VEHICLE LIGHTING DEVICE

Abstract

Vehicle driving light device with an image sensor (91, 92) for obtaining information about an object in front of a host vehicle, a first illumination (20R, 20L) to illuminate a space in front of the host vehicle with light, a second lighting system (30R, 30L) with a laser light source (32) that emits laser light, a movable mirror element (33) that reflects the laser light in front of the host vehicle, and an actuator (37, 38) that drives the movable mirror element (33), an illumination light distribution pattern control unit (102, 103) for controlling a light distribution pattern generated by the light from the first illumination (20R, 20L) based on information obtained by the image sensor (91, 92) such that a dark region is generated where the emission with the light from the first illumination (20R, 20L) is reduced, wherein the dark region contains an emission-suppressed area (400, 402, 404) described by coordinate values ​​of four corners of a rectangle in an image of the image sensor, wherein the emission-suppressed area contains at least part of an emission-suppression target object, and the emission-suppression target object is detected by the image sensor (91, 92), a laser light distribution pattern setting unit (105) for setting a laser light distribution pattern in which emission with the laser light is carried out in a non-dark region that is contained in the dark region but does not contain the emission-suppressed spot, and a laser light distribution pattern control unit (106) for controlling the actuator such that the laser light is reflected in the laser light distribution pattern, wherein the dark region contains the non-dark region and the radiation-suppressed area, in the non-dark region the emission with the light from the first illumination (20R, 20L) is reduced, without emission with the laser light from the second illumination (30R, 30L) being reduced, and At the emission-suppressed location, both the emission with the light from the first illumination (20R, 20L) and the emission with the laser light from the second illumination (30R, 30L) are reduced.

Description

BACKGROUND OF THE INVENTION 1. Field of the invention

[0001] The invention relates to a vehicle driving light device. 2. Description of the related technology

[0002] A vehicle driving light device comprising a laser light source, a movable mirror element and an actuator, and forming various light distribution patterns, is known (see, for example, JP 2015 - 38885 A).

[0003] Furthermore, a vehicle driving light device is known that provides illumination in front of a host vehicle by combining respective LED-emitting regions of a plurality of light-emitting diodes (LEDs). In this known vehicle driving light device, some of the plurality of LEDs are switched off or dimmed when the vehicle in front is detected, such that a region corresponding to a vehicle in front of the host vehicle (an example of a glare suppression target object) is contained within a dark region of a light distribution pattern (a region not illuminated by high beams) (see, for example, JP 2015-016773A). This is intended to reduce glare from the vehicle in front.

[0004] A vehicle driving light device is also known that can create a dark region by dividing and shielding an emissive region in a vertical direction with a movable aperture. In this vehicle driving light device, the position and swivel angle (an orientation of an optical axis in a horizontal plane) of the movable aperture are controlled such that a region corresponding to a vehicle ahead is contained within the dark region of a light distribution pattern when the vehicle ahead is detected (see, for example, JP 2009-227088A). This serves to reduce glare from the vehicle ahead.

[0005] In the vehicle lighting devices disclosed in JP 2015-016773 A and JP 2009-227088 A, the dark region of the light distribution pattern cannot be adjusted with a high degree of resolution due to limitations associated with the LED configuration or the configuration of the movable aperture. Consequently, a problem arises in that even a region that should initially be emitted with high beams is contained within the dark region. That is, the problem arises in that even the region that should initially be emitted with high beams is affected and becomes dark when the LED is switched off or when the movable aperture is blocked.

[0006] DE 10 2014 224 562 A1 discloses a method for generating a front light distribution using a vehicle lighting device, which comprises a basic light device for emitting a basic light distribution with predefined, maskable zones, and an additional laser light with a laser light source and a light conversion device for transforming the laser light into a variable additional light distribution. According to the method, a basic light distribution with at least one masked zone is generated, and an additional light distribution is generated such that it at least partially covers the masked zone.

[0007] DE 20 2011 103 805 U1 discloses a light module for a motor vehicle for generating a basic distribution of a high-beam light distribution, which is formed by a superposition of the basic distribution and a spot distribution generated by at least one other module. The light module is divided into several separately controllable sub-modules, which generate several block segments of the basic distribution, the block segments being complementary to form the basic distribution.

[0008] US 2015 / 0137680A1 discloses a light-emitting luminaire comprising a laser light source, a scanning unit that scans the laser light emitted by the laser light source to form a visible light distribution pattern, an obstacle detector that detects an obstacle in front of a driver's vehicle, and a control unit that adjusts the intensity of the laser light emitted onto an area where the obstacle is located according to the distance from the driver's vehicle to the obstacle based on the detection result of the obstacle detector. SUMMARY OF THE INVENTION

[0009] For example, in the vehicle lighting device disclosed in JP 2015-016773 A, the respective LED-emitting regions of the multitude of LEDs are aligned in a horizontal line. This means that the vehicle lighting device according to JP 2015-016773 A has no dark region resolution in the vertical direction. Consequently, regions on the upper and lower sides of the vehicle in front of it become dark due to the LEDs being switched off. Furthermore, in the vehicle lighting device according to JP 2009-227088 A, the movable shutter divides the emitting region only in the vertical direction. This means that in the vehicle lighting device according to JP 2009-227088 A, there is no dark region resolution in the vertical direction. Consequently, regions above and below the vehicle in front of it become dark due to the shading caused by the movable shutter.

[0010] As described above, the vehicle driving light devices according to the related prior art disclosed in JP 2015-016773 A and JP 2009-227088 A cause a problem by worsening the visibility of the driver of a host vehicle, which is attributable to the dark region, although these vehicle driving light devices can reduce glare with respect to the irradiance suppression target object.

[0011] The invention provides a vehicle driving light device that reduces deterioration of the driver's vision of a host vehicle attributable to a dark region, while reducing glare with respect to an irradiation suppression target object.

[0012] According to the invention, a vehicle driving light device as defined in the attached patent claims is provided.

[0013] A vehicle lighting device according to a first embodiment comprises a sensor for obtaining information about an object in front of a host vehicle, a first illumination for illuminating a space in front of the host vehicle with light, a second illumination with a laser light-emitting laser light source, a movable mirror element reflecting the laser light in front of the host vehicle and an actuator driving the movable mirror element, an illumination light distribution pattern control unit for controlling a light distribution pattern generated by the light from the first illumination based on the information obtained by the sensor, such that an emission-suppressed area, where the emission with the light from the first illumination is suppressed, is contained in a dark region, where the emission with the light from the first illumination is reduced.wherein the emission-suppressed area contains at least part of an emission-suppressed target object, and wherein the emission-suppressed target object is detected by the sensor, a laser light distribution pattern setting unit for setting a laser light distribution pattern in which emission with the laser light is performed in a region that does not contain the emission-suppressed area and is contained in the dark region, and a laser light distribution pattern control unit for controlling the actuator such that the laser light is reflected in the laser light distribution pattern.

[0014] The first embodiment can include an emission-suppressed region setting unit for adjusting an emission-suppressed region where the emission from the light is reduced by the first illumination based on the information received from the sensor, wherein the emission-suppressed region contains the emission-suppressed area. The illumination light distribution pattern control unit can control the light distribution pattern generated by the light such that the emission-suppressed region is contained within the dark region, and the laser light distribution pattern setting unit can be configured to adjust the laser light distribution pattern such that a region other than the emission-suppressed region, which is contained within the dark region, is emitted with the laser light.

[0015] In the first embodiment described above, a sensor is provided to obtain information about the objects in front of the host vehicle. The emission suppression target object can be, for example, a vehicle in front of the host vehicle (vehicle ahead) or a pedestrian. The sensor can be, for example, an image sensor. The emission suppression region setting unit sets an emission suppression region, containing the emission suppression area of ​​the emission suppression target object, based on the object information from the sensor. The emission suppression area can be, for example, the windshield of an oncoming car or the face of a pedestrian.The emission-suppressed region can be set to contain the emission-suppressed target object in its entirety, or it can be set to contain the emission-suppressed part of the emission-suppressed target object while excluding other parts of the emission-suppressed target object. The illumination light distribution pattern control unit controls the light distribution pattern produced by the light emitted from the primary illumination source such that a prohibition target region set by the emission-suppressed region setting unit is contained within the dark region. The dark region can be obtained, for example, by turning off some LEDs in an LED array where a large number of the LEDs are oriented laterally. In this case, the position and extent of the dark region can be adjusted by changing which LEDs are turned off.Alternatively, the dark region can be shielded by a movable aperture. In this case, the position and area of ​​the dark region can be adjusted by changing the optical axis of the primary illumination in a horizontal direction while the aperture is shielded. This ensures a high level of visibility over long distances using the primary illumination while simultaneously reducing glare on the emission-suppression target object.

[0016] According to the first embodiment, the second illumination is further provided by the laser light source, the movable mirror element, and the actuator. The laser light distribution pattern setting unit sets the laser light distribution pattern in which the laser light is emitted in a region that is distinct from the emission-suppressed region and is contained within the dark region. The region distinct from the emission-suppressed region and contained within the dark region represents a concept that includes the entire dark region that does not contain the emission-suppressed region and a portion of the dark region that does not contain the emission-suppressed region. The laser light distribution pattern control unit controls the second illumination such that the laser light is reflected in the laser light distribution pattern set by the laser light distribution pattern setting unit.In this way, the region that differs from the suppressed area and is contained within the dark region can be illuminated using the second illumination. As a result, the impairment of the driver's visibility in a host vehicle, attributable to the dark region, can be reduced.

[0017] In the above configuration, the resolution of the light from the first illumination can be lower than the resolution of the laser light from the second illumination.

[0018] In the above embodiment, the resolution of the light distribution pattern generated by the light from the first illumination can be lower than the resolution of the laser light distribution pattern.

[0019] In the above embodiment, the laser light distribution pattern setting unit can adjust the laser light distribution pattern based on information from a navigation device of the host vehicle, so that guidance information is displayed on a road surface in front of the host vehicle.

[0020] In the above embodiment, the laser light distribution pattern setting unit can control the actuator in such a way that the laser light is reflected to a section below a person's face.

[0021] In the above embodiment, the laser light distribution pattern setting unit can adjust the laser light distribution pattern such that the laser light is also reflected to a region up to a predetermined height from a horizontal line into a region that is emitted with the light from the first illumination.

[0022] According to the invention, the glare of the emission suppression target object can be reduced and at the same time the deterioration of the driver's vision attributable to the dark region can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The following describes features, advantages and technical and industrial characteristics of exemplary embodiments of the invention with reference to the accompanying drawings, in which the same reference numerals denote the same elements. Fig. Figure 1 shows a representation of the construction of a vehicle driving light device according to a first embodiment of the invention. Fig. Figure 2 shows a representation of an example of a hardware setup of a control device. Fig. Figure 3 shows a schematic representation of the structure of a right and a left headlight. Fig. Figure 4A shows a top view of a schematic structure of an LED unit. Fig. Figure 4B shows a schematic representation of an example of an LED-emitting region of the LED unit. Fig. Figure 5A shows a top view of a schematic setup of a laser unit. Fig. Figure 5B shows a schematic representation of a MEMS mirror control principle. Fig. Figure 5C shows a schematic representation of an example of a laser-emitting region of the laser unit. Fig. Figure 6A shows a front view of a phosphor in the laser unit. Fig. Figure 6B shows a cross-section of the phosphor along the line 6B-6B in Fig. 6A. Fig. Figure 7 shows a flowchart of an example of light distribution control processing of the control device according to the first embodiment. Fig. Figure 8A shows a flowchart of an example of processing for generating Emission Suppression target object information. Fig. Figure 8B shows an explanatory representation of the emission suppression target information. Fig. Figure 9 shows a flowchart of an example of an LED light distribution pattern determination process. Fig. Figure 10 shows a representation of an example of imaging data M1 used for partial non-emission pattern determination. Fig. Figure 11 shows a flowchart of an example of laser light emission pattern determination processing according to the first execution example. Fig. Figure 12 shows an illustrative representation of a light distribution pattern that is realized by the light distribution control processing according to the first embodiment. Fig. Figure 13 shows an explanatory representation of a radiation region defined by the in Fig. The 12 light distribution patterns shown are realized. Fig. Figure 14 shows an explanatory representation of a radiation region that is realized by a light distribution control processing according to a comparative example. Fig. Figure 15 shows a representation of the construction of a vehicle driving light device according to a second embodiment of the invention. Fig. Figure 16 shows a flowchart of an example of light distribution control processing of a control device according to the second embodiment. Fig. Figure 17 shows a flowchart of an example of laser light emission pattern determination processing according to the second embodiment. Fig. Figure 18 shows an illustrative representation of a light distribution pattern that is realized by the light distribution control processing according to the second embodiment. Fig. Figure 19 shows a representation of the construction of a vehicle driving light device according to a third embodiment of the invention. Fig. Figure 20 shows a schematic representation of the structure of a lamp unit of the aperture type. Fig. Figure 21A shows a schematic representation of an example of the operation of a light distribution switching shutter. Fig. Figure 21B shows a schematic representation of an example of the operation of the light distribution switching shutter. Fig. Figure 21C shows a schematic representation of an example of the operation of the light distribution switching shutter. Fig. Figure 22A shows a schematic representation of an example of a high beam pattern emission region. Fig. Figure 22B shows a schematic representation of an example of a split-beam pattern emission region. Fig. Figure 22C shows a schematic representation of an example of a low beam pattern emission region. Fig. Figure 23 shows a flowchart of an example of light distribution control processing of a control device according to the third embodiment. Fig. Figure 24 shows a flowchart of an example of a basic light distribution pattern determination process. Fig. Figure 25 shows a flowchart of an example of laser light emission pattern determination processing. DETAILED DESCRIPTION OF THE EXAMPLES OF EXECUTION

[0024] Exemplary embodiments of the invention are described below with reference to the accompanying drawings. [First embodiment]

[0025] A first embodiment of the invention is described below. Fig. Figure 1 shows a representation of the construction of a vehicle driving light device 1 according to the first embodiment of the invention. Fig. Figure 2 shows a representation of an example of a hardware setup for a control device. A vehicle electronics group 9 is schematically depicted in Fig. 2 shown, which is connected to the hardware setup of an information recording ECU 7.

