 is fixed in the formation posture of the high beam light distribution pattern.

  The projection lens 20 is disposed on the optical axis O extending in the vehicle front-rear direction, and the bulb 14 is disposed on the rear side of the rear focal plane of the projection lens 20. The projection lens 20 is a plano-convex aspherical lens having a convex front surface and a flat rear surface, and a virtual vertical screen in front of the headlamp unit 210 with a light source image formed on the rear focal plane as an inverted image. Project to.

  FIG. 5 is a functional block diagram illustrating the entire vehicle headlamp system 100. That is, it is explanatory drawing explaining the operation | movement cooperation of irradiation control part 228L, 228R of headlamp unit 210L, 210R comprised as mentioned above, and the vehicle control part 302 by the side of the vehicle 300. FIG. As described above, since the configurations of the headlamp units 210L and 210R are basically the same, only the headlamp unit 210R side will be described and the description of the headlamp unit 210L side will be omitted. In the present embodiment, the vehicle control unit 302 performs control on the vehicle side based on information from various sensors, and functions as a control unit that performs a light distribution pattern selection process of the headlamp unit 210 and the like. explain.

  The irradiation control unit 228R of the headlamp unit 210R controls the power supply circuit 230 in accordance with an instruction from the vehicle control unit 302 mounted on the vehicle 300, and performs lighting control of the bulb 14. Further, the irradiation control unit 228R controls the variable shade control unit 232, the swivel control unit 234, and the leveling control unit 236 in accordance with an instruction from the vehicle control unit 302. The variable shade control unit 232 controls the rotation of a motor 238 connected to the rotary shaft 12a of the rotary shade 12 via a gear mechanism to move the desired shade plate 24 or the notch 22 onto the optical axis O. The variable shade control unit 232 is provided with rotation information indicating the rotation state of the rotary shade 12 from a detection sensor such as an encoder provided in the motor 238 or the rotary shade 12, and accurate rotation control is realized by feedback control. The

  The swivel control unit 234 controls the swivel actuator 222 to adjust the optical axis of the lamp unit 10 in the vehicle width direction. For example, the light axis of the lamp unit 10 is directed in the direction of travel when turning such as traveling on a curved road or turning left and right. Further, the leveling control unit 236 controls the leveling actuator 226 to adjust the optical axis of the lamp unit 10 in the vehicle vertical direction. For example, a change in the vehicle height at the time of acceleration / deceleration is detected based on information from the vehicle height sensor 316, the posture of the lamp unit 10 is adjusted according to the forward tilt and the rear tilt of the vehicle posture, and the reach distance of the front irradiation is determined. Adjust to the optimal distance. The vehicle control unit 302 performs similar control on the headlamp unit 210L.

  In the case of this embodiment, the light distribution pattern formed by the headlamp units 210L and 210R can be switched according to the operation content of the light switch 304 by the driver. In this case, the vehicle control unit 302 controls the irradiation control units 228L and 228R according to the operation of the light switch 304, and forms a desired light distribution pattern by driving the motor 238 via the variable shade control unit 232.

  The headlamp units 210L and 210R of this embodiment may be automatically controlled so as to form an optimal light distribution pattern according to the vehicle surroundings detected by various sensors, regardless of the operation of the light switch 304. it can. For example, if it can be detected that a preceding vehicle or an oncoming vehicle is present in front of the vehicle, the vehicle control unit 302 determines that a low beam light distribution pattern should be formed to prevent glare. Then, the irradiation controllers 228L and 228R are controlled. Further, when it is detected that there is no preceding vehicle or oncoming vehicle in front of the host vehicle, the vehicle control unit 302 forms a high beam light distribution pattern that is not shielded by the rotary shade 12, and the driver It is determined that the field of view should be improved, and the irradiation controllers 228L and 228R are controlled.

