JP5687044B2 - Light distribution control system and light distribution control device - Google Patents

Description

  The present invention relates to a technique for controlling a light distribution state of a vehicular lamp.

  2. Description of the Related Art As a vehicular lamp, an ADB (Adaptive Driving Beam) that controls lighting of a driving light (driving beam) of a headlamp of an own vehicle according to the state of a vehicle ahead is known. Such a vehicular lamp controls the light distribution state of the headlamp of the own vehicle when, for example, a vehicle is present ahead, so that only the portion of the vehicle is cut off. A prior example of such a vehicular lamp is disclosed in, for example, JP-A-7-108873 (Patent Document 1).

  The vehicle lamp of the preceding example as described above has a camera installed at a predetermined position in front of the host vehicle (for example, upper center of the front window), and the vehicle body of the target vehicle (preceding vehicle or oncoming vehicle) imaged by the camera, Alternatively, the position of the taillight or headlamp is detected by image processing. Then, light distribution control is performed so that light from the traveling light of the own vehicle is not irradiated to the detected preceding vehicle or oncoming vehicle portion.

  By the way, in the vehicular lamp of the preceding example, it is necessary to obtain the irradiation range by the headlamp of the own vehicle according to the position of the target vehicle detected based on the image captured by the camera. It is necessary to detect the distance to the vehicle. Therefore, the vehicle needs to be equipped with a distance measuring means such as a radar or a stereo camera. However, when a distance measuring means such as a radar is provided, the irradiation range of the headlamp can be calculated more precisely, but there is a disadvantage that the configuration becomes complicated and the cost increases.

JP-A-7-108873

  The specific aspect which concerns on this invention makes it one of the objectives to provide the technique which can control the light distribution state by the headlamp of the own vehicle by simpler structure.

A light distribution control system according to an aspect of the present invention is a light distribution control system for controlling a light distribution state by a vehicular lamp, and (a) images a target vehicle existing in front of the host vehicle. An imaging device, (b) an image processing device that detects left and right outer edges of the target vehicle based on image data output from the imaging device, and (c) the arrangement based on a detection result by the image processing device. A light distribution control device that outputs a light distribution signal for controlling the light state is included. The light distribution control device (d) detects a vehicle angle based on the detection result obtained from the image processing device to obtain angles θ1 and θ2 indicating the positions of the outer edges of the target vehicle with respect to the host vehicle. And (e) calculating angles α1, α2, β1, and β2 that define the irradiation ranges of the right and left headlamps of the vehicle based on the detection results of the angles θ1 and θ2, respectively. An irradiation range calculation unit; and (f) a light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2. The irradiation range calculation unit determines the angle α1 by adding a first correction value to the value of (θ1 + θ2) / 2 based on the angles θ1 and θ2, and sets the angle α2 to the angle θ1. , Θ2 is determined by subtracting a second correction value from {(θ1 + θ2) / 2− (θ1−θ2)}, and the angle β1 is determined based on the angles θ1 and θ2 {(θ1 + θ2) The second correction value is determined by adding a third correction value to the value of / 2 + (θ1−θ2)}, and the fourth correction value is set to a value of (θ1 + θ2) / 2 based on the angles θ1 and θ2. Determined by subtraction.

In the above system, based on the detection result obtained from the image processing device, the position of each outer edge of the target vehicle (for example, the end of the headlight or taillight) is obtained, and these positions and the right headlight of the host vehicle are obtained. The positional relationship with each of the lamp and the left headlight is obtained. These positional relationships can be obtained by a simple calculation using a geometric method. Then, by adding a correction value to the result of determining the positional relationship between each headlight of the host vehicle and the target vehicle, or by reducing the correction value, an appropriate light that does not irradiate the interior of the target vehicle or the like. The irradiation range can be easily set. Thus, since the light irradiation range is obtained by a simple calculation, a high-performance and expensive calculation device is unnecessary, and a means for measuring the distance between the host vehicle and the target vehicle is also unnecessary. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In the above system, for example, the first to fourth correction values can be determined by multiplying the difference (θ1−θ2) between the angles θ1 and θ2 by a coefficient smaller than 1, respectively.

  The difference (θ1−θ2) between the angle θ1 and the angle θ2 is an angle (open angle) indicating the relative position of both outer edges of the target vehicle with respect to the host vehicle. Therefore, each correction value is calculated using this open angle. By determining, a suitable correction value that varies according to the positional relationship between the target vehicle and the host vehicle is obtained.

