JP2012232685A - Light distribution control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology for performing headlight light-distribution control that is suitable for distinction between the right-hand traffic and left-hand traffic of a road by automatically determining the distinction between the right-hand traffic and left-hand traffic of the road.SOLUTION: The light distribution control device includes: a front detection part 1; a part 3 for determining the distinction between right-hand traffic and left-hand traffic; and a light distribution control part 5. The front detection part 1 detects the position of the other vehicle present ahead of an own vehicle. The part 3 for determining the distinction between right-hand traffic and left-hand traffic analyzes the time-series transition of a relative positional relation between the own vehicle and an on-coming vehicle on the basis of the position of the other vehicle detected by the front detection part 1 and determines the distinction between the right-hand traffic and left-hand traffic of the road on which the own vehicle currently travels on the basis of the analysis result. The light distribution control part 5 selects and executes the light distribution control method corresponding to the distinction between the right-hand traffic and left-hand traffic of the road on which the own vehicle travels from among the prescribed headlight light-distribution control methods which are individually prepared while corresponding to the light distribution control for the left-hand traffic road and the light distribution control for the right-hand traffic road on the basis of the determination result by the part 3 for determining the distinction between right-hand traffic and left-hand traffic.

Description

  The present invention relates to a light distribution control device that performs light distribution control of a headlight of a vehicle according to a left and right traffic division determined on a road.

  Conventionally, light distribution control for precisely controlling the irradiation state of a headlight (headlight) according to the surrounding environment of the host vehicle is known. For example, based on the detection results of the preceding vehicle and the oncoming vehicle, it is determined whether or not those other vehicles are present in the left and right irradiation range of the headlight of the own vehicle. There is known a light distribution control device that changes and controls an irradiation range so that an irradiation range in the left-right direction is located in a region where glare is not given to a driver of another vehicle.

JP-A-5-257239

  In the conventional light distribution control device as described above, the left and right traffic classification (right side traffic or left side traffic) of the vehicle determined on the road is fixed in the region where the vehicle is assumed to be used. Detection and light distribution control suitable for right and left traffic classification of the road on which the vehicle is traveling based on left and right traffic classification of the vehicle, or left and right traffic classification individually set for the vehicle by manual input It is carried out.

  Specifically, when the left-right traffic classification of the road is left-hand traffic, other vehicles coming through the front right side of the host vehicle are detected as oncoming vehicles on the captured image of the camera, and the driver of the oncoming vehicle is not dazzled In this way, control is performed such that the irradiation direction of the headlight is tilted to the left. On the other hand, when the left and right traffic classification of the road is right-hand traffic, on the captured image of the camera, other vehicles coming through the front left side of the host vehicle are detected as oncoming vehicles and the driver of the oncoming vehicle is not dazzled The headlight irradiation direction is controlled slightly to the right.

  As described above, if the left and right traffic divisions on the road are different, the method of detecting an object (vehicle) and the method of light distribution control corresponding to the classification are also different. Therefore, if the vehicle passes through the border where the left and right traffic classification switches, such as when crossing the border between the UK (left-hand traffic) and France (right-hand traffic) through the English Channel, There is a problem that the setting of object (vehicle) detection and light distribution control has to be changed manually in accordance with the left and right traffic classification.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a technique for automatically determining the right and left traffic sections of a road and performing headlight light distribution control suitable for the left and right traffic sections. And

  The light distribution control device according to claim 1, which is made to achieve the above object, includes a detection unit, a determination unit, and a control unit. A detection means detects the position of the other vehicle which exists ahead of the own vehicle. Based on the position of the other vehicle detected by the detection means, the determination means analyzes the time series transition of the relative positional relationship between the own vehicle and the oncoming vehicle that faces the own vehicle, and analyzes the analysis. Based on the result, the left and right traffic classification of the road on which the vehicle is currently traveling is determined. Based on the determination result by the determination means, the control means is configured to control the vehicle from among predetermined headlight light distribution control methods individually prepared for the left-hand traffic road and the right-hand traffic road. Selects and implements the light distribution control method corresponding to the left and right traffic classification of the road on which the vehicle is currently traveling.