  As described above, for example, a camera 306 such as a stereo camera is connected to the vehicle control unit 302 as an object recognition unit in order to detect an object such as a preceding vehicle or an oncoming vehicle. The image data captured by the camera 306 is temporarily stored in the data storage unit 308 and subjected to predetermined image processing such as object recognition processing in the vehicle extraction unit 106 as necessary, and the vehicle in the image data, etc. Perform car extraction. That is, the vehicle extraction unit 106 extracts whether or not there is an object that can be regarded as a preceding vehicle (another vehicle) in the image data acquired by the imaging unit 104. For example, it is determined by pattern recognition whether there is data that matches the vehicle shape data held in advance in the image data, and the vehicle ahead is recognized. In addition, the vehicle ahead can be recognized by detecting the headlight of the oncoming vehicle and the tail lamp of the preceding vehicle. Specifically, the light spot of the headlight of the front car and the light spot of the tail lamp usually have a light spot feature in which the left and right two lights as a set. In this case, if the light spot is that of a vehicle, the two light spots move while exhibiting the same behavior. That is, if two light spots exhibiting the same behavior can be confirmed, it can be estimated that it is a vehicle headlight or tail lamp. That is, it can be regarded as a forward vehicle. The detection of the light spot of the headlight and tail lamp is relatively easy and the processing load is low, and the detection process of the preceding vehicle can be performed quickly and accurately. The distinction between the headlight and the tail lamp can be made based on the color of the light spot. That is, if it is “red”, it is a tail lamp, and it can be estimated that the color of the other light spot is a headlight.

  The vehicle distribution data creation unit 102 includes a surrounding information acquisition unit 108 that acquires situation information around the host vehicle, and vehicle distribution data that indicates the distribution status of other vehicles existing at least in front of the host vehicle using the acquired situation information. A distribution data creation unit 110 for creating The surrounding information acquisition unit 108 acquires information on vehicles existing around the host vehicle by using at least one of vehicle-to-vehicle communication, road-to-vehicle communication, road-to-vehicle communication, center-to-center communication, and the like. The information acquisition range can be determined according to the high beam irradiation capability of the headlamp unit 210, but the high beam distribution pattern of the own vehicle corresponds to the distance causing the glare, for example, a radius of 1000 m centered on the own vehicle. The range can be increased, for example, a radius of 1500 m. Further, since it is another vehicle ahead of the host vehicle that needs to suppress glare, the radius may be 1500 m in front of the host vehicle. Further, when there is an intersection ahead of the road on which the host vehicle is traveling, the radius may be within a range of 500 m centering on the center 1500 m ahead of the host vehicle and the intersection therebetween. The distribution data creation unit 110 creates vehicle distribution data, specifically a vehicle distribution map, based on the surrounding situation information acquired by the surrounding information acquisition unit 108. In this case, the vehicle distribution map may be superimposed on the map information of the navigation system 314 or may be superimposed on a dedicated map. In this case, the distribution data creation unit 110 may use only the front range of the host vehicle as the creation range regardless of the status information range acquired by the surrounding information acquisition unit 108. Further, the front creation range may be 1500 m, and the side creation range may be 500 m. The distribution data creation unit 110 may create a vehicle distribution map using all of the detected vehicles, or it is estimated from the detected vehicle information that a vehicle that has been in the same position for a long time is parked. It may be created excluding vehicles to be used. The vehicle distribution map created by the distribution data creation unit 110 is provided to the vehicle control unit 302. Details of the vehicle distribution map will be described later.

  The vehicle control unit 302 uses the vehicle distribution map created by the vehicle distribution data creation unit 102 or the image data acquired by the imaging unit 104 in addition to the optimal light distribution pattern in consideration of the preceding vehicle (other vehicle). And providing information to the irradiation controllers 228L and 228R. In the present embodiment, an example in which another vehicle is detected using a vehicle distribution map and image data will be described.

  The image data held by the data holding unit 308 may be directly provided to the vehicle control unit 302 as necessary. For example, a real-time image may be displayed on a vehicle-mounted display or an overhead display, or a headlamp You may make it utilize for control other than an apparatus. In this embodiment, the camera 306 and the data holding unit 308 constitute the photographing unit 104.

  The vehicle control unit 302 can also acquire information from a steering sensor 310, a vehicle speed sensor 312, a vehicle height sensor 316, and the like that are normally mounted on the vehicle 300. And the vehicle control part 302 can change the light distribution pattern simply by selecting the light distribution pattern formed according to the driving | running | working state and driving | running | working attitude | position of the vehicle 300, or changing the direction of an optical axis. For example, when the vehicle control unit 302 determines that the vehicle is turning based on information from the steering sensor 310, the shade that forms a light distribution pattern that improves the visibility in the turning direction by controlling the rotation of the rotary shade 12. Plate 24 can be selected. In addition, the swivel actuator 222 may be controlled by the swivel control unit 234 so that the optical axis of the lamp unit 10 is directed in the turning direction without changing the rotation state of the rotary shade 12 so as to improve the field of view. Such a control mode may be referred to as a turning sensitive mode.

