Light distribution control device for vehicle and light distribution control method for vehicle

Abstract

The objective of the present invention is to provide a technology with which a driver can easily visually recognize a stationary vehicle immediately after a vehicle traveling in front has changed lanes. This vehicle light distribution control device is provided with a light distribution control unit which performs control to shield light, from a headlight of a vehicle, directed toward the vehicle traveling in front, which is traveling in front of the vehicle, if an object includes the vehicle traveling in front. If the vehicle traveling in front moves from a first lane, the same lane as the vehicle, to a second lane, and the object includes a stationary vehicle that was located in front of the vehicle traveling in front, the light distribution control unit performs control to prohibit the shielding of the light from the headlight directed toward the stationary vehicle.

Description

[Technical field]

[0001] The present disclosure relates to a light distribution control device for a vehicle and a light distribution control method for a vehicle. [Background technology]

[0002] Various technologies have been proposed for vehicle light distribution control devices that control the light distribution of the vehicle's headlights. For example, Patent Document 1 proposes a technology for controlling the light distribution of the headlights of a vehicle based on the moving direction of a vehicle traveling ahead of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-27977 A Summary of the Invention [Problem to be solved by the invention]

[0004] When a vehicle is following a vehicle traveling ahead and traveling in the same first lane as the vehicle traveling ahead, it is preferable for the vehicle to perform control to illuminate the vehicle traveling ahead with low beams rather than high beams so as to avoid generating glare that would impede the driver of the vehicle traveling ahead. Even with low beams, the vehicle traveling ahead is close to the vehicle and is sufficiently illuminated, so the driver of the vehicle can see the vehicle traveling ahead by receiving a relatively bright reflected light from the vehicle traveling ahead.

[0005] However, in the vehicle light distribution control device proposed so far, when a vehicle traveling ahead changes lanes to avoid a stopped vehicle located in front of the vehicle traveling ahead, the stopped vehicle is continuously irradiated with low beams. The stopped vehicle located in front of the vehicle traveling ahead is relatively far from the vehicle, so it is not sufficiently illuminated with low beams. Moreover, it takes a certain amount of time for the driver's pupils, which have been exposed to relatively bright light from the vehicle traveling ahead, to adapt to the darkness. As a result, there is a problem that it is difficult for the driver of the vehicle to see the stopped vehicle immediately after the vehicle traveling ahead changes lanes.

[0006] Such problems are thought to become particularly evident when there is little road lighting, when vehicles are traveling slowly (40 to 60 km / h) on narrow roads (for example, roads with two or fewer lanes in opposite directions), and when stopped vehicles do not have their license plate lights or tail lights on.

[0007] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that allows a driver to easily see a stopped vehicle immediately after the vehicle ahead changes lanes. [Means for solving the problem]

[0008] The vehicle light distribution control device according to the present disclosure includes an imaging information acquisition unit that acquires imaging information generated by a forward monitoring camera that monitors the front of the vehicle, a position determination unit that determines a position of an object in front of the vehicle based on the imaging information, and a light distribution control unit that performs control to block light from the vehicle's headlights to the vehicle traveling ahead based on the position of the vehicle traveling ahead when the object includes a vehicle traveling ahead of the vehicle. a distance measurement information acquisition unit that acquires distance measurement information that indicates a distance from the vehicle to the object, the distance measurement information being generated by a distance measurement sensor; and a relative speed calculation unit that calculates a relative speed between the vehicle and the object based on the distance measurement information. and when the vehicle is traveling and the vehicle traveling ahead moves from the first lane to the second lane, the same lane as the vehicle, and the object includes a stopped vehicle that was located in front of the vehicle traveling ahead, the light distribution control unit performs control to prohibit the headlights from blocking light to the stopped vehicle based on the position of the stopped vehicle. the light distribution control unit determines that the object includes a stopped vehicle when the absolute value of the relative speed is equal to or greater than a first threshold, and determines that the object includes a slowing down vehicle that was moving slowly ahead of the forward traveling vehicle when the absolute value of the relative speed is less than the first threshold and equal to or greater than a second threshold that is smaller than the first threshold, and performs control to illuminate the slowing down vehicle with an amount of light between shading and normal illumination based on the position of the slowing down vehicle. cormorant. Effect of the Invention

[0009] According to the present disclosure, when a vehicle traveling ahead moves from the same lane as the vehicle to the second lane, and the objects include a stopped vehicle that was located in front of the vehicle traveling ahead, control is performed to prohibit the headlights from blocking light from the stopped vehicle based on the position of the stopped vehicle. With this configuration, the driver can easily see the stopped vehicle immediately after the vehicle traveling ahead changes lanes.