[0026] The vehicle driving light device 1 is attached to a vehicle. The vehicle to which the vehicle driving light device 1 is attached is hereinafter referred to as the ‘host vehicle’.

[0027] The vehicle driving light device 1 includes a control device 7, a right and a left driving light 80R, 80L, a driving condition detection sensor 90, a first image sensor 91 and a second image sensor 92.

[0028] As in Fig. As shown in Figure 2, the control device 7 includes a central processing unit (CPU) 11, random access memory (RAM) 12, read-only memory (ROM) 13, auxiliary memory 14, and a communication interface 16, all connected via a bus 15, as well as a wired transceiver 17 connected to the communication interface 16. The auxiliary memory 14 is, for example, an electrically erasable programmable read-only memory (EEPROM) or a hard disk drive (HDD). The wired transceiver 17 includes a transmitter and receiver capable of communicating using a vehicle network, such as a controller area network (CAN) or a local interconnect network (LIN).A wireless transmitting and receiving unit, such as a near-field communication (NFC) unit, a Bluetooth (registered trademark) communication unit, a wireless network (Wi-Fi) transmitting and receiving unit, or an infrared transmitting and receiving unit, may also be provided in addition to the wired transmitting and receiving unit 17.

[0029] The driving lights 80R, 80L, the driving condition detection sensor 90, the first image sensor 91 and the second image sensor 92 are connected to the control device 7. The driving lights 80R, 80L, the driving condition detection sensor 90, the first image sensor 91 and the second image sensor 92 form the vehicle electronics group 9, which is located in Fig. 2 is shown.

[0030] The driving light 80L is located on the left side of the front section of the host vehicle. The driving light 80L provides illumination in front of the host vehicle. The driving light 80L comprises a low beam (continuous driving light) unit 10L, a near-infrared projection unit 11L, an LED unit 20L, and a laser unit 30L.

[0031] The driving light 80R is located on the right side of the front section of the host vehicle. The driving light 80R provides illumination in front of the host vehicle. The driving light 80R comprises a low beam unit 10R, a near-infrared light projection unit 11R, an LED unit 20R, and a laser unit 30R.

[0032] The vehicle condition detection sensor 90 contains a vehicle speed sensor and a steering sensor. The vehicle speed sensor detects the vehicle's speed. The steering sensor detects the steering angle. The results of the detection by the vehicle condition detection sensor 90 are used for a control system to cause the direction of emission (optical axis) of the driving lights 80R, 80L to correspond to the direction in which the host vehicle is turning (adaptive front-lighting system (AFS)).

[0033] Both the first image sensor 91 and the second image sensor 92 acquire information about an object in front of the host vehicle. Specifically, both the first image sensor 91 and the second image sensor 92 are cameras that acquire an image of a space in front of the host vehicle. The imaging areas (fields of view) of the first image sensor 91 and the second image sensor 92 include at least the emitting regions of the driving lights 80R and 80L (described below). In the following description, the mounting positions and imaging areas (fields of view and optical axes) of the first image sensor 91 and the second image sensor 92 are considered to be substantially the same and are regarded as identical.Furthermore, in the following description, a landscape in front of the host vehicle, captured by the first image sensor 91, is considered to be the same as a landscape in front of the host vehicle that a general driver would perceive with his eye.

[0034] The first image sensor 91 is a color camera capable of identifying differences in the color of lights (headlights and taillights) of a vehicle in front of it. The vehicle in front is a concept encompassing a car traveling ahead and an oncoming car. In this first embodiment, an infrared cutoff filter, which blocks infrared wavelengths of at least 700 nm, is arranged in the first image sensor 91 to ensure color reproduction capability. For example, the first image sensor 91 is mounted on an interior rearview mirror in the passenger compartment and is directed towards the front of the host vehicle.

[0035] The second image sensor 92 has infrared sensitivity. The second image sensor 92 is equipped with a visible light cutoff filter and provides a near-infrared image. For example, the second image sensor 92 is mounted on the interior rearview mirror in the passenger compartment and is directed towards the front of the host vehicle.

[0036] As in Fig. As shown in Figure 1, the control device 7 includes a data acquisition unit 100, a first information generation unit 101, an LED light distribution pattern determination unit 102, an LED light distribution control unit 103, a road surface drawing information generation unit 104, a laser emission pattern determination unit 105, a laser emission control unit 106, and a storage unit 110. The data acquisition unit 100, the first information generation unit 101, the LED light distribution pattern determination unit 102, the LED light distribution control unit 103, the road surface drawing information generation unit 104, the laser emission pattern determination unit 105, and the laser emission control unit 106 can each be implemented by the CPU 11, which is located in Fig. 2 is shown, and executes one or more programs stored in ROM 13, which is in Fig. Figure 2 is shown. The memory unit 110 can be implemented using ROM 13.

[0037] The data acquisition unit 100 obtains sensor information from the driving condition detection sensor 90, the first image sensor 91 and the second image sensor 92.

[0038] The first information generation unit 101 generates information regarding an emission suppression target in an area in front of the host vehicle (hereinafter referred to as "emission suppression target information") based on sensor information (images) from the first image sensor 91 and second image sensor 92, which are acquired by the data acquisition unit 100. In this first embodiment, the emission suppression targets are the vehicle in front and a pedestrian. The emission suppression target information includes information as to whether the emission suppression target is present or absent, and information regarding the position of the emission suppression target.As described below, processing to generate the emission suppression target object information includes processing to set an emission suppression region (which will be described later).

[0039] The first information generation unit 101 contains an emission suppression target object detection unit 1011 and an emission suppression point detection unit 1012.

[0040] The emission suppression target detection unit 1011 identifies the emission suppression target object in the emittable regions of the LED units 20R, 20L (described below) based on the information (images) from the first image sensor 91 and second image sensor 92. A specific example of a method for identifying the emission suppression target object is described later.

[0041] The emission suppression spot detection unit 1012 identifies a predetermined spot (an emission suppression spot) that is part of the emission suppression target identified by the emission suppression target detection unit 1011, based on information from the first image sensor 91 and the second image sensor 92. If the emission suppression target is the oncoming vehicle, the predetermined spot might be, for example, the entire windshield or a portion of the windshield (such as half of the driver's side from right to left). If the emission suppression target is the vehicle ahead, the predetermined spot might be, for example, the entire rear window or a center position of the rear window. If the emission suppression target is the pedestrian, the predetermined spot might be, for example, the pedestrian's face.The following is a specific example of a procedure for identifying the predetermined location.

[0042] The LED light distribution pattern determination unit 102 determines the respective LED light distribution patterns of the LED units 20R and 20L based on the emission suppression target object information from the first information generation unit 101 (a result of identification by the emission suppression target object detection unit 1011). The LED light distribution patterns refer to a pattern generated by emitting light from the LED units 20R and 20L, projected onto an imaginary vertical screen in front of the LED units 20R and 20L. The LED light distribution pattern optionally includes a normal light distribution pattern and a partial non-emission pattern, in which part of an emission region of the normal light distribution pattern is a dark region (as described below). A specific example of a procedure for determining the LED light distribution pattern is described later.

[0043] The LED light distribution control unit 103 controls the respective light distribution patterns of the LED units 20R and 20L, such that these patterns correspond to the LED light distribution pattern determined by the LED light distribution pattern determination unit 102. In other words, the LED light distribution control unit 103 controls the LED units 20R and 20L in such a way that the LED light distribution pattern determined by the LED light distribution pattern determination unit 102 is realized. A specific example of a method for this control will be described later.

[0044] The Road Surface Drawing Information Generation Unit 104 generates information for a road surface drawing based on laser light (hereinafter referred to as "road surface drawing information"). The laser-based road surface drawing can be realized by projecting a predetermined pattern of a road surface in front of the host vehicle (by drawing a predetermined pattern on a road surface using light). The Road Surface Drawing Information Generation Unit 104 generates information to be transmitted to a host vehicle passenger as the road surface drawing information using the laser-based road surface drawing. Examples of the road surface drawing information include guidance information for a navigation device (not shown).

[0045] The laser emission pattern determination unit 105 determines the respective laser light emission patterns of the laser units 30R and 30L. The laser emission pattern determination unit 105 comprises a first emission pattern determination unit 1051 and a second emission pattern determination unit 1052.

[0046] The first emission pattern determination unit 1051 determines the respective laser emission patterns of the laser units 30R, 30L based on the emission suppression target object information from the first information generation unit 101 and the LED light distribution pattern determined by the LED light distribution pattern determination unit 102. The laser emission pattern refers to a pattern (a scanning pattern) in which a phosphor 34 (described below) is irradiated with laser light. The laser emission pattern and a pattern generated by emitting light from the laser units 30R, 30L projected onto an imaginary vertical screen in front of the laser units 30R, 30L (i.e., the light distribution pattern of the laser units 30R, 30L) have a one-to-one correspondence.Accordingly, in this embodiment, the determination of the laser light emission patterns of the laser units 30R and 30L is essentially the same as the determination of the light distribution patterns of the laser units 30R and 30L. In the following description, the laser light emission pattern determined by the first emission pattern determination unit 1051 is referred to as the "first laser emission pattern." The light distribution pattern (a pattern on the vertical screen) realized by emitting the first laser emission pattern is an example of a "laser light distribution pattern." A specific example of a method for determining the first laser emission pattern is described later.

[0047] The second emission pattern determination unit 1052 determines the respective laser light emission patterns of the laser units 30R and 30L based on the road surface drawing information from the road surface drawing information generation unit 104. In the following description, the laser light emission pattern determined by the second emission pattern determination unit 1052 is referred to as the "second laser emission pattern." For example, if the road surface drawing information is a right or left turn signal as guidance information for the navigation device, as described above, the second emission pattern determination unit 1052 determines the second laser emission pattern in which the right or left turn signal is visible on the road surface. In this way, information regarding the road surface drawing information can be effectively transmitted to the host vehicle passenger.A correspondence relationship between the road surface drawing information and the second laser emission pattern is pre-stored as image data in storage unit 110.

[0048] The laser emission control unit 106 controls the laser units 30R and 30L based on the emission pattern determined by the laser emission pattern determination unit 105. The laser emission control unit 106 comprises a first laser emission control unit 1061 and a second laser emission control unit 1062. If the first laser emission pattern was determined by the first emission pattern determination unit 1051, the first laser emission control unit 1061 controls the laser units 30R and 30L based on this first laser emission pattern. If the second laser emission pattern was determined by the second emission pattern determination unit 1052, the second laser emission control unit 1062 controls the laser units 30R and 30L based on this second laser emission pattern.

[0049] The imaging data, such as the imaging data M1 (described below) and the like, are stored in memory unit 110. The imaging data M1 is described below.

[0050] The following describes the construction of the driving lights 80R, 80L with reference to the Fig. 3 to 6B described.

[0051] Fig. Figure 3 shows a top view of the schematic structure of the driving lights 80R, 80L.

[0052] As shown schematically in Fig. As shown in Figure 3, the low beam unit 10L, the near-infrared light projection unit 11L, the LED unit 20L, and the laser unit 30L of the driving light 80L are arranged laterally on the left side. Similarly, the low beam unit 10R, the near-infrared light projection unit 11R, the LED unit 20R, and the laser unit 30R of the driving light 80R are arranged laterally on the right side, as shown schematically in Figure 3. Fig. Figure 3 shows that the order and direction of alignment can be configured differently than those shown. Fig. 3 episodes shown.

[0053] Both near-infrared light projection devices 11R and 11L emit near-infrared light into the space in front of the host vehicle. Both near-infrared light projection devices 11R and 11L can be switched on and off. The near-infrared light is emitted when either the near-infrared light projection device 11R or 11L is switched on. Each of the near-infrared light projection devices 11R and 11L projects the near-infrared light in a horizontal direction (above the low-beam units 10R and 10L) into the space in front of the host vehicle.

[0054] Each of the dipped beam units 10R, 10L is formed by the use of a halogen lamp, a high-intensity discharge (HID) lamp, an LED lamp or the like.