  Further, when traveling at high speed at night, it is preferable to execute illumination with a headlamp so that the oncoming vehicle, the preceding vehicle, the road sign and the message board can be recognized as soon as possible. Therefore, when the vehicle control unit 302 determines that the vehicle is traveling at high speed based on the information from the vehicle speed sensor 312, the rotation control of the rotary shade 12 is performed to change the shape of a part of the low beam light distribution pattern. You may select the shade plate 24 which forms the light distribution pattern for low beams. Similar control can also be realized by controlling the leveling actuator 226 by the leveling control unit 236 to change the lamp unit 10 to the tilted posture. The above-described automatic leveling control during acceleration / deceleration by the leveling actuator 226 is a control for maintaining the irradiation distance constant. If this control is used to positively control the height of the cut-off line, a control equivalent to a control for selecting a different cut-off line by rotating the rotary shade 12 can be performed. Such a control mode may be referred to as a speed sensitive mode.

  The adjustment of the optical axis of the lamp unit 10 can be performed without using the swivel actuator 222 or the leveling actuator 226. For example, the lighting unit 10 may be turned in real time so as to be executed in real time, or may be in a forward tilt posture or a backward tilt posture to improve the visibility in a desired direction.

  In addition, the vehicle control unit 302 can also acquire road shape information and form information, road sign installation information, and the like from the navigation system 314. By acquiring these pieces of information in advance, the leveling actuator 226, swivel actuator 222, motor 238, etc. can be controlled to smoothly form a light distribution pattern suitable for the traveling road. Such a control mode may be referred to as a navigation sensitive mode.

  In this way, by automatically changing the light distribution pattern of the vehicle according to the traveling state of the vehicle and the surroundings of the vehicle, the driver and passengers of the preceding vehicle such as the preceding vehicle and the oncoming vehicle The visibility of the driver can be improved while suppressing the glare to be given.

  FIG. 6 is an example of a vehicle distribution map 400 that the distribution data creation unit 110 creates based on information acquired by the surrounding information acquisition unit 108. In the case of FIG. 6, a target vehicle group A indicating a vehicle extraction region within a predetermined range centered on the own vehicle 402 on the vehicle distribution map 400 and a target vehicle group indicating an irradiation region of the high beam light distribution pattern irradiated by the own vehicle 402. An example showing B together is shown.

  The surrounding information acquisition unit 108 acquires information of other vehicles existing around the own vehicle 402 from an external system based on the position where the own vehicle 402 exists (own vehicle position). In this case, inter-vehicle communication for exchanging information by mutual communication between the own vehicle and another vehicle can be used as an external system. In this case, the surrounding information acquisition unit 108 receives presence information transmitted from another vehicle existing within a radius of 1500 m, for example, with the own vehicle 402 as the center. Then, the distribution data creation unit 110 creates the vehicle distribution map 400 by sequentially adding the presence information of other vehicles on the map data centered on the own vehicle 402 that can be acquired from the navigation system 314 or the like.

  The surrounding information acquisition unit 108 receives presence information from other vehicles existing all around the vehicle including the rear of the own vehicle 402, but the other vehicle behind the own vehicle 402 is processed for glare suppression processing of the own vehicle 402. It is preferable to exclude it from the viewpoint of reducing processing. Therefore, it is desirable that the distribution data creation unit 110 forms the vehicle distribution map 400 regarding the front area of the host vehicle 402. However, it is also complicated to form the vehicle distribution map 400 clearly ahead of the own vehicle 402 for the own vehicle 402 and other vehicles that move every moment. Therefore, as shown in FIG. 6, the above-described inconvenience can be alleviated by causing the own vehicle 402 to be offset from the center of the vehicle distribution map 400 to the rear in the traveling direction. That is, as shown in FIG. 6, a target vehicle group A that is a kind of the vehicle distribution map 400 in which the range of the vehicle distribution map 400 is limited is created. The target vehicle group A includes roads that are different from the driving road of other vehicles or the own vehicle 402 that are blocked by buildings or roadside trees that are not visible from the own vehicle 402, such as roads and intersection roads in adjacent sections that extend in parallel. Includes other vehicles that exist. In this case, a vehicle that may enter the traveling road of the host vehicle 402 can be detected at an early stage by the next generation timing of the vehicle distribution map 400 and the target vehicle group A, which is advantageous in the detection processing of other vehicles. In the case of FIG. 6, the own vehicle 402 is indicated by a triangle mark, and the other vehicles are indicated by a circle mark.

