Headlamp control device, headlamp control method, and headlamp system

Abstract

The invention provides a headlamp control device, a headlamp control method, and a headlamp system. A headlight control device for controlling a headlight that forms a combined irradiation light toward the front of a vehicle by superimposing irradiation light from each of a left light distribution variable unit and a right light distribution variable unit, the headlight control device performing a process of adjusting the position of a target object in accordance with the position of the target object, and adjusting the position of the target object in accordance with the position of the target object. Setting a first dimming range and a second dimming range in the irradiation ranges of the left light distribution variable unit and the right light distribution variable unit; an irradiation range of the first correction light and an irradiation range of the second correction light are set at the left corner and the right corner of the lower end side of a combined light reduction range including the first light reduction range and the second light reduction range respectively; and supplying a control signal to the left light distribution variable unit and the right light distribution variable unit for realizing combined irradiation light of irradiation ranges including the first light reduction range, the second light reduction range, the first correction light, and the second correction light.

Description

Technical Field The present disclosure relates to a control device for a headlamp, a control method for a headlamp, and a headlamp system. Background Art In recent years, a technique has been developed in which a high beam having a dimming range (or a light-shielding range, the same applies hereinafter) is provided according to the positions of objects such as oncoming vehicles, preceding vehicles, pedestrians, bicycles, and road signs existing in front of a vehicle (for example, refer to Japanese Patent No. 7048331). Such a high beam is also referred to as an Adaptive Driving Beam (ADB). The dimming range corresponding to the object to be dimmed (including light shielding, the same hereinafter) is dimmed, and the high beam can be maintained outside the dimming range, which helps to improve the visibility in front of the vehicle. In addition, when the dimming range is set for the object to be dimmed by the ADB function for the right-side lamp and the left-side lamp, respectively, due to the difference in the relative angles between the positions of the left-side lamp and the right-side lamp and the object, triangular illuminance unevenness (a region irradiated with light from only one side lamp) occurs at the angle of the dimming range. Such illuminance unevenness may cause poor aesthetics and discomfort to the driver. Prior Art Documents Patent Documents Patent Document 1: Japanese Patent No. 7048331 Summary of the Invention Problems to be Solved by the Invention One of the objects of the specific mode of the present disclosure is to reduce the illuminance unevenness caused by the difference in the relative angles between the positions of the object to be dimmed and the left-side lamp and the right-side lamp when the dimming range is set for the object to be dimmed by the ADB function for the right-side lamp and the left-side lamp, respectively. Means for Solving the Problems

[0001] A control device for a headlamp according to one mode of the present disclosure is a device for controlling a headlamp. The headlamp includes a left light distribution variable unit and a right light distribution variable unit disposed on the left and right of the front part of the vehicle, and a combined irradiation light directed to the front of the vehicle is formed by overlapping the irradiation lights formed by the left light distribution variable unit and the right light distribution variable unit, respectively, in front of the vehicle. Wherein, the control device for the headlamp includes: A front monitoring sensor having a function of detecting an object existing in front of the vehicle; and A controller connected to the headlamp and the front monitoring sensor, respectively, and controlling the operation of the headlamp. The controller performs the following processing: Set a first dimming range in the irradiation range of the left light distribution variable unit and a second dimming range in the irradiation range of the right light distribution variable unit according to the position of the object detected by the front monitoring sensor; Set the irradiation range of the first correction light at the left corner on the lower end side of the first combined dimming range, and set the irradiation range of the second correction light at the right corner on the lower end side of the first combined dimming range, where the first combined dimming range is configured to include the first dimming range and the second dimming range at a position closer to the vehicle than the object; and Supply control signals for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light to the left light distribution variable unit and the right light distribution variable unit of the headlight.

[0002] A control method for a headlight according to one aspect of the present disclosure is a control method executed by a controller for controlling a headlight, where the headlight includes a left light distribution variable unit and a right light distribution variable unit disposed on the left and right of the front of the vehicle, and the combined irradiation light toward the front of the vehicle is formed by overlapping the irradiation lights respectively formed by the left light distribution variable unit and the right light distribution variable unit, where The controller executes the following processes: Set a first dimming range in the irradiation range of the left light distribution variable unit and a second dimming range in the irradiation range of the right light distribution variable unit according to the position of the object existing in front of the vehicle; Set the irradiation range of the first correction light at the left corner on the lower end side of the first combined dimming range, and set the irradiation range of the second correction light at the right corner on the lower end side of the first combined dimming range, where the first combined dimming range is configured to include the first dimming range and the second dimming range at a position closer to the vehicle than the object; and Supply control signals for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light to the left light distribution variable unit and the right light distribution variable unit of the headlight.