[0055] The LED units 20R and 20L are each formed by using an array in which a large number of LEDs are arranged in a line in the lateral direction. The LED units 20R and 20L emit high beam in the horizontal direction (along an optical axis that is higher than that of the low beam units 10R and 10L) towards the area in front of the host vehicle.

[0056] Fig. Figure 4A shows a top view of a schematic assembly of the LED unit 20L. The assembly of the LED unit 20L described here is essentially identical to the assembly of the LED unit 20R.

[0057] As in Fig. As shown in Figure 4A, the LED unit 20L contains, for example, 10 LEDs 231 to 240 and a lens 26. The 10 LEDs 231 to 240 are arranged in a line in the lateral direction. The 10 LEDs 231 to 240 are arranged in a line, for example, on a horizontal plane. The 10 LEDs 231 to 240 can also be arranged in a line at a slight angle to the horizontal plane.

[0058] Lens 26 projects light from LEDs 231 to 240 into the space in front of the host vehicle.

[0059] The states regarding the activation of LEDs 231 to 240 of LED unit 20L (ON / OFF and light emission intensity at the time when LEDs 231 to 240 are switched on) are controlled by the LED light distribution control unit 103. The activation states of LEDs 231 to 240 can be controlled, for example, using pulse-width modulation (PWM). LED unit 20L illuminates the area in front of the host vehicle with the light from LEDs 231 to 240 under the control of the LED light distribution control unit 103.

[0060] Fig. Figure 4B shows a schematic representation of an example of an LED-emitting region of the LED unit 20L. LED-emitting regions A1 to A10 of the LED unit 20L in Fig. 4B are schematic LED-emitting regions at a time when the front of the host vehicle is viewed from the driver's perspective. A straight line V represents a vertical line corresponding to a midpoint of the entire LED-emitting region of LED-emitting regions A1 to A10 of LED unit 20L, and H represents a horizontal line. Fig. 4B shows the LED-emitting regions as two-dimensional regions that are generated on an imaginary vertical screen at a predetermined position in front of the host vehicle.

[0061] As in Fig. As shown in Figure 4B, the LED emitting region of the LED unit 20L consists of a set of multiple LED emitting regions A1 to A10, subdivided vertically. Considering light distribution characteristics, the vertical subdivision incorporates the concept of a vertical division overall and need not necessarily be limited to a precise division along a straight line. The LED emitting regions A1 to A10 of the LED unit 20L in Fig. 4B correspond to emission regions at a time when the 10 LEDs 231 to 240 are each switched on. In particular, the LED-emitting region A1 of LED unit 20L corresponds to the emission region at a time when LED 231 is switched on, the LED-emitting region A2 of LED unit 20L corresponds to the emission region at a time when LED 232 is switched on, and so on. All LED-emitting regions A1 to A10 of LED unit 20L basically correspond to the emission region of a general high beam (driving light). As in Fig. As shown in Figure 4A, all LED-emitting regions A1 to A10 of LED unit 20L contain regions above and below the horizontal line. The LED-emitting regions (not shown) of LED unit 20R are essentially regions that overlap the respective LED-emitting regions A1 to A10 of LED unit 20L. Therefore, the respective LED-emitting regions of LED unit 20R and the respective LED-emitting regions A1 to A10 of LED unit 20L are not distinguished from each other in the following description.

[0062] Fig. Figure 5A shows a top view of a schematic setup of the 30L laser unit. Fig. Figure 5B shows a schematic representation of a control principle for a MEMS mirror 33, and Fig. Figure 5C shows a schematic representation of an example of a laser-emitting region of the Laser Unit 30L at the time when the front of the host vehicle is viewed from the driver's point of view. Fig. Figure 6A shows a front view of the phosphor 34 of the laser unit 30R, and Fig. Figure 6B shows a cross-section of the phosphor 34 along line 6B-6B in Fig. 6A. The setup of the laser unit 30L described here is essentially identical to the setup of the laser unit 30R. One direction in which laser light is reflected from a laser light source 32 is shown in Fig. 5A is schematically illustrated by an arrow.

[0063] As in the Fig. 5A and Fig. As shown in Figure 5B, the laser unit 30L contains the laser light source 32, the mirror 33 according to microelectromechanical systems (MEMS) (an example of a movable mirror element), the phosphor 34, a lens 36 and actuators 37, 38 (in Fig. 5A not shown).

[0064] The laser light source 32, which is a semiconductor laser or the like, generates the laser light (such as blue light).

[0065] The MEMS mirror 33 is rotatable (tiltable) about two axes. The MEMS mirror 33 is driven to rotate about the two axes by the actuators 37, 38, as shown in Fig. Figure 5B schematically shows the rotation directions P and Q. The two axes are contained within a reflective surface of the MEMS mirror 33 and are orthogonal to each other. The actuators 37 and 38 are, for example, piezoelectric lead zirconate titanate (PZT) layers. The actuators 37 and 38 expand and contract upon application of voltage, and the reflective surface of the MEMS mirror 33 rotates along rotation axes 39a and 39b as the expansion and contraction are transmitted. The MEMS mirror 33 causes the laser light from the laser light source 32 to be reflected to any point on the phosphor 34. A relationship between an angle of the MEMS mirror 33 (any angle about the two axes) and a position on the phosphor 34 reached by the laser light after reflection by the MEMS mirror 33 is geometrically defined.

[0066] As in the Fig. 6A and Fig. As shown in Figure 6B, the phosphor 34 has a structure in which a phosphor material 342 is held by a frame 341. As shown in Fig. As shown in Figure 6A, the phosphor 34 has the form of a plate and emits light at the position on the phosphor 34 that is reached by the laser light. In particular, the phosphor material 342 of the phosphor 34 is excited and emits yellow light by absorbing the blue light emitted by the laser light source 32. The yellow light is complementary to the blue light, and thus white light is emitted by the phosphor 34, with the blue and yellow light being a mixture.

[0067] Lens 36 projects the light from the fluorescent material 34 to the space in front of the host vehicle.

[0068] The laser emission control unit 106 controls the on / off state of the laser light source 32 of the laser unit 30L and each angle of the MEMS mirror 33 about the two axes. Under the control of the laser emission control unit 106, the laser unit 30L spreads the laser light (the laser light from the laser light source 32, which is a point light source) in front of the host vehicle and illuminates the space in front of the host vehicle with the laser light by causing the laser light from the laser light source 32 to reflect into the space in front of the host vehicle while each angle of the MEMS mirror 33 about the two axes is changed.

[0069] A laser-emitting region B1 of the laser unit 30L, which is located in Fig. The region shown in Figure 5C corresponds to the emission region at the time when the entire phosphor 34 emits light. The laser-emitting region B1 of laser unit 30L contains the entire LED-emitting region of all LED-emitting regions A1 to A10 of LED unit 20L. Furthermore, a (not shown) laser-emitting region of laser unit 30R is essentially the same as the laser-emitting region B1 of laser unit 30L. Therefore, in the following description, the laser-emitting region of laser unit 30R and the laser-emitting region of laser unit 30L are not distinguished from one another.

[0070] If only a portion of the phosphor 34 emits light, a corresponding subregion in the laser-emitting region B1 becomes the emission region of the laser unit 30L. Therefore, a desired region in the laser-emitting region B1 can become the emission region of the laser unit 30L by controlling the MEMS mirror 33 and the laser light source 32, and by changing the pattern (the scanning pattern) in which the phosphor 34 is irradiated with the laser light.

[0071] The following describes a processing operation carried out by the control device 7 with reference to the Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. 13. The following description describes a light distribution control processing system for the driving light 80L. The same applies to a light distribution control processing system for the driving light 80R.

[0072] Fig. Figure 7 shows a flowchart of an example of the light distribution control processing of control device 7. The light distribution control processing, which is in Fig. The process shown in Figure 7 is executed repeatedly at predetermined time intervals in one instance, for example, when the driving light 80L is switched on and a light distribution control switch (not shown) is switched on. When the light distribution control switch is switched on, the near-infrared light projection device 11L is switched on.

[0073] In step S700, the data acquisition unit 100 obtains the sensor information from the driving condition detection sensor 90, the first image sensor 91 and the second image sensor 92.

[0074] In step S702, the first information generation unit 101 performs the emission suppression target object information generation processing based on the sensor information obtained in step S700. An example of the emission suppression target object information generation processing is described later.

[0075] In step S704, the LED light distribution pattern determination unit 102 performs LED light distribution pattern determination processing based on the emission suppression target object information obtained in step S702. As described above, the LED light distribution pattern optionally includes the normal light distribution pattern and the partial non-emission pattern, in which part of the emission region of the normal light distribution pattern is the dark region. The normal light distribution pattern corresponds to a pattern at a time when all LEDs 231 to 240 of the LED unit 20L are turned on. The partial non-emission pattern corresponds to a pattern at a time when one or more of all LEDs 231 to 240 of the LED unit 20L are turned off. An example of the LED light distribution pattern determination processing is described later.

[0076] In step S706, the LED light distribution control unit 103 controls the states regarding the switching on of the LED unit 20L based on the LED light distribution pattern obtained in step S704. For example, the LED light distribution control unit 103 switches on all LEDs 231 to 240 of the LED unit 20L if the LED light distribution pattern obtained in step S704 is the normal light distribution pattern. At this time, the LED light distribution control unit 103 can switch on all LEDs 231 to 240 of the LED unit 20L with the same brightness, or it can allow the brightness of the entire emission region of the LED unit 20L to become uniform by independently adjusting the brightness of each of the LEDs 231 to 240. If the LED light distribution pattern obtained in step S704 is the partial non-emission pattern, the LED light distribution control unit 103 switches off the corresponding LEDs under the respective LEDs 231 to 240 of the LED unit 20L.If the LED light distribution pattern obtained in step S704 is the partial non-emission pattern in which, for example, the in . Fig. 4B, where LED-emitting region A6 is the dark region, the LED light distribution control unit 103 switches off LED 236 among LEDs 231 to 240, which corresponds to LED-emitting region A6.

[0077] In step S708, the road surface drawing information generation unit 104 generates the road surface drawing information. This information is as described above. The road surface drawing information is generated only if a road surface drawing information generation condition is met. For example, a road surface drawing information generation condition is met when a request is received from the navigation device.

[0078] In step S710, the laser emission pattern determination unit 105 performs laser emission pattern determination processing. As described above, the laser emission pattern contains the first laser emission pattern and the second laser emission pattern. The first emission pattern determination unit 1051 of the laser emission pattern determination unit 105 determines the first laser emission pattern based on the emission suppression target object information obtained in step S702 and the LED light distribution pattern obtained in step S704. The second emission pattern determination unit 1052 of the laser emission pattern determination unit 105 determines the second laser emission pattern based on the road surface drawing information obtained in step S708. An example of the laser emission pattern determination processing is described later.

[0079] In step S712, the laser emission control unit 106 controls the laser unit 30L based on the laser emission pattern obtained in step S710. The laser emission control unit 106 controls the state of switching on the laser light source 32 and each of the angles of the MEMS mirror 33 about the two axes based on the laser emission pattern obtained in step S710. For example, the first laser emission control unit 1061 switches the laser light source 32 on or off according to each of the angles of the MEMS mirror 33 about the two axes, while controlling each of the angles of the MEMS mirror 33 about the two axes such that scanning using the laser light from the laser light source 32 is performed on the phosphor 34 by a raster scanning method.Alternatively, the first laser emission control unit 1061 controls each of the angles of the MEMS mirror 33 about the two axes while maintaining a state in which the laser light source 32 is switched on, so that scanning using the laser light from the laser light source 32 on the phosphor 34 is carried out by a vector scanning method.

[0080] Fig. Figure 8A shows a flowchart of an example of the emission suppression target object information generation processing (step S702). Fig. Figure 8B shows an explanatory representation of the emission suppression target information.

[0081] In step S800, the emission suppression target detection unit 1011 of the first information generation unit 101 determines whether the emission suppression target is present in the emitting region of the LED unit 20L (the entire LED emitting region of the LED emitting regions A1 to A10) or not, based on the sensor information obtained in step S700. In this first embodiment, the emission suppression targets are the vehicle in front (the car ahead and the oncoming car) and the pedestrian. The vehicle in front can be identified, for example, as follows: The emission suppression target detection unit 1011 searches the image acquired by the first image sensor 91 for a group of pixels (a unit of reddish pixels with high brightness) that corresponds to the taillights of the car in front.A search region in the image is a pixel region corresponding to the emitting region of the LED unit 20L. At this time, the emission suppression target detection unit 1011 determines whether the pixel group corresponding to the right and left taillight pair of the vehicle ahead is present. This determination is effective if the vehicle ahead is a four-wheeled vehicle equipped with the right and left taillight pair. If the pixel group corresponding to the right and left taillight pair of the vehicle ahead is present, the emission suppression target detection unit 1011 identifies a pixel group with respect to the vehicle ahead based on this pixel group.Furthermore, the emission suppression target detection unit 1011 searches for a pixel group (a unit of whitish pixels with high brightness) that corresponds to the headlights of the oncoming vehicle. Similarly, a search region in the image is a pixel region corresponding to the emission-capable region of the LED unit 20L. At this time, the emission suppression target detection unit 1011 determines whether or not the pixel group corresponding to a pair of right and left headlights of the oncoming vehicle is present. This determination is effective if the oncoming vehicle is a four-wheeled vehicle equipped with right and left headlights.In a case where the image element group corresponding to the pair of right and left headlights of the oncoming car is present, the emission suppression target detection unit 1011 identifies an image element group relating to the oncoming car based on this image element group. Whether the pedestrian is present or absent can be determined, for example, as follows: The emission suppression target detection unit 1011 searches for an image element group corresponding to the pedestrian based on a near-infrared image acquired by the second image sensor 92. Similarly, a search region in the near-infrared image is an image element region corresponding to the emitting region of the LED unit 20L.In a case where the image element group corresponding to the pedestrian is present, the emission suppression target detection unit 1011 identifies this image element group as the image element group relating to the pedestrian. Processing proceeds to step S801 if the determination result is "YES," and processing proceeds to step S814 if the determination result is "NO." In a case where a plurality of emission suppression targets are present in the emittable region of the LED unit 20L, the plurality of emission suppression targets can be identified by the emission suppression target detection unit 1011.

