Vehicle control device

Abstract

A vehicle control device that controls irradiation of a headlamp of a vehicle, wherein the vehicle control device determines whether a predetermined irradiation object approach region condition is satisfied, expands a lateral width of an irradiation range of the headlamp in a case where it is determined that the irradiation object approach region condition is satisfied, compared to a case where it is not determined that the irradiation object approach region condition is satisfied, detects an irradiation object including a pedestrian in front of the vehicle, and performs spot irradiation by the headlamp on the irradiation object in a case where the irradiation object is detected.

Description

TECHNICAL FIELD

[0001] The present application relates to a vehicle control device. BACKGROUND

[0002] As a technical document related to a vehicle control device, Japanese Patent Application Publication No. 2015-063209 (JP 2015-063209 A) is known. In this document, it is shown that at an intersection with a signal light, the irradiation range and the light amount of a headlight are adjusted according to the signal color of the signal light.

[0003] PRIOR ART DOCUMENT

[0004] PATENT DOCUMENT

[0005] Patent Document 1: Japanese Patent Application Publication No. 2015-063209 (JP 2015-063209 A)

[0006] However, in the above-described prior art, the irradiation range or the like is decided after the signal color of the signal light is recognized. Therefore, the adjustment of the irradiation range is not performed until the signal color of the signal light is recognized by the camera. As a result, in the prior art, there is a concern that the overlooking of a pedestrian or the like can occur. SUMMARY

[0007] One aspect of the present application is a vehicle control device that controls the irradiation of a headlight of a vehicle, including: a condition determination section that determines whether a pre-set irradiation object approaching area condition is satisfied, based on position information of the vehicle on a map and map information or based on a captured image of a front camera of the vehicle and an area determination image pattern; an irradiation range control section that, in a case where it is determined by the condition determination section that the irradiation object approaching area condition is satisfied, expands the lateral width of the irradiation range of the headlight, compared to a case where it is not determined that the irradiation object approaching area condition is satisfied; an irradiation object detection section that detects an irradiation object including a pedestrian in front of the vehicle, based on the captured image of the front camera of the vehicle or a detection result of a radar sensor of the vehicle; and a spot irradiation control section that, in a case where the irradiation object is detected by the irradiation object detection section, performs spot irradiation of the irradiation object by the headlight.

[0008] The vehicle control device according to one aspect of the present application, in a case where the vehicle enters an area where the possibility of an irradiation object such as a pedestrian approaching is high and the irradiation object approaching area condition is satisfied, expands the lateral width of the irradiation range of the headlight. Further, in the vehicle control device, in a case where the irradiation object such as a pedestrian is detected, spot irradiation of the irradiation object is performed. Therefore, in the vehicle control device, the overlooking of the irradiation object such as a pedestrian by the driver at night can be reduced by the control of the headlight. As a result, in the vehicle control device, the sense of unease of the driver at night can be alleviated. Further, in the vehicle control device, the irradiation object subjected to the spot irradiation also easily notices the presence of the vehicle.

[0009] In the vehicle control device of one aspect of the present application, it can also be that the collision possibility determination section determines whether the collision possibility of the vehicle with the irradiation object is high based on a captured image of a front camera of the vehicle or a detection result of a radar sensor of the vehicle in a case where the irradiation object is detected by the irradiation object detection section, and the spot irradiation control section increases the light amount of the spot irradiation to the irradiation object in a case where the collision possibility determination section determines that the collision possibility of the vehicle with the irradiation object is high.

[0010] In the vehicle control device of one aspect of the present application, it can also be that the condition determination section determines that the irradiation object approach region condition is satisfied in a case where it is recognized that the vehicle is located within the irradiation object approach region set on the map.

[0011] In the vehicle control device of one aspect of the present application, it can also be that the condition determination section determines that the irradiation object approach region condition is satisfied during a certain time period after a road sign or a road surface display corresponding to the region determination image pattern is recognized from the captured image of the front camera or until a certain distance is traveled from when the road sign or the road surface display corresponding to the region determination image pattern is recognized from the captured image of the front camera.

[0012] Effects of Invention

[0013] According to one aspect of the present application, it is possible to reduce the oversight of a pedestrian or the like by the driver at night through control of the headlamp. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a block diagram showing one example of a vehicle control device of one embodiment.

[0015] Figure 2 (a) of FIG. 1 is a plan view showing one example of the irradiation range of the headlamp of the vehicle before approaching the intersection.

[0016] Figure 2 (b) of FIG. 1 is a plan view showing one example of the irradiation range of the headlamp of the vehicle at the time of approaching the intersection.

[0017] Figure 2 (c) of FIG. 1 is a plan view showing one example of the irradiation range of the headlamp of the vehicle after passing through the intersection.