  In addition, the distribution data creation unit 110 acquires an irradiation area when the own vehicle 402 irradiates the front of the own vehicle 402 with a high beam light distribution pattern from the vehicle control unit 302 and places the irradiation area on the target vehicle group A. The target vehicle group B, which is a kind of the vehicle distribution map 400, is formed by superimposing. In this case, the shape of the irradiation region of the high beam light distribution pattern may be used as the target vehicle group B without taking into consideration that the irradiation region is blocked by a building or the like. By using the shape of the irradiation area as it is, the creation process can be simplified. This target vehicle group B is a region that may give glare to other vehicles when the host vehicle 402 irradiates a high beam light distribution pattern, and can be set, for example, in a range up to 1000 m ahead of the host vehicle. That is, there is a possibility that glare may be given to other vehicles included in the target vehicle group B by using the high beam light distribution pattern. Therefore, when there is another vehicle in the target vehicle group B, the own vehicle 402 can prevent the other vehicle from being glare if the use of the high beam light distribution pattern is suppressed. That is, the vehicle control unit 302 refers to the vehicle distribution map 400 created by the distribution data creation unit 110, particularly the target vehicle group B, and confirms the existence of another vehicle that suppresses glare. Limit the use of light distribution patterns. Therefore, the vehicle control unit 302 controls the irradiation control unit 228 to form, for example, a low beam light distribution pattern. Further, depending on the position of another vehicle subject to glare suppression, the vehicle control unit 302 may form a one-side light distribution pattern or a concave light distribution pattern. Further, when glare suppression is possible by swivel control, leveling control, or the like, the vehicle control unit 302 may permit the use of the high beam light distribution pattern on condition that the control is used together.

  In addition, since the other vehicle which exists ahead of the own vehicle 402 can be grasped | ascertained correctly by using the object vehicle group B, glare provision with respect to another vehicle can be suppressed reliably. However, in actual road traffic, there are many cases where other vehicles cannot be seen from the own vehicle 402, such as being blocked by buildings or street trees, or existing on a different road from the traveling road. That is, there are other vehicles that are included in the target vehicle group B but do not actually feel glare. Therefore, in the present embodiment, the other vehicle that is actually visible from the own vehicle 402, that is, the vehicle that is subject to glare suppression, is specified using the photographing unit 104. For example, when the own vehicle 402 travels with the headlights on, it can be considered that the other vehicles also have the headlights on. Therefore, the photographing unit 104 detects another vehicle that can be seen from the own vehicle 402 by detecting the light spot of the headlight and the light spot of the tail lamp. In this case, the target vehicle group B can confirm the position of the other vehicle even at a position far from the own vehicle 402. Therefore, even when the resolution of the photographing unit 104 is not so high and it is not possible to accurately detect that the vehicle is a vehicle by light spot detection or the like, it is possible to determine whether or not the light spot is a vehicle by collating with the target vehicle group B. . When other vehicle detection is performed by the photographing unit 104 alone, there is a possibility that streetlights, light from vending machines, light from buildings and light reflected by reflectors, etc. may be misrecognized as light spots emitted by vehicles. By using in combination with the target vehicle group B as in the embodiment, the above-described erroneous detection can be effectively prevented.

  Moreover, since the own vehicle 402 and the other vehicles are moving as described above, the positions change from moment to moment. Therefore, when the time has elapsed since the target vehicle group B is created, there are other vehicles that are excluded from the target vehicle group B and other vehicles that are newly entering. In the present embodiment, since the other vehicle seen from the own vehicle 402 is detected by the photographing unit 104, it is appropriate to smoothly cope with such a change in the presence of the other vehicle due to the movement of the own vehicle and the other vehicle. Other vehicles can be detected.

  It should be noted that the surrounding situation information acquired by the surrounding information acquisition unit 108 from the external system may be updated in real time, but it is also assumed that the surrounding information is updated only at intervals of several seconds, for example. Therefore, the distribution data creation unit 110 may estimate the movement status of other vehicles included in the situation information using at least the difference between the situation information acquired at two consecutive timings. For example, it is possible to estimate a movement situation such as a movement speed or a movement direction of the vehicle from the difference between the situation information acquired at two successive timings. If the vehicle distribution map 400 that has already been created is supplemented with the supplementary data according to the movement status, information that is close to the case in which the surrounding information acquisition unit 108 acquires a shorter period, real time, or status information from the external system is used. Processing is possible. Then, by using the situation information of the vehicle distribution map 400 complemented with the image data acquired in real time by the photographing unit 104, it is possible to determine whether there is a vehicle for which glare should be suppressed in real time. As a result, an appropriate light distribution pattern can be used. In other words, the usage frequency of the high beam light distribution pattern can be improved.