  According to such a configuration, it is possible to automatically switch to the light distribution control of the headlight suitable for the left and right traffic classification according to the left and right traffic classification determined based on the trend of the oncoming vehicle. Therefore, even when the vehicle passes through the boundary where the left and right traffic sections of the road are switched, it is convenient because it is not necessary to manually change the light distribution control setting in accordance with the switched left and right traffic sections.

  In addition, the following is mentioned as an example of the light distribution control of the headlight suitable for a right-and-left traffic division here. For example, in the case of left-hand traffic, the light distribution control such that the headlight irradiation range is slightly left or the right mask of the irradiation range is applied so as not to dazzle the driver of the oncoming vehicle that passes the right side of the host vehicle. do. In the case of right-hand traffic, light distribution such as setting the headlight irradiation range slightly to the right or masking the left side of the irradiation range so as not to dazzle the driver of the oncoming vehicle that passes the left side of the host vehicle. Take control.

  Next, the light distribution control device according to claim 2 is further provided based on the determination result by the determination means, and further provided separately for the left-hand traffic road and the right-hand traffic road, respectively. The detection control method corresponding to the right-and-left traffic division of the road on which the host vehicle is currently traveling is selected from the predetermined detection control methods in the means, and the detection means detects the other vehicle by the selected detection control method. It is characterized by that.

  According to such a configuration, according to the left and right traffic classification determined based on the trend of the oncoming vehicle, it is possible to automatically switch to the target vehicle detection control method suitable for the left and right traffic classification, and the detection performance by the detection means And disturbance resistance performance can be improved. Note that the target vehicle detection control method suitable for the right-and-left traffic classification here is exemplified as follows. For example, in the case of left-hand traffic, the detection range of the sensors is moved to the right so that the oncoming vehicle passing on the right side of the host vehicle can be detected accurately, and the detection sensitivity to the oncoming vehicle's light etc. is weighted to the right Detection control is performed. In the case of right-hand traffic, the detection range of the sensors is moved to the left so that the oncoming vehicle passing on the left side of the host vehicle can be detected accurately, and the detection sensitivity to the oncoming vehicle light, etc. is weighted to the left. Detection control is performed.

  By the way, as a method for accurately determining the right-and-left traffic classification of the road on which the host vehicle is currently traveling from the trend of the oncoming vehicle, it is preferable that the method is as described in claim 3. That is, the determination means determines whether the oncoming vehicle has passed to the left or right side of the host vehicle, and based on the passing direction of the oncoming vehicle to the left and right of the host vehicle and the determination frequency of the passing direction, Determine the right-and-left traffic classification of the road you are currently driving.

  Normally, if the vehicle is on the left side, the oncoming vehicle passes by the right side of the host vehicle. If the vehicle is on the right side, the oncoming vehicle passes by the left side of the host vehicle. That is, by identifying the direction in which the oncoming vehicle passes the host vehicle from the trend of the object that is estimated to be the oncoming vehicle and looking at the frequency of occurrence thereof, it can be determined which side of the road the host vehicle is traveling. By doing in this way, the right-and-left traffic division of the road on which the host vehicle is currently traveling can be accurately determined.

It is a block diagram which shows the system configuration | structure of the light distribution control apparatus of embodiment. It is a flowchart which shows the procedure of a right-and-left traffic classification determination process. (A) is explanatory drawing which shows an example of the captured image at the time of left-hand traffic, (b) is explanatory drawing which shows an example of the captured image at the time of right-hand traffic. It is a flowchart which shows the procedure of a light distribution and detection control process. (A) is explanatory drawing which shows an example of the irradiation state by the light distribution control mode at the time of left-hand traffic, (b) is explanatory drawing which shows an example of the irradiation state by the light distribution control mode at the time of right-hand traffic.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment at all, and can be implemented in various aspects.
[Description of configuration of light distribution control device]
A system configuration of a light distribution control device to which the present invention is applied will be described with reference to FIG.