[0010] The objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of a vehicle light distribution control device according to a first embodiment. [Diagram 2] 5 is a diagram for explaining the determination by a position determination unit and the control by a light distribution control unit according to the first embodiment. FIG. [Diagram 3] 5 is a diagram for explaining the determination by a position determination unit and the control by a light distribution control unit according to the first embodiment. FIG. [Figure 4] 5 is a diagram for explaining the determination by a position determination unit and the control by a light distribution control unit according to the first embodiment. FIG. [Diagram 5] 5 is a diagram for explaining a determination made by a light distribution control section according to the first embodiment. FIG. [Figure 6] 4 is a flowchart showing the operation of the vehicle light distribution control device according to the first embodiment. [Figure 7] FIG. 11 is a block diagram showing a configuration of a vehicle light distribution control device according to a second embodiment. [Figure 8] 10 is a flowchart showing the operation of a vehicle light distribution control device according to the second embodiment. [Figure 9] 11 is a flowchart showing the operation of a vehicle light distribution control device according to the third embodiment. [Figure 10] FIG. 13 is a block diagram showing a hardware configuration of a vehicle light distribution control device according to another modified example. [Figure 11]FIG. 13 is a block diagram showing a hardware configuration of a vehicle light distribution control device according to another modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] <Embodiment 1> Fig. 1 is a block diagram showing a configuration of a vehicle light distribution control device 1 according to the present embodiment 1. The vehicle light distribution control device 1 in Fig. 1 is mounted on, for example, a vehicle, and is connected to a forward monitoring camera 31 and a headlamp 32 so as to be able to communicate with each other.

[0013] The forward monitoring camera 31 is a camera that is provided in, for example, a vehicle, for monitoring the area ahead of the vehicle, and generates imaging information including an image of the area ahead of the vehicle.

[0014] The headlight 32 is provided on the vehicle and is capable of emitting high beams. The headlight 32 according to the first embodiment has an ADB (Adaptive Driving Beam) function that can change the illumination range and the shaded range of the headlight 32. In the first embodiment, the vehicle is capable of emitting not only illumination by the headlight 32 but also a low beam that illuminates a narrower range than the high beam.

[0015] The vehicle light distribution control device 1 in FIG. 1 includes an imaging information acquisition unit 11, a position determination unit 12, and a light distribution control unit 13.

[0016] The imaging information acquisition unit 11 acquires imaging information generated by the forward monitoring camera 31 .

[0017] The position determination unit 12 performs image processing based on the imaging information acquired by the imaging information acquisition unit 11 to determine the position of an object ahead of the vehicle. The object here includes at least one of a forward traveling vehicle traveling ahead of the vehicle, a vehicle ahead of the forward traveling vehicle traveling ahead of the forward traveling vehicle, and a stopped vehicle located in front of the forward traveling vehicle. The stopped vehicle may include a parked vehicle.

[0018] In the first embodiment, the position determination unit 12 determines whether the object included in the imaging information includes a vehicle based on whether the object has a tail lamp. The vehicle here includes, for example, a four-wheeled vehicle and a two-wheeled vehicle. If the object includes a vehicle, the position determination unit 12 determines the position of each vehicle based on the position of the tail lamp.

[0019] The light distribution control unit 13 determines the light distribution of the headlights 32 based on the position of the object determined by the position determination unit 12, and controls the light distribution of the headlights 32 based on the determination result.

[0020] 2, 3, and 4 are diagrams for explaining the determination by position determination section 12 and the control by light distribution control section 13 according to the first embodiment.

[0021] 2 to 4 show a vehicle 41, a vehicle 42 traveling ahead, a low beam illumination range 41a of the vehicle 41, an illumination range 32a illuminated by the headlights 32 of the vehicle 41, and a light-blocking range 32b where illumination from the headlights 32 is blocked. In the example of Figs. 2 to 4, the low beam illumination range 41a is constant, but the illumination range 32a and light-blocking range 32b of the headlights 32 are changeable by the ADB function of the headlights 32.

[0022] 2, the position determination unit 12 determines the position of the low beam light from the vehicle 41 and the tail lamps 42a of the vehicle 42 traveling ahead that are illuminated by the lighting of the vehicle 42 traveling ahead, based on the imaging information acquired by the imaging information acquisition unit 11. The position determination unit 12 determines the relative position of the vehicle 42 traveling ahead and the width of the vehicle 42 traveling ahead, based on the position of the tail lamps 42a, as the position of the object. The relative position of the vehicle 42 traveling ahead includes the position of the vehicle 42 traveling ahead with respect to the vehicle 41 in the forward direction of the vehicle 41, and the position of the vehicle 42 traveling ahead with respect to the vehicle 41 in the left-right direction of the vehicle 41.

[0023] When the objects ahead of the vehicle 41 include a vehicle 42 traveling ahead, the light distribution control unit 13 performs control to block light from the headlights 32 to the vehicle 42 traveling ahead, based on the position of the vehicle 42 traveling ahead determined by the position determination unit 12. In other words, the light distribution control unit 13 controls the headlights 32 so that the vehicle 42 traveling ahead is included in the light blocking range 32b.

