Vehicle control device

Abstract

To control a head lamp to reduce the driver's oversight of a pedestrian and the like at night.SOLUTION: A vehicle control device controlling irradiation of a head lamp of a vehicle comprises: a condition determination part which determines whether an irradiation target approach area condition set in advance is satisfied; an irradiation range control part which enlarges lateral width of an irradiation range of the head lamp when the condition determination part determines that the irradiation target approach area condition is satisfied in comparison with a case where the condition determination part does not determine that the irradiation target approach area condition is satisfied; an irradiation target detection part which detects an irradiation target such as a pedestrian in front of the vehicle based on a picked-up image by a front camera of the vehicle or a detection result of a radar sensor of the vehicle; and a spot irradiation control part which performs, when the irradiation target detection part detects the irradiation target, a spot irradiation by the head lamp of the irradiation target.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, as a technical document regarding a vehicle control device, Japanese Unexamined Patent Application Publication No. 2015-063209 is known. This publication shows that at an intersection with a traffic signal, the irradiation range and light quantity of a headlamp are adjusted according to the signal color of the traffic signal.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described conventional technology, since the irradiation range and the like are determined after recognizing the signal color of the traffic signal, the adjustment of the irradiation range is not performed until the signal color of the traffic signal can be recognized by the camera, and there is a risk of overlooking pedestrians and the like.

Means for Solving the Problems

[0005] One aspect of the present invention is a vehicle control device that controls the irradiation of a vehicle's headlamp, which determines whether a preset irradiation target approach area condition is satisfied based on the position information and map information of the vehicle on a map, or based on the captured image of the vehicle's front camera and the area determination image pattern. When it is determined by the condition determination unit that the irradiation target approach area condition is satisfied, an irradiation range control unit that expands the lateral width of the irradiation range of the headlamp compared to the case where it is not determined that the irradiation target approach area condition is satisfied, and based on the captured image of the vehicle's front camera or the detection result of the vehicle's radar sensor, an irradiation target detection unit that detects an irradiation target including a pedestrian in front of the vehicle, and a spot irradiation control unit that performs spot irradiation on the irradiation target with the headlamp when the irradiation target is detected by the irradiation target detection unit. The condition determination unit determines that the irradiation target approach area condition is satisfied for a certain period of time or until traveling a certain distance after recognizing a road sign or road surface marking corresponding to the area determination image pattern from the captured image of the front camera. 。

[0006] According to the vehicle control device according to one aspect of the present invention, when the vehicle enters an area where an irradiation target such as a pedestrian is likely to approach and the irradiation target approach area condition is satisfied, the lateral width of the irradiation range of the headlamp is expanded, and when an irradiation target such as a pedestrian is detected, spot irradiation is performed on the irradiation target. Therefore, it is possible to reduce the driver's oversight of pedestrians and the like at night by controlling the headlamp. As a result, the driver's uneasiness during night driving can be alleviated. In addition, the irradiation target that receives the spot irradiation is also more likely to notice the presence of the vehicle.

[0007] In the vehicle control device according to one aspect of the present invention, when the irradiation target is detected by the irradiation target detection unit, a collision possibility determination unit that determines whether there is a high possibility of collision between the vehicle and the irradiation target based on the captured image of the vehicle's front camera or the detection result of the vehicle's radar sensor is further provided. The spot irradiation control unit may increase the light amount of the spot irradiation on the irradiation target when it is determined by the collision possibility determination unit that there is a high possibility of collision between the vehicle and the irradiation target compared to the case where it is not determined that there is a high possibility of collision between the vehicle and the irradiation target. According to this vehicle control device, when it is determined that the possibility of collision between the vehicle and the irradiation target is high, the light amount of the spot irradiation on the irradiation target is increased compared to the case where it is not determined that the possibility of collision between the vehicle and the irradiation target is high. As a result, it becomes easier for the driver to visually recognize the irradiation target with a high possibility of collision. In addition, the irradiation target that receives the spot irradiation with a large light amount is also more likely to notice the presence of the vehicle.