  As shown in FIG. 1, the light distribution control device of the present embodiment includes a front detection unit 1, a left / right traffic division determination unit 3, and a light distribution control unit 5. The front detection unit 1 and the left / right traffic classification determination unit 3, and the left / right traffic classification determination unit 3 and the light distribution control unit 5 communicate with each other through communication lines 7 and 9 that are communicated by a predetermined in-vehicle communication protocol (CAN or LIN). Connected through.

  The front detection unit 1 is a module that includes sensors that detect road conditions ahead of the host vehicle and an information processing device that processes information from the sensors. The detection target by the front detection unit 1 is a position of an oncoming vehicle that is traveling in a direction facing the own vehicle, a preceding vehicle that is traveling in the same direction in front of the own vehicle, or the like. Examples of the sensor applied to the front detection unit 1 include an in-vehicle camera that images the front of the host vehicle. This in-vehicle camera is a well-known camera configured using a CCD image sensor, a CMOS image sensor, a lens that collects light from a subject on the image sensor, etc., and the road ahead of the vehicle is within the imaging range. It is arranged toward the front of the host vehicle so as to be included. Further, as the front detection unit 1, a laser radar, a millimeter wave radar, or the like may be used in addition to the in-vehicle camera. Based on information obtained from these in-vehicle cameras, radars, and the like, an information processing device including a CPU, ROM, RAM, I / O, and the like calculates the positions of oncoming vehicles and preceding vehicles.

  The left / right traffic classification determination unit 3 is configured as a well-known information processing apparatus including a CPU, a ROM, a RAM, an I / O, and the like. The left / right traffic classification determination unit 3 receives detection information (positions of the oncoming vehicle and the preceding vehicle) from the front detection unit 1 via the communication line 7, and based on this detection information, the host vehicle The right and left traffic classification of the road where is running is determined.

  The light distribution control unit 5 is configured as a known information processing apparatus including a CPU, a ROM, a RAM, an I / O, and the like, and controls the lighting state (irradiation state) of the headlight. The light distribution control unit 5 receives the determination result by the left and right traffic classification determination unit 3 via the communication line 9, and performs light distribution control suitable for left-hand traffic or right-hand traffic according to the determination result.

[Explanation of left-right traffic classification judgment processing]
Next, the procedure of the right-and-left traffic classification determination process executed by each unit of the light distribution control device of the embodiment will be described with reference to the flowchart of FIG. This process is repeatedly executed every predetermined time while the host vehicle is in operation.

  First, the front detection unit 1 captures captured images in front of the host vehicle from an in-vehicle camera or the like in time series (S101). Next, the captured image is analyzed, and detection processing is performed to detect the relative position of the oncoming vehicle and the preceding vehicle with respect to the host vehicle from the captured image (S102). In addition, as a method for detecting the oncoming vehicle or the preceding vehicle, a method for detecting / tracking a moving object by a known motion analysis method, a method for detecting a relative speed with respect to the host vehicle, or the like can be used. The position information of the oncoming vehicle and the preceding vehicle detected here is transmitted to the left / right traffic classification determination unit 3.

  Next, the left / right traffic classification determination unit 3 determines whether there is an oncoming vehicle in the captured image from the result of the detection process in S102 (S103). If there is an oncoming vehicle (S103: YES), the process proceeds to S104. If there is no oncoming vehicle (S103: NO), the process returns to S101.

  In S104, which proceeds when there is an oncoming vehicle, the passing direction of the oncoming vehicle relative to the host vehicle is determined from the time-series transition of the position of the oncoming vehicle, and the process branches according to the determined passing direction of the oncoming vehicle. Here, if the oncoming vehicle passes the right side of the host vehicle, the process proceeds to S105. If the oncoming vehicle passes the left side, the process proceeds to S106.