[0003] A headlight system according to one aspect of the present disclosure includes: the control device described in the above [1]; and a headlight with variable light distribution connected to the above control device. According to the above structure, when setting the dimming range for the dimming object using the right lamp and the left lamp respectively through the ADB function, it is possible to reduce the illuminance unevenness caused by the difference in the relative angles between the dimming object and the positions of the left lamp and the right lamp. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 (A) of is a diagram showing the structure of a headlamp system according to an embodiment. Figure 1 (B) of is a diagram showing an example of the structure of a computer system. Figure 2 (A) of Figure 2 (B) of is a schematic front view showing an example of the structure of a low beam unit and an ADB unit. Figure 3 (A) of is a schematic side view showing an example of the structure of an ADB unit. Figure 3 (B) of is a schematic top view showing an example of the structure of a light source. Figure 4 is a schematic top view for explaining an irradiation example of an adaptive driving beam. Figure 5 is a diagram showing Figure 4 a schematic top view of the adaptive driving beam BM1 irradiated by the ADB unit 32L in the adaptive driving beam shown in. Figure 6 is a diagram showing Figure 4 a schematic top view of the adaptive driving beam BM2 irradiated by the ADB unit 32R in the adaptive driving beam shown in. Figure 7 (A) of is a diagram for explaining that triangular illuminance unevenness is generated on the road surface on the left and right sides at the lower end of the combined dimming range when viewed from the front of the vehicle. Figure 7 (B) of is a diagram showing the shape of the dimming range IM1 in the adaptive driving beam BM1 on the screen. Figure 7 (C) of is a diagram showing the shape of the dimming range IM2 in the adaptive driving beam BM2 on the virtual screen. Figure 8 is a schematic top view for explaining an irradiation example of an adaptive driving beam. Figure 9 is a schematic top view for explaining an irradiation example of an adaptive driving beam. Figure 10 (A) of is a diagram for exemplifying the shape of the correction light irradiated on the left and right corners at the lower end side of the combined dimming range in the adaptive driving beam on the road surface. Figure 10 (B) of is a diagram showing the shape of the dimming range IM1 in the adaptive driving beam BM1 on the screen. Figure 10Figure (C) shows the shape of the dimming range IM2 in the adaptive driving beam BM2 on the virtual screen. Figure 10 Figure (D) is a partial enlarged view of the dimming ranges IM1 and IM2. Figure 10 Figure (E) is a partial enlarged view of the dimming range IM2. Figure 11 Figure (A), Figure 11 Figure (B) is a diagram for explaining a control example of the light source for realizing the correction light. Figure 12 Figure (A) is a diagram illustrating the shape of the correction light irradiated on the left and right corners of the lower end side of the combined dimming range IM in the adaptive driving beam BM on the road surface. Figure 12 Figure (B) is a diagram illustrating the shape of the dimming range IM1 on the screen. Figure 12 Figure (C) is a diagram illustrating the shape of the dimming range IM2 on the screen. Figure 12 Figure (D) is a partial enlarged view of the dimming range IM1. Figure 12 Figure (E) is a partial enlarged view of the dimming range IM2. Figure 13 Figure (A) to Figure 13 Figure (C) are respectively flowcharts showing the operation process of the headlight system. Figure 14 Figure (A) is a diagram illustrating the shape of the correction light irradiated on the left and right corners of the upper and lower end sides of the combined dimming range IM in the adaptive driving beam BM of the modified embodiment on the road surface. Figure 14 Figure (B) is a diagram illustrating the shape of the dimming range IM1 on the screen. Figure 14 Figure (C) is a diagram illustrating the shape of the dimming range IM2 on the screen. Figure 14 Figure (D) is a partial enlarged view of the dimming range IM1. Figure 14 Figure (E) is a partial enlarged view of the dimming range IM2. Description of Reference Numerals 10: Vehicle ECU, 11: Front Monitoring Sensor, 12: Tilt Detection Sensor, 13: Lamp, 20: Lamp ECU, 21: Control Device, 31L, 31R: Low Beam Unit, 32L, 32R: ADB Unit, BM, BM1, BM2: Adaptive Driving Beam, IM: Combined Dimming Range, IM1, IM2: Dimming Range, 112a, 112b: Correction Light, 100: Own Vehicle, 101: Vehicle Ahead. Detailed Description of the Invention Figure 1FIG. (A) is a diagram showing the structure of a headlight system according to an embodiment. The illustrated headlight system is configured to include a vehicle ECU (Electronic Control Unit), a front monitoring sensor, a tilt detection sensor, and a lamp unit. This headlight system is provided on a vehicle and is used to irradiate light forward of the vehicle. The vehicle ECU is used to control various operations in the vehicle. The vehicle ECU is connected to the front monitoring sensor and the tilt sensor, respectively. For example, the vehicle ECU detects the operation state of a lamp switch (not shown) provided on the vehicle driver's seat and sends a control signal corresponding to the content thereof to the lamp ECU (Electronic Control Unit) of the lamp unit. In addition, the vehicle ECU sends a control signal including the detection result of the front monitoring sensor and the detection result of the tilt detection sensor to the lamp ECU. The front monitoring sensor detects the position, size, category, etc. of an object existing in front of the vehicle. Examples of the object to be detected and its category include a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, a road sign, an obstacle, etc. As an example, the front monitoring sensor can be configured by an information processing device such as a camera that captures the front space of the vehicle and an image processor that discriminates the position of an object by performing image processing on the image captured by the camera. In addition, the front monitoring sensor can be, for example, a light ranging sensor such as a LiDAR (Light Laser Detection and Ranging), a radar, an ultrasonic sensor, etc. In this embodiment, as an example, the case where a preceding vehicle and an oncoming vehicle among the objects detected by the front monitoring sensor are used as objects for light reduction is described, but other objects such as pedestrians can also be used as objects. The tilt detection sensor detects the tilt of the vehicle in the pitch direction, roll direction, and yaw direction. In addition, the tilt detection sensor only needs to be able to detect the tilt in the pitch direction (front-rear direction) at least. As the tilt detection sensor, for example, an