[0018] Figure 3 is a diagram for explaining the difference between the wide-angle distribution of light and the normal distribution of light for a height of 1 m.

[0019] Figure 4 is a plan view for explaining one example of spot irradiation.

[0020] Figure 5 (a) is a flowchart showing one example of the wide-angle light distribution switching process.

[0021] Figure 5 (b) is a flowchart showing one example of the normal light distribution restoration process.

[0022] Figure 6 is a flowchart showing one example of the spot irradiation process.

[0023] Explanation of Reference Signs:

[0024] 1 GNSS reception section; 2 map database; 3 front camera; 4 radar sensor; 5 vehicle speed sensor; 6 HMI; 7 headlamp; 10 ECU; 11 vehicle speed determination section; 12 condition determination section; 13 information provision section; 14 irradiation range control section; 15 irradiation object detection section; 16 collision possibility determination section; 17 spot irradiation control section; 100 vehicle control device. DETAILED DESCRIPTION

[0025] Hereinafter, an embodiment of the present application will be described with reference to the drawings.

[0026] Figure 1 The vehicle control device 100 shown in the figure is a device mounted on a vehicle such as a passenger car or a truck, which controls the irradiation of the headlamp of the vehicle. The vehicle control device 100 performs irradiation control of the headlamp in accordance with the presence or absence of an irradiation object, a region in which the irradiation object is highly likely to approach the vehicle, and the like.

[0027] The irradiation object refers to an object that is intended to be visually recognized by the driver at night through the irradiation of the headlamp of the vehicle. The irradiation object includes at least a pedestrian. The irradiation object can include a bicycle, and can include a wheelchair, a personal mobility vehicle, and can include an animal such as a dog or a deer. The irradiation object can include a road sign, and can include a road surface display.

[0028] [Configuration of Vehicle Control Device]

[0029] The configuration of the vehicle control device 100 of the present embodiment will be described with reference to the drawings. As shown in the figure, the vehicle control device 100 includes a GNSS reception section 1, a map database 2, a front camera 3, a radar sensor 4, a vehicle speed sensor 5, an HMI 6, a headlamp 7, an ECU 10, a vehicle speed determination section 11, a condition determination section 12, an information provision section 13, an irradiation range control section 14, an irradiation object detection section 15, a collision possibility determination section 16, and a spot irradiation control section 17. Figure 1As shown, the vehicle control device 100 is provided with an ECU 10 (Electronic Control Unit) that centrally manages the devices. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit) and a storage section such as a ROM (Read Only Memory) or a RAM (Random Access Memory). In the ECU 10, various functions are realized, for example, by the CPU executing a program stored in the storage section. The ECU 10 can also be composed of a plurality of electronic units.

[0030] The ECU 10 is connected with the GNSS receiving section 1, the map database 2, the front camera 3, the radar sensor 4, the vehicle speed sensor 5, the HMI 6, and the headlamp 7. GNSS is a Global Navigation Satellite System. HMI is a Human Machine Interface.

[0031] The GNSS receiving section 1 measures the position of the vehicle by receiving a signal from a positioning satellite. The position of the vehicle is, for example, the latitude and longitude of the vehicle. The GNSS receiving section 1 sends the measured position information of the vehicle to the ECU 10.

[0032] The map database 2 is a database that stores map information. The map database 2 is formed in a storage device such as a HDD (Hard Disk Drive) mounted on the vehicle, for example. The map information includes, for example, the position information of roads and intersections. Note that the map database 2 can also be formed in a server that can communicate with the vehicle, rather than in the vehicle.

[0033] An irradiation target approach area is set in the map information. The irradiation target approach area refers to an area in which the possibility that an irradiation target approaches the vehicle is considered to be high. The irradiation target approach area can include an area in which the vehicle speed is limited to a low speed, and can include an intersection or the vicinity of an intersection. The area in which the vehicle speed is limited to a low speed refers to a zone 30 in Japan, for example.

[0034] The irradiation target approach area can include an urban area, and can also include a residential area. The irradiation target approach area can also include an area in which a speed limit is set by law or rule of a country or region. The irradiation target approach area can also include an area (section) within a certain distance from a pedestrian crossing provided on a straight road. A road section in which the number of contact cases within a certain period is equal to or greater than a predetermined threshold value can be included in the irradiation target approach area based on big data of contact cases of pedestrians, bicycles, and vehicles associated with position information.

[0035] The front camera 3 is an imaging device that images the front of the vehicle. The front camera 3 is provided, for example, on the inner side of the front window glass of the vehicle, and images the front of the vehicle. The front camera 3 transmits an image of the front of the vehicle to the ECU 10.