[0082] In step S801, the first information generation unit 101 sets a value N1 as the number of emission suppression target objects identified in step S800.

[0083] In step S802, the first information generation unit 101 sets a value j to "1".

[0084] In step S804, the emission suppression digit acquisition unit 1012 of the first information generation unit 101 selects the j-th emission suppression target and determines whether the predetermined digit of the j-th emission suppression target can be identified. For example, if the number of emission suppression targets is two or greater, the emission suppression digit acquisition unit 1012 sorts the emission suppression targets into an arbitrary order and selects the j-th emission suppression target. The predetermined digit is the digit as described above. The predetermined digit can be identified by pattern matching.For example, the predetermined position relative to the vehicle in front can be identified by the positions that share the same master pattern associated with the image element groups of the taillight and the driving light. In this case, the position on the driver's side of the oncoming car can be identified, assuming a right-hand drive vehicle. Processing proceeds to step S801 if the determination result is "YES," and to step S808 if the determination result is "NO."

[0085] In step S806, the emission-suppressed point acquisition unit 1012 of the first information generation unit 101 calculates coordinate values ​​of four corners of a rectangle (compare Fig. 8B), which describes the image element group with respect to the predetermined position of the j-th emission suppression target object.

[0086] In step S808, the emission suppression target acquisition unit 1011 of the first information generation unit 101 calculates coordinate values ​​of four corners of a rectangle (the emission suppressed region) that circumscribes the image element group with respect to the j-th emission suppression target. For example, Fig. 8B four corners P1 to P4 of the rectangle that circumscribes the picture element group with respect to the pedestrian representing the emission suppression target. In the following description, a region within the rectangle that circumscribes the picture element group with respect to the emission suppression target or its predetermined location is referred to as the “emission suppression region.” For example, the information regarding the position of the emission suppression target in the following description is contained in a Fig. The two-dimensional coordinate system shown in 8B expresses this, with an X-axis representing the lateral direction of the Fig. This corresponds to the image shown in 8B, and has a Y-axis that corresponds to the vertical direction of the image, with the upper left corner of the image as its origin. The one in Fig. The image shown in 8B corresponds to the image of the first image sensor 91 or the image of the second image sensor 92.

[0087] In step S810, the first information generation unit 101 determines whether the value j is the value N1 or not. That is, the first information generation unit 101 determines whether the coordinate values ​​of the four corners of the suppressed region have been calculated with respect to all suppressed region target objects or not. Processing proceeds to step S814 if the result is "YES", and to step S812 if the result is "NO".

[0088] In step S812, the first information generation unit 101 increments the value j by "1" and performs the processing starting at step S804. This enables the calculation of the coordinate values ​​of the four corners of the emission-suppressed region with respect to each emission-suppressing target object in a case where a large number of emission-suppressing target objects are detected.

[0089] In step S814, the first information generation unit 101 generates the emission suppression target information based on the result of the determination in S800 and the results of the calculations in steps S806 and S808. As described above, the emission suppression target information includes information regarding the presence or absence of the emission suppression target and information regarding the position of the emission suppression target (the coordinate values ​​of the four corners of the emission suppressed region).

[0090] Fig. Figure 9 shows a flowchart of an example of the LED light distribution pattern determination processing (step S704).

[0091] In the following description, a positional relationship between the LED-emitting region (the same applies to the other emitting region, emitting region, and dark region) and the object (such as the emission-suppression target object) represents the same relationship on the image captured by the first image sensor 91 (or the second image sensor 92). Thus, for example, the positional relationship between the dark region and the object in the following description represents a positional relationship between the dark region on the imaginary vertical screen in the image captured by the first image sensor 91 and a region with respect to the object in the same image.

[0092] In step S902, the LED light distribution pattern determination unit 102 determines whether the emission suppression target object information obtained in step S702 contains position information about the emission suppression target object (position information about the emission-suppressed region). That is, the LED light distribution pattern determination unit 102 determines whether the emission suppression target object has been identified by the first information generation unit 101. Processing proceeds to step S904 if the determination result is "YES," and to step S906 if the determination result is "NO."

[0093] In step S904, the LED light distribution pattern determination unit 102 determines the partial non-emission pattern as the LED light distribution pattern in which the emission-suppressed region is not emitted (i.e., the partial non-emission pattern in which the emission-suppressed region is contained within the dark region). For example, the LED light distribution pattern determination unit 102 determines the partial non-emission pattern based on the imaging data M1, which is in Fig. 10 are shown. In the Fig. In the 10 examples shown, patterns (pattern 1, 2, 3) are associated with respective ranges of an X-coordinate of the emission-suppressed region. The respective patterns define, for example, those of the respective LEDs 231 to 240 of the LED unit 20L that are to be switched off. The respective ranges of the X-coordinate correspond to the respective X-coordinate ranges of the LED emission-capable regions A1 to A10 in the coordinate system of the image (compare Fig. 8B). For example, the X-coordinate range from d1 to d2 corresponds to the LED-emitting region A1, the X-coordinate range from d2 to d3 corresponds to the LED-emitting region A2, etc. In this case, the LED light distribution pattern determination unit 102 determines the partial non-emission pattern, which is pattern 1 in which the LED 231 is off, as the LED light distribution pattern in a case where the X-coordinate of the emission-suppressed region belongs only to the range from d1 to d2. In a case where the X-coordinate of the emission-suppressed region belongs to the range from d1 to d2 and the range from d2 to d3, the LED light distribution pattern determination unit 102 determines the partial non-emission pattern as the LED light distribution pattern which is a combination of pattern 1 in which LED 231 is off and pattern 2 in which LED 232 is off.In a case where a multitude of emission-suppressed regions (the multitude of emission-suppressed target objects) are present, the partial non-emission pattern exhibiting a multitude of dark regions that are not consecutive in the lateral direction is, in some cases, determined to be the LED light distribution pattern. For example, in a case where the X-coordinate of the first emission-suppressed region belongs only to the range from d1 to d2, and the X-coordinate of the second emission-suppressed region belongs only to the range from d3 to d4, the LED light distribution pattern determination unit 102 determines the partial non-emission pattern to be the LED light distribution pattern that is a combination of pattern 1 and pattern 3, in which LEDs 231 and 233 are off.This means that the LED light distribution pattern determination unit 102 determines the partial non-emission pattern in which the LED-emitting regions A1 and A3 become dark regions. In the following description, the multitude of dark regions that are not consecutive in the lateral direction, as described above, are considered separate dark regions. Therefore, the number of dark regions contained in the partial non-emission pattern is, in some cases, two or more.

[0094] In step S906, the LED light distribution pattern determination unit 102 determines the normal light distribution pattern as the LED light distribution pattern. The normal light distribution pattern was described above.

[0095] With the in Fig. In the processing shown in Figure 9, the LED light distribution pattern of the LED unit 20L can be determined based on the emission suppression target object information in such a way that the emission of the emission suppression target object is suppressed by the LED unit 20L.

[0096] Fig. Figure 11 shows a flowchart of an example of laser light emission pattern determination processing (step S710).

[0097] In step S1102, the laser emission pattern determination unit 105 determines whether the LED light distribution pattern obtained in step S704 is the partial non-emission pattern or not. Processing proceeds to step S1103 if the determination result is "YES", and to step S1114 if the determination result is "NO" (i.e., if the LED light distribution pattern is the normal light distribution pattern).

[0098] In step S1103, the laser emission pattern determination unit 105 sets a value in two as the number of dark regions contained in the partial non-emission pattern.

[0099] In step S1104, the laser emission pattern determination unit 105 sets a value k to “1”.

[0100] In step S1106, the laser emission pattern determination unit 105 selects the k-th dark region and identifies the emission-suppressed region within the k-th dark region (the coordinate values ​​of the four corners of the emission-suppressed region). In a case where the number of dark regions is two or more, the laser emission pattern determination unit 105, for example, sorts the dark regions into an arbitrary order and selects the k-th dark region. The emission-suppressed region (compare Fig. 8B) can be identified based on the broadcast suppression target information.

[0101] In step S1108, the laser emission pattern determination unit 105 determines the first laser emission pattern with respect to the k-th dark region. The laser emission pattern determination unit 105 determines the emission pattern as the first laser emission pattern with respect to the k-th dark region in which the region of the k-th dark region that does not contain the emission-suppressed region is emitted. That is, the laser emission pattern determination unit 105 determines the emission pattern as the first laser emission pattern with respect to the k-th dark region in which the emission-suppressed region in the k-th dark region becomes a non-emission region, and in which the region that does not contain the emission-suppressed region becomes the emission region.The laser emission pattern determination unit 105 can determine the emission pattern in which the entire region of the k-th dark region is emitted, excluding the emission-suppressed region, as the first laser emission pattern with respect to the k-th dark region, or it can set a boundary. That is, the laser emission pattern determination unit 105 can determine the emission pattern in which the region of the k-th dark region is emitted, excluding the emission-suppressed region separated from the emission-suppressed region by at least a predetermined boundary, as the first laser emission pattern with respect to the k-th dark region.

[0102] For example, the laser emission pattern determination unit 105 determines a scanning area on the phosphor 34 (the first laser emission pattern) based on a correspondence relationship (a coordinate transformation matrix H) between the coordinate system of the image (compare Fig. 8B) and a coordinate system on the fluorescent material 34 (compare Fig. 6A). The coordinate transformation matrix H is derived beforehand and stored in the storage unit 110. For example, an emission area based on the first laser emission pattern in the coordinate system of the image is a rectangular area surrounded by the coordinates of four points (X1, Y1), (X2, Y2), (X3, Y3), and (X4, Y4). At this time, the scanning area on the phosphor 34 is a rectangular area surrounded by (x1, y1), (x2, y2), (x3, y3), and (x4, y4) in the coordinate system of the phosphor 34. (x1, y1), (x2, y2), (x3, y3), and (x4, y4) are determined as follows. (x1y1)=H⋅(X1Y1) (x2y2)=H⋅(X2Y2) (x3y3)=H⋅(X3Y3) (x4y4)=H⋅(X4Y4)

[0103] In step S1110, the laser emission pattern determination unit 105 determines whether the value of k is equal to the value N2 or not. That is, the laser emission determination unit 105 determines whether the first laser emission pattern has been determined with respect to all dark regions or not. Processing proceeds to step S1114 if the determination result is "YES", and to step S1112 if the determination result is "NO".

[0104] In step S1112, the laser emission pattern determination unit 105 increments the value k by "1" and performs the processing starting from step S1106. This enables the determination of the first laser emission pattern with respect to each dark region in a case where the multitude of independent dark regions are contained within the partial non-emission pattern.

[0105] In step S1114, the laser emission pattern determination unit 105 determines whether the road surface drawing information was generated in step S708 of the current run. Processing proceeds to step S1116 if the determination result is "YES", and to step S1122 if the determination result is "NO".

[0106] In step S1116, the laser emission pattern determination unit 105 generates the second laser emission pattern based on the road surface drawing information. The second laser emission pattern was described above.

[0107] In step S1122, the laser emission pattern determination unit 105 determines a final laser emission pattern based on the laser emission pattern obtained in the current pass. For example, if the laser emission pattern obtained in the current pass represents only one or more first laser emission patterns, then the one or more first laser emission patterns become the final laser emission pattern. If the laser emission pattern obtained in the current pass represents one or more first laser emission patterns and the second laser emission pattern, then a combination of the one or more first laser emission patterns and the second laser emission pattern becomes the final laser emission pattern.In a case where no laser emission pattern is obtained in the current pass (for example, in a case where the determination results of both steps S1102 and S1114 are “NO”), the final laser emission pattern becomes “No emission”.

[0108] According to the in Fig. In the processing shown in Figure 11, the first laser emission pattern can be generated in which the area surrounding the emission-suppressed region is emitted in the dark area. If the road surface drawing information has also been generated, the second laser emission pattern based on this information can be generated.