acceleration sensor, a gyro sensor, a height sensor, etc. can be used. The lamp unit emits light for irradiating the front space of the vehicle and includes a lamp ECU, a control device, low beam units, and ADB units. The lamp ECU 20 controls the overall operation of the lamp 13. Specifically, the lamp ECU 20 receives a control signal transmitted from the vehicle ECU 10 and controls the operation of each low-beam unit 31L, 31R according to the operation state of the lamp switch indicated by the control signal. In addition, the lamp ECU 20 generates a control signal for operating each ADB unit 32L, 32R according to the operation state of the lamp switch indicated by the control signal received from the vehicle ECU 10, and supplies this control signal to the control device 21. Based on the control signal supplied from the lamp ECU 20, the control device 21 generates a drive signal for operating each ADB unit 32L, 32R, and outputs this drive signal to each ADB unit 32L, 32R. Each low-beam unit 31L, 31R irradiates the front space of the vehicle with low beams (low-beam light). The low-beam unit 31L is provided on the left front side of the vehicle, and the low-beam unit 31R is provided on the right front side of the vehicle. The light irradiated from each low-beam unit 31L, 31R toward the front of the vehicle is combined to form a low beam. Each ADB unit 32L, 32R irradiates the front space of the vehicle with high beams. The ADB unit 32L is provided on the left front side of the vehicle, and the ADB unit 32R is provided on the right front side of the vehicle. That is, the ADB unit 32L is a left-side light distribution variable unit (left-side lamp), and the ADB unit 32R is a right-side light distribution variable unit (right-side lamp). The high beam is formed by the irradiation light formed by each ADB unit 32L, 32R overlapping in front of the vehicle. In the presence of an object such as a preceding vehicle, the range corresponding to the object is dimmed (or shaded) within the irradiation range of the high beam, thereby forming an adaptive driving beam (synthetic irradiation light). The above-described vehicle ECU 10 has a light distribution pattern setting function. Specifically, the vehicle ECU 10 sets the dimming range (or shading range) and the light irradiation range in the ADB function according to the position of the preceding vehicle (preceding vehicle or oncoming vehicle) detected by the front monitoring sensor 11. In addition, the vehicle ECU 10 sets the irradiation range of the correction light irradiated to the corner of the dimming range. Details of the correction light will be described later. The above-described lamp ECU 20 has the following function: generating a control signal for causing each ADB unit 32L, 32R to form irradiation light corresponding to the light distribution pattern set by the vehicle ECU 10, and supplying this control signal to each ADB unit 32L, 32R. In addition, in the present embodiment, a "controller" is constituted by including the vehicle ECU 10, the lamp ECU 20, and the control device 21, but the functions of the vehicle ECU 10, the lamp ECU 20, and the control device 21 may be aggregated in the vehicle ECU 10, may be aggregated in the lamp ECU 20, or may be aggregated in the control device 21. Figure 1(B) is a diagram illustrating a computer system. The illustrated computer system can be configured using a computer system including a processor (CPU: Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device 204 such as a flash memory, an input / output interface 205, and the like. In this computer system, by reading and executing a program 206 pre-stored in the storage device 204 by the processor, it becomes a state capable of performing various functions. The above-mentioned vehicle ECU 10, lamp ECU 20, and control device 21 can be implemented using such a computer system, respectively. Figure 2 (A), Figure 2 (B) is a schematic front view showing a structural example of a low beam unit and an ADB unit. Here, a situation of observing each unit provided at the front part of the vehicle from the front of the vehicle is schematically shown. In Figure 2 In the structural example shown in (A), the low beam unit 31L and the ADB unit 32L are integrally formed, and the low beam unit 31R and the ADB unit 32R are integrally formed. On the other hand, in Figure 2 In the structural example shown in (B), the low beam unit 31L and the ADB unit 32L are separately formed, and the low beam unit 31R and the ADB unit 32R are separately formed. In addition, these are examples, and as long as they have the functions of irradiating low beams and high beams and the ADB function, the structures of the low beam units 31L, 31R and the ADB units 32L, 32R are not limited. Figure 3 (A) is a schematic side view showing a structural example of an ADB unit. The illustrated ADB unit 32L is configured to include: a light source 33 having a plurality of light-emitting elements arranged along two directions; and a lens 34 that condenses the light emitted from the light source 33 to form an adaptive driving beam BM and irradiates the adaptive driving beam BM toward the front of the vehicle. In addition, the ADB unit 32R has the same structure. As Figure 3 As shown in the schematic top view of the configuration example of the light source 33 in (B), as an example, the light source 33 includes a plurality (for example, several thousand to several tens of thousands) of light-emitting elements 33a arranged along two directions. Each light-emitting element 33a can be independently turned on and off. As each light-emitting element 33a, for example, an LED can be used. In addition, the structures of the ADB units 32L and 32R are not limited to the above structures. For example, various known types of ADB units can be used, such as an ADB unit that controls the light reduction range and the light irradiation range using a liquid crystal element, and an ADB unit that scans the light emitted from a laser element using a light deflector and controls the light reduction range and the light irradiation range by rapidly turning on and off the laser element at this time. Figure 4 It is a schematic top view for explaining an irradiation example of the adaptive driving beam. Figure 5 It shows Figure 4 A schematic top view of the adaptive driving beam BM1 irradiated by the ADB unit 32L in the adaptive driving beam shown. Figure 6 It shows Figure 4 A schematic top view of the adaptive driving beam BM2 irradiated by the ADB unit 32R in the adaptive driving beam shown. In Figures 4 to 6 , a situation of overlooking the own vehicle 100 and the preceding vehicle 101 from above is shown, and the adaptive driving beam irradiated from the own vehicle 100 is schematically shown. In Figures 4 to 6 , as an example, a top view in the case where the relative distance between the own vehicle 100 and the preceding vehicle 101 is 25 m is shown. In addition, regarding the