[0036] The radar sensor 4 is a detection device that detects an object around the host vehicle using an electric wave such as a millimeter wave or light. The radar sensor 4 includes, for example, a millimeter wave radar or a LIDAR (Light Detection and Ranging). The radar sensor 4 detects an object by transmitting an electric wave or light to the surroundings of the host vehicle and receiving the electric wave or light reflected by the object. The radar sensor 4 transmits information of the detected object to the ECU 10. The object includes, in addition to a fixed obstacle such as a building, a moving obstacle such as a pedestrian, a bicycle, and another vehicle.

[0037] The vehicle speed sensor 5 is a detector that detects the speed of the vehicle. As the vehicle speed sensor 5, for example, a wheel speed sensor that detects the rotation speed of a wheel is used. The vehicle speed sensor 5 in this case is provided on a wheel of the vehicle or a drive shaft that rotates integrally with the wheel. The vehicle speed sensor 5 transmits information of the detected vehicle speed to the ECU 10.

[0038] The HMI 6 is an interface for inputting and outputting information between the vehicle control device 100 and the driver. The HMI 6 has, for example, an indicator, a display, and a speaker. The display can be a HUD (Head Up Display) that projects an image to the front window glass. The HMI 6 performs lighting of the indicator, image output of the display, and sound output from the speaker in accordance with a control signal from the ECU 10. The HMI 6 can also include a vibration actuator that vibrates the steering wheel and the driver's seat. The HMI 6 can provide information to the driver by a combination of images, sounds, and vibrations.

[0039] The headlamp 7 is an illuminating unit that illuminates the front of the vehicle. The headlamp 7 has an irradiation adjusting device for adjusting a light source and irradiation of light. The light source can employ, for example, an LED (Light Emitting Diode) light source. The irradiation adjusting device is not particularly limited, but can employ a lens, a mirror. The headlamp 7 has an illuminating function that can be switched between low beam and high beam. The low beam is a scheme that illuminates slightly below the front of the vehicle, and the high beam is a scheme that illuminates the horizontal direction more widely in the front of the vehicle than the low beam.

[0040] The headlamp 7 is switched between normal distribution and wide-angle distribution in accordance with a control signal from the ECU 10. The headlamp 7 performs switching of the normal distribution and the wide-angle distribution of the high beam. The headlamp 7 can not perform switching of the normal distribution and the wide-angle distribution of the high beam in the case where the high beam is not performed. Note that switching of the general low beam and the high beam does not correspond to switching of the normal distribution and the wide-angle distribution.

[0041] Here, Figure 2 (a) of FIG. 10 is a plan view that shows an example of the irradiation range (normal distribution) of the headlamp of the vehicle before approaching the intersection. Figure 2 The vehicle M, the irradiation range Wh of the normal distribution, the intersection T, and the temporary stop line ST are shown in (a) of FIG. 10. Figure 2 (b) of FIG. 10 is a plan view that shows an example of the irradiation range (wide-angle distribution) of the headlamp of the vehicle when approaching the intersection. Figure 2 The irradiation range Wd of the wide-angle distribution is shown in (b) of FIG. 10. As shown in (b) of FIG. 10, the irradiation range Wd of the wide-angle distribution is wider than the irradiation range Wh of the normal distribution. Figure 2 (a) and Figure 2 (b) of FIG. 10, the wide-angle distribution refers to a distribution state in which the lateral width of the irradiation range of the headlamp 7 is expanded compared to the normal distribution. The lateral width corresponds to the width of the vehicle in the lateral direction. (c) of FIG. 10 is described later. Figure 2

[0042] Further, the wide-angle distribution is expanded in the lateral direction compared to the normal distribution in the cross section at the height of 1 m in terms of the irradiation range in which the amount of light is 10 lux or more. Figure 3 is a diagram for explaining the difference between the wide-angle distribution and the normal distribution of the light at the height of 1 m. Figure 3 The irradiation range Wd of the wide-angle distribution of the high beam, the irradiation range Wh of the normal distribution of the high beam, and the irradiation range Wr of the low beam are shown in (c) of FIG. 10. Each of the irradiation ranges is a range in which the amount of light is 10 lux or more. As shown in (c) of FIG. 10, the irradiation range Wd of the wide-angle distribution of the high beam is wider than the irradiation range Wh of the normal distribution of the high beam. Figure 3 As shown in (c) of FIG. 10, the irradiation range Wd of the wide-angle distribution is expanded in the lateral direction compared to the irradiation range Wh of the normal distribution in the cross section at the height of 1 m in terms of the range in which the amount of light is 10 lux or more. The low beam is irradiated slightly below the front of the vehicle, and thus the irradiation range Wr at the height of 1 m is limited.