[0109] Fig. Figure 12 shows an explanatory representation of the light distribution pattern generated by the light distribution control processing ( Fig. 7) is implemented according to the first embodiment. Fig. Figure 13 shows an explanatory representation of the radiation region, which is defined by the in Fig. The 12 light distribution patterns shown are realized. Fig. Figure 14 shows an explanatory illustration of an emission region implemented by a light distribution control processing system according to a comparative example. The comparative example has a setup that is not equipped with the laser units 30R and 30L. That is, the comparative example has a setup in which the Fig. The 7 steps shown, S708 to S712, cannot be executed. Fig. 12, Fig. 13 to Fig. Figure 14 schematically depicts a scene in front of the host vehicle, as seen by the driver of the host vehicle. For descriptive purposes, the following are included: Fig. 12, Fig. 13 to Fig. 14 lines, showing the respective boundaries of the LED-emitting regions A1, A2, A3, A4, A5, A6, A10 of the LED unit 20L, are represented by dashed lines, and the dark regions are represented by hatching with diagonal lines.

[0110] In the Fig. 12 and Fig. In the example shown, a scene is assumed in which a pedestrian Pd, an oncoming car Vh1, and a car ahead Vh are present in front of the host vehicle. Here, a case is assumed in which the emissivity suppression target object information has been generated, containing positional information about the face of the pedestrian Pd, positional information about the car ahead, and positional information about the windshield of the oncoming car.

[0111] In this case, the partial non-emission pattern is determined by including the face of the pedestrian Pd, the entire car ahead, and the windshield of the oncoming car in the respective dark regions, as described above. Accordingly, in both the first embodiment and the comparative example, the partial non-emission pattern in which the LED-emitting regions A2, A5, A7, A8, A9 become the dark regions under the respective LED-emitting regions A1 to A10 is determined to be the LED light distribution pattern as described in the Fig. 12 and Fig. 13 is shown.

[0112] In contrast, in the first embodiment, the vehicle driving light device 1 is provided with the laser units 30R, 30L, the laser emission pattern determination unit 105 and the laser emission control unit 106, and the in Fig. Steps S710 and S712, as shown in the diagram, are executed. This allows for the determination of the first laser emission pattern as shown in the diagram. Fig. Figure 12 shows sections that do not contain the emission-suppressed regions in the LED-emitting regions A2, A5, A7, A8, A9, which are dark regions. In particular, the first laser emission pattern with respect to the LED-emitting region A2, which is the dark region, is determined by emitting a region 801 above an emission-suppressed region 400, a region 802 below the emission-suppressed region 400, a region 820 to the left of the emission-suppressed region 400, and a region 821 to the right of the emission-suppressed region 400 as sections that do not contain the emission-suppressed region 400 with respect to the face of pedestrian Pd.Furthermore, the first laser emission pattern is determined with respect to the LED-emitting region A5, which represents the dark region, in which regions 803, 804, and 805 above, to the left of, and below an emission-suppressed region 402 are emitted as segments that do not include the emission-suppressed region 402 with respect to the preceding car. The first laser emission pattern is also determined with respect to the LED-emitting regions A7 to A9, which are dark regions, in which regions 806, 807, 808, and 809 above, to the left of, to the right of, and below an emission-suppressed region 404 are emitted as segments that do not include the emission-suppressed region 404 with respect to the windshield of the oncoming car.

[0113] According to the first embodiment, the neighborhood of the emission-suppressed regions in the LED-emitting regions A2, A5, A7, A8, A9 can be determined using the laser units 30R, 30L as shown in Fig. Figure 13 shows that the regions are illuminated, instead of all LED-emitting regions A2, A5, A7, A8, A9, which represent the dark regions, being dark. In contrast, in the comparison example, all LED-emitting regions A2, A5, A7, A8, A9, which represent the dark regions, are dark, and the area surrounding the suppressed regions remains dark, as shown in Figure 13. Fig. 14 is shown.

[0114] In this way, the first embodiment can reduce glare with respect to the emission suppression target object caused by the dark region and can decrease the impairment of the host vehicle driver's vision attributable to the dark region. According to the first embodiment, the probability of a narrower emission suppression region being set is greater when the predetermined location of the emission suppression target object is detected by the emission suppression location detection unit 1012 than when the predetermined location of the emission suppression target object is not detected. In a case where the narrow emission suppression region is set, the impairment of the host vehicle driver's vision attributable to the dark region can be further reduced.Furthermore, in the case where the predetermined location of the emission suppression target is detected, in some cases even part of the emission suppression target can be emitted by the laser units 30R, 30L, and in this case the deterioration of the driver's vision of the host vehicle with respect to the emission suppression target can also be reduced.

[0115] Even in a comparison setup equipped with laser units 30R and 30L, but lacking LED units 20R and 20L, glare with respect to the emission-suppression target object can be reduced, and the deterioration of the host vehicle driver's vision with respect to the area surrounding the emission-suppressed region can be reduced simultaneously with the emission from the laser-emissive region B1 by laser units 30R and 30L, which does not include the emission-suppressed region. However, this comparison setup has a problem in that no high-beam equivalent emission can be achieved in a case where laser units 30R and 30L are absent.

[0116] The first embodiment is equipped not only with the laser units 30R, 30L but also with the LED units 20R, 20L. Therefore, even in the event of a failure of the laser units 30R, 30L, emission in the horizontal direction, similar to a general high beam, can be achieved by the LED units 20R, 20L.

[0117] In the Fig. In the example shown, the second laser emission pattern is determined, in which a region 810 is emitted that corresponds to the road surface drawing information. Accordingly, region 810 can become brighter than the surroundings, and the road surface drawing information can be conveyed to the driver of the host vehicle as shown in Figure 12. Fig. 13 will be displayed and transmitted.

[0118] In the Fig. 12 and Fig. In the example shown, the first laser emission pattern is determined with respect to the LED-emitting region A2, which represents the dark region, in which region 801, region 802, region 820, and region 821 are emitted. However, the first laser emission pattern can instead be determined such that only one, two, or three regions from region 801, region 802, region 820, and region 821 are emitted. Likewise, the first laser emission pattern in which only one or two regions from region 803, 804, and 805 are emitted can be determined with respect to the LED-emitting region A5, which represents the dark region, instead of the first laser emission pattern in which regions 803, 804, and 805 are emitted.Similarly, the first laser emission pattern in which only one, two or three regions of regions 806, 807, 808, 809 are emitted can be determined with respect to the LED-emitting regions A7 to A9, which represent the dark regions, instead of determining the first laser emission pattern in which regions 806, 807, 808, 809 are emitted. [Second embodiment]

[0119] Fig. Figure 15 shows a representation of the construction of a vehicle driving light device 1A according to a second embodiment of the invention.

[0120] The vehicle lighting device 1A differs from the vehicle lighting device 1 according to the first embodiment described above in that the control device 7 is replaced by a control device 7A in the vehicle lighting device 1A. The control device 7A differs from the control device 7 according to the first embodiment described above in that the first information generation unit 101 is replaced by a first information generation unit 101A in the control device 7A, the LED light distribution pattern determination unit 102 is replaced by an LED light distribution pattern determination unit 102A, the laser emission pattern determination unit 105 is replaced by a laser emission pattern determination unit 105A, the laser emission control unit 106 is replaced by a laser emission control unit 106A, and a second information generation unit 108 is added.The remainder of the design of the control device 7A is identical to the remainder of the design of the control device 7. The laser emission pattern determination unit 105A differs from the laser emission pattern determination unit 105 according to the first embodiment described above in that a third emission pattern determination unit 1053 is added to the laser emission pattern determination unit 105A. The laser emission control unit 106A differs from the laser emission control unit 106 according to the first embodiment described above in that a third laser emission control unit 1063 is added to the laser emission control unit 106A. In the following description of the second embodiment, the same reference numerals are used to designate the elements common to the first and second embodiments, and their re-description is omitted.Each unit of the control device 7A, except for the storage unit 110, can be controlled by the one described in . Fig. The CPU 11 shown in the diagram is implemented to execute one or more programs that are in the diagram. Fig. The ROM 13 shown in the 2 are stored.

[0121] The first information generation unit 101A generates the emission suppression target object information based on the sensor information from the first image sensor 91, which is obtained by the data acquisition unit 100. The first information generation unit 101A contains an emission suppression target object detection unit 1011A and an emission suppression point detection unit 1012A. In this second embodiment, the emission suppression target object is the vehicle in front (the car driving ahead and the oncoming car), and does not include the pedestrian.That is, the emission suppression target object detection unit 1011A and the emission suppression spot detection unit 1012A differ from the emission suppression target object detection unit 1011 and the emission suppression spot detection unit 1012 according to the first embodiment described above only in that the emission suppression target object is the vehicle in front of it and does not include the pedestrian.

[0122] The LED light distribution pattern determination unit 102A determines the respective LED light distribution patterns of the LED units 20R, 20L based on the emission suppression target object information from the first information generation unit 101A (the result of the detection by the first image sensor 91). In this second embodiment, the LED light distribution pattern determination unit 112A determines the partial non-emission pattern in which the emission-suppressed region is contained in the dark region with respect to the vehicle in front, only with respect to the vehicle in front (the car ahead and the oncoming car), and not with respect to the pedestrian.

[0123] The third emission pattern determination unit 1053 determines the laser light emission patterns of the laser units 30R, 30L, in which a portion of the region (the emission region) emitted by the LED units 20R, 20L is additionally emitted. In the following description, the laser light emission pattern determined by the third emission pattern determination unit 1053 is referred to as the "third laser emission pattern." Specifically, the third emission pattern determination unit 1053 determines the third laser emission pattern in which a region distinct from the pedestrian's face (such as a region below the face) is emitted, based on attention-attracting target object information from the second information generation unit 108 (a result of identification by a face detection unit 1082).Furthermore, the third emission pattern determination unit 1053 determines the third laser emission pattern in which a dark subregion (especially a distant region) is emitted in the region emitted by the LED units 20R, 20L.

[0124] In a case where the third laser emission pattern was determined by the third emission pattern determination unit 1053, the third laser emission control unit 1063 controls the laser units 30R, 30L based on the third laser emission pattern.

[0125] The second information generation unit 108 generates information regarding an attention target (hereinafter referred to as "attention target information") based on sensor information acquired by the data acquisition unit 100 from the second image sensor 92. The attention target is the pedestrian. The attention target information includes information about whether the attention target is present or absent, and information regarding the position of the attention target.

[0126] The second information generation unit 108 contains a pedestrian detection unit 1081 and the face detection unit 1082.

[0127] The pedestrian detection unit 1081 identifies the pedestrian in the emitting regions of the LED units 20R, 20L based on the information (the image) from the second image sensor 92. A method for identifying the pedestrian has been described above.

[0128] The face detection unit 1082 identifies the face of the pedestrian identified by the pedestrian detection unit 1081. As described above, the pedestrian's face can be identified by pattern matching based on the image from the second image sensor 92. The pedestrian's face can also be identified (estimated) as the upper portion of the image element group relating to the pedestrian.

[0129] The following describes a processing procedure with reference to the Fig. 16, Fig. 17 to Fig. 18, which is carried out by the control device 7A. The following description describes the light distribution control processing with respect to the driving light 80L. The same applies to the light distribution control processing with respect to the driving light 80R.

[0130] Fig. Figure 16 shows a flowchart of an example of the light distribution control processing of the control device 7A. The in Fig. The light distribution control processing shown in 16 differs from that in Fig. 7 Light distribution control processing according to the first embodiment described above, wherein in the Fig. In step 16 of the light distribution control processing shown, step S702 is replaced by step S7021, step S703 is added, step S704 is replaced by step S7041, step S710 is replaced by step S7101, and step S712 is replaced by step S7121. The rest of the steps shown in Fig. The light distribution control processing shown in Figure 16 is identical to the rest of the processing shown in Figure 16. Fig. 7 light distribution control processing shown. As in Fig. The light distribution control processing shown in section 7 is the one described in the text. Fig. The light distribution control processing shown in step 16 is executed repeatedly at predetermined time intervals in one case, for example, when the driving light 80L is switched on and the light distribution control switch (not shown) is switched on.

[0131] In step S7021, the first information generation unit 101A generates the emission suppression target object information based on the sensor information obtained in step S700. This processing differs from that in Fig. The only difference in the processing shown in 8A is that, in this processing, the pedestrian is not included in the emission suppression target object.