[0024] In the first embodiment, the light blocking range 32b is defined by a light blocking width WD that is wider than the width of the vehicle 42 traveling ahead determined by the position determination unit 12, or an opening angle θwd corresponding to the light blocking width WD, and the direction from the vehicle 41. The light distribution control unit 13 controls the light blocking width WD or the opening angle θwd, and the direction from the vehicle 41, thereby performing control to block light from the headlamp 32 to the vehicle 42 traveling ahead.

[0025] In FIG. 3, in addition to the vehicle 41 and the like shown in FIG. 2, a stopped vehicle 43 is further illustrated. In the case of FIG. 3, the position determination unit 12 determines the position of the vehicle 42 traveling ahead, and determines the position of the stopped vehicle 43 based on the tail lamp 43a of the stopped vehicle 43 in the same manner as determining the position of the vehicle 42 traveling ahead. Note that the low beam illumination range 41a and the like in FIG. 2 to FIG. 4 are only a guide, and for example, the range outside the illumination range 41a is also somewhat illuminated by the low beam. Therefore, even if the stopped vehicle 43 does not turn on the tail lamp 43a, the tail lamp 43a of the stopped vehicle 43 is illuminated by the reflected light of the low beam from the vehicle 41, so that the position of the stopped vehicle 43 can be determined.

[0026] 2, a vehicle 44 traveling in front is further illustrated in Fig. 4. In the case of Fig. 4, the position determination unit 12 determines the position of the vehicle 42 traveling in front, and determines the position of the vehicle 44 traveling in front based on the tail lamps 44a of the vehicle 44 traveling in front, similarly to the determination of the position of the vehicle 42 traveling in front.

[0027] The light distribution control unit 13 determines whether the vehicle 42 traveling ahead is moving from the same first lane as the vehicle 41 to a different second lane, based on the position of the vehicle 42 traveling ahead determined by the position determination unit 12. For example, the light distribution control unit 13 determines that the vehicle 42 traveling ahead is moving to the second lane when the relative position of the vehicle 42 traveling ahead in the left-right direction falls outside a certain range. For example, in the cases of Figs. 3 and 4, the light distribution control unit 13 determines that the vehicle 42 traveling ahead is moving to the second lane.

[0028] When it is determined that the vehicle 42 traveling ahead is moving to the second lane, the light distribution control unit 13 calculates the relative speed of the object based on the position of the object determined by the position determination unit 12. For example, the light distribution control unit 13 calculates the relative speed of the object from the change per unit time in the relative position of the object. Then, based on the absolute value of the relative speed, the light distribution control unit 13 determines whether the object includes a stopped vehicle 43 or a vehicle traveling ahead 44. This determination will be described in detail later.

[0029] 3, the light distribution control unit 13 determines that the forward traveling vehicle 42 has moved to the second lane and that the objects ahead of the vehicle 41 include a stopped vehicle 43. In this case, the light distribution control unit 13 performs control to prohibit the headlights 32 from blocking light to the stopped vehicle 43, based on the position of the stopped vehicle 43 determined by the position determination unit 12. In other words, the light distribution control unit 13 controls the headlights 32 so that the stopped vehicle 43 is included in the illumination range 32a.

[0030] In the case of Fig. 4, the light distribution control unit 13 determines that the vehicle 42 traveling ahead moves to the second lane and that the objects ahead of the vehicle 41 include a vehicle 44 traveling ahead of the vehicle 41. In this case, the light distribution control unit 13 performs control to block light from the headlights 32 to the vehicle 44 traveling ahead of the vehicle 41, based on the position of the vehicle 44 traveling ahead of the vehicle 41 determined by the position determination unit 12. In other words, the light distribution control unit 13 controls the headlights 32 so that the vehicle 44 traveling ahead of the vehicle 42 is included in the light blocking range 32b.

[0031] Fig. 5 is a diagram for explaining the determination of light distribution control unit 13 according to the first embodiment. The upper side of Fig. 5 shows the inter-vehicle distance between vehicle 41 and an object in front of vehicle 41 when the state of Fig. 2 changes to the state of Fig. 3 or Fig. 4. The inter-vehicle distance corresponds to the relative position of the object. The lower side of Fig. 5 shows the absolute value of the relative speed between vehicle 41 and the object when the state of Fig. 2 changes to the state of Fig. 3 or Fig. 4.

[0032] The state from time T1 to T2 in Fig. 5 corresponds to the state in Fig. 2. In this state, the vehicle 41 and the vehicle traveling ahead 42 are traveling. Therefore, the inter-vehicle distance between the vehicle 41 and the vehicle traveling ahead 42 remains almost unchanged over time, and the absolute value of the relative speed between the vehicle 41 and the vehicle traveling ahead 42 is relatively small.