A light distribution control device according to an aspect of the present invention is a light distribution control device for controlling a light distribution state by a vehicular lamp, and (a) left and right outer edges of a target vehicle existing in front of the host vehicle. A vehicle angle detector that obtains angles θ1 and θ2 indicating the positions of the outer edges of the target vehicle with reference to the host vehicle based on the detection result; and (b) the angle θ1 , Θ2 based on the detection result of θ2, and an irradiation range calculation unit that calculates angles α1, α2, β1, β2 that define the irradiation ranges of the right headlight and the left headlight of the host vehicle, and (c) A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2. The irradiation range calculation unit determines the angle α1 by adding a first correction value to a value of (θ1 + θ2) / 2 based on the angles θ1 and θ2, and sets the angle α2 to the angles θ1 and θ2. Is determined by subtracting the second correction value from the value of {(θ1 + θ2) / 2− (θ1−θ2)}, and the angle β1 is determined based on the angles θ1 and θ2, {(θ1 + θ2) / 2 +. The third correction value is added to the value of (θ1−θ2)}, and the angle β2 is subtracted from the value of (θ1 + θ2) / 2 based on the angles θ1 and θ2. Determine by

  According to the said structure, the light distribution control apparatus which can control the light distribution state by the headlamp of the own vehicle by a simpler structure is realizable.

It is a block diagram which shows the structure of the light distribution control system of the vehicle lamp of one Embodiment. It is a figure for demonstrating the processing content by a vehicle angle detection part and an angle correction value calculation part. It is a flowchart which shows the operation | movement procedure of a light distribution control system. It is the figure which showed an example of the error evaluation of the light distribution control by a light distribution control system.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of a light distribution control system for a vehicle lamp according to an embodiment. A light distribution control system 1 shown in FIG. 1 generates and outputs a signal (hereinafter referred to as “light distribution signal”) for controlling a light distribution state by the vehicular lamp 2, and a camera (imaging device) 11. The image processing device 12 and the light distribution control device 13 are configured.

  The camera 11 is for imaging the front of the host vehicle, and is attached to a predetermined position of the vehicle, for example, the upper center of the front window. The target vehicle (preceding vehicle or oncoming vehicle) existing in front of the host vehicle is imaged by the camera 11, and the image data is output from the camera 11 to the image processing device 12.

  The image processing device 12 performs predetermined image processing on the image data input from the camera 11. For example, the image processing device 12 detects the position of the lamp (headlight or taillight) of the target vehicle by executing image processing such as binarizing the image data and detecting the contour.

  The light distribution control device 13 acquires the image processing result obtained by the image processing device 12, and generates a light distribution signal to be supplied to the vehicle lamp 2 based on the result. The vehicle angle detection unit 21, the irradiation range The calculation unit 22 and the light distribution signal output unit 23 are included. The light distribution control device 13 is realized by executing a predetermined program in a computer system including, for example, a CPU, a ROM, a RAM, and the like.

  Based on the image processing result from the image processing device 12, the vehicle angle detection unit 21 determines the relative position of both end positions of the lamp (headlight or taillight) of the target vehicle based on the traveling direction of the host vehicle based on the angle. Ask. Specifically, the vehicle angle detector 21 obtains the right end angle θ1 and the left end angle θ2 of the target vehicle as viewed from the host vehicle.

  The irradiation range calculation unit 22 calculates parameters for determining the irradiation range of the headlight of the host vehicle based on the angles θ1 and θ2 obtained by the vehicle angle detection unit 21. Details of the parameters will be described later.

  The light distribution signal output unit 23 generates and outputs a light distribution signal for use in light distribution control by the vehicular lamp 2 based on the above parameters calculated by the irradiation range calculation unit 22. The vehicle lamp 2 that has received this light distribution signal operates a built-in actuator or the like (not shown) so as to realize a light irradiation range determined by the light distribution signal.

  The light distribution control system 1 of the present embodiment has the above configuration, and the operation thereof will be described next.

  FIG. 2 is a diagram for explaining the processing contents by the vehicle angle detection unit 21 and the irradiation range calculation unit 22. In FIG. 2, the positional relationship between the host vehicle and the target vehicle is shown by a schematic plan view. As shown in the figure, the traveling direction of the host vehicle is defined as a reference axis o, and the direction toward the right side of the axis orthogonal thereto is defined as a direction (sign + direction) in which a sign of a numerical value such as distance is positive. At this time, the angles θ1 and θ2 are angles formed by both ends of the lamp of the target vehicle imaged by the camera 11 and the reference axis o, respectively. The vehicle angle detector 21 detects these angles.