[0132] In step S703, the second information generation unit 108 generates the attention-attracting target object information based on the sensor information obtained in step S700. This processing differs from that in Fig. The processing shown in Figure 8A differs only in that the "emission suppression target object" can be understood as the "attention attraction target object" (the pedestrian). Therefore, further description is omitted. In particular, the pedestrian detection unit 1081 of the second information generation unit 108 determines, based on the near-infrared image obtained by the second image sensor, whether the image element group corresponding to the pedestrian is contained in the emitting region of the LED unit 20L (the entire LED emitting region of the LED emitting regions A1 to A10) or not. If the image element group corresponding to the pedestrian is present, the face detection unit 1082 identifies the face (the predetermined location) of the pedestrian.In a case where the pedestrian's face cannot be identified by the face detection unit 1082, the second information generation unit 108 generates the coordinate values ​​of the four corners of the rectangle that circumscribes the group of image elements relating to the pedestrian as information regarding the position of the attention-attracting target. Similarly, in a case where the pedestrian's face can be identified by the face detection unit 1082, the second information generation unit 108 generates the coordinate values ​​of the four corners of the rectangle that circumscribes the group of image elements relating to the pedestrian's face as information regarding the position of the attention-attracting target. The information regarding the position of the attention-attracting target is stored in the information in the above. Fig. The two-dimensional coordinate system shown in 8B represents the X-axis, which corresponds to the lateral direction of the Fig. 8B corresponds to the image shown, and has the Y-axis corresponding to the vertical direction of the image, and has the upper left corner of the image as its origin.

[0133] In step S7041, the LED light distribution pattern determination unit 102A performs the LED light distribution pattern determination processing based on the emission suppression target object information obtained in step S7021. This processing differs from the processing in step S704 described above only in that, in this processing, the partial non-emission pattern is determined in which the emission-suppressed region relating to the preceding vehicle is contained in the dark region. Therefore, a re-description is omitted.

[0134] In step S7101, the laser emission pattern determination unit 105A performs the laser emission pattern determination processing. The laser emission pattern contains the first through third laser emission patterns as described above. The first emission pattern determination unit 1051 of the laser emission pattern determination unit 105A determines the first laser emission pattern based on the emission suppression target information obtained in step S7021 and the LED light distribution pattern obtained in step S7041. Additionally, the third emission pattern determination unit 1053 of the laser emission pattern determination unit 105A determines the third laser emission pattern based on the attention-attracting target information obtained in step S703. An example of the laser emission pattern determination processing is described later.

[0135] In step S7121, the laser emission control unit 106A controls the laser unit 30L based on the laser light emission pattern obtained in step S7101. In this second embodiment, the third laser emission pattern is, in some cases, contained within the laser light emission pattern obtained in step S7101.

[0136] Fig. Figure 17 shows a flowchart of an example of laser light emission pattern determination processing performed by the laser emission pattern determination unit 105A. The in Fig. The processing shown in 17 differs from that in Fig. The processing shown in 1 according to the first embodiment described above differs only in that the processing from step S1118 to step S1121 is added to this processing, and the remainder of this processing is the same as in Fig. The processing shown in section 11 is identical. The difference is described below.

[0137] If the result in step S1114 is "YES", processing proceeds to step S1116. If the result in step S1114 is "NO", processing proceeds to step S1118.

[0138] In step S1118, the third emission pattern determination unit 1053 of the laser emission pattern determination unit 105A determines whether the attention-attracting target information includes the position information of the pedestrian's face (the predetermined location). Processing proceeds to step S1119 if the determination result is "YES", and to step S1120 if the determination result is "NO".

[0139] In step S1119, the third emission pattern determination unit 1053 determines the third laser emission pattern based on the attention-attracting target object information, in which a predetermined emission target region is emitted below the pedestrian's face. The predetermined emission target region corresponds to a region below the pedestrian's face within the LED-emitting region in which the pedestrian is located. The laser emission pattern determination unit 105A determines the scanning area (the third laser emission pattern) on the phosphor 34 by converting the coordinate values ​​defining the predetermined emission target region in the image coordinate system to the coordinate system on the phosphor 34 using the coordinate transformation matrix H as described above.

[0140] In step S1120, the third emission pattern determination unit 1053 determines, based on the LED light distribution pattern obtained in step S7041, whether the LED emitting region corresponding to the distant region is the emission region of LED unit 20L. The LED emitting region corresponding to the distant region represents, for example, LED emitting regions A5 and A6 and is predefined. In this case, the third emission pattern determination unit 1053 determines whether LEDs 235 and 236, corresponding to LED emitting regions A5 and A6, are switched on or off. Processing proceeds to step S1121 if the determination result is "YES," and to step S1122 if the determination result is "NO."

[0141] In step S1121, the laser emission pattern determination unit 105A determines the third laser emission pattern in which the distant region is emitted. The distant region is, for example, a region in the LED-emitting regions A5, A6 up to a predetermined height from the horizontal line. The scanning area (the third laser emission pattern) on the phosphor 34 with respect to the distant region is derived and pre-stored in the storage unit 110.

[0142] With the in Fig. In the processing shown in Figure 17, the first laser emission pattern can be generated, in which the area surrounding the vehicle in front of it is emitted in the dark region. If the road surface drawing information has also been generated, the second laser emission pattern can be generated based on this information. In a case where the positional information about the pedestrian's face is included in the attention-attracting target object information, a third laser emission pattern can also be generated, in which the side below the pedestrian's face is emitted.Furthermore, the third laser emission pattern, in which the distant region is emitted, can be generated in a case where the LED light distribution pattern is the normal light distribution pattern, and in a case where the LED light distribution pattern is the partial non-emission pattern, but the distant region is contained in the emission region of the partial non-emission pattern.

[0143] Fig. Figure 18 shows an explanatory representation of the light distribution pattern generated by the light distribution control processing ( Fig. 16) is implemented according to the second embodiment. For descriptive purposes, in Fig. 18 lines showing the respective boundaries of the LED-emitting regions A1, A2, A3, A4, A5, A6, A10 of the LED unit 20L are shown as dashed lines, and the emission regions of the third laser emission pattern are shown by “dot” hatching.

[0144] In the Fig. Example 18 assumes a scene in which pedestrian Pd is present in front of the host vehicle. Here, a case is assumed in which attention-attracting target object information has been generated, which includes positional information about the face of pedestrian Pd.

[0145] In the second embodiment, the pedestrian Pd is not the emission suppression target object, but rather the attention-attracting target object, as described above. Accordingly, the pedestrian Pd is generally contained within the emission regions of the LED units 20R and 20L (since in many cases the pedestrian Pd is not located in a position that overlaps the vehicle in front of the host vehicle). Furthermore, in the Fig. The example shown in Figure 18 depicts the LED light distribution pattern as the normal light distribution pattern. Accordingly, the distant region is contained within the emission regions of LED units 20R and 20L.

[0146] In this case, the third laser emission pattern is determined as described above, in which the region of the pedestrian Pd below the pedestrian's face Pd is emitted. Furthermore, the third laser emission pattern is determined in which the distant region is emitted. In particular, the third laser emission pattern is determined as in Fig. Figure 18 shows that a region 812 is emitted below the face of pedestrian Pd in ​​the LED-emitting region A2, which contains pedestrian Pd. Furthermore, the third laser emission pattern is determined, in which a region 814 is emitted, corresponding to the distant region in the LED-emitting regions.

[0147] Accordingly, in this second embodiment, part of the emission region of the LED units 20R, 20L can be illuminated using the laser units 30R, 30L. This allows region 812 below the pedestrian's face Pd to become brighter than its surroundings, effectively enabling the driver of the host vehicle to pay attention to the pedestrian. Furthermore, in a case where there is a region where a sufficiently high illumination level cannot likely be ensured by the LED units 20R, 20L (the distant region in this second embodiment), this region can be illuminated and visibility improved.

[0148] In the second embodiment, a flickering of the region below the pedestrian's face can also be enabled during the emission of the laser beam based on the third laser emission pattern. This effectively allows the driver of the host vehicle to notice the pedestrian. [Third embodiment]

[0149] Fig. Figure 19 shows a representation of the construction of a vehicle driving light device 1B according to a third embodiment of the invention.

[0150] Vehicle lighting device 1B differs from vehicle lighting device 1 according to the first embodiment described above in that, in vehicle lighting device 1B, the control device 7 is replaced by a control device 7B, and the driving lights 80R, 80L are replaced by driving lights 81R, 81L. The driving lights 81R, 81L differ from the driving lights 80R, 80L according to the first embodiment described above in that, in the driving lights 81R, 81L, the low beam units 10R, 10L and the LED units 20R, 20L are replaced by lamp units of the shade type 40R, 40L.Control device 7B differs from control device 7 according to the first embodiment described above in that, in control device 7B, the first information generation unit 101 is replaced by a first information generation unit 101B, the LED light distribution pattern determination unit 102 is replaced by a basic light distribution pattern determination unit 302, the LED light distribution control unit 103 is replaced by a basic light distribution control unit 303, and the laser emission pattern determination unit 105 is replaced by a laser emission pattern determination unit 105B. The remaining structure of control device 7B is identical to the remaining structure of control device 7.The first information generation unit 101B differs from the first information generation unit 101 according to the first embodiment described above in that the emission suppression target object detection unit 1011 is replaced by an emission suppression target object unit 1011B in the first information generation unit 101B. The remaining structure of the first information generation unit 101B is identical to the remaining structure of the first information generation unit 101. The laser emission pattern determination unit 105B differs from the laser emission pattern determination unit 105 according to the first embodiment described above in that the first emission pattern determination unit 1051 is replaced by a first emission pattern determination unit 1051B in the laser emission pattern determination unit 1055B.The remaining structure of the laser emission pattern determination unit 105B is identical to the remaining structure of the laser emission pattern determination unit 105. In the following description of the third embodiment, the same reference numerals are used to refer to the elements common to the first and third embodiments, and a further description is omitted. Each unit of the control device 7B, except for the storage unit 110, can be controlled by the elements shown in . Fig. The CPU 11 shown in the diagram is implemented, which executes one or more programs that are located in the... Fig. The ROM 13 shown in the 2 are stored.

[0151] The emission suppression target detection unit 1011B identifies the emission suppression target object in the emission-capable region following a high beam pattern of the aperture-type lamp units 40R, 40L, based on the information (the images) from the first image sensor 91 and the second image sensor 92.

[0152] The basic light distribution pattern determination unit 302 determines the respective light distribution patterns of the aperture-type lamp units 40R and 40L (hereinafter referred to as the "basic light distribution pattern") based on the emission suppression target object information from the first information generation unit 101B (a result of identification by the emission suppression target object detection unit 1011B). The basic light distribution pattern refers to a pattern of the emission region produced by emitting light from the aperture-type lamp units 40R and 40L, projected onto an imaginary vertical screen in front of the aperture-type lamp units 40R and 40L, as is the case with the LED light distribution pattern described above. The basic light distribution pattern optionally includes the high beam pattern, a low beam pattern, and a dividing beam pattern.A specific example of a method for determining the basic light distribution pattern will be described later.

[0153] The basic light distribution control unit 303 controls the respective light distribution patterns of the aperture-type lamp units 40R and 40L according to the basic light distribution pattern determined by the basic light distribution pattern determination unit 302. That is, the basic light distribution control unit 303 controls the aperture-type lamp units 40R and 40L in such a way that the basic light distribution pattern determined by the basic light distribution pattern determination unit 302 is realized. A specific example of a control procedure will be described later.

[0154] The first emission pattern determination unit 1051B determines the respective laser emission patterns of the laser units 30R and 30L (the first laser emission pattern) based on the emission suppression target object information from the first information generation unit 101B and the basic light distribution pattern determined by the basic light distribution pattern determination unit 302. A specific example of a method for determining the first laser emission pattern is described later.

[0155] The following is a diagram of the lamp units 40R, 40L of the aperture type with reference to the Fig. Described as temperatures between 20 and 22°C.

[0156] Fig. Figure 20 shows a schematic representation of the construction of the 40R and 40L aperture-type lamp units. The construction of the 40L aperture-type lamp unit, which is shown in Fig. The structure shown in figure 20 is similar to that of the 40R lamp unit of aperture type.

[0157] The lamp unit 40L of aperture type contains a pendulum motor 42L, a light distribution switching aperture (movable aperture) 44L, a lamp (light source) 46L and an aperture drive actuator 48L.

[0158] The pendulum motor 42L changes the orientation of an optical axis of the aperture-type lamp unit 40L in a substantially horizontal plane. The pendulum motor 42L is, for example, mounted on a lower foot section of a (not shown) bracket of the aperture-type lamp unit 40L. The orientation of the optical axis of the aperture-type lamp unit 40L is changed within the substantially horizontal plane when the bracket is driven to rotate (pendulum) by the pendulum motor 42L.

[0159] The light distribution switching shutter 44L selectively generates the three pattern types, i.e., the high beam pattern, the low beam pattern, and the dividing beam pattern, by being driven to rotate by the shutter control actuator 48L. An example of a setup of the light distribution switching shutter 44L and an example of each light pattern are shown below with reference to the Fig. 21A to 21C and the Fig. 22A to 22C described.

[0160] The 46L lamp is formed using a halogen lamp, an HID lamp, an LED lamp or the like.

[0161] The aperture drive actuator 48L generates a driving force for the rotation of the light distribution switching aperture 44L.