[0033] The state of times T2 to T4 in Fig. 5 corresponds to a transitional period from the state of Fig. 2 to the state of Fig. 3 or Fig. 4. In this state, the object for which the inter-vehicle distance is measured switches from a vehicle 42 traveling ahead that is relatively close to vehicle 41 to a stopped vehicle 43 or a vehicle traveling ahead of vehicle 44 that is relatively far from vehicle 41, so that the inter-vehicle distance becomes large at time T3 in Fig. 5.

[0034] The state after time T3 in FIG. 5 corresponds to the state in FIG.

[0035] In the state of Fig. 3, vehicle 41 is moving, but stopped vehicle 43 is stopped. Therefore, as shown by the thick solid line after time T3 in Fig. 5, as long as vehicle 41 continues to move, the inter-vehicle distance decreases and the absolute value of the relative speed becomes relatively large. Thereafter, as long as vehicle 41 continues to move in the same lane, vehicle 41 will collide with stopped vehicle 43 at time T5.

[0036] In the state of Fig. 4, the vehicle 41 and the vehicle 44 traveling ahead are traveling. Therefore, as shown by the thick dotted line after time T3 in Fig. 5, the inter-vehicle distance between the vehicle 41 and the vehicle 44 traveling ahead remains almost unchanged over time, and the absolute value of the relative speed between the vehicle 41 and the vehicle 44 traveling ahead is relatively small.

[0037] In consideration of the above, the light distribution control unit 13 according to the first embodiment is configured to determine that the objects include a stopped vehicle 43 when the forward traveling vehicle 42 moves to the second lane and the absolute value of the relative speed of the object is equal to or greater than the first threshold value TH1. On the other hand, the light distribution control unit 13 is configured to determine that the objects include a vehicle traveling ahead 44 when the forward traveling vehicle 42 moves to the second lane and the absolute value of the relative speed of the object is less than the first threshold value TH1. The first threshold value TH1 is, for example, 50 km / h, and is shown in the graph of the relative speed in FIG. 5. The second threshold value TH2, which is also shown in the graph of the relative speed in FIG. 5, will be described in the third embodiment.

[0038] The light distribution control unit 13 may determine whether the object includes the stopped vehicle 43 or the vehicle traveling ahead 44 based on the inter-vehicle distance between the vehicle 41 and the object. However, it is preferable to perform the determination using the absolute value of the relative speed rather than using the inter-vehicle distance as described above, since this allows the determination to be completed at a relatively early point in time.

[0039] Fig. 6 is a flowchart showing the operation of the vehicle light distribution control device 1 according to the embodiment 1. Note that the following description will be given on the assumption that a forward traveling vehicle 42 is traveling in front of the vehicle 41 when the operation in Fig. 6 starts.

[0040] In step S1 , the imaging information acquisition unit 11 acquires imaging information generated by the forward monitoring camera 31 .

[0041] In step S2, the position determination unit 12 determines the position of the vehicle 42 traveling ahead, which is included in the objects ahead of the vehicle 41, based on the imaging information acquired in step S1.

[0042] In step S3, the light distribution control unit 13 determines whether the vehicle 42 traveling ahead is moving from the first lane, which is the same lane as the vehicle 41, to the second lane, based on the position of the vehicle 42 traveling ahead. If it is determined that the vehicle 42 traveling ahead is moving to the second lane, the process proceeds to step S5, and if it is determined that the vehicle 42 traveling ahead is not moving to the second lane, the process proceeds to step S4.

[0043] In step S4, the light distribution control unit 13 performs control to block light from the headlights 32 to the vehicle 42 traveling ahead, based on the position of the vehicle 42 traveling ahead. This performs light distribution control as shown in Fig. 2. After that, the process returns to step S1.

[0044] In step S5, the imaging information acquisition unit 11 acquires imaging information generated by the forward monitoring camera 31.

[0045] In step S6, the position determination unit 12 determines the position of an object in front of the vehicle 41 based on the imaging information acquired in step S5.

[0046] In step S7, the light distribution control unit 13 calculates the relative speed of the object based on the position of the object in step S6, and determines, based on the absolute value of the relative speed, whether or not the object includes the stopped vehicle 43. If the absolute value of the relative speed is equal to or greater than the first threshold value TH1 and it is determined that the object includes the stopped vehicle 43, the process proceeds to step S8, and if the absolute value of the relative speed is less than the first threshold value TH1 and it is determined that the object includes the vehicle 44 traveling ahead, the process proceeds to step S9.

[0047] In step S8, the light distribution control unit 13 performs control to block the light from the headlights 32 to the vehicle 42 traveling ahead based on the position of the vehicle 42 traveling ahead, and also performs control to prohibit the headlights 32 from blocking the light to the stopped vehicle 43 based on the position of the stopped vehicle 43. This performs light distribution control as shown in Fig. 3. Then, for example, when the stopped vehicle 43 has passed, the stopped vehicle 43 is set as the new vehicle 42 traveling ahead, and when the vehicle 41 has changed lanes, the vehicle traveling ahead of the vehicle 41 is set as the new vehicle 42 traveling ahead, and then the process returns to step S1.