  In addition, the angle formed between the right end and the reference axis o for deleting the light irradiation range so that the right headlamp of the host vehicle does not irradiate the target vehicle is α1, and the angle formed between the left end and the reference axis o is α2. And Similarly, let β1 be the angle between the right end and the reference axis o to delete the light irradiation range so that the left headlamp of the host vehicle does not irradiate the target vehicle, and let the angle between the left end and the reference axis o be Let β2. The irradiation range calculation unit 22 calculates these angles (non-irradiation angles) α1, α2, β1, and β2 based on the angles θ1 and θ2 detected by the vehicle angle detection unit 21. These α1, α2, β1, and β2 are set to values that do not irradiate the side mirror when the target vehicle is a preceding vehicle and the interior of the vehicle when the target vehicle is an oncoming vehicle, respectively. In FIG. 2, it is a portion indicated as “light emission deviation”. This emission deviation value is set to about 30 cm, for example.

Specifically, assuming that the ramp width of the target vehicle is 1.5 m and the ramp width of the host vehicle is 1.0 m, α1, α2, β1, and β2 are obtained by the following calculation formulas, respectively.
α1 = center angle + 0.365 × opening angle = (θ1 + θ2) /2+0.365× (θ1-θ2)
β2 = center angle−0.2 × open angle = (θ1 + θ2) /2−0.2× (θ1−θ2)
α2 = (center angle−opening angle) −0.365 × opening angle = (θ1 + θ2) / 2− (θ1−θ2) −0.365 × (θ1−θ2)
β1 = (center angle + opening angle) + 0.035 × opening angle = (θ1 + θ2) / 2 + (θ1-θ2) + 0.035 × (θ1-θ2)
That is, each angle is obtained based on the center angle and the opening angle of the angle outside the ramp of the target vehicle. Each coefficient of “0.365”, “0.2”, and “0.035” is an example, and is set as appropriate based on the ramp width of the target vehicle and the host vehicle and other conditions.

  FIG. 3 is a flowchart showing an operation procedure of the light distribution control system 1.

  When the target vehicle existing in front of the host vehicle is imaged by the camera 11 (step S11), the image processing device 12 performs predetermined image processing on the image data output from the camera 11 (step S12).

  Next, the vehicle angle detection unit 21 detects the above angles θ1 and θ2 based on the image processing result by the image processing device 12 (step S13).

  Next, the irradiation range calculation unit 22 uses the angles α1, α2, and the like necessary to set the irradiation range of the light from the headlight of the host vehicle based on the angles θ1, θ2 detected by the vehicle angle detection unit 21. Each of β1 and β2 is calculated (step S14).

  Next, the light distribution signal output unit 23 uses a light distribution signal to be used for light distribution control by the vehicular lamp 2 based on the angles α1, α2, β1, and β2 calculated by the irradiation range calculation unit 22. Generate and output (step S15).

  FIG. 4 is a diagram illustrating an example of error evaluation of light distribution control by the light distribution control system 1. As described above, in the present embodiment, it is assumed that the ramp width of the own vehicle is known (1.0 m as an example), and the ramp width of the target vehicle is 1.5 m as an average value in many vehicles. . FIG. 4 shows changes in values of the angles α1, α2, β1, and β2 when the lamp width is set to 1.2 m, 1.5 m, and 1.8 m, respectively. As shown in the figure, if the lamp width is in the range of about ± 0.3 m with respect to 1.5 m, the light irradiation range of the headlight of the subject vehicle changes as the interior of the target vehicle is illuminated. I understand that I do not. In other words, the target vehicle is assumed to have a ramp width of 1.5 m, while the target vehicle actually existing ahead of the host vehicle is wider or narrower than assumed. According to the form of the light distribution control system 1, it is possible to set the light irradiation range by the host vehicle so that it is practically acceptable.