[0008] In the vehicle control device according to one aspect of the present invention, the condition determination unit may determine that the irradiation target approach area condition is satisfied when it is recognized that the vehicle is located within the irradiation target approach area set on the map. According to this vehicle control device, when it is recognized that the vehicle is located within the irradiation target approach area set on the map, it is determined that the irradiation target approach area condition is satisfied. Therefore, in places such as urban areas where pedestrians are likely to approach, the lateral width of the irradiation range of the headlamp can be expanded to reduce the driver's oversight of pedestrians and the like.

Effect of the Invention

[0010] According to one aspect of the present invention, by controlling the headlamp, it is possible to reduce the driver's oversight of pedestrians and the like at night.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0013] The vehicle control device 100 shown in FIG. 1 is mounted on a vehicle such as a passenger car or a freight car, and is a device for controlling the irradiation of the vehicle's headlamp. The vehicle control device 100 performs irradiation control of the headlamp according to the presence or absence of an irradiation target, an area where the irradiation target is likely to approach the vehicle, etc.

[0014] The irradiation target is an object that is preferably visually recognized by the driver by the irradiation of the vehicle's headlamp at night. The irradiation target includes at least a pedestrian. The irradiation target may include a bicycle, a wheelchair, a personal mobility device, or an animal such as a dog or a deer. The irradiation target may include a road sign or a road surface marking.

[0015] [Configuration of Vehicle Control Device] The configuration of the vehicle control device 100 according to the present embodiment will be described with reference to the drawings. As shown in FIG. 1, the vehicle control device 100 includes an ECU [Electronic Control Unit] 10 that comprehensively manages the device. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit] and a storage unit such as a ROM [Read Only Memory] or a RAM [Random Access Memory]. In the ECU 10, for example, various functions are realized by executing a program stored in the storage unit with the CPU. The ECU 10 may be composed of a plurality of electronic units.

[0016] ECU 10 is connected to a GNSS [Global Navigation Satellite System] receiver 1, a map database 2, a front camera 3, a radar sensor 4, a vehicle speed sensor 5, an HMI [Human Machine Interface] 6, and a headlamp 7.

[0017] The GNSS receiver 1 measures the position of the vehicle (e.g., the latitude and longitude of the vehicle) by receiving signals from positioning satellites. The GNSS receiver 1 transmits the measured vehicle position information to the ECU 10.

[0018] The map database 2 is a database that stores map information. The map database 2 is formed, for example, in a storage device such as an HDD [Hard Disk Drive] mounted on the vehicle. The map information includes position information of roads and intersections. Note that the map database 2 may be formed in a server that can communicate with the vehicle instead of inside the vehicle.

[0019] An irradiation target approach area is set in the map information. The irradiation target approach area is an area where it is considered likely that an irradiation target will approach the vehicle. The irradiation target approach area may include an area where the vehicle speed is restricted to a low speed (e.g., Zone 30 in Japan), and may include intersections and areas near intersections.

[0020] The irradiation target approach area may include an urban area and may include a residential area. The irradiation target approach area may include an area where a country or region has set a speed limit by law or regulation. The irradiation target approach area may include an area (section) within a certain distance from a pedestrian crossing provided on a straight road. The irradiation target approach area may include, as a contact case occurrence area, a road section where the number of contact cases within a certain period is equal to or greater than a predetermined threshold based on data (big data) of contact cases between pedestrians and bicycles associated with position information and the vehicle.

[0021] The front camera 3 is an imaging device that captures images of the front of the vehicle. The front camera 3 is provided, for example, on the back side of the windshield of the vehicle and captures images of the front of the vehicle. The front camera 3 transmits the captured image of the front of the vehicle to the ECU 10.

[0022] The radar sensor 4 is a detection device that detects objects around the host vehicle using radio waves (e.g., millimeter waves) or light. The radar sensor 4 includes, for example, a millimeter wave radar or a lidar [LIDAR: Light Detection and Ranging]. The radar sensor 4 transmits radio waves or light around the host vehicle and detects an object by receiving the radio waves or light reflected by the object. The radar sensor 4 transmits information on the detected object to the ECU 10. Objects include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

[0023] The vehicle speed sensor 5 is a detector that detects the speed of the vehicle. As the vehicle speed sensor 5, for example, a wheel speed sensor provided for a wheel of the vehicle or a drive shaft that rotates integrally with the wheel and detects the rotational speed of the wheel is used. The vehicle speed sensor transmits the detected vehicle speed information (wheel speed information) to the ECU 10.