  In S105, which proceeds when the oncoming vehicle passes the right side of the host vehicle, it is determined whether or not the number of times the oncoming vehicle that has passed the right side of the host vehicle is detected within a predetermined time is equal to or greater than a specified number. Here, when the number of times the oncoming vehicle that has passed the right side is detected within a predetermined time is less than the prescribed number (S105: NO), the process returns to S101. Alternatively, when the number of times the oncoming vehicle that has passed the right side is detected within a predetermined time is greater than or equal to the specified number (S105: YES), left side traffic determination that indicates that the road on which the vehicle is currently traveling is left side traffic is performed. (S107), and this process is terminated. The determination result here is transmitted to the light distribution control unit 5 and the front detection unit 1.

  On the other hand, in S106, which proceeds when the oncoming vehicle passes the left side of the own vehicle, it is determined whether or not the number of times the oncoming vehicle that has passed the left side of the own vehicle is detected within a predetermined time is equal to or more than a specified number. If the number of oncoming vehicles that have passed the left side is detected within a predetermined time is less than the specified number (S106: NO), the process returns to S101. Alternatively, when the number of times the oncoming vehicle that has passed the left side is detected within a predetermined time is greater than or equal to the specified number (S105: YES), a right side traffic determination that indicates that the road on which the vehicle is currently traveling is right side traffic is performed. Then (S108), this process is terminated. The determination result here is transmitted to the light distribution control unit 5 and the front detection unit 1.

Here, a specific example of the above-described left and right traffic classification determination process will be described with reference to FIG.
As shown in FIG. 3 (a), in the captured image when passing on the left side, when the vehicle amount and the oncoming vehicle pass each other, the oncoming vehicle shows the area on the right side of the in-vehicle camera's FOE (Focus of Expansion). Go through the imaging screen in the lower right direction. When the detection frequency of oncoming vehicles showing such a trend is high (when the number of detections within a certain time is equal to or greater than a specified value), the oncoming vehicle passes the right side of the host vehicle, that is, the road is on the left side. judge.

  Further, as shown in FIG. 3B, in the captured image during right-hand traffic, when the vehicle amount and the oncoming vehicle pass each other, the oncoming vehicle passes through the region on the left side of the in-vehicle camera extended focus (FOE). Progress toward the lower left of the imaging screen. When the frequency of detection of an oncoming vehicle showing such a trend is high (when the number of detections within a certain time is greater than or equal to a specified value), it is determined that the oncoming vehicle passes the left side of the host vehicle, that is, the road is on the right side. To do.

[Description of light distribution / detection control processing]
Next, the procedure of the light distribution / detection control process executed by each unit of the light distribution control device of the embodiment will be described with reference to the flowchart of FIG. This process is repeatedly executed every predetermined time while the host vehicle is in operation.

  First, the front detection unit 1 and the light distribution control unit 5 refer to the processing result of the above-described left and right traffic segment determination process (FIG. 2), and determine the left and right traffic segment of the currently traveling road (S201). Here, in the case of left-hand traffic, the process proceeds to S202, and in the case of right-hand traffic, the process proceeds to S203.

  In S202, which proceeds when the vehicle is on the left side, the light distribution control unit 5 sets the operation mode of the light distribution control of the headlight to a predetermined light distribution control mode suitable for the left side traffic, and at the front detection unit 1 The operation mode setting for the detection of the oncoming vehicle is set to a predetermined detection control mode suitable for left-hand traffic. After the setting, this process ends.

  On the other hand, in S203, which proceeds when the vehicle is in right-hand traffic, the light distribution controller 5 sets the operation mode for headlight light-distribution control to a predetermined light-distribution control mode suitable for right-hand traffic, and the front detector 1, the operation mode setting for detection of the oncoming vehicle is set to a predetermined detection control mode suitable for right-hand traffic. After the setting, this process ends.

Here, an example of the light distribution control mode by the light distribution control unit 5 according to the right and left traffic classification of the road will be described with reference to FIG.
As shown in FIG. 5 (a), in the light distribution control mode (one example) applied during left-hand traffic, the light distribution control unit 5 is connected to the headlight so as not to dazzle the driver of the oncoming vehicle passing the right side of the host vehicle. For example, light distribution control is performed such that the optical axis is tilted slightly to the left with respect to the center axis of the vehicle and the right side of the irradiation range is partially shielded or dimmed.