  By the way, as described above, the distance that the high beam light distribution pattern of the own vehicle 402 gives glare to the oncoming vehicle is, for example, 600 to 1000 m. Moreover, the distance which gives glare to a preceding vehicle is 200-400 m, for example. Therefore, in the target vehicle group B, the vehicle control unit 302 can use the high beam light distribution pattern when the distance to the oncoming vehicle exceeds 1000 m. Further, when there is no oncoming vehicle within 1000 m and the distance to the preceding vehicle exceeds 400 m, the high beam light distribution pattern can be used. The distance to the oncoming vehicle or the preceding vehicle can be estimated by applying a known surveying method to the image data acquired by the imaging unit 104, for example. Also, the approximate distance can be estimated using the positional relationship between the other vehicle of the vehicle distribution map 400 and the host vehicle 402. In this way, the threshold A at which the distance from the own vehicle 402 to another vehicle is 1000 m and the threshold B at 400 m are set, and whether the other vehicle in the target vehicle group B exceeds the threshold A or the threshold B. The applicability of the high beam light distribution pattern can be judged. As a result, an appropriate high beam light distribution pattern can be used. Whether another vehicle included in the target vehicle group B is an oncoming vehicle or a preceding vehicle can be estimated, for example, by detecting the light spot of the headlight or the light spot of the tail lamp using the photographing unit 104. For example, if a red light spot can be confirmed, it can be estimated that it is a tail lamp and a preceding vehicle. If a light spot other than red can be confirmed, it can be estimated that the headlight is an oncoming vehicle. In addition, it is desirable to set hysteresis for the threshold A and the threshold B so that the result determination near the threshold is stabilized. With such a setting, the light distribution pattern is frequently switched in the vicinity of the threshold value, and there is an effect of preventing discomfort and annoyance to the driver.

  In this way, whether the other vehicle is the preceding vehicle or the oncoming vehicle is determined according to the light spot characteristics included in the image data, and the other vehicle is determined according to the distance between the preceding vehicle and the own vehicle or the distance between the oncoming vehicle and the own vehicle. By selecting a light distribution pattern that can suppress glare against the light, it is possible to improve the frequency of use of the high beam light distribution pattern.

  In the above description, the surrounding information acquisition unit 108 has shown an example in which vehicle-to-vehicle communication is used as an external system. In addition to this, road-to-vehicle communication for exchanging information by mutual communication between the vehicle and the roadside unit is performed. Available. In this case, since the surrounding information acquisition unit 108 can acquire the presence information of other vehicles existing around the host vehicle 402 from the roadside devices arranged at regular intervals on the roadside or the like, the processing of the surrounding information acquisition unit 108 The load can be reduced and the acquisition process can be performed quickly. Moreover, you may acquire other vehicle information with map data from the roadside machine side. In this case, the vehicle distribution map creation process in the distribution data creation unit 110 can be reduced. In addition, communication between centers can be used as an external system. Inter-center communication is a system that collects and processes information such as vehicle position information and travel conditions transmitted from each vehicle or roadside machine at a base station and redistributes the information to each vehicle. In this case, the processing information can be distributed in real time, and a large amount of highly accurate and valuable information can be transmitted to the surrounding information acquisition unit 108. Therefore, other vehicle inspection with higher accuracy than in the case of vehicle-to-vehicle communication or road-to-vehicle communication. It is possible to go out. In the case of inter-center communication, only the difference data may be distributed, or the amount of data received by the surrounding information acquisition unit 108 may be reduced. Similarly, it is also possible to use road-to-vehicle communication in which information from each vehicle is transmitted to the roadside machine and is transmitted to each vehicle after being held, processed, processed, or the like by the roadside machine. An effect can be obtained. In addition, a presence position confirmation system using GPS information of a mobile phone can be used. In this case, information on mobile phones carried by pedestrians, bicycle users, etc. may be acquired by the vehicle or roadside device, and the presence of pedestrians or bicycle users may be confirmed based on this information. In this case, information such as pedestrians and bicycle users can be added to the vehicle distribution map, and the surrounding situation can be obtained with higher accuracy.

FIG. 7 is a flowchart for explaining other vehicle detection processing and headlamp switching control of the vehicle headlamp system 100 of the present embodiment.
When the headlight unit 210 of the host vehicle is in a state that can be turned on, the vehicle control unit 302 determines whether or not the headlight unit 210 is in an automatic light distribution variable state in which the light distribution pattern is automatically changed according to the surrounding conditions. Make sure. For example, it is confirmed whether the automatic light distribution variable changeover switch is on or off, and if it is not in the automatic light distribution variable state (N in S100), the manual control lamp is turned on (S102). In this case, the driver visually confirms the presence of another vehicle in front of the host vehicle and operates the light switch 304 to switch between the high beam light distribution pattern and the low beam light distribution pattern so as not to give the glare.