[0048] In step S9, the light distribution control unit 13 performs control to block light from the headlights 32 to the vehicle 42 traveling ahead based on the position of the vehicle 42 traveling ahead, and also performs control to block light from the headlights 32 to the vehicle 44 traveling ahead based on the position of the vehicle 44 traveling ahead. This performs light distribution control as shown in Fig. 4. Then, the vehicle 44 traveling ahead is set as the new vehicle 42 traveling ahead, and the process returns to step S1.

[0049] <Summary of the first embodiment> According to the vehicle light distribution control device 1 according to the first embodiment as described above, when the vehicle 42 travelling ahead moves to the second lane and the objects ahead of the vehicle 41 include the stopped vehicle 43, control is performed to prohibit the headlights 32 from blocking light to the stopped vehicle 43. According to such a configuration, when the vehicle 42 travelling ahead changes lanes to avoid the stopped vehicle 43, the stopped vehicle 43 can be illuminated by the high beam of the headlights 32 or the like. Therefore, immediately after the vehicle 42 travelling ahead changes lanes, the driver of the vehicle 41 can easily see the stopped vehicle 43. It is considered that illuminating the stopped vehicle 43 does not cause a traffic safety problem at the stopped vehicle 43.

[0050] Furthermore, according to the first embodiment, when the vehicle 42 traveling ahead moves to the second lane and the objects ahead of the vehicle 41 include the vehicle 44 traveling ahead, control is performed to block the light from the headlights 32 to the vehicle 44 traveling ahead. With this configuration, it is possible to prevent the headlights 32 from illuminating the vehicle 44 traveling ahead when, for example, the vehicle 42 traveling ahead changes lanes to overtake the vehicle 44 traveling ahead. Therefore, it is possible to suppress glare from the headlights 32 that obstructs the view of the driver of the vehicle 44 traveling ahead.

[0051] According to the first embodiment, it is determined whether the object includes a vehicle based on whether the object included in the captured image information has a tail lamp. With this configuration, the above control can be performed when the object is a vehicle such as a four-wheeled vehicle or a two-wheeled vehicle.

[0052] <Variation 1> When the object has tail lamps, the position determination unit 12 may determine the type of vehicle included in the object based on the arrangement pattern of the tail lamps. For example, when the arrangement pattern of the tail lamps is an arrangement pattern consisting of only a single tail lamp, the position determination unit 12 may determine that the vehicle included in the object is a two-wheeled vehicle. On the other hand, when the arrangement pattern of the tail lamps is an arrangement pattern consisting of two tail lamps arranged side by side, the position determination unit 12 may determine that the vehicle included in the object is a four-wheeled vehicle. In addition, the light distribution control unit 13 may control the light blocking width WD or the opening angle θwd in FIG. 2 based on whether the vehicle included in the object is a two-wheeled vehicle or a four-wheeled vehicle. With this configuration, the irradiation range 32a and the light blocking range 32b can be optimized.

[0053] <Variation 2> In the first embodiment, in step S7 in Fig. 6, the light distribution control unit 13 determines whether the object includes a stopped vehicle 43 or a vehicle traveling ahead 44, but there are cases where it is determined that there is no object ahead of the vehicle 41. In such a case, the light distribution control unit 13 may perform the operation of step S8, i.e., the light distribution control as shown in Fig. 3, or may perform the operation of step S9, i.e., the light distribution control as shown in Fig. 4.

[0054] <Embodiment 2> 7 is a block diagram showing the configuration of a vehicle light distribution control device 1 according to the present embodiment 2. In the following, among the components according to the present embodiment 2, components that are the same as or similar to the components described above are given the same or similar reference symbols, and different components are mainly described.

[0055] The vehicle light distribution control device 1 in FIG. 7 is connected to a distance measuring sensor 33 in addition to the forward monitoring camera 31 and the headlights 32 in FIG.

[0056] The distance measurement sensor 33 generates distance measurement information indicating the distance from the vehicle 41 to an object ahead of the vehicle 41. The distance measurement sensor 33 is, for example, an optical sensor, a radio wave sensor, or an ultrasonic sensor.

[0057] The light distribution control device for a vehicle 1 in FIG. 7 includes a distance measurement information acquisition unit 14 and a relative speed calculation unit 15 in addition to the components of the light distribution control device for a vehicle 1 in FIG.

[0058] The distance measurement information acquisition unit 14 acquires the distance measurement information generated by the distance measurement sensor 33. The relative speed calculation unit 15 calculates the relative speed between the vehicle 41 and an object based on the distance measurement information acquired by the distance measurement information acquisition unit 14. For example, the relative speed calculation unit 15 calculates the relative speed from the change per unit time of the distance indicated by the distance measurement information.

[0059] The light distribution control unit 13 determines the light distribution of the headlights 32 based on the position of the object determined by the position determination unit 12 and the relative speed calculated by the relative speed calculation unit 15, and controls the light distribution of the headlights 32 based on the determination result.