[0043] ​Switching from the normal distribution of light to the wide-angle distribution of light of the headlamp 7 is performed, for example, by control of the light source, irradiation adjustment equipment. Switching from the normal distribution of light to the wide-angle distribution of light can also be performed by the use of the lighting equipment other than the normal distribution of light, such as the turn signal of the vehicle. In this case, in the present embodiment, the lighting equipment other than the normal distribution of light is interpreted as a part of the headlamp 7.

[0044] Further, the headlamp 7 has a spot irradiation function of spot-irradiating the irradiation object in front of the vehicle, in addition to the normal lighting function. The spot irradiation refers to the irradiation of light to the irradiation object such as a pedestrian in a spot shape.

[0045] Figure 4 is a plan view for explaining one example of the spot irradiation. Figure 4 The right headlamp 7R of the vehicle M, the left headlamp 7L of the vehicle M, the pedestrian (irradiation object) H, and the spot irradiation Sp are shown in Figure 4 As shown, the right headlamp 7R of the headlamp 7 is controlled to spot-irradiate the pedestrian H located in the right front of the vehicle M. The spot irradiation can be performed as the irradiation of continuous light, or as the irradiation of flickering light. The spot irradiation can be performed to irradiate the center of the irradiation object, or to irradiate the lower portion (for example, the feet of the pedestrian) of the irradiation object.

[0046] The headlamp 7 can perform the spot irradiation, for example, by controlling the LED array in which a plurality of LED units each composed of a plurality of LED elements are arranged. The LED array can be composed of arranging the LED units in a straight line, or can be composed of arranging the LED units in a planar shape.

[0047] Each of the LED units is configured to be able to be independently lit. Each of the LED units can also be configured to be able to independently adjust the light amount. Each of the LED units corresponds to a different irradiation angle, and is lit by the control signal from the ECU 10, whereby the spot irradiation is performed. The headlamp 7, for example, in the case where the irradiation object exists in a position of 30° to the right with respect to the front-rear axis of the vehicle, causes the LED unit corresponding to the irradiation angle of 30° to the right to be lit by the control signal from the ECU 10, whereby the spot irradiation is performed. The light source of the spot irradiation can be different from that of the high beam and the low beam, or can be the same. Note that the configuration of the headlamp 7 to achieve the spot irradiation is not limited to the above. The headlamp 7 can also achieve the spot irradiation by control of a reflector, and other well-known configurations can also be adopted.

[0048] Next, the configuration of the functions of the ECU 10 will be described. The ECU 10 has a vehicle speed determination section 11, a condition determination section 12, an information provision section 13, an irradiation range control section 14, an irradiation object detection section 15, a collision possibility determination section 16, and a spot irradiation control section 17.

[0049] The vehicle speed determination unit 11 determines whether or not the vehicle speed of the vehicle is a certain speed or less on the basis of the vehicle speed information detected by the vehicle speed sensor 5. The certain speed is set as a threshold value for determining that the vehicle speed is not high but is medium or low. The certain speed is not particularly limited, but can be 60 km / h, or can be 70 km / h, or can be 80 km / h.

[0050] The condition determination unit 12 determines whether or not the irradiation object approach region condition that is set in advance is satisfied on the basis of the vehicle position information on the map and the map information or the captured image of the front camera 3 of the vehicle and the region determination image pattern. The vehicle position information on the map can be obtained from the vehicle position information determined by the GNSS reception unit 1 and the map information of the map database 2. The map information has the irradiation object approach region set therein. The irradiation object approach region is a speed limit 30 zone, a region in the vicinity of an intersection, or the like. The condition determination unit 12 determines that the irradiation object approach region condition is satisfied, for example, in a case where it is recognized on the basis of the vehicle position information on the map and the map information that the vehicle is located in the irradiation object approach region set on the map.

[0051] The region determination image pattern refers to an image pattern for recognizing a road sign or a road surface display or the like corresponding to the irradiation object approach region. The region determination image pattern includes, for example, an image pattern of a road sign or a road surface display indicating a speed limit 30 zone. The region determination image pattern can also include an image pattern of a road sign or a road surface display indicating an urban area or a residential area. The region determination image pattern can also include an image pattern for recognizing an intersection, and can also include an image pattern for recognizing a pedestrian crossing.

[0052] The condition determination unit 12 recognizes a road sign or a road surface display corresponding to the region determination image pattern on the basis of the captured image of the front camera 3 of the vehicle and the region determination image pattern. The condition determination unit 12 can determine that the irradiation object approach region condition is satisfied during a certain time period after the recognition of the road sign or the road surface display. The road sign corresponding to the region determination image pattern refers to, for example, a road sign indicating a speed limit 30 zone. The road surface display corresponding to the region determination image pattern refers to, for example, a road surface display indicating a speed limit 30 zone. The certain time is not particularly limited. The certain time can be 5 minutes, or can be 10 minutes, or can be 15 minutes.