preceding vehicle 101, a preceding vehicle is shown as an example, but the same applies to the case of an oncoming vehicle. When there is a preceding vehicle 101, in the adaptive driving beam BM irradiated by the ADB units 32L and 32R of the own vehicle 100, a combined light reduction range IM corresponding to the position of the preceding vehicle 101 is provided. As shown in the figure, the adaptive driving beam BM1 (represented by a solid line) emitted from the ADB unit 32L and the adaptive driving beam BM2 (represented by a dashed line) emitted from the ADB unit 32R overlap in the front space of the own vehicle 100. Thus, the adaptive driving beam BM including the combined light reduction range IM is irradiated in front of the own vehicle 100. At this time, as Figure 4 shown, a region 102a that irradiates the adaptive driving beam BM2 but does not irradiate the adaptive driving beam BM1 and a region 102b that irradiates the adaptive driving beam BM1 but does not irradiate the adaptive driving beam BM2 are respectively formed. In these regions 102a and 102b, as Figure 7 illustrated in (A) of, uneven illuminance in a triangular shape is generated on the road surface on the left and right sides of the lower end side of the combined light reduction range IM visually confirmed from the front of the own vehicle 100. As Figure 7 shown in (B) of, Figure 7As shown in (C), the shapes of the dimming ranges IM1 (first dimming range) in the adaptive driving beam BM1 and IM2 (second dimming range) in the adaptive driving beam BM2 on a screen hypothetically hanging down in front of the vehicle are each approximately rectangular. As Figure 7 As shown in (A), the shapes of the dimming ranges IM1 and IM2 on the road surface each become approximately trapezoidal when visually confirmed by the driver of the host vehicle 100. When the attitude of the host vehicle 100 is in a stable state, the lower end of the combined dimming range IM is formed at the rear end of the preceding vehicle 101, so the illuminance unevenness in the regions 102a and 102b is not so obvious. However, when the lower end of the combined dimming range IM changes from the position B1 to the position B2 due to the influence of acceleration / deceleration of the host vehicle 100, road surface inclination, etc., the regions 102a and 102b are visually confirmed as having illuminance unevenness. In addition, as Figure 8 illustrated, if the relative distance between the host vehicle 100 and the preceding vehicle 101 changes, then correspondingly, the shapes of the regions 102a and 102b also change, and the appearance of each of these regions 102a and 102b when viewed from the front also changes. Similarly, as Figure 9 illustrated, if the relative positional relationship between the host vehicle 100 and the preceding vehicle 101 in the left-right direction (vehicle width direction) changes, then correspondingly, the shapes of the regions 102a and 102b also change, and the appearance of each of these regions 102a and 102b when viewed from the front also changes. Figure 10 (A) is a schematic view when the driver observes the traveling direction of the host vehicle 100, and is a diagram for illustrating the shape of the correction light irradiated to the left and right corners on the lower end side of the combined dimming range IM in the adaptive driving beam on the road surface. Figure 10 (B) and Figure 10 (C) are diagrams for illustrating the shapes of the respective dimming ranges IM1 and IM2 on the screen. Figure 10 (D) and Figure 10 (E) are partial enlarged views of the respective dimming ranges IM1 and IM2. Figure 10 The combined dimming range IM shown in (A) is configured to include the ranges of the dimming ranges IM1 and IM2. That is, the combined dimming range IM is a range that includes any range existing in the dimming range IM1 and the dimming range IM2, and a range where the dimming range IM1 and the dimming range IM2 partially overlap. As shown in the figures, in the present embodiment, by irradiating the left and right corners on the lower end side of the combined dimming range IM at positions closer to the host vehicle than the preceding vehicle (object) in the adaptive driving beam BM with the correction light 112a (first correction light) and the correction light 112b (second correction light), respectively, it is possible to reduce the illuminance unevenness at the left and right corners on the lower end side of the combined dimming range IM. In addition, in the figure, patterns are marked to easily identify the portions of the correction light 112a and the correction light 112b, but this does not necessarily represent the difference in light intensity (illuminance, brightness, luminous intensity, etc.) between the correction light and other light irradiation ranges in the adaptive driving beam BM. Also, in the figure, for each of the correction lights 112a and 112b, a case is illustrated where a correction light having a substantially triangular shape when viewed from the front is obtained by linearly cutting the left and right corners of the combined dimming range IM (so-called chamfered shape), but the shapes of the correction lights 112a and 112b are not limited thereto. For example, a correction light having a substantially triangular shape when viewed from the front may also be obtained by cutting in a curved shape (so-called R process). In the present embodiment, the ADB unit 32L is controlled to irradiate the left corner on the lower end side in the figure of the dimming range IM1 with the correction light 112a, and the ADB unit 32R is controlled to irradiate the right corner on the lower end side in the figure of the dimming range IM2 with the correction light 112b. Thereby, it is possible to realize the combined dimming range IM constituted by the ranges including the respective dimming ranges IM1 and IM2 and the adaptive driving beam BM which is the combined irradiation light including the respective correction lights 112a and 112b. In addition, it is also possible to irradiate the correction light 112a and the correction light 112b by the ADB unit 32L. In this case, for example, it is only necessary to increase the illuminance of the portion corresponding to the correction light 112b in the adaptive driving beam BM1 in the ADB unit 32L to 2 times. Similarly, it is also possible to irradiate the correction light 112b and the correction light 112a by the ADB unit 32R. In this case, for example, it is only necessary to increase the illuminance of the portion corresponding to the correction light 112a in the adaptive driving beam BM2 in the ADB unit 32R to 2 times. However, in these cases, a corresponding margin is required for the variable range of the light intensity in the ADB unit 32L or the ADB unit 32R. Therefore, there is a possibility of cost increase, a possibility of shortening the life of the light source 33 due to an increase in the load on the light source 