[0060] Light distribution control unit 13 according to the second embodiment does not use the absolute value of the relative speed calculated from the position of the object determined by position determination unit 12, but uses the absolute value of the relative speed calculated by relative speed calculation unit 15 to determine whether the object includes a stopped vehicle 43 or a vehicle traveling ahead 44. Specifically, light distribution control unit 13 determines that the object includes a stopped vehicle 43 when the absolute value of the relative speed calculated based on the distance measurement information is equal to or greater than a first threshold value TH1, and determines that the object includes a vehicle traveling ahead 44 when the absolute value is less than the first threshold value TH1. Except for this, light distribution control unit 13 according to the second embodiment is similar to light distribution control unit 13 according to the first embodiment.

[0061] Fig. 8 is a flowchart showing the operation of the vehicle light distribution control device 1 according to the embodiment 2. The flowchart in Fig. 8 is a flowchart in which step S7 in the flowchart in Fig. 6 is replaced with steps S11 to S13. Steps S11 to S13 will be mainly described below.

[0062] After step S6, in step S11, the distance measurement information acquisition unit 14 acquires the distance measurement information generated by the distance measurement sensor 33. In step S12, the relative speed calculation unit 15 calculates the relative speed between the vehicle 41 and the object based on the distance measurement information acquired in step S11. Note that steps S11 and S12 may be performed before steps S5 and S6, or may be performed in parallel with steps S5 and S6.

[0063] In step S13, the light distribution control unit 13 determines, based on the absolute value of the relative speed in step S12, whether or not the object includes the stopped vehicle 43. If the absolute value of the relative speed is equal to or greater than the first threshold value TH1 and it is determined that the object includes the stopped vehicle 43, the process proceeds to step S8, and if the absolute value of the relative speed is less than the first threshold value TH1 and it is determined that the object includes the vehicle 44 traveling ahead, the process proceeds to step S9.

[0064] <Summary of the second embodiment> According to the vehicle light distribution control device 1 of the second embodiment as described above, when the absolute value of the relative speed calculated from the distance measurement information generated by the distance measurement sensor 33 is equal to or greater than the first threshold value TH1, it is determined that the object includes the stopped vehicle 43. In general, the relative speed calculated from the distance measurement information generated by the distance measurement sensor 33 has better accuracy and response speed than the relative speed calculated from the imaging information generated by the forward monitoring camera 31. Therefore, according to the second embodiment, it is possible to improve the accuracy and speed of determining whether or not the object includes the stopped vehicle 43. Note that if a radar is used for the distance measurement sensor 33 and the Doppler shift effect is used for the change in frequency, the relative speed can be easily obtained.

[0065] <Embodiment 3> The configuration of the vehicle light distribution control device 1 according to the third embodiment is similar to the configuration (see FIG. 7) of the vehicle light distribution control device 1 according to the second embodiment. Hereinafter, among the components according to the third embodiment, the components that are the same as or similar to the components described above are denoted by the same or similar reference symbols, and different components will be mainly described.

[0066] A second threshold value TH2 that is smaller than the first threshold value TH1 is added to the graph of the relative speed in Fig. 5. The second threshold value TH2 is, for example, 40 km / h.

[0067] In the third embodiment, the light distribution control unit 13 judges whether or not the absolute value of the relative speed calculated by the relative speed calculation unit 15 is less than the first threshold value TH1 and equal to or greater than the second threshold value TH2. If the judgment result is Yes, the light distribution control unit 13 judges that the object includes a slowing down vehicle that was moving slowly ahead of the forward traveling vehicle 42, and performs control to irradiate the slowing down vehicle with a light amount between shading and normal illumination, based on the position of the slowing down vehicle judged by the position judgment unit 12. In the following description, the light amount between shading and normal illumination is referred to as "intermediate light amount."

[0068] Fig. 9 is a flowchart showing the operation of the vehicle light distribution control device 1 according to the embodiment 3. The flowchart in Fig. 9 is a flowchart in which steps S21 and S22 are added to the flowchart in Fig. 8. Steps S21 and S22 will be mainly described below.

[0069] If it is determined in step S13 that the objects include the stopped vehicle 43, the process proceeds to step S8, and if it is determined that the objects do not include the stopped vehicle 43, the process proceeds to step S21.

[0070] In step S21, the light distribution control unit 13 determines whether or not the object includes a vehicle traveling at a slower speed based on the absolute value of the relative speed in step S12. If the absolute value of the relative speed is less than the first threshold value TH1 and is equal to or greater than the second threshold value TH2, and it is determined that the object includes a vehicle traveling at a slower speed, the process proceeds to step S22. If the absolute value of the relative speed is less than the second threshold value TH2, and it is determined that the object includes a vehicle traveling in front 44, the process proceeds to step S9.