  On the other hand, in S100, when the automatic light distribution variable state is set (Y in S100), the vehicle extraction unit 106 detects the forward vehicle based on the image data provided from the photographing unit 104 (S104). In this case, the other vehicle in front can be detected by detecting the light spot of the headlight or tail lamp. The detection result is provided to the vehicle control unit 302. Subsequently, the vehicle control unit 302 confirms the state of the light distribution pattern currently formed by the own vehicle or about to be formed (S106). This confirmation can be made by confirming the control state of the variable shade control unit 232 and the rotation state of the rotary shade 12. When the vehicle control unit 302 can confirm an obvious vehicle in the light distribution variable region based on the image data acquired by the photographing unit 104 (Y in S108), the vehicle control unit 302 sends a low beam light distribution to the irradiation control unit 228. A control command is issued so as to form a pattern (S110). Thereafter, the process returns to S100 and the subsequent processing is repeated. In the vehicle distribution map 400 of FIG. 6, glare can be suppressed with respect to the other vehicle 404 a that exists at a short distance ahead of the host vehicle 402.

  On the other hand, when an obvious vehicle cannot be confirmed within the light distribution variable region (N in S108), for example, when the light spot is far beyond the range where the camera can be identified by the camera 306 of the photographing unit 104, the target vehicle group A Is acquired (S112). That is, the vehicle control unit 302 causes the surrounding information acquisition unit 108 to acquire surrounding situation information and causes the distribution data creation unit 110 to create the target vehicle group A. Further, the vehicle control unit 302 causes the distribution data creation unit 110 to create and acquire the target vehicle group B (S114). If the vehicle control unit 302 confirms that a vehicle exists in the acquired target vehicle group B (Y in S116), the vehicle control unit 302 acquires the current image data from the imaging unit 104, and whether there is a vehicle that can be seen from the own vehicle. It is confirmed whether or not (S118). In this case, similarly to S104, the vehicle extraction unit 106 detects the vehicle by detecting the light spots of the headlights and tail lamps of other vehicles. However, in S104, only the vehicles existing at short distances where clear features such as two sets of light spots of the headlights and tail lamps exhibit the same behavior are detected. On the other hand, in S118, the presence / absence of a vehicle that is far away from the host vehicle is already known by referring to the target vehicle group B that is the vehicle distribution map 400. The presence of the vehicle is determined based on whether or not. That is, whether or not a light spot that can be confirmed slightly in the distance by referring to the target vehicle group B for a far light spot that cannot be clearly determined to be a vehicle by the image processing of the vehicle extraction unit 106 is also a vehicle. You can determine whether or not. When there is a vehicle that can be confirmed by image data in the target vehicle group B (Y in S118), the process proceeds to S110, where the vehicle control unit 302 moves the headlamp unit 210 to the irradiation control unit 228 for low beam light distribution. Control to irradiate with a pattern. Thereafter, the process returns to S100 and the subsequent processing is repeated. In the vehicle distribution map 400 of FIG. 6, glare can be suppressed with respect to the other vehicle 404 b existing at a long distance ahead of the host vehicle 402.

  Further, when there is a vehicle in the target vehicle group B in S118 but the vehicle cannot be confirmed by the image data acquired by the photographing unit 104 of the own vehicle (N in S118), that is, as shown in FIG. This is a case where the vehicle included in B cannot be seen from the own vehicle. For example, as shown in FIG. 6, in the case where other vehicles included in the target vehicle group B are other vehicles 404c and 404d existing on roads other than the traveling road, or in the shadow of buildings or roadside trees and cannot be seen from the own vehicle. is there. In this case, since the light of the headlamp unit 210 of the own vehicle does not reach, it can be determined that there is no fear of giving glare to the vehicle. Therefore, the vehicle control unit 302 permits the irradiation of the high beam light distribution pattern (S120), and provides the control command to the irradiation control unit 228 to form the high beam light distribution pattern. Thereafter, the process returns to S100 and the subsequent processing is repeated. If there is no vehicle in the target vehicle group B in S116 (N in S116), S118 is skipped and the process proceeds to S120, and the vehicle control unit 302 permits irradiation of the high-beam light distribution pattern (S120). A control command is provided to the control unit 228 so as to form a high beam light distribution pattern.