[0024] The HMI 6 is an interface for inputting and outputting information between the vehicle control device 100 and the driver. The HMI 6 includes, for example, an indicator, a display, and a speaker. The display may be a HUD [Head Up Display] that projects an image onto the windshield. The HMI 6 performs lighting of the indicator, image output of the display, and sound output from the speaker in accordance with a control signal from the ECU 10. The HMI 6 may include a vibration actuator that vibrates the steering wheel and the driver's seat. The HMI 6 can provide information to the driver by a combination of image, sound, and vibration.

[0025] The headlamp 7 is an illumination unit that illuminates the front of the vehicle. The headlamp 7 has a light source and an irradiation adjustment device for adjusting the irradiation of light. The light source can adopt, for example, an LED [Light Emitting Diode] light source. The irradiation adjustment device is not particularly limited, and a lens or a reflector may be adopted. The headlamp 7 has an illumination function capable of switching between a low beam and a high beam. The low beam is a mode that illuminates slightly below the front of the vehicle, and the high beam is a mode that illuminates the horizontal side in front of the vehicle compared to the low beam.

[0026] The headlamp 7 switches between normal light distribution and wide light distribution according to a control signal from the ECU 10. The headlamp 7 performs switching between normal light distribution and wide light distribution for the high beam. When the high beam is not on, the headlamp 7 may not perform switching between normal light distribution and wide light distribution. Note that the general switching between the low beam and the high beam does not correspond to the switching between normal light distribution and wide light distribution.

[0027] Here, Fig. 2(a) is a plan view showing an example of the irradiation range (normal light distribution) of the headlamp of the vehicle before approaching the intersection. In Fig. 2(a), the vehicle M, the irradiation range Wh of the normal light distribution, the intersection T, and the stop line ST are shown. Fig. 2(b) is a plan view showing an example of the irradiation range (wide light distribution) of the headlamp of the vehicle when approaching the intersection. In Fig. 2(b), the irradiation range Wd of the wide light distribution is shown. As shown in Fig. 2(a) and Fig. 2(b), the wide light distribution is a light distribution state in which the lateral width (the width in the lateral direction of the vehicle) of the irradiation range of the headlamp 7 is enlarged compared to the normal light distribution. Fig. 2(c) will be described later.

[0028] In addition, for wide beam lighting, the irradiation range where the light quantity is 10 lux or more in the cross-section at a height of 1 m is expanded laterally compared to the normal beam lighting. FIG. 3 is a diagram for explaining the difference between wide beam lighting and normal beam lighting at a height of 1 m. In FIG. 3, the irradiation range Wd of the high beam wide beam lighting, the irradiation range Wh of the high beam normal beam lighting, and the irradiation range Wr of the low beam are shown. Each irradiation range is the range where the light quantity is 10 lux or more. As shown in FIG. 3, in the cross-section at a height of 1 m, the irradiation range Wd of the wide beam lighting has an expanded range where the light quantity is 10 lux or more in the lateral direction compared to the irradiation range Wh of the normal beam lighting. Since the low beam illuminates slightly below the front of the vehicle, the irradiation range Wr at a height of 1 m is limited.

[0029] The switching from normal beam lighting to wide beam lighting in the headlamp 7 is performed by, for example, controlling the light source or irradiation adjustment equipment. The switching from normal beam lighting to wide beam lighting may also be performed by using in combination lighting equipment such as corner lamps of the vehicle that is not used in normal beam lighting. In this case, in the present embodiment, lighting equipment such as corner lamps is interpreted as a part of the headlamp 7.

[0030] In addition to the normal lighting function, the headlamp 7 has a spot irradiation function for performing spot irradiation on an irradiation target in front of the vehicle. Spot irradiation means irradiating light in a spot manner on an irradiation target such as a pedestrian.