33, or a possibility accompanied by design difficulties. From such a viewpoint, a structure as described above is more preferable: irradiating the correction light 112a of the ADB unit 32L to the region that has been irradiated only with the irradiation light of the ADB unit 32R in the past, and irradiating the correction light 112b of the ADB unit 32R to the region that has been irradiated only with the irradiation light of the ADB unit 32L in the past. Figure 11 of (A),Figure 11 (B) is a diagram for explaining a control example of a light source for realizing correction light. In addition, in this example, a method for realizing the correction light 112a in the light reduction range IM1 is illustrated, but the correction light 112b in the light reduction range IM2 can be realized in the same way. In Figure 11 (A) of Figure 11 (B), the light source 33 in the ADB unit 32L is locally enlarged and shown. When not considering the correction light 112a, the light-emitting elements 33a that are to be light-reduced (or extinguished) in order to form the light reduction range IM1 in the light source 33 of the ADB unit 32L are, as Figure 11 (A) shows, the light-emitting elements 33a included in the region 110 indicated by the dash-dotted line. In this case, as Figure 11 (B) shows, the light source 33 is controlled in such a way that several light-emitting elements 33a at the lower left corner of the region 110 (indicated by the dotted line in the figure) are the objects of light reduction. The light emitted from the light source 33 controlled in this way is reversely projected and irradiated by the lens 34, thereby obtaining the light reduction range IM1 including the correction light 112a. In addition, although not shown in the figure, the light reduction range IM2 including the correction light 112b is obtained by the same control. In addition, here, the number of the light-emitting elements 33a is shown to be small for easy understanding, but in the case where the number of the light-emitting elements 33a is larger, the number of the light-emitting elements 33a to be light-reduced is determined according to the areas required for the correction lights 112a and 112b. Figure 12 (A) is a diagram for illustrating the shape of the correction light irradiated on the left and right corners of the lower end side of the combined light reduction range IM in the adaptive driving beam BM on the road surface. Figure 12 (B) of Figure 12 (C) are diagrams for illustrating the shapes of the respective light reduction ranges IM1 and IM2 on the screen. Figure 12 (D) of Figure 12 (E) are partial enlarged views of the respective light reduction ranges IM1 and IM2. Compared with what is illustrated in Figure 10 (A), the respective correction lights 112a and 112b have a triangular shape that is longer in the up-down direction (vertical direction) and shorter in the left-right direction (horizontal direction) in the figure. As shown in this example, if the relative distance between the host vehicle and the vehicle ahead changes (refer to Figure 8 ), the shapes (height and / or width) of the respective correction lights 112a and 112b are variably set accordingly. In addition, when variably setting the shapes of the respective correction lights 112a and 112b, it is also preferable to set their upper end positions so as not to exceed the horizontal line. This is to prevent glare to the vehicle ahead due to the synthetic dimming range IM in the adaptive driving beam BM being too narrow. Figure 13 of (A) to Figure 13 of (C) are flowcharts showing the operation process of the headlight system. In addition, regarding each process shown here, as long as there is no contradiction or mismatch in the result of information processing, their order can also be swapped. In addition, other processes not explicitly shown here can also be added. First, Figure 13 of (A) to Figure 13 the simplest operation process shown in Figure 13 of (A) (operation process of the first mode) will be described. If a vehicle ahead is detected by the front monitoring sensor 11 (step S11), the vehicle ECU 10 sets a light distribution pattern including dimming ranges IM1 and IM2 corresponding to the position of the detected vehicle ahead. At this time, the vehicle ECU 10 sets a light distribution pattern including the irradiation ranges of the fixed correction lights 112a and 112b at least at the left and right corners on the lower end side of the dimming range (step S12). Here, the fixed correction light means a correction light that is pre-determined (designed) according to the use conditions (pitch angle and distance range) so that the influence of the triangular illuminance unevenness becomes less even if the relative distance and position between the own vehicle and the vehicle ahead change. For example, in the case of a relative distance of 25 m to 100 m and a maximum pitch angle of 1.5 degrees (deg), a range with a height H of 0.5 degrees and a width W of 1.0 degrees can be determined. If the light distribution pattern is set, the lamp ECU 20 generates a control signal for realizing this light distribution pattern and outputs it to the control device 21 (step S13). The control device 21 generates a drive signal based on this control signal and outputs it to each ADB unit 32L and 32R. Thereby, the operations of the respective ADB units 32L and 32R are controlled, and the adaptive driving beam BM including the synthetic dimming range IM and including the correction lights 112a and 112b is irradiated, and the synthetic dimming range IM is configured to include the ranges of the dimming ranges IM1 and IM2. According to the operation process of the first mode, by using the fixed correction light, arithmetic processing considering the relative position relationship and relative distance of the vehicle ahead with respect to the own vehicle is not required, so simplification of the arithmetic processing can be achieved. Next, Figure 13 the operation process shown in (B) of If a preceding vehicle is detected by the front monitoring sensor 11 (step S21), the vehicle ECU 10 sets the shapes of the correction lights 112a and 112b based on the relative position relationship and relative distance of the preceding vehicle with respect to the own vehicle (step S22). Here, the shapes of the correction lights 112a and 112b can calculate the size of the triangular illuminance unevenness projected on the road surface according to the relative distance and relative position relationship between the own vehicle and the preceding vehicle (refer to Figure 4 etc.), and thus can be determined according to the calculation result. Specifically, the shapes of the correction lights 112a and 112b are set such that, for example, the closer the relative distance between the own vehicle and the preceding vehicle, the lower the height in the vertical direction and the wider the width in the horizontal direction, and the longer the relative