As described above, in the light distribution control system of the present embodiment, the positions of the outer edges of the target vehicle are obtained based on the detection results obtained from the image processing device, and these positions, the right headlight and the left headlight of the host vehicle are obtained. Find the positional relationship with each of the lights. These positional relationships can be obtained by a simple calculation using a geometric method. Then, by adding a correction value to the result of determining the positional relationship between each headlight of the host vehicle and the target vehicle , or by reducing the correction value, an appropriate light that does not irradiate the interior of the target vehicle or the like. The irradiation range can be easily set. Thus, since the light irradiation range is obtained by a simple calculation, a high-performance and expensive calculation device is unnecessary, and a means for measuring the distance between the host vehicle and the target vehicle is also unnecessary. That is, it is possible to realize a light distribution control system that can control the light distribution state of the headlight of the host vehicle with a simpler configuration.

  In addition, this invention is not limited to the content of embodiment mentioned above, In the range of the summary of this invention, it can change and implement variously.

  For example, in the above-described embodiment, the light distribution control system is configured including the camera, the image processing device, and the light distribution control device. However, when the host vehicle is equipped with the camera and the image processing device in advance, A light distribution control system may be constructed by combining the camera and the like with a light distribution control device. Further, the camera and the image processing apparatus may be configured integrally.

DESCRIPTION OF SYMBOLS 1 ... Light distribution control system 2 ... Vehicle lamp 11 ... Camera (imaging device)
DESCRIPTION OF SYMBOLS 12 ... Image processing apparatus 13 ... Light distribution control apparatus 21 ... Vehicle angle detection part 22 ... Irradiation range calculation part 23 ... Light distribution signal output part

Claims (4)

A light distribution control system for controlling a light distribution state by a vehicle lamp,
An imaging device for imaging a target vehicle in front of the host vehicle;
An image processing device that detects left and right outer edges of the target vehicle based on image data output from the imaging device;
A light distribution control device that outputs a light distribution signal for controlling the light distribution state based on a detection result by the image processing device;
Including
The light distribution control device includes:
A vehicle angle detection unit that obtains angles θ1 and θ2 indicating the positions of the outer edges of the target vehicle based on the own vehicle based on the detection result obtained from the image processing device;
An irradiation range calculation unit for calculating angles α1, α2, β1, and β2 that define the irradiation ranges of the right and left headlamps of the host vehicle based on the detection results of the angles θ1 and θ2.
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2.
Have
The irradiation range calculation unit
The angle α1 is determined by adding a first correction value to a value of (θ1 + θ2) / 2 based on the angles θ1 and θ2.
The angle α2 is determined by subtracting a second correction value from a value of {(θ1 + θ2) / 2− (θ1−θ2)} based on the angles θ1 and θ2.
The angle β1 is determined by adding a third correction value to the value of {(θ1 + θ2) / 2 + (θ1−θ2)} based on the angles θ1 and θ2.
The angle β2 is determined by subtracting a fourth correction value from the value of (θ1 + θ2) / 2 based on the angles θ1, θ2.
Light distribution control system for vehicular lamps. The first to fourth correction values are determined by multiplying the value of (θ1−θ2) , which is the difference between the angle θ1 and the angle θ2, by a coefficient smaller than 1, respectively.
The light distribution control system according to claim 1. A light distribution control device for controlling a light distribution state by a vehicular lamp,
A result of detecting the left and right outer edges of the target vehicle existing in front of the host vehicle is input, and based on the detection result, angles θ1 and θ2 that indicate the positions of the outer edges of the target vehicle with respect to the host vehicle. A vehicle angle detector for obtaining
An irradiation range calculation unit for calculating angles α1, α2, β1, and β2 that define the irradiation ranges of the right and left headlamps of the host vehicle based on the detection results of the angles θ1 and θ2.
A light distribution signal output unit that outputs a light distribution signal for controlling the light distribution state based on the calculation results of the angles α1, α2, β1, and β2.
With
The irradiation range calculation unit
The angle α1 is determined by adding a first correction value to a value of (θ1 + θ2) / 2 based on the angles θ1 and θ2.
The angle α2 is determined by subtracting a second correction value from a value of {(θ1 + θ2) / 2− (θ1−θ2)} based on the angles θ1 and θ2.
The angle β1 is determined by adding a third correction value to the value of {(θ1 + θ2) / 2 + (θ1−θ2)} based on the angles θ1 and θ2.
The angle β2 is determined by subtracting a fourth correction value from the value of (θ1 + θ2) / 2 based on the angles θ1, θ2.
A light distribution control device for a vehicle lamp.   The first to fourth correction values are determined by multiplying the value of (θ1−θ2), which is the difference between the angle θ1 and the angle θ2, by a coefficient smaller than 1, respectively.
  The light distribution control device according to claim 3.

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