[0053] The condition determination unit 12 can also determine that the irradiation object approach region condition is satisfied during a certain distance period from the recognition of the road sign or the road surface display. The certain distance is not particularly limited. The certain distance can be 100 m, or can be 300 m, or can be 500 m, or can be 1 km.

[0054] Information providing unit 13 provides information to the driver when the condition determination unit 12 determines that the conditions for approaching the target are met. Information providing unit 13 provides information to the driver before switching the headlight 7 to wide-angle beam distribution and before performing spot illumination. Information providing unit 13 uses HMI 6 to provide information to the driver through indicator illumination, image display on the screen, or sound output from the speaker.

[0055] For example, if the information providing unit 13 detects that the vehicle is in a speed-limited zone of 30 km / h, it will notify the driver that the vehicle has entered the speed-limited zone. The information providing unit 13 may also notify the driver to switch the headlights 7 to wide-angle beam distribution. It should be noted that the information providing unit 13 does not necessarily need to provide information to the driver every time. For example, the information providing unit 13 may also refrain from providing information if the vehicle enters the vicinity of an intersection and the conditions for approaching the illuminated object are met. This is because the driver is highly likely to recognize the approach towards the intersection.

[0056] The information providing unit 13 can also provide information related to the pedestrian when it detects a pedestrian as the object of illumination and the collision probability determination unit 16 determines that the probability of a collision between the pedestrian and the vehicle is high. The collision probability determination unit 16 will be described later. The information providing unit 13 can also provide information related to the object of illumination by projecting an image onto the HUD on the windshield of the vehicle.

[0057] If the condition determination unit 12 determines that the illumination range condition for an approaching target is met, the illumination range control unit 14 switches the headlamp 7 to wide-angle beam distribution to increase the horizontal width of the illumination range. If the condition determination unit 12 does not determine that the illumination range condition for an approaching target is met, the illumination range control unit 14 continues with normal beam distribution. If, after switching the headlamp 7 to wide-angle beam distribution, the condition determination unit 12 does not determine that the illumination range condition for an approaching target is met, the illumination range control unit 14 restores the headlamp 7 to normal beam distribution.

[0058] like Figure 2 As shown in (a), if vehicle M has not entered the vicinity of the intersection and has not passed the condition determination unit 12 which determines that the condition for the approach area of ​​the irradiated object is met, the irradiation range control unit 14 continues to perform normal high beam distribution. Figure 2 As shown in (b), when vehicle M enters the vicinity of an intersection and is determined to meet the conditions for approaching the target area, the illumination range control unit 14 switches the headlight 7 to wide-angle beam distribution. Figure 2 (c) is a top view showing an example of the illumination range (typical beam distribution) of a vehicle's headlights after it has passed through an intersection. For example... Figure 2In the case where the vehicle M passes through the intersection and the irradiation target approach region condition is not satisfied, as shown in (c), the irradiation range control section 14 restores the irradiation range from the wide-angle distribution of light to the normal distribution of light.

[0059] The irradiation range control section 14 can also adjust the irradiation range or the light amount in accordance with the situation of the vehicle. It can also be that, in the case where the vehicle is traveling on the shoulder of a road of a plurality of lanes, the irradiation range control section 14 performs the wide-angle distribution of light on only the shoulder side, without expanding the irradiation range on the side of the adjacent lane. It can also be that, in the case where the vehicle enters an intersection of a T-shaped road, the irradiation range control section 14 performs the wide-angle distribution of light in which the irradiation range in the front-rear direction of the vehicle is shortened compared to the normal distribution of light when the front of the vehicle is a wall. The wall also includes a wall formed by snow. The light amount of the light irradiation of the headlamp 7 toward the front of the vehicle is lower in the wide-angle distribution of light than in the normal distribution of light. Thus, it is possible to avoid a decrease in the visual recognition of the driver due to the reflection of the light of the headlamp 7 by the wall.

[0060] The irradiation target detection section 15 detects an irradiation target in front of the vehicle on the basis of the captured image of the front camera 3 or the detection result of the radar sensor 4. The irradiation target detection section 15 detects an irradiation target such as a pedestrian, a road sign, a road display, or the like on the basis of pattern matching of the captured image of the front camera 3, shape recognition by grouping of reflection points of the radar sensor 4, or the like. It can also be that the irradiation target detection section 15 detects an irradiation target when the distance between the vehicle and the irradiation target is less than a certain distance. The certain distance can be set, for example, in accordance with the distance of the point irradiation. Note that the road sign and the road display as the irradiation target are not limited to those associated with the irradiation target approach region.