distance, the higher the height in the vertical direction and the narrower the width in the horizontal direction (refer to Figure 10 (A) of Figure 12 (A) of In addition, the shapes of the correction lights 112a and 112b are set such that, for example, when the preceding vehicle is located relatively to the left of the own vehicle, the width of the correction light on the lower left side of the light reduction range is narrower than the width of the correction light on the lower right side of the light reduction range, and when the preceding vehicle is located relatively to the right of the own vehicle, the width of the correction light on the lower right side of the light reduction range is narrower than the width of the correction light on the lower left side of the light reduction range. Next, the vehicle ECU 10 sets a light distribution pattern including the light reduction ranges IM1 and IM2 corresponding to the position of the detected preceding vehicle, that is, a light distribution pattern including the irradiation ranges of the correction lights 112a and 112b having the shapes set in step S22 (step S23). If the light distribution pattern is set, the lamp ECU 20 generates a control signal for realizing the light distribution pattern and outputs it to the control device 21 (step S24). The control device 21 generates a drive signal based on the control signal and outputs it to each of the ADB units 32L and 32R. Thereby, the operations of the ADB units 32L and 32R are controlled to irradiate the adaptive driving beam BM including the combined light reduction range IM and including the correction lights 112a and 112b, and the combined light reduction range IM is configured to include the ranges of the light reduction ranges IM1 and IM2. According to the operation process of the second mode, since the shape of the correction light is set in consideration of the relative position relationship and relative distance of the preceding vehicle with respect to the own vehicle, the illuminance unevenness can be more effectively suppressed. Next, the Figure 13 operation process shown in (C) of If a preceding vehicle is detected by the front monitoring sensor 11 (step S31), the vehicle ECU 10 detects the inclination of the host vehicle in the pitching direction based on the signal output from the inclination detection sensor 12 (step S32). Next, the vehicle ECU 10 sets the shapes of the correction lights 112a and 112b according to the relative position relationship, relative distance of the preceding vehicle with respect to the host vehicle, and the inclination angle of the host vehicle (step S33). Here, since the shapes of the correction lights 112a and 112b are set in further consideration of the inclination angle of the host vehicle, the size of the illuminance unevenness can be calculated with higher accuracy. Next, the vehicle ECU 10 sets a light distribution pattern including the light reduction ranges IM1 and IM2 corresponding to the position of the detected preceding vehicle, that is, a light distribution pattern including the irradiation ranges of the correction lights 112a and 112b having the shapes set in step S33 (step S34). If the light distribution pattern is set, the lamp ECU 20 generates a control signal for realizing the light distribution pattern and outputs it to the control device 21 (step S35). The control device 21 generates a drive signal based on the control signal and outputs it to each of the ADB units 32L and 32R. Thereby, the operations of the ADB units 32L and 32R are controlled to irradiate the adaptive driving beam BM including the combined light reduction range IM and including the correction lights 112a and 112b, and the combined light reduction range IM is configured to include the ranges of the light reduction ranges IM1 and IM2. According to the operation process of the third mode, the shape of the correction light is set in consideration of the relative position relationship, relative distance of the preceding vehicle with respect to the host vehicle, and the inclination angle of the host vehicle, so that the illuminance unevenness can be more effectively suppressed. According to the above-described embodiment, when the light reduction ranges are set for the objects to be light-reduced by the ADB function in the left light distribution variable unit (left lamp) and the right light distribution variable unit (right lamp), respectively, the illuminance unevenness caused by the difference in the relative angles of the positions of the objects to be light-reduced with respect to the left light distribution variable unit and the right light distribution variable unit can be reduced. In addition, the present disclosure is not limited to the content of the above-described embodiment, and various modifications can be made within the scope of the gist of the present disclosure. For example, in the above-described embodiment, the correction light is added to the lower end side of the light reduction range, but the correction light can also be further added to the upper end side of the light reduction range. Figure 14 (A) is a diagram illustrating the shapes of the correction lights irradiated on the left and right corners at the upper and lower ends of the combined light reduction range IM in the adaptive driving beam BM of the above-described modified embodiment on the road surface. Figure 14 (B) and Figure 14 (C) are diagrams illustrating the shapes of the respective light reduction ranges IM1 and IM2 on the screen.Figure 14 and (D) of Figure 14 and (E) of are partial enlarged views of the respective light dimming ranges IM1 and IM2. In this modified embodiment, as Figure 14 and (B) of Figure 14 and (D) of show, in terms of the shape on the screen, correction light 112a is irradiated to the left corner on the lower end side of the light dimming range IM1, and correction light 112c is irradiated to the right corner on the upper end side of the light dimming range IM1. Similarly, as Figure 14 and (C) of Figure 14 and (E) of show, in terms of the shape on the screen, correction light 112b is irradiated to the right corner on the lower end side of the light dimming range IM2, and correction light 112d is irradiated to the left corner on the upper end side of the light dimming range IM2. As Figure 14 and the shape on the road surface shown in (A) of, the correction lights 112a and 112b are configured to irradiate at positions closer to the own vehicle than the preceding vehicle (object), respectively setting irradiation ranges at the left corner and the right corner on the lower end side of the combined light dimming range including the light dimming ranges IM1 and IM2. Similarly, the correction lights 112c and 112d are irradiated at positions farther from the own vehicle than the preceding vehicle, respectively setting irradiation ranges at the left corner and the right corner on the upper end side of the combined light