[0162] The Fig. Figures 21A to 21C show schematic representations of an example of a light distribution switching aperture 44R. Fig. Figures 21A to 21C show illustrations in which the light distribution switching aperture 44R is viewed along one direction of an optical axis from the space in front of the host vehicle. A setup of the light distribution switching aperture 44R is shown in the Fig. 21A to 21C are shown, and the light distribution switching aperture 44L has essentially the same bilaterally symmetrical design as the light distribution switching aperture 44R. Fig. Figures 21A to 21C schematically show a section of the emission zone of the lamp unit 40R of aperture type in relation to the light distribution switching aperture 44R. The emission zone is inverted by a lens (not shown). Fig. 21 shows Fig. 21A a state of the light distribution switching shutter 44R in which the high beam pattern is generated, Fig. Figure 21B shows a state of the light distribution switching aperture 44R in which the partial light beam pattern is generated, and Fig. 21C shows a state of the light distribution switching aperture 44R in which the low beam pattern is generated.

[0163] The in the Fig. The light distribution switching shutter 44R shown in Figures 21A to 21C is provided with two sub-shutters: a shutter 74 for a single-sided high beam and a shutter 76 for a low beam. The shutter 74 for a single-sided high beam has a length such that only one side of the lower half of the emission section of the shutter-type lamp unit 40R is dimmed horizontally. The shutter 74 for a single-sided high beam is positioned on opposite right and left sides (outer sides) of the shutter-type lamp unit 40R, so that a central side of the vehicle is dimmed. The shutter 76 for a low beam, on the other hand, has a length such that the entire lower half of the emission section of the shutter-type lamp unit 40R is dimmed horizontally. The shutter 74 for a single-sided high beam is mounted so that it can rotate about a rotation axis 74a.The aperture 76 for a low beam beam is mounted such that it can rotate about a rotation axis 76a. The aperture 74 for a single high beam beam and the aperture 76 for a low beam beam are actuated by an aperture drive actuator 48R (see . Fig. 20) is driven to rotate, each being arranged relative to aperture 74 for a single-sided high beam and aperture 76 for a low beam. In this way, aperture 74 for a single-sided high beam and aperture 76 for a low beam can each be switched independently between a retracted position and a shielded position.

[0164] The Fig. Figures 22A to 22C show schematic representations of an example of the emission region realized by the 40R and 40L aperture-type lamp units. Fig. Figures 22A to 22C show a schematic radiation region at the time when the front of the host vehicle is seen from the driver's point of view.

[0165] Fig. Figure 22A shows an example of a high beam pattern emission region. A high beam pattern emission region Pt1 is generated by apertures 74 for a single high beam and apertures 76 for a low beam of both the right and left lamp units 40R, 40L of aperture type, which are held in the retracted position (compare Figure 22A). Fig. 21A). As in Fig. Figure 22A shows a emission region Pt4, which is equivalent to an emission region Pt3 of the low beam pattern (see Fig. 22C), additionally generated below the high beam pattern emission region Pt1. In this way, the 40R, 40L aperture-type lamp units emit high beam into the space in front of the host vehicle along an optical axis above the low beam when emission is performed using the high beam pattern.

[0166] Fig. Figure 22B shows an example of a split-beam pattern emission region. Fig. 22B shows boundary lines CR, CL, which are defined by an edge section 74b (compare Fig. 21B) of aperture 74 for a single-sided high beam beam. A split beam pattern emission region Pt2 is generated by apertures 74 for a single-sided high beam beam of the right and left lamp units 40R, 40L of aperture type, which are held in the shielded position, and apertures 76 for a low beam beam of the lamp units 40R, 40L of aperture type, which are held in the retracted position (compare Fig. 21B). The Pt2 split beam pattern emission region is a pattern in which a sub-region of the Pt1 high beam pattern emission region is shielded, with the CR and CL demarcation lines serving as boundaries. In the Fig. In the example shown in Figure 22B, the split beam pattern emission region Pt2 is the high beam pattern emission region Pt1, where a region in the middle is screened off in the right-left direction. In this way, the dark region between the boundary lines CR, CL in the right-left direction is created in the split beam pattern. The positions of the boundary lines CR, CL in the right-left direction change by controlling the pendulum angles (i.e., the orientation of the optical axes) of the right and left aperture-type lamp units 40R, 40L. Similarly, emission region Pt4, which is equivalent to emission region Pt3 of the high beam pattern (compare Figure 22B), is also affected. Fig. 22C), additionally under the separating light beam pattern emission region Pt2 as in Fig. 22B is shown. In this way, the 40R, 40L aperture-type lamp units emit the high beam into the space in front of the host vehicle along the optical axis above the low beam when emission is carried out using the split beam pattern.

[0167] Fig. Figure 22C shows an example of a low beam pattern emission region. The low beam pattern emission region Pt3 is generated by apertures 74 for a single-sided high beam from the aperture-type lamp units 40R, 40L, which are held in the retracted position, and by apertures 76 for a low beam from the right and left aperture-type lamp units 40R, 40L, which are held in the shielded position (compare Figure 22C). Fig. 21C).

[0168] The following describes a processing operation carried out by the control device 7B with reference to the Fig. 23, Fig. 24 to Fig. 25. The following description describes the light distribution control processing with respect to the driving light 81L. The same applies to the light distribution control processing with respect to the driving light 81R.

[0169] Fig. Figure 23 shows a flowchart of an example of the light distribution control processing of a control device 7B. The in Fig. The light distribution control processing shown in 23 differs from that in Fig. 7 Light distribution control processing according to the first embodiment described above, wherein in the Fig. In step S702 of the light distribution control processing shown in section 23, step S704 is replaced by step S7043, step S706 by step S7063, and step S710 by step S7103. The remainder of the Fig. The light distribution control processing shown in Figure 23 is identical to the rest of the processing shown in Figure 23. Fig. 7 shown light distribution control processing. As in the case of the in Fig. The light distribution control processing shown in section 7 is the one described in Fig. The light distribution control processing shown in 23 is executed repeatedly at predetermined time intervals in a case where, for example, the driving light 81L is switched on and the (not shown) light distribution control switch is switched on.

[0170] In step S7023, the first information generation unit 101B performs the emission suppression target object information generation processing based on the sensor information obtained in step S700. The emission suppression target object information generation processing differs from that in Fig. The only difference in the processing shown in Figure 8A, according to the first embodiment described above, is that in the emission suppression target object information generation processing, the search region for identifying the emission suppression target object (compare step S800) is the emittable region that follows the high beam pattern of the aperture-type lamp unit 40L (a region corresponding to emission region Pt1), instead of the emittable region of the LED unit 20L (the entire LED emittable region of the LED emittable regions A1 to A10). Therefore, a further detailed description is omitted here.

[0171] In step S7043, the basic light distribution pattern determination unit 302 performs basic light distribution pattern determination processing based on the emission suppression target object information obtained in step S7023. The basic light distribution pattern optionally includes the high beam pattern, the low beam pattern, and the dividing beam pattern as described above. An example of the basic light distribution pattern determination processing is described later.

[0172] In step S7063, the basic light distribution control unit 303 controls the aperture-type lamp unit 40L based on the basic light distribution pattern obtained in step S7043. For example, if the basic light distribution pattern obtained in step S7043 is the high beam pattern, the basic light distribution control unit 303 generates the high beam pattern ( Fig. 22A) by controlling the aperture drive actuator 48L (and the light distribution switching shutter 44L connected to the aperture drive actuator 48L). If the basic light distribution pattern obtained in step S7043 is the low beam pattern, the basic light distribution control unit 303 generates the low beam pattern ( Fig. 22C) by controlling the aperture drive actuator 48L (and the light distribution switching diaphragm 44L connected to the aperture drive actuator 48L). If the basic light distribution pattern obtained in step S7043 is the split beam pattern, the basic light distribution control unit 303 generates the split beam pattern ( Fig. 22B) by controlling the aperture drive actuator 48L (and the light distribution switching aperture 44L connected to the aperture drive actuator 48L) and the pendulum motor 42L.

[0173] In step S7103, the laser emission pattern determination unit 105B performs the laser emission pattern determination processing. As described above, the laser emission pattern contains the first laser emission pattern and the second laser emission pattern. The first emission pattern determination unit 1051B of the laser emission pattern determination unit 105B determines the first laser emission pattern based on the emission suppression target object information obtained in step S7023 and the basic light distribution pattern obtained in step S7043. An example of the laser emission pattern determination processing is described later.

[0174] Fig. Figure 24 shows a flowchart of an example of the basic light distribution pattern determination processing (step S7043).

[0175] In step S2402, the basic light distribution pattern determination unit 302 determines whether the emission suppression target information obtained in step S702 contains positional information about the emission suppression target (the emission-suppressed region). That is, the basic light distribution pattern determination unit 302 determines whether the emission suppression target has been identified by the first information generation unit 101B. Processing proceeds to step S2404 if the determination result is "YES," and to step S2406 if the determination result is "NO."

[0176] In step S2404, the basic light distribution pattern determination unit 302 determines the cutoff beam pattern in which the emission suppression target is not illuminated as the basic light distribution pattern. Specifically, the basic light distribution pattern determination unit 302 determines the cutoff beam pattern as the basic light distribution pattern in which the boundary line CL lies outside each X-coordinate range of the one or more identified emission suppression regions.

[0177] In step S2406, the basic light distribution pattern determination unit 302 determines the high beam pattern as the basic light distribution pattern.

[0178] According to the in Fig. In the processing illustrated in Figure 24, the basic light distribution pattern of the aperture-type lamp unit 40L can be determined based on the emission suppression target object information in such a way that emission to the emission suppression target object is suppressed by the aperture-type lamp unit 40L.

[0179] Fig. Figure 25 shows a flowchart of an example of laser light emission pattern determination processing (step S7103).

[0180] In step S2502, the laser emission pattern determination unit 105B determines whether the basic light distribution pattern obtained in step S7043 is the separating light beam pattern or not. Processing proceeds to step S2506 if the determination result is "YES", and to step S2514 if the determination result is "NO".

[0181] In step S2506, the laser emission pattern determination unit 105B identifies the emission-suppressed region in the dark region of the base light distribution pattern. The emission-suppressed region (compare Fig. 8B) can be identified based on the broadcast suppression target information.

[0182] In step S2508, the laser emission pattern determination unit 105B determines the first laser emission pattern with respect to the dark region of the base light distribution pattern. The laser emission pattern determination unit 105B identifies the emission pattern as the first laser emission pattern with respect to the dark region, in which the region excluding the emission-suppressed region within the dark region of the base light distribution pattern is emitted. The dark region of the separation beam pattern corresponds to a region between the boundary lines CR and CL in the right-left direction. The position of the dark region in the coordinate system of the image (compare Fig. 8B) can be derived according to any position of the boundary lines CR, CL. The laser emission pattern determination unit 105B can determine the emission pattern in which the entire region of the dark region, except for the emission-suppressed region, is emitted as the first laser emission pattern with respect to the dark region, or it can set a tolerance. That is, the laser emission pattern determination unit 105B can determine the emission pattern in which the region of the dark region, except for the emission-suppressed region, which is separated from the emission-suppressed region by at least a predetermined margin, is emitted as the first laser emission pattern with respect to the dark region.An emission area based on the first laser emission pattern in the coordinate system of the image can be transformed into an emission area (scanning area) in the coordinate system on the phosphor 34 based on the coordinate transformation matrix H described above.

[0183] The processing of steps S2514 to S2522 is each carried out using the in Fig. The processing shown in step 11 is identical from step S1114 to step S1122.

[0184] According to the in Fig. In the processing shown in Figure 25, the first laser emission pattern can be generated in which the area surrounding the emission-suppressed region is emitted into the dark region. If road surface drawing information has been generated, the second laser emission pattern can also be generated based on this information.

[0185] According to the third embodiment, similar effects to those in the preceding first embodiment can be achieved. That is, the third embodiment can reduce the glare with respect to the emission suppression target object caused by the dark region and can reduce the impairment of the host vehicle driver's vision attributable to the dark region. In particular, the third embodiment can reduce the glare with respect to the emission suppression target object caused by the split-beam pattern. Furthermore, the first laser emission pattern is determined in which a portion of the dark region is emitted by the split-beam pattern that does not include the emission suppression region, and thus the impairment of the host vehicle driver's vision attributable to the dark region can be reduced.The third embodiment, similar to the one described above, is equipped not only with the laser units 30R, 30L but also with the aperture-type lamp units 40R, 40L. Therefore, even in the event of a failure of the laser units 30R, 30L (for example, in the event of a fault that allows only the generation of the low beam pattern), the emission in the horizontal direction, similar to the general high beam, can be achieved by the aperture-type lamp units 40R, 40L.

[0186] The third embodiment can be combined with the second embodiment described above. That is, even in this third embodiment, a portion of the emission region of the lamp units 40R, 40L of aperture type can be illuminated based on the third laser emission pattern.

[0187] The preferred embodiments of the invention have been described above. The embodiments of the invention are not limited to those described above. Various modifications and substitutions can be made to the embodiments described above without deviating from the scope of the invention.

[0188] For example, in the first and second embodiments described above, the dark region is created by switching off some of the LEDs of the LED units 20R, 20L. A similar dark region can, however, be created, for example, by separate infrared transmission filters arranged with respect to the respective LED units 20R, 20L, each infrared transmission filter being switchable between an ON position and an OFF position, and the infrared transmission filters being switched to the ON position (a position where they enter an optical path) with respect to some of the LEDs of the LED units 20R, 20L. In this case, a pedestrian detection function can be maintained in the dark region, following the partial non-emission pattern. Therefore, the near-infrared light projection devices 11R, 11L can be omitted in the first embodiment described above.