[0031] FIG. 4 is a plan view for explaining an example of spot irradiation. In FIG. 4, the right headlamp 7R of the vehicle M, the left headlamp 7L of the vehicle M, a pedestrian (irradiation target) H, and spot irradiation Sp are shown. As shown in FIG. 4, for the pedestrian H located on the front right side of the vehicle M, the right headlamp 7R of the headlamp 7 is controlled to perform spot irradiation. The spot irradiation may be performed as continuous light irradiation or as flashing light irradiation. The spot irradiation may irradiate the center of the irradiation target or may irradiate below the irradiation target (for example, the feet of the pedestrian).

[0032] The headlamp 7 can perform spot illumination by controlling, for example, an LED array formed by arranging a plurality of LED units in parallel. The LED array may be formed by arranging the LED units in a line, or may be formed by arranging the LED units in a planar shape.

[0033] Each LED unit is configured to be independently lit. Each LED unit may be configured to be independently adjustable in light quantity. Each LED unit corresponds to a different irradiation angle and performs spot illumination by being lit by a control signal from the ECU 10. For example, when an irradiation target exists at a position 30° to the right with respect to the longitudinal axis of the vehicle, the headlamp 7 performs spot illumination by lighting the LED unit corresponding to the irradiation angle of 30° to the right by a control signal from the ECU 10. The light source for spot illumination may be different from or the same as the light source for high beam or low beam. Note that the configuration of the headlamp 7 for realizing spot illumination is not limited to the above-described content. The headlamp 7 may realize spot illumination by controlling a reflector, or may adopt other well-known configurations.

[0034] Next, the functional configuration of the ECU 10 will be described. The ECU 10 includes a vehicle speed determination unit 11, a condition determination unit 12, an information providing unit 13, an irradiation range control unit 14, an irradiation target detection unit 15, a collision possibility determination unit 16, and a spot illumination control unit 17.

[0035] The vehicle speed determination unit 11 determines whether the vehicle speed of the vehicle is equal to or lower than a certain speed based on the vehicle speed information detected by the vehicle speed sensor 5. The certain speed is set as a threshold for determining that the vehicle speed is not high but medium or low. The certain speed is not particularly limited, and may be 60 km / h, may be 70 km / h, or may be 80 km / h.

[0036] The condition determination unit 12 determines whether a preset irradiation target approach area condition is satisfied based on the position information of the vehicle on the map and the map information, or the captured image of the front camera 3 of the vehicle and the area determination image pattern. The position information of the vehicle on the map can be obtained from the position information of the vehicle measured by the GNSS receiver unit 1 and the map information of the map database 2. In the map information, irradiation target approach areas (such as zone 30 and near intersections) are set. For example, when the condition determination unit 12 recognizes that the vehicle is located within the irradiation target approach area set on the map based on the position information of the vehicle on the map and the map information, it determines that the irradiation target approach area condition is satisfied.

[0037] The area determination image pattern is an image pattern for recognizing road signs or road surface markings corresponding to the irradiation target approach area. The area determination image pattern includes, for example, image patterns of road signs or road surface markings indicating zone 30. The area determination image pattern may include image patterns of road signs or road surface markings indicating urban areas or residential areas. The area determination image pattern may include an image pattern for recognizing intersections and may also include an image pattern for recognizing crosswalks.

[0038] When the condition determination unit 12 recognizes a road sign or road surface marking (such as a road sign or road surface marking indicating zone 30) corresponding to the area determination image pattern based on the captured image of the front camera 3 of the vehicle and the area determination image pattern, it determines that the irradiation target approach area condition is satisfied during a certain period of time after recognizing the road sign or road surface marking or until the vehicle travels a certain distance. The certain period of time is not particularly limited and may be 5 minutes, 10 minutes, 15 minutes, etc. The certain distance is also not particularly limited and may be 100 m, 300 m, 500 m, 1 km, etc.

[0039] When the condition determination unit 12 determines that the irradiation target approach area condition is satisfied, the information providing unit 13 provides information to the driver. The information providing unit 13 provides information to the driver before switching the headlamp 7 to wide beam or before performing spot irradiation. The information providing unit 13 provides information to the driver by lighting an indicator, displaying an image on a display, or outputting sound from a speaker using the HMI 6.