  As another example, the vehicle control unit 302 always acquires the target vehicle groups A and B, which are the vehicle distribution map 400, when the headlamp unit 210 of the own vehicle is in a lit state. Also good. In this case, it is possible to always detect the other vehicle with high accuracy. On the other hand, when the processing of the flowchart of FIG. 7 is performed, regarding the short distance from the own vehicle, the other vehicle detection is performed based on the image data acquired by the photographing unit 104, and the other vehicle detection is required at a long distance. The vehicle distribution data creation unit 102 is used. In this case, the processing load of the vehicle control unit 302 is reduced, and a smooth other vehicle detection process can be performed.

  As described above, it is possible to detect the other vehicle with high accuracy while minimizing the cost increase by using the surrounding situation information provided from the external system without improving the performance of the mounted camera. As a result, it is possible to realize irradiation control with an optimal light distribution pattern that hardly gives glare to other vehicles, and it is possible to improve the frequency of use of the light distribution pattern for high beams, which greatly contributes to ensuring the front view of the driver of the vehicle. it can.

  In the above-described embodiment, an example in which the target vehicle group A of the vehicle distribution map 400 is set larger than the target vehicle group B in order to make it easier to grasp the presence of other vehicles around the host vehicle has been described. A may be set to the same size as the target vehicle group B. In this case, the creation step of the target vehicle group can be simplified and the processing load of the system can be reduced.

  In the above example, the case where the high beam light distribution pattern shown in FIG. 4B is used has been described. In other embodiments, a light distribution pattern having a partial characteristic of the high beam light distribution pattern as shown in FIGS. 4C and 4D can also be used. In this case, the shape of the target vehicle group B is the shape shown in FIGS. 4C and 4D. Also in this case, the presence detection of the other vehicles included in the target vehicle group B is satisfactorily performed, and good glare prevention control is possible. Similarly, even when the light distribution pattern changes from moment to moment according to the steering angle of the host vehicle, the vehicle speed, etc., by forming the corresponding target vehicle group B, it is possible to detect the presence of other vehicles and prevent rare Good control.

  In the above-described embodiment, for convenience of explanation, the vehicle distribution data creation unit 102 is mounted on the vehicle 300 and information acquired by various sensors is collected in the vehicle control unit 302 so that the vehicle control unit 302 can detect other vehicles. An example to do is shown. Further, an example has been described in which the vehicle control unit 302 determines the shape of the light distribution pattern formed by the headlamp unit 210 and controls the irradiation control unit 228 using the result of the other vehicle detection. In another embodiment, the irradiation control unit 228 may acquire status information from various external systems and information on various sensors to perform detection processing of other vehicles, light distribution pattern selection, and formation processing. The same effect as the embodiment can be obtained. Alternatively, the other vehicle detection process may be performed on the vehicle 300 side, and the light distribution pattern selection process may be performed by the irradiation control unit 228. Further, as an example of the configuration of the vehicle headlamp system 100, the structure of the headlamp unit 210 is shown in FIG. 2, and the functional block diagram thereof is shown in FIG. 5, but the high beam distribution pattern and the low beam distribution pattern are shown in FIG. This embodiment can be applied to any vehicle headlamp system that automatically switches according to the surrounding conditions, and similar effects can be obtained.

  In the flowchart shown in FIG. 7, an example is shown in which the vehicle distribution data creation unit 102 and the photographing unit 104 are used together to detect other vehicles with high accuracy. However, the photographing unit 104 detects a vehicle that is actually visible from the own vehicle. May be omitted, and other vehicle detection may be performed simply using information from the vehicle distribution data creation unit 102. In this case, although other vehicles existing in the shadow of the building are included, since it can be performed with higher accuracy than the case where the photographing unit 104 detects the presence of other vehicles far from the own vehicle, glare can be suppressed at a low cost. It can be configured.

FIG. 8 is an explanatory diagram for explaining an application example of the present embodiment.
The current situation is that a high-resolution camera such as a high-definition camera cannot be used for the photographing unit 104 mounted on the own vehicle because of cost. For this reason, there is a limit to the accuracy of detection of other vehicles using image data when the headlight and tail lamp are lit and in the dark or no light. Also, in real traffic environments, there are various light spots such as electric signs and street lights, and complex control is required to find the light spots of the headlights and taillights of other dark vehicles from among them. There is also a concern that the detection reliability may decrease. In addition, when the other vehicle is a two-wheeled vehicle or a bicycle, the headlight has only one light spot, and the two-point light spot detection applied to the four-wheeled vehicle cannot be applied. It is difficult to detect motorcycles and bicycles as other vehicles.