[0071] In step S22, the light distribution control unit 13 performs control to block light from the headlights 32 to the vehicle 42 traveling ahead based on the position of the vehicle 42 traveling ahead, and also performs control to illuminate the slow-moving vehicle with an intermediate amount of light from the headlights 32 based on the position of the slow-moving vehicle. Then, for example, if the speed of the slow-moving vehicle increases, the slow-moving vehicle is set as a new vehicle 42 traveling ahead, and if the vehicle 41 changes lanes, a vehicle traveling ahead of the vehicle 41 is set as the new vehicle 42 traveling ahead, and then the process returns to step S1.

[0072] <Summary of the Third Embodiment> According to the vehicle light distribution control device 1 according to the third embodiment as described above, it is determined whether or not the absolute value of the relative speed calculated by the relative speed calculation unit 15 is less than the first threshold value TH1 and is equal to or greater than the second threshold value TH2. If the determination result is Yes, the light distribution control unit 13 determines that the object includes a slow-moving vehicle that was moving slowly in front of the forward traveling vehicle 42, and performs control to illuminate the slow-moving vehicle with a medium amount of light based on the position of the slow-moving vehicle determined by the position determination unit 12. According to this configuration, the driver of the vehicle 41 can easily recognize the slow-moving vehicle to some extent, while the glare caused by the headlight 32 that interferes with the field of vision of the driver of the slow-moving vehicle can be suppressed as much as possible. It is considered that even if the slow-moving vehicle is illuminated, no problem in terms of traffic safety will actually occur because the speed of the slow-moving vehicle is low.

[0073] <Modification> When the distance measurement sensor 33 is a LiDAR or the like, the distance measurement sensor 33 can generate distance measurement information including the position of the object, and the distance measurement information acquisition unit 14 can acquire the distance measurement information including the position of the object from the distance measurement sensor 33. For this reason, the light distribution control device 1 for a vehicle may have a function of controlling the illumination range 32a and the light blocking range 32b based on the position of the object calculated from the distance measurement information, without having a function of controlling the illumination range 32a and the light blocking range 32b based on the position of the object calculated from the imaging information. Alternatively, the light distribution control device 1 for a vehicle may have both functions in order to have redundancy.

[0074] Furthermore, the vehicle light distribution control device 1 may have a function to determine the stopped vehicle 43, the vehicle traveling in front 44, and the vehicle traveling slowly based on the absolute value of the relative speed calculated from the imaging information, without having a function to determine the stopped vehicle 43, the vehicle traveling in front 44, and the vehicle traveling slowly based on the absolute value of the relative speed calculated from the distance measurement information. Alternatively, the vehicle light distribution control device 1 may have both functions to have redundancy. Furthermore, the relative speed calculation unit 15 may be provided as a part of the function of the light distribution control unit 13.

[0075] <Other Modifications> The imaging information acquisition unit 11, the position determination unit 12, and the light distribution control unit 13 in FIG. 1 described above will be hereinafter referred to as the "imaging information acquisition unit 11". The imaging information acquisition unit 11 and the like are realized by a processing circuit 81 shown in FIG. 10. That is, the processing circuit 81 includes the imaging information acquisition unit 11 that acquires imaging information, the position determination unit 12 that determines the position of an object ahead of the vehicle 41 based on the imaging information, and the light distribution control unit 13 that performs control to block light from the headlights 32 to the forward traveling vehicle 42 when the object includes the forward traveling vehicle 42, and performs control to prohibit the headlights 32 from blocking light to the stopped vehicle 43 when the forward traveling vehicle 42 moves from the first lane to the second lane, which is the same as the vehicle 41, and the object includes the stopped vehicle 43. The processing circuit 81 may be implemented with dedicated hardware, or may be implemented with a processor that executes a program stored in a memory. The processor may be, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.

[0076] When the processing circuit 81 is a dedicated hardware, the processing circuit 81 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the imaging information acquisition unit 11 and the like may be realized by a circuit in which the processing circuits are distributed, or the functions of each unit may be realized by a single processing circuit.

[0077] When the processing circuit 81 is a processor, the functions of the imaging information acquisition unit 11 and the like are realized by a combination with software and the like. The software and the like includes, for example, software, firmware, or software and firmware. The software and the like are written as a program and stored in a memory. As shown in FIG. 11, the processor 82 applied to the processing circuit 81 realizes the functions of each unit by reading and executing a program stored in the memory 83. That is, the vehicle light distribution control device 1 includes a memory 83 for storing a program that, when executed by the processing circuit 81, results in the execution of the steps of acquiring imaging information, determining the position of an object ahead of the vehicle 41 based on the imaging information, controlling the headlights 32 to block light to the forward traveling vehicle 42 when the object includes the forward traveling vehicle 42, and controlling the headlights 32 to prohibit blocking light to the stopped vehicle 43 when the forward traveling vehicle 42 moves from the first lane, which is the same as the vehicle 41, to the second lane and the object includes the stopped vehicle 43. In other words, this program can be said to cause a computer to execute the procedures and methods of the imaging information acquisition unit 11. Here, the memory 83 may be, for example, a non-volatile or volatile semiconductor memory such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), or an electrically erasable programmable read only memory (EEPROM), a hard disk drive (HDD), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a digital versatile disk (DVD), a drive device for these, or any storage medium to be used in the future.