[0040] For example, when the information providing unit 13 recognizes that the vehicle is located in zone 30, it notifies the driver that the vehicle has entered zone 30. The information providing unit 13 may notify the driver of switching the headlamp 7 to wide beam. Note that the information providing unit 13 does not necessarily have to provide information to the driver every time. For example, when it is determined that the irradiation target approach area condition is satisfied because the vehicle enters the vicinity of an intersection, the information providing unit 13 may not provide information because there is a high possibility that the driver is aware of entering the intersection.

[0041] When the information providing unit 13 detects a pedestrian as an irradiation target and the collision possibility determination unit 16 described later determines that the possibility of collision between the pedestrian and the vehicle is high, the information providing unit 13 may provide information regarding the pedestrian to the driver. The information providing unit 13 may provide information regarding the irradiation target by a HUD that projects an image on the windshield of the vehicle.

[0042] When the condition determination unit 12 determines that the irradiation target approach area condition is satisfied, the irradiation range control unit 14 switches the headlamp 7 to wide beam to expand the lateral width of the irradiation range. When the condition determination unit 12 determines that the irradiation target approach area condition is not satisfied, the irradiation range control unit 14 continues normal lighting. After the irradiation range control unit 14 switches the headlamp 7 to wide beam, when the condition determination unit 12 determines that the irradiation target approach area condition is no longer satisfied, the irradiation range control unit 14 returns the headlamp 7 to normal lighting.

[0043] Specifically, as shown in Fig. 2(a), when the vehicle M has not entered the vicinity of the intersection and the condition determination unit 12 determines that the irradiation target approach area condition is not satisfied, the high beam normal light distribution is continued. As shown in Fig. 2(b), when the vehicle M enters the vicinity of the intersection and it is determined that the irradiation target approach area condition is satisfied, the irradiation range control unit 14 switches the headlamp 7 to wide light distribution. Fig. 2(c) is a plan view showing an example of the irradiation range (normal light distribution) of the headlamp of the vehicle after passing through the intersection. As shown in Fig. 2(c), when the vehicle M passes through the intersection and it is determined that the irradiation target approach area condition is no longer satisfied, the irradiation range control unit 14 returns from wide light distribution to normal light distribution.

[0044] The irradiation range control unit 14 may adjust the irradiation range or the light quantity according to the situation of the vehicle. When the vehicle is traveling on the shoulder side of a multi-lane road, the irradiation range control unit 14 may perform one-sided wide light distribution so as not to expand the irradiation range to the adjacent lane side but only to the shoulder side. When the vehicle enters an intersection of a T-shaped road, when the front of the vehicle is a wall (including a wall formed by snow), the irradiation range control unit 14 may perform wide light distribution with a shorter irradiation range in the longitudinal direction of the vehicle compared to normal light distribution (wide light distribution with reduced light irradiation of the headlamp 7 on the front of the vehicle). Thereby, it is possible to avoid a decrease in the visibility of the driver due to the reflection of the light of the headlamp 7 by the wall.

[0045] The irradiation target detection unit 15 detects an irradiation target in front of the vehicle based on the captured image of the front camera 3 or the detection result of the radar sensor 4. The irradiation target detection unit 15 detects irradiation targets such as pedestrians, road signs, and road surface markings from pattern matching of the captured image of the front camera 3 or shape recognition by grouping reflection points of the radar sensor 4. The irradiation target detection unit 15 may detect the irradiation target when the distance between the vehicle and the irradiation target becomes less than a certain distance. The certain distance can be set according to, for example, the distance of spot irradiation. Note that the road signs and road surface markings as irradiation targets are not limited to those related to the irradiation target approach area.

[0046] When the irradiation target is detected by the irradiation target detection unit 15, the collision possibility determination unit 16 determines whether there is a high possibility of collision between the vehicle and the irradiation target based on the captured image of the front camera 3 or the detection result of the radar sensor 4. Note that the collision possibility determination unit 16 may be configured not to determine the collision possibility when the irradiation target is a stationary object such as a road sign or a road surface marking.