[0061] The collision possibility determination section 16 determines whether the collision possibility of the vehicle with the irradiation target is high in the case where the irradiation target is detected by the irradiation target detection section 15. The collision possibility determination section 16 determines whether the collision possibility of the vehicle with the irradiation target is high on the basis of the captured image of the front camera 3 or the detection result of the radar sensor 4. Note that the collision possibility determination section 16 can also be a scheme in which the determination of the collision possibility is not performed in the case where the irradiation target is a stationary object such as a road sign, a road display, or the like.

[0062] The collision possibility determination section 16 determines that the collision possibility of the vehicle with the irradiation target is high, for example, in the case where the time to collision (TTC) of the vehicle with the irradiation target is less than a collision determination threshold. The collision possibility determination section 16 can also use the distance instead of the time to collision.

[0063] When the target detection unit 15 detects a target, the spot illumination control unit 17 performs spot illumination of the target by the headlamp 7 (see reference). Figure 4 The spot illumination control unit 17 illuminates the target object, for example, by illuminating LED units corresponding to the illumination angle corresponding to the position of the target object.

[0064] If the collision probability determination unit 16 determines that the probability of a collision between the vehicle and the irradiated object is high, the spot illumination control unit 17 applies spot illumination to the irradiated object with increased light intensity, compared to when the probability of a collision between the vehicle and the irradiated object is not determined to be high. If the point illumination control unit 17 does not determine that the probability of a collision between the vehicle and the irradiated object is high, it applies spot illumination with normal light intensity.

[0065] [Processing of vehicle control devices]

[0066] Next, the processing of the vehicle control device 100 of this embodiment will be described with reference to the accompanying drawings. Figure 5 (a) is a flowchart illustrating an example of wide-angle beam switching processing. Wide-angle beam switching processing is performed when the high beam of the vehicle's headlights 7 is being illuminated with normal beam distribution and the driver has permitted wide-angle beam switching.

[0067] like Figure 5 As shown in (a), in S10, the ECU 10 of the vehicle control device 100 determines whether the vehicle speed is below a certain speed by the vehicle speed determination unit 11. The vehicle speed determination unit 11 makes the determination based on the vehicle speed detected by the vehicle speed sensor 5. If it is determined that the vehicle speed is below a certain speed ("yes" in S10), the ECU 10 proceeds to S11. If it is not determined that the vehicle speed is below a certain speed ("no" in S10), the ECU 10 assumes that the vehicle is traveling at a high speed and ends the wide-angle beam switching process without switching to wide-angle beam. Afterwards, the ECU 10 repeatedly executes the process starting from S10 after a certain period of time.

[0068] In S11, ECU10 determines whether the conditions for the approach area of ​​the irradiated object are met by the condition determination unit 12. The condition determination unit 12 makes the determination based on the vehicle's position information on the map and map information, or the image captured by the front camera 3 of the vehicle and the image pattern for area determination. If the conditions for the approach area of ​​the irradiated object are met ("Yes" in S11), ECU10 proceeds to S12. If the conditions for the approach area of ​​the irradiated object are not met ("No" in S11), ECU10 ends the wide-angle beam switching process. Afterwards, ECU10 repeatedly executes the process starting from S10 after a certain period of time.

[0069] In S12, the ECU 10 performs information provision to the driver through the information provision portion 13. The information provision portion 13 uses the HMI 6 to perform information provision to the driver through lighting of an indicator, image display of a display, or sound output of a speaker. The information provision portion 13, for example, notifies the driver that the vehicle has entered the irradiation object approach region (the speed limit 30 zone or the like). Thereafter, the ECU 10 shifts to S13.

[0070] In S13, the ECU 10 switches the headlamp 7 to wide-angle distribution of light through the irradiation range control portion 14. The irradiation range control portion 14 performs switching to wide-angle distribution of light that expands the lateral width of the irradiation range compared to normal distribution of light by controlling the headlamp 7. Thereafter, the ECU 10 ends this time's wide-angle distribution of light switching processing.

[0071] Figure 5 (b) is a flowchart showing one example of normal distribution of light restoration processing. The normal distribution of light restoration processing is executed in the case where the headlamp 7 is switched to wide-angle distribution of light in the wide-angle distribution of light switching processing shown in (a). Figure 5

[0072] As shown in (b), as S20, the ECU 10 determines whether or not the vehicle speed is below a certain speed through the vehicle speed determination portion 11. In the case where it is determined that the vehicle speed is below the certain speed (YES in S20), the ECU 10 shifts to S21. In the case where it is not determined that the vehicle speed is below the certain speed (NO in S20), the ECU 10 shifts to S22. Figure 5 In S21, the ECU 10 determines whether or not the irradiation object approach region condition is not satisfied through the condition determination portion 12. In the case where it is determined that the irradiation object approach region condition is not satisfied (YES in S21), the ECU 10 shifts to S22. In the case where it is not determined that the irradiation object approach region condition is not satisfied (NO in S21), the ECU 10 ends the normal distribution of light restoration processing. Thereafter, the ECU 10 repeatedly executes the processing again from S20 after a certain time elapses.