dimming range obtained by overlapping the light dimming ranges IM1 and IM2. As in this modified embodiment, by adding the respective correction lights 112c and 112d, it is possible to reduce the hollow and not necessarily important light dimming ranges, and reduce the discomfort that may be brought to the driver. The present disclosure has the following features. (Appended Note 1) A control device for a headlamp, which is a device for controlling a headlamp, the headlamp having left and right left light distribution variable units arranged on the front part of the vehicle, and forming combined irradiation light directed to the front of the vehicle by overlapping the irradiation lights respectively formed by the left light distribution variable unit and the right light distribution variable unit, wherein the control device for the headlamp includes: a front monitoring sensor having a function of detecting an object existing in front of the vehicle; and a controller connected to the headlamp and the front monitoring sensor respectively, and controlling the operation of the headlamp, the controller performs the following processing: According to the position of the object detected by the front monitoring sensor, a first light dimming range is set in the irradiation range of the left light distribution variable unit, and a second light dimming range is set in the irradiation range of the right light distribution variable unit; Set the irradiation range of the first correction light at the lower left corner on the lower end side of the first combined dimming range, and set the irradiation range of the second correction light at the lower right corner on the lower end side of the first combined dimming range, where the first combined dimming range is configured to include the first dimming range and the second dimming range at a position closer to the vehicle than the object; and Supply a control signal for the combined irradiation light that includes the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light to the left light distribution variable unit and the right light distribution variable unit of the headlamp. (Supplementary Note 2) According to the control device for the headlamp described in Supplementary Note 1, where The shapes of the first dimming range and the second dimming range on the screen that hangs down in front of the vehicle and is observed in the traveling direction of the vehicle are substantially rectangular shapes. (Supplementary Note 3) According to the control device for the headlamp described in Supplementary Note 1 or 2, where The first correction light is irradiated by the left light distribution variable unit, and the second correction light is irradiated by the right light distribution variable unit. (Supplementary Note 4) According to the control device for the headlamp described in Supplementary Note 2, where Regarding the irradiation ranges of the first correction light and the second correction light respectively, set the height and / or width observed in the traveling direction of the vehicle on the screen based on the relative distance of the object and / or the relative positional relationship of the object. (Supplementary Note 5) According to the control device for the headlamp described in Supplementary Note 2 or 4, where Regarding the irradiation ranges of the first correction light and the second correction light respectively, set the height and / or width observed in the traveling direction of the vehicle on the screen based on the inclination in the pitch direction of the vehicle. (Supplementary Note 6) According to the control device for the headlamp described in Supplementary Note 2, 4, or 5, where Regarding the irradiation ranges of the first correction light and the second correction light respectively, at each of the lower left corner and the lower right corner of the first combined dimming range, it is set to be substantially triangular when observed directly on the screen. (Supplementary Note 7) According to the control device for the headlamp described in any one of Supplementary Notes 1 to 6, where The controller performs the following processing: Set the irradiation range of the third correction light at the upper left corner of the upper end side of the second combined dimming range, and set the irradiation range of the fourth correction light at the upper right corner of the upper end side of the second combined dimming range, where the second combined dimming range is configured to include the first dimming range and the second dimming range at a position farther from the vehicle than the object; and Supply a control signal for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, the irradiation range of the second correction light, the irradiation range of the third correction light, and the irradiation range of the fourth correction light to the left light distribution variable unit and the right light distribution variable unit of the headlamp. (Supplementary Note 8) A control method for a headlamp, which is a control method executed by a controller for controlling the headlamp, where the headlamp includes a left light distribution variable unit and a right light distribution variable unit disposed on the left and right of the front of the vehicle, and the combined irradiation light toward the front of the vehicle is formed by overlapping the irradiation lights respectively formed by the left light distribution variable unit and the right light distribution variable unit in front of the vehicle, where The controller performs the following processes: According to the position of an object existing in front of the vehicle, set a first dimming range in the irradiation range of the left light distribution variable unit, and set a second dimming range in the irradiation range of the right light distribution variable unit; Set the irradiation range of the first correction light irradiated by the left light distribution variable unit and / or the right light distribution variable unit at the lower left corner of the lower end side of the first combined dimming range, and set the irradiation range of the second correction light irradiated by the right light distribution variable unit and / or the left light distribution variable unit at the lower right corner of the lower end side of the first combined dimming range, where the first combined dimming range is a range obtained by overlapping the first dimming range and the second dimming range at a position closer to the vehicle than the object; and Supply a control signal for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light to the left light distribution variable unit and the right light distribution variable unit of the headlamp. (Supplementary Note 9) A headlamp system, which includes: The control device according to any one of Supplementary Notes 1 to 7; and A light distribution variable headlamp connected to the control device.