  On the other hand, as shown in FIG. 5B, in the light distribution control mode (one example) applied during right-hand traffic, the light distribution control unit 5 is a head so as not to dazzle the driver of the oncoming vehicle passing the left side of the host vehicle. For example, light distribution control is performed such that the optical axis of the light is tilted slightly to the right with respect to the center axis of the vehicle, and the left side of the irradiation range is partially shielded or dimmed.

  As a specific example of the detection control mode by the front detection unit 1 according to the left and right traffic classification of the road, in the analysis of the captured image acquired by the front detection unit 1, the range for detecting the oncoming vehicle or the luminescent material to be detected as the oncoming vehicle For example, a control for switching the brightness threshold of (headlight or the like) between left-hand traffic and right-hand traffic is cited. For example, in the case of left-hand traffic, the on-vehicle detection range is weighted from the right or the detection sensitivity of the on-vehicle headlight to the right so that an oncoming vehicle passing on the right side of the host vehicle can be detected accurately. Weight more. In addition, in the case of right-hand traffic, the on-vehicle detection range is weighted from the left so that the oncoming vehicle passing on the left side of the host vehicle can be detected with high accuracy, or the detection sensitivity of the oncoming vehicle to the headlight is set to the left. Weight more. By doing in this way, the detection capability and disturbance resistance performance of an oncoming vehicle based on the captured image from the front detection part 1 can be improved.

[effect]
The light distribution control device of the above embodiment has the following effects.
Based on the trend of the oncoming vehicle detected based on the information acquired by the front detection unit 1, it is possible to determine the left-right traffic classification of the road on which the host vehicle is traveling. Then, according to the determined left and right traffic classification, it is possible to automatically switch to the light distribution control of the headlight suitable for the left and right traffic classification and the detection control method of the oncoming vehicle. Therefore, even when the vehicle passes through the boundary where the left and right traffic sections of the road are switched, it is not necessary to manually change the settings of the light distribution control and the detection control according to the switched left and right traffic sections.

[Correspondence with configuration described in claims]
The correspondence between the configuration of the light distribution control device of the embodiment and the configuration described in the claims is as follows. The front detection unit 1 in the light distribution control device of the embodiment corresponds to detection means in the claims. Further, the left / right traffic classification determination process executed by the light distribution control device corresponds to a determination unit. Further, the light distribution / detection control processing executed by the light distribution control device corresponds to the control means.

  DESCRIPTION OF SYMBOLS 1 ... Forward detection part, 3 ... Left-right traffic classification determination part, 5 ... Light distribution control part, 7, 9 ... Communication line

Claims (3)

Detecting means for detecting the position of another vehicle existing in front of the host vehicle;
Based on the position of the other vehicle detected by the detecting means, the time-series transition of the relative positional relationship between the own vehicle and the oncoming vehicle that faces the own vehicle is analyzed, and based on the analysis result Determining means for determining the left and right traffic classification of the road on which the vehicle is currently traveling;
Based on the determination result by the determination means, the vehicle is currently running from among predetermined headlight light distribution control methods prepared separately for left-handed roads and right-handed roads, respectively. And a control means for selecting and implementing a light distribution control method corresponding to the left and right traffic classification of the road being operated. The light distribution control device according to claim 1,
The control means further includes a predetermined detection control method for the detection means prepared separately for the left-hand traffic road and the right-hand traffic road based on the determination result of the determination means. A detection control method corresponding to a right-and-left traffic classification of a road on which the host vehicle is currently traveling is selected from among them, and the detection means detects the other vehicle by the selected detection control method. Control device. In the light distribution control device according to claim 1 or 2,
The determination means determines whether the oncoming vehicle has passed the left or right side of the own vehicle, and the own vehicle is currently present based on the direction of the oncoming vehicle to the left and right of the own vehicle and the determination frequency of the passing direction. A light distribution control device characterized by determining a right-and-left traffic classification of a running road.

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