[0047] For example, when the time to collision [TTC: Time to Collision] between the vehicle and the irradiation target becomes less than the collision determination threshold value, the collision possibility determination unit 16 determines that there is a high possibility of collision between the vehicle and the irradiation target. The collision possibility determination unit 16 may use the distance instead of the time to collision.

[0048] When the irradiation target is detected by the irradiation target detection unit 15, the spot irradiation control unit 17 performs spot irradiation of the headlamp 7 on the irradiation target (see FIG. 4). For example, the spot irradiation control unit 17 performs spot irradiation on the irradiation target by lighting the LED unit corresponding to the irradiation angle according to the position of the irradiation target.

[0049] When the collision possibility determination unit 16 determines that there is a high possibility of collision between the vehicle and the irradiation target, the spot irradiation control unit 17 performs spot irradiation with an increased light amount on the irradiation target as compared with the case where it is not determined that there is a high possibility of collision between the vehicle and the irradiation target. When it is not determined that there is a high possibility of collision between the vehicle and the irradiation target, the spot irradiation control unit 17 performs spot irradiation with a normal light amount.

[0050] [Processing of Vehicle Control Device] Next, the processing of the vehicle control device 100 according to the present embodiment will be described with reference to the drawings. FIG. 5(a) is a flowchart showing an example of the wide beam switching process. The wide beam switching process is executed when the high beam of the headlamp 7 of the vehicle is lit in the normal beam and the driver permits the wide beam switching.

[0051] As shown in FIG. 5(a), the ECU 10 of the vehicle control device 100 determines, as S10, whether the vehicle speed is equal to or lower than a certain speed by the vehicle speed determination unit 11. The vehicle speed determination unit 11 makes a determination based on the vehicle speed detected by the vehicle speed sensor 5. When it is determined that the vehicle speed is equal to or lower than the certain speed (S10: YES), the ECU 10 proceeds to S11. When it is not determined that the vehicle speed is equal to or lower than the certain speed (S10: NO), the ECU 10 ends the wide beam switching process without switching to wide beam, assuming that the vehicle is traveling at high speed. After that, the ECU 10 repeats the process from S10 again after a certain period of time has elapsed.

[0052] In S11, the ECU 10 determines whether the irradiation target approach area condition is satisfied by the condition determination unit 12. The condition determination unit 12 makes a determination based on the position information of the vehicle on the map and the map information, or the captured image of the front camera 3 of the vehicle and the area determination image pattern. When it is determined that the irradiation target approach area condition is satisfied (S11: YES), the ECU 10 proceeds to S12. When it is not determined that the irradiation target approach area condition is satisfied (S11: NO), the ECU 10 ends the wide beam switching process. After that, the ECU 10 repeats the process from S10 again after a certain period of time has elapsed.

[0053] In S12, the ECU 10 provides information to the driver by the information providing unit 13. The information providing unit 13 provides information to the driver by lighting the indicator, displaying an image on the display, or outputting sound from the speaker using the HMI 6. The information providing unit 13 notifies the driver, for example, that the vehicle has entered the irradiation target approach area (such as zone 30). After that, the ECU 10 proceeds to S13.

[0054] In S13, the ECU 10 switches the headlamp 7 to wide beam by the irradiation range control unit 14. The irradiation range control unit 14 performs switching to wide beam that expands the lateral width of the irradiation range compared to the normal beam by controlling the headlamp 7. After that, the ECU 10 ends the current wide beam switching process.

[0055] FIG. 5(b) is a flowchart showing an example of normal light distribution return processing. The normal light distribution return processing is executed when the headlamp 7 is switched to wide light distribution in the wide light distribution switching processing shown in FIG. 5(a).

[0056] As shown in FIG. 5(b), the ECU 10 determines, as S20, whether or not the vehicle speed is equal to or lower than a certain speed by the vehicle speed determination unit 11. If the ECU 10 determines that the vehicle speed is equal to or lower than a certain speed (S20: YES), it proceeds to S21. If the ECU 10 determines that the vehicle speed is not equal to or lower than a certain speed (S20: NO), it proceeds to S22.