[0073] In S22, the ECU 10 restores the headlamp 7 to normal distribution of light through the irradiation range control portion 14. Thereafter, the ECU 10 ends this time's normal distribution of light restoration processing.

[0074]

[0075] (b) is a flowchart showing one example of point irradiation processing. The point irradiation processing is executed in the case where the headlamp 7 of the vehicle is in lighting, and the driver has permitted point irradiation. The lighting also includes lighting of either one of high beam and low beam. Figure 6 As shown in (b), as S20, the ECU 10 determines whether or not the vehicle speed is below a certain speed through the vehicle speed determination portion 11. In the case where it is determined that the vehicle speed is below the certain speed (YES in S20), the ECU 10 shifts to S21. In the case where it is not determined that the vehicle speed is below the certain speed (NO in S20), the ECU 10 shifts to S22.

[0076] Figure 6 ​​As shown, as S30, the ECU 10 determines whether or not an irradiation object in front of the vehicle is detected by the irradiation object detection section 15. The irradiation object detection section 15 detects the irradiation object in front of the vehicle based on the captured image of the front camera 3 or the detection result of the radar sensor 4. In a case where it is determined that the irradiation object is detected (YES in S30), the ECU 10 shifts to S31. In a case where it is not determined that the irradiation object is detected (NO in S30), the ECU 10 ends the present point irradiation processing. Thereafter, the ECU 10 repeatedly executes the processing from S30 again after a certain time elapses.

[0077] In S31, the ECU 10 determines whether or not the collision possibility of the vehicle with the irradiation object is high by the collision possibility determination section 16. The collision possibility determination section 16 makes the determination based on the captured image of the front camera 3 or the detection result of the radar sensor 4. In a case where it is determined that the collision possibility of the vehicle with the irradiation object is high (YES in S31), the ECU 10 shifts to S33. In a case where it is not determined that the collision possibility of the vehicle with the irradiation object is high (NO in S31), the ECU 10 shifts to S32.

[0078] In S32, the ECU 10 performs the point irradiation of the normal light amount by the point irradiation control section 17. The point irradiation control section 17 performs the point irradiation of the irradiation object, for example, by causing the LED unit corresponding to the irradiation angle corresponding to the position of the irradiation object to be lit. The point irradiation control section 17 performs the point irradiation of the irradiation object with the normal light amount. Thereafter, the ECU 10 ends the point irradiation processing.

[0079] In S33, the ECU 10 performs the information provision to the driver by the information provision section 13. The information provision section 13 notifies the driver of the existence of the pedestrian or the like as the irradiation object by the image display or the sound output. The information provision section 13 can also perform the emphasized display of the irradiation object by the HUD. Thereafter, the ECU 10 shifts to S34.

[0080] In S34, the ECU 10 performs the point irradiation of the increased light amount by the point irradiation control section 17. The point irradiation control section 17 performs the point irradiation of the irradiation object with the increased light amount. Thereafter, the ECU 10 ends the point irradiation processing.

[0081] According to the vehicle control device 100 of the present embodiment described above, in a case where the vehicle enters an area in which a possibility that the irradiation object such as a pedestrian approaches is high and the irradiation object approach area condition is satisfied, the lateral width of the irradiation range of the headlamp is expanded. Further, in the vehicle control device 100, in a case where the irradiation object such as a pedestrian is detected, the irradiation object is spot-irradiated. Therefore, in the vehicle control device 100, the overlooking of the irradiation object such as a pedestrian by the driver at night can be reduced by the control of the headlamp. As a result, in the vehicle control device 100, the sense of unease of the driver at night can be alleviated. Further, in the vehicle control device 100, the irradiation object which is spot-irradiated also easily notices the presence of the vehicle.

[0082] Further, according to the vehicle control device 100, in a case where it is determined that the possibility of collision of the vehicle with the irradiation object is high, the light amount of the spot-irradiation to the irradiation object is increased as compared with a case where it is not determined that the possibility of collision of the vehicle with the irradiation object is high. Therefore, in the vehicle control device 100, the irradiation object of which the possibility of collision is high is easily visually recognized by the driver. Further, in the vehicle control device 100, the irradiation object which is spot-irradiated with a large light amount also easily notices the presence of the vehicle.