[0189] In the first and second embodiments described above, the LED unit 20L (the same applies to the LED unit 20R) is generated by using an array in which the multitude of LEDs are arranged in a single row in the lateral direction. However, the setup can also be based on an array in which the multitude of LEDs are aligned in two or more rows in the lateral direction. In the Fig. In the example shown in Figure 4A, for instance, in addition to LEDs 231 to 240, an LED can be rearranged at the same positions in the lateral direction with respect to each of the LEDs 231 to 240. In this case, the resolution of the dark region in the vertical direction can be increased by controlling the on-state of the LED in a similar manner from LED to LED. Even in this case, the method of this disclosure is applicable by determining the first laser emission pattern in which part of the dark region is emitted, as in the first and second embodiments described above, in a case where the resolution of the dark region is still insufficient.

[0190] In the first and second embodiments described above, the LED-emitting regions of LED unit 20R are regions that overlap the LED-emitting regions A1 to A10 of LED unit 20L. However, the respective LED-emitting regions of LED unit 20R can also be configured such that they do not overlap the LED-emitting regions A1 to A10 of LED unit 20L. Furthermore, the respective LED-emitting regions of LED unit 20R can be changed relative to positions that do not overlap the LED-emitting regions A1 to A10 of LED unit 20L in response to an AFS operation. In each of these cases, the method of this disclosure is applicable by determining the first laser emission pattern in which a portion of the dark region is emitted in the light distribution pattern generated by all LED units 20R and 20L, in the manner described above.

[0191] In the first and second embodiments described above, the laser-emitting region of laser unit 30R is essentially the same as the laser-emitting region B1 of laser unit 30L. However, the laser-emitting region of laser unit 30R can also differ from the laser-emitting region B1 of laser unit 30L. In a case where the first laser emission pattern, in which a non-overlapping region is emitted, or the like, is determined, only a single corresponding laser unit of laser units 30R and 30L performs the emission.

[0192] In the first to third embodiments described above, the first image sensor 91 is the color camera equipped with an infrared cutoff filter for improved detection of a vehicle in front of it. The invention is not limited thereto. For example, the first image sensor 91 can be a color camera lacking the infrared cutoff filter, or it can be no color camera at all.

[0193] In the first to third embodiments described above, the second image sensor 92 is arranged to improve the pedestrian detection function. However, the second image sensor 92 can be omitted if, for example, the pedestrian can be detected with the required degree of accuracy based on the image from the first image sensor 91, where the first image sensor 91 is provided without an infrared cutoff filter. Alternatively, the second image sensor 92, together with the near-infrared light projection devices 11R, 11L, can be omitted if the pedestrian is excluded from the emission suppression target object in the first and second embodiments described above.

[0194] In the first to third embodiments described above, the near-infrared light projection devices 11R, 11L are arranged such that the pedestrian detection function is improved. However, the near-infrared light projection devices 11R, 11L can also be omitted. In particular, in the second embodiment described above, the pedestrian is excluded from the emission suppression target object, and therefore the near-infrared light projection devices 11R, 11L can be omitted. The light from the LED units 20R, 20L (the same applies to the aperture-type lamp units 40R, 40L) contains a wavelength from visible light to near-infrared light, and thus near-infrared image acquisition by the second image sensor 92 is possible.This means that even in a case where the near-infrared light projection devices 11R, 11L are not arranged, the pedestrian can be detected in the emission region of the LED units 20R, 20L based on the near-infrared image from the second image sensor 92.

[0195] In the first to third embodiments described above, the near-infrared light projection devices 11R, 11L are arranged such that the pedestrian detection function is improved. However, a far-infrared light projection device can be arranged instead, so that the pedestrian detection function for a more distant region is improved in response to a relatively large emission distance of the laser units 30R, 30L.

[0196] In the first to third embodiments described above, the road surface drawing information generation unit 104 is arranged such that the information can be transmitted to the occupant using the road surface drawing. However, the road surface drawing information generation unit 104 can be omitted.

[0197] In the first and second embodiments described above, a laser emission pattern (a fourth laser emission pattern) can be determined in which the entire laser-emitting region B1, or the region excluding the emission-suppressed region, is emitted in the entire laser-emitting region B1 in a case where at least one of the LED units 20R, 20L fails. Even in the case of failure of the LED units 20R, 20L, the view over a greater distance can be improved with the laser units 30R, 30L by controlling the laser units 30R, 30L in this case based on the fourth laser emission pattern, similarly to the above description. The same applies in a case where at least one of the aperture-type lamp units 40R, 40L fails in the third embodiment described above.

[0198] In the first to third embodiments described above, the first image sensor 91 and the second image sensor 92 are used to obtain information about objects. However, a radar sensor having a detection region in front of the host vehicle can be used to obtain information about an object in addition to or instead of the first image sensor 91 and the second image sensor 92. Object information obtained from the radar sensor (a distance and a direction of the object relative to the host vehicle) can represent a three-dimensional position (coordinate values ​​in a spatial coordinate system) of the emission suppression target object. The coordinate value of the spatial coordinate system and the coordinate value of the coordinate system on the phosphor 34 (compare Fig. 6A) can be converted using a predetermined conversion equation. That is, a non-emission region (a region corresponding to the emission-suppressed region) in the coordinate system on the phosphor 34 (compare Fig. 6A) can be calculated based on any three-dimensional position in a set of reflection points of the emission suppression target object. Likewise, a region corresponding to the dark region in the coordinate system on the phosphor 34 (the dark region following the partial non-emission pattern or the split-beam pattern) can be calculated using the coordinate transformation matrix H described above over a two-dimensional coordinate system, such as the coordinate system of the image (compare Fig. 8B). Accordingly, the first laser emission pattern can be determined similarly to the case described above, even in a case where the radar sensor is used. When the radar sensor is used alone, the emission-suppressed spot detection units 1012, 1012A, 1012B according to the first to third embodiments described above, and the face detection unit 1082 according to the second embodiment described above, can be omitted.

[0199] In the first embodiment described above, some of the functions of the control device 7 can be implemented by computers integrated into the first image sensor 91 and the second image sensor 92. For example, the first information generation unit 101 can be implemented by the computers integrated into the first image sensor 91 and the second image sensor 92. The same applies to the second and third embodiments described above.

[0200] In the first and third embodiments described above, a cyclist can be treated similarly to a pedestrian. In the second embodiment described above, the attention-attracting target can be either a pedestrian or a cyclist. The cyclist can be detected based on the information from the second image sensor 92, as in the case of a pedestrian. In the second embodiment described above, an animal can be treated as the attention-attracting target in a similar manner to a pedestrian. In the case of an animal, the third laser emission pattern can be determined in which the entire animal, including its face, is emitted. The animal can be detected based on the information from the second image sensor 92, as in the case of a pedestrian.

[0201] In the second embodiment described above, the third emission pattern determination unit 1053 determines the third laser emission pattern in which a location different from the pedestrian's face is emitted, and the third laser emission pattern in which the distant region is emitted. However, the third emission pattern determination unit 1053 can only determine the third laser emission pattern in which a location different from the pedestrian's face is emitted.

[0202] In the second embodiment described above, the predetermined emission target region corresponds to the region below the pedestrian's face in the LED-emitting region containing the pedestrian. The invention is not limited thereto. The predetermined emission target region can correspond to a region that excludes the region of the pedestrian's face from the entire region of the pedestrian in the coordinate system of the image. That is, the predetermined emission target region can correspond to a region that relates to the group of image elements relating to the pedestrian, excluding the group of image elements relating to the pedestrian's face.

[0203] The lamp units 40R, 40L of aperture type, set up for identification, are in the Fig. Figures 20 to 22C are shown. However, the design of the aperture-type lamp units 40R and 40L is not limited to this illustration. For example, aperture-type lamp units can be equipped separately with light sources for the high beam pattern, the dividing beam pattern, and a light source for the low beam pattern.

[0204] In the Fig. In the example shown in 7, step S706 can be executed after step S710. Similarly, in the example shown in Fig. In example 16, step S706 can be executed after step S7101. For example, in the example shown in Fig. The example shown in step S7063 is executed after the execution of step S7103.

Claims

[1] Vehicle driving light device with an image sensor (91, 92) for obtaining information about an object in front of a host vehicle, a first illumination (20R, 20L) to illuminate a space in front of the host vehicle with light, a second lighting system (30R, 30L) with a laser light source (32) that emits laser light, a movable mirror element (33) that reflects the laser light in front of the host vehicle, and an actuator (37, 38) that drives the movable mirror element (33), an illumination light distribution pattern control unit (102, 103) for controlling a light distribution pattern generated by the light from the first illumination (20R, 20L) based on information obtained by the image sensor (91, 92) such that a dark region is generated where the emission with the light from the first illumination (20R, 20L) is reduced, wherein the dark region contains an emission-suppressed area (400, 402, 404) described by coordinate values ​​of four corners of a rectangle in an image of the image sensor, wherein the emission-suppressed area contains at least part of an emission-suppression target object, and the emission-suppression target object is detected by the image sensor (91, 92), a laser light distribution pattern setting unit (105) for setting a laser light distribution pattern in which emission with the laser light is carried out in a non-dark region that is contained in the dark region but does not contain the emission-suppressed spot, and a laser light distribution pattern control unit (106) for controlling the actuator such that the laser light is reflected in the laser light distribution pattern, wherein the dark region contains the non-dark region and the radiation-suppressed area, in the non-dark region the emission with the light from the first illumination (20R, 20L) is reduced, without emission with the laser light from the second illumination (30R, 30L) being reduced, and At the emission-suppressed location, both the emission with the light from the first illumination (20R, 20L) and the emission with the laser light from the second illumination (30R, 30L) are reduced. [2] Vehicle driving light device according to claim 1, further comprising a emission-suppressed region setting unit (101) for setting an emission-suppressed region where emission with the light from the first illumination is reduced, based on the information obtained by the image sensor (91, 92), wherein the emission-suppressed region contains the emission-suppressed area, wherein the illumination light distribution pattern control unit (102, 103) is configured to control the light distribution pattern generated by the light such that the emission-suppressed region is contained in the dark region, and the laser light distribution pattern setting unit (105) is configured to set the laser light distribution pattern such that a non-dark region, different from the emission-suppressed region and contained within the dark region, is emitted with the laser light, wherein the dark region contains the non-dark region that is different from the radiation-suppressed region and the radiation-suppressed region, In the non-dark region, which differs from the emission-suppressed region, the emission with the light from the first illumination (20R, 20L) is reduced, without the emission with the laser light from the second illumination (30R, 30L) being reduced, and In the emission-suppressed region, both the emission with the light from the first illumination (20R, 20L) and the emission with the laser light from the second illumination (30R, 30L) are reduced. [3] Vehicle driving light device according to claim 1 or 2, wherein the resolution of the light by the first illumination (20R, 20L) is lower than the resolution of the laser light by the second illumination (30R, 30L). [4] Vehicle driving light device according to one of claims 1 to 3, wherein the movable mirror element (33) can rotate about two axes, and the two axes intersect and are located on a reflective surface of the movable mirror element (33). [5] Vehicle driving light device according to one of claims 1 to 4, wherein the laser light distribution pattern setting unit (105) is configured to set the laser light distribution pattern based on information from a navigation device of the host vehicle such that guidance information is displayed on a road surface in front of the host vehicle. [6] Vehicle driving light device according to one of claims 1 to 5, wherein the laser light distribution pattern setting unit (105) for controlling the actuator is configured such that the laser light is reflected to a section below a person's face. [7] Vehicle driving light device according to one of claims 1 to 6, wherein the laser light distribution pattern setting unit (105) is configured for setting the laser light distribution pattern such that the laser light is also reflected to a region up to a predetermined height from a horizontal line in a region which is emitted with the light by the first illumination (20R, 20L). [8] Vehicle driving light device according to one of claims 1 to 7, wherein the first lighting (20R, 20L) comprises a plurality of light-emitting diodes, and the lighting light distribution pattern control unit (102, 103) is configured to generate the dark region by switching off one or more of the plurality of light-emitting diodes. [9] Vehicle driving light device according to claim 8, wherein the plurality of light-emitting diodes are arranged in a row in a lateral direction. [10] Vehicle driving light device according to claim 2, wherein the radiation-suppressed region setting unit (101) includes a radiation-suppressed spot detection unit (1012) for detecting the radiation-suppressed spot, and the emission suppressed region setting unit (101) is set up for setting the emission suppressed region based on a result of the detection by the emission suppressed spot detection unit. [11] Vehicle driving light device according to one of claims 1 to 10, wherein the emission suppression target object includes a car driving ahead (Vh2) and an oncoming car (Vh1), the emission suppression location of the car driving ahead is a rear window of the car driving ahead, and the emission suppression location of the oncoming car is the windshield of the oncoming car. [12] Vehicle driving light device according to any one of claims 1 to 11, wherein the emission suppression target object contains a person and the emission suppressed area of ​​the person is a face of the person.

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