[0078] The above describes a configuration in which each function of the imaging information acquisition unit 11, etc. is realized either by hardware or software, etc. However, the present invention is not limited to this, and a configuration in which a part of the imaging information acquisition unit 11, etc. is realized by dedicated hardware and another part is realized by software, etc. For example, the imaging information acquisition unit 11 can be realized by a processing circuit 81 as dedicated hardware, an acquisition processing circuit, and the other functions can be realized by the processing circuit 81 as a processor 82 reading and executing a program stored in a memory 83.

[0079] As described above, the processing circuitry 81 can realize each of the above-mentioned functions by hardware, software, or a combination of these.

[0080] It should be noted that the embodiments and modifications may be freely combined, and the embodiments and modifications may be modified or omitted as appropriate.

[0081] The above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0082] 1 vehicle light distribution control device, 11 imaging information acquisition unit, 12 position determination unit, 13 light distribution control unit, 14 distance measurement information acquisition unit, 15 relative speed calculation unit, 31 forward monitoring camera, 32 headlight, 33 distance measurement sensor, 41 vehicle, 42 vehicle traveling ahead, 43 stopped vehicle, 44 vehicle traveling ahead of the vehicle, TH1 first threshold, TH2 second threshold.

Claims

1. an image information acquisition unit that acquires image information generated by a forward monitoring camera that monitors the front of the vehicle; a position determination unit that determines a position of an object ahead of the vehicle based on the imaging information; a light distribution control unit that performs control to block light from a headlamp of the vehicle to a forward traveling vehicle based on the position of the forward traveling vehicle when the object includes a forward traveling vehicle traveling in front of the vehicle; a distance measurement information acquisition unit that acquires distance measurement information generated by a distance measurement sensor and indicating a distance from the vehicle to the object; a relative speed calculation unit that calculates a relative speed between the vehicle and the object based on the distance measurement information; Equipped with The light distribution control unit is When the vehicle is traveling and the preceding vehicle moves from the same first lane as the vehicle to the second lane, and the object includes a stopped vehicle that was located in front of the preceding vehicle, control is performed to prohibit the headlights from blocking light to the stopped vehicle based on the position of the stopped vehicle; The light distribution control unit is When the absolute value of the relative speed is equal to or greater than a first threshold, it is determined that the object includes the stopped vehicle; The light distribution control unit is A light distribution control device for a vehicle that, when the absolute value of the relative speed is less than the first threshold value and is equal to or greater than a second threshold value smaller than the first threshold value, determines that the object includes a slowing vehicle that was moving slowly in front of the vehicle traveling ahead, and controls to illuminate the slowing vehicle with an amount of light between shading and normal illumination based on the position of the slowing vehicle.

2. The vehicle light distribution control device according to claim 1, The light distribution control unit is A vehicle light distribution control device that, when the vehicle traveling ahead moves to the second lane and the object includes a vehicle traveling ahead that was traveling in front of the vehicle traveling ahead, controls the headlights to block light to the vehicle traveling ahead based on the position of the vehicle traveling ahead.

3. The vehicle light distribution control device according to claim 1, The position determination unit is The vehicle light distribution control device determines whether or not the object includes a vehicle based on whether or not the object included in the imaging information has a tail lamp.

4. The imaging information acquisition unit acquires imaging information generated by a forward monitoring camera that monitors the front of the vehicle, a position determination unit that determines a position of an object in front of the vehicle based on the imaging information; the light distribution control unit, when the object includes a forward traveling vehicle traveling in front of the vehicle, performs control to block light from the headlights of the vehicle to the forward traveling vehicle based on the position of the forward traveling vehicle, The distance measurement information acquisition unit acquires distance measurement information generated by a distance measurement sensor, the distance measurement information indicating a distance from the vehicle to the object, The relative speed calculation unit calculates a relative speed between the vehicle and the object based on the distance measurement information, the light distribution control unit, when the vehicle is traveling and the forward traveling vehicle moves from a first lane to a second lane, which is the same lane as the vehicle, and the object includes a stopped vehicle that was located in front of the forward traveling vehicle, performs control to prohibit the headlights from blocking light to the stopped vehicle based on the position of the stopped vehicle; The light distribution control unit determines that the object includes the stopped vehicle when an absolute value of the relative speed is equal to or greater than a first threshold value, The light distribution control unit determines that the object includes a slowing vehicle that was moving slowly in front of the vehicle traveling ahead when the absolute value of the relative speed is less than the first threshold value and is equal to or greater than a second threshold value smaller than the first threshold value, and performs control to illuminate the slowing vehicle with an amount of light between shading and normal illumination based on the position of the slowing vehicle.

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