[0083] Further, according to the vehicle control device 100, in a case where it is recognized that the vehicle is located within the irradiation object approach area set on the map, it is determined that the irradiation object approach area condition is satisfied. Therefore, in the vehicle control device 100, the lateral width of the irradiation range of the headlamp 7 can be expanded to reduce the overlooking of the irradiation object such as a pedestrian by the driver at a place such as a downtown area where the pedestrian is likely to approach the vehicle. Further, in the vehicle control device 100, it is determined that the irradiation object approach area condition is satisfied during a certain time period after the road sign or the like corresponding to the area determination image pattern is recognized from the captured image of the front camera 3. Therefore, in the vehicle control device 100, the lateral width of the irradiation range of the headlamp 7 can be expanded to reduce the overlooking of the irradiation object such as a pedestrian by the driver in a case where the road sign or the like provided in a downtown area where many pedestrians are present or the like is recognized. Instead of the certain time period, a period until a certain distance of travel can be provided.

[0084] The embodiments of the present application have been described above, but the present application is not limited to the above-described embodiments. The present application can be implemented in various modes represented by the above-described embodiments, by various modifications and improvements based on the knowledge of those skilled in the art.

[0085] The vehicle control device 100 does not necessarily need to have the vehicle speed determination unit 11. The vehicle control device 100 can switch to the wide-angle light distribution and spot-irradiate regardless of the vehicle speed.

[0086] The vehicle control device 100 does not necessarily need to have the information providing section 13. The vehicle control device 100 can also perform switching to wide-angle light distribution, spot illumination without notifying the driver.

[0087] The vehicle control device 100 does not necessarily need to have the collision possibility determining section 16. The vehicle control device 100 can also perform spot illumination of a certain light amount to an illumination object regardless of the collision possibility.

[0088] The vehicle control device 100 can also change the degree of expansion of the illumination range of wide-angle light distribution according to the road conditions on which the vehicle travels. The vehicle control device 100 can also further expand the lateral width of the illumination range of wide-angle light distribution in the case where the lane width on which the vehicle travels is equal to or greater than a prescribed threshold value, compared to the case where the lane width is less than the prescribed threshold value. The vehicle control device 100 can also further expand the lateral width of the illumination range of wide-angle light distribution in the case where the vehicle is located near an intersection, compared to the case where the vehicle is located in a speed limit 30 zone of a straight road.

[0089] The vehicle control device 100 can also perform switching of the usual light distribution and the wide-angle light distribution not only for high beam but also for low beam. In the case of low beam, the wide-angle light distribution is also performed in a manner in which the lateral width of the illumination range of 10 lux or more of the light amount at a height of 1 m is expanded compared to the usual light distribution.

Claims

1. A vehicle control device that controls irradiation of a headlamp of a vehicle, the vehicle control device comprising: a condition determination section that determines whether or not a predetermined irradiation object approach region condition is satisfied, based on position information of the vehicle on a map and map information or based on a captured image of a front camera of the vehicle and a region determination image pattern; an irradiation range control section that, in a case where it is determined by the condition determination section that the irradiation object approach region condition is satisfied, causes the headlamp to switch from a normal light distribution to a wide-angle light distribution, which is a light distribution state in which a lateral width of an irradiation range of the headlamp is expanded compared to the normal light distribution, compared to a case where it is not determined that the irradiation object approach region condition is satisfied; an irradiation object detection section that detects an irradiation object, including a pedestrian, in front of the vehicle, based on a captured image of a front camera of the vehicle or a detection result of a radar sensor of the vehicle; and a spot irradiation control section that, in a case where the irradiation object is detected by the irradiation object detection section, causes spot irradiation by the headlamp to be performed on the irradiation object, the condition determination section determining that the irradiation object approach region condition is satisfied during a certain period of time after a road sign or a road surface display corresponding to the region determination image pattern is recognized from the captured image of the front camera or during a period until the vehicle travels a certain distance from when the road sign or the road surface display corresponding to the region determination image pattern is recognized from the captured image of the front camera, in a case where the vehicle is traveling on a road shoulder side of a road having a plurality of lanes, the irradiation range control section performing only one-side wide-angle light distribution in a manner in which the irradiation range is expanded only on the road shoulder side and not on an adjacent lane side.

2. The vehicle control device according to claim 1, further comprising: a collision possibility determination section that, in a case where the irradiation object is detected by the irradiation object detection section, determines whether or not a collision possibility of the vehicle with the irradiation object is high, based on a captured image of a front camera of the vehicle or a detection result of a radar sensor of the vehicle, in a case where it is determined by the collision possibility determination section that the collision possibility of the vehicle with the irradiation object is high, the spot irradiation control section increasing an amount of light of the spot irradiation on the irradiation object compared to a case where it is not determined that the collision possibility of the vehicle with the irradiation object is high.

3. The vehicle control device according to claim 1 or 2, wherein the condition determination section determines that the irradiation object approach region condition is satisfied in a case where it is recognized that the vehicle is located within an irradiation object approach region set on a map, the irradiation object approach region being a region in which it is considered that a possibility that the irradiation object approaches the vehicle is high. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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