  Therefore, in the application example shown in FIG. 8, an infrared lamp 408 is mounted on the headlight or tail lamp of a vehicle 404 including its own vehicle and other vehicles, and the headlight and tail lamp of a two-wheeled vehicle or bicycle 406, etc. Detection is performed by the infrared camera of the photographing unit 104 of the own vehicle 402. In this case, since the light of a general fluorescent lamp does not contain an infrared component, it can be easily distinguished from the electric signboard 500, a street lamp, and the like. In addition, if the own vehicle 402 is equipped with an infrared lamp 408 that blinks at a natural period, the infrared IR reflected by the roadside reflector 504, the sign 506, and the like can be easily distinguished from the infrared IR irradiated from other vehicles. Can be.

  By mounting the infrared lamp 408 on the vehicle in this way, it is possible to easily detect the presence of each other in the own vehicle and other vehicles. For example, when glare is detected by the own vehicle 402 photographing unit 104, the output of the infrared lamp 408 irradiated by the own vehicle is increased, and the presence of the own vehicle is promptly notified to other vehicles causing glare in particular. The glare suppression control can be executed. Conversely, when the vehicle does not feel glare, it is possible to enter a power saving mode in which the output of the infrared lamp 408 is reduced, and energy efficiency can be improved. Similarly, if the infrared lamp 408 is disposed in the vicinity of the tail lamp of the own vehicle, the vehicle approaching from the rear can be immediately notified of the presence of the own vehicle as described above, and the glare suppression control can be executed quickly. Can be urged. In addition, when the ground height of headlights such as buses and trucks is low and the driver's eye point is high, the headlight light is blocked by the vehicle 402 and the photographing unit 104 when the headlight light is blocked by the median strip. May not be available. In this case, the infrared lamp 408 may be installed in the vicinity of the driver's eye point. As a result, infrared detection can be performed easily and reliably, and the detection accuracy of buses and trucks can be improved.

  The present invention is not limited to the above-described embodiments, and various modifications such as design changes can be added based on the knowledge of those skilled in the art. The configuration shown in each figure is for explaining an example, and any configuration that can achieve the same function can be changed as appropriate, and the same effect can be obtained.

  DESCRIPTION OF SYMBOLS 10 Lamp unit, 12 Rotating shade, 100 Vehicle headlamp system, 102 Vehicle distribution data creation unit, 104 Shooting unit, 106 Vehicle extraction unit, 108 Ambient information acquisition unit, 110 Distribution data creation unit, 210 Headlamp unit, 228 irradiation control unit, 300 vehicle, 302 vehicle control unit, 306 camera, 400 vehicle distribution map, 402 own vehicle.

Claims (5)

A lamp unit that selectively illuminates one of the light distribution patterns in front of the vehicle;
A surrounding information acquisition unit for acquiring situation information around the vehicle;
A distribution data creation unit for creating vehicle distribution data indicating a distribution situation of other vehicles existing at least in front of the host vehicle using the situation information;
Control for determining a light distribution pattern capable of suppressing glare for at least the other vehicle after the generation of the vehicle distribution data in accordance with the generated vehicle distribution data and a light distribution pattern during irradiation or preparation for irradiation of the lamp unit. And
A vehicle headlamp system comprising: Furthermore, a photographing unit capable of acquiring image data in front of the host vehicle including the light distribution pattern under irradiation,
Vehicle extraction means for extracting at least a traveling other vehicle or a traveling preparation other vehicle in an irradiation area of the light distribution pattern being irradiated from the image data;
Including
2. The vehicle headlamp system according to claim 1, wherein the control unit selects a light distribution pattern capable of suppressing glare for at least the extracted other vehicle.   The control unit determines whether the other vehicle extracted according to the light spot feature included in the image data is a preceding vehicle or an oncoming vehicle, and also determines the distance between the preceding vehicle and the own vehicle or the oncoming vehicle. The vehicle headlamp system according to claim 2, wherein a light distribution pattern capable of suppressing glare with respect to the other vehicle is selected according to a distance from the host vehicle.   The distribution data creation unit estimates a movement situation of another vehicle included in the situation information using a difference between the situation information acquired at least at two consecutive timings, and supplement data for complementing the update interval of the situation information. The vehicular headlamp system according to any one of claims 1 to 3, wherein the vehicular headlamp system is created.   The said surrounding information acquisition part acquires the information from any one of at least vehicle-to-vehicle communication, road-to-vehicle communication, vehicle-to-vehicle communication, and center-to-center communication. The vehicle headlamp system according to claim 1.

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