Claims

1. A control device for a headlamp, which is a device for controlling a headlamp. The headlamp includes a left light distribution variable unit and a right light distribution variable unit disposed on the left and right of the front of the vehicle, and a combined irradiation light directed toward the front of the vehicle is formed by overlapping the irradiation lights respectively formed by the left light distribution variable unit and the right light distribution variable unit in front of the vehicle. Among them, the control device for the headlamp includes: a front monitoring sensor having a function of detecting an object existing in front of the vehicle; and a controller connected to the headlamp and the front monitoring sensor respectively and controlling the operation of the headlamp, the controller performs the following processing: According to the position of the object detected by the front monitoring sensor, a first dimming range is set in the irradiation range of the left light distribution variable unit, and a second dimming range is set in the irradiation range of the right light distribution variable unit; An irradiation range of a first correction light is set at the left corner on the lower end side of the first combined dimming range, and an irradiation range of a second correction light is set at the right corner on the lower end side of the first combined dimming range. The first combined dimming range is configured to include the first dimming range and the second dimming range at a position closer to the vehicle than the object; and A control signal for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light is supplied to the left light distribution variable unit and the right light distribution variable unit of the headlamp.

2. The control device for a headlamp according to claim 1, wherein, The shapes of the first dimming range and the second dimming range on a screen hanging down in front of the vehicle and observed in the traveling direction of the vehicle are substantially rectangular.

3. The control device for a headlamp according to claim 1, wherein, The first correction light is irradiated by the left light distribution variable unit, and the second correction light is irradiated by the right light distribution variable unit.

4. The control device for a headlamp according to claim 2, wherein, Regarding the irradiation ranges of the first correction light and the second correction light respectively, the height and / or width observed in the traveling direction of the vehicle on the screen are set based on the relative distance of the object and / or the relative positional relationship of the object.

5. The control device for a headlamp according to claim 2, wherein, Regarding the irradiation ranges of the first correction light and the second correction light respectively, the height and / or width observed in the traveling direction of the vehicle on the screen are set based on the inclination of the vehicle in the pitch direction.

6. The control device for a headlamp according to claim 2, wherein, Regarding the irradiation ranges of the first correction light and the second correction light respectively, at each of the left corner and the right corner on the lower end side of the first combined dimming range, it is set to be substantially triangular when observed in the traveling direction of the vehicle on the screen.

7. The control device for a headlamp according to claim 1, wherein, the controller performs the following processing: set the irradiation range of the third correction light at the left corner on the upper end side of the second combined dimming range, and set the irradiation range of the fourth correction light at the right corner on the upper end side of the second combined dimming range, wherein the second combined dimming range is configured to include the first dimming range and the second dimming range at a position farther from the vehicle than the object; and supply a control signal for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, the irradiation range of the second correction light, the irradiation range of the third correction light, and the irradiation range of the fourth correction light to the left light distribution variable unit and the right light distribution variable unit of the headlamp.

8. A control method for a headlamp, which is a control method executed by a controller to control the headlamp, wherein, The headlamp includes a left light distribution variable unit and a right light distribution variable unit disposed on the left and right of the front of the vehicle, and the combined irradiation light directed to the front of the vehicle is formed by overlapping the irradiation lights respectively formed by the left light distribution variable unit and the right light distribution variable unit, wherein, the controller performs the following processing: set a first dimming range in the irradiation range of the left light distribution variable unit and set a second dimming range in the irradiation range of the right light distribution variable unit according to the position of an object existing in front of the vehicle; set the irradiation range of the first correction light at the left corner on the lower end side of the first combined dimming range, and set the irradiation range of the second correction light at the right corner on the lower end side of the first combined dimming range, wherein the first combined dimming range is configured to include the first dimming range and the second dimming range at a position closer to the vehicle than the object; and supply a control signal for realizing the combined irradiation light including the first dimming range, the second dimming range, the irradiation range of the first correction light, and the irradiation range of the second correction light to the left light distribution variable unit and the right light distribution variable unit of the headlamp.

9. A headlamp system, comprising: the control device according to claim 1; and a light distribution variable headlamp connected to the control device.

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