[0057] In S21, the ECU 10 determines, by the condition determination unit 12, whether or not the irradiation target approach area condition is no longer satisfied. If the ECU 10 determines that the irradiation target approach area condition is no longer satisfied (S21: YES), it proceeds to S22. If the ECU 10 determines that the irradiation target approach area condition is not no longer satisfied (S21: NO), it ends the normal light distribution return processing. After that, the ECU 10 repeats the processing from S20 again after a certain period of time has elapsed.

[0058] In S22, the ECU 10 returns the headlamp 7 to normal light distribution by the irradiation range control unit 14. After that, the ECU 10 ends the current normal light distribution return processing.

[0059] FIG. 6 is a flowchart showing an example of spot irradiation processing. The spot irradiation processing is executed when the headlamp 7 of the vehicle is lit (including when either the high beam or the low beam is lit) and the driver permits spot irradiation.

[0060] As shown in FIG. 6, the ECU 10 determines, as S30, whether or not an irradiation target in front of the vehicle is detected by the irradiation target detection unit 15. The irradiation target detection unit 15 detects an irradiation target in front of the vehicle based on the captured image of the front camera 3 or the detection result of the radar sensor 4. When it is determined that the irradiation target has been detected (S30: YES), the ECU 10 proceeds to S31. When it is determined that the irradiation target has not been detected (S30: NO), the ECU 10 ends the current spot irradiation process. After that, the ECU 10 repeats the process from S30 again after a certain period of time has elapsed.

[0061] In S31, the ECU 10 determines, by the collision possibility determination unit 16, whether or not there is a high possibility of collision between the vehicle and the irradiation target. The collision possibility determination unit 16 makes a determination based on the captured image of the front camera 3 or the detection result of the radar sensor 4. When it is determined that there is a high possibility of collision between the vehicle and the irradiation target (S31: YES), the ECU 10 proceeds to S33. When it is determined that there is not a high possibility of collision between the vehicle and the irradiation target (S31: NO), the ECU 10 proceeds to S32.

[0062] In S32, the ECU 10 performs spot irradiation with a normal light amount by the spot irradiation control unit 17. The spot irradiation control unit 17 performs spot irradiation on the irradiation target, for example, by lighting an LED unit corresponding to the irradiation angle according to the position of the irradiation target. The spot irradiation control unit 17 executes spot irradiation on the irradiation target with a normal light amount. After that, the ECU 10 ends the spot irradiation process.

[0063] In S33, the ECU 10 provides information to the driver by the information providing unit 13. The information providing unit 13 notifies the driver of the presence of a pedestrian or the like as the irradiation target by image display or sound output. The information providing unit 13 may perform enhanced display of the irradiation target by the HUD. After that, the ECU 10 proceeds to S34.

[0064] In S34, the ECU 10 performs spot irradiation with an increased light amount by the spot irradiation control unit 17. The spot irradiation control unit 17 increases the light amount and executes spot irradiation on the irradiation target. After that, the ECU 10 ends the spot irradiation process.

[0065] According to the vehicle control device 100 according to the present embodiment described above, when the vehicle enters an area where an irradiation target such as a pedestrian is likely to approach and the irradiation target approach area condition is satisfied, the lateral width of the irradiation range of the headlamp 7 is expanded, and when an irradiation target such as a pedestrian is detected, spot irradiation is performed on the irradiation target. Therefore, it is possible to reduce the driver's oversight of pedestrians and the like at night by controlling the headlamp 7. As a result, the driver's uneasiness during night driving can be alleviated, and the recognition accuracy of the front camera 3 of the vehicle can also be improved. In addition, the irradiation target that has received the spot irradiation is also more likely to notice the presence of the vehicle.

[0066] Further, according to the vehicle control device 100, when it is determined that the possibility of collision between the vehicle and the irradiation target is high, the light amount of the spot irradiation on the irradiation target is increased compared to the case where it is not determined that the possibility of collision between the vehicle and the irradiation target is high. Therefore, it becomes easier for the driver to visually recognize the irradiation target with a high possibility of collision. In addition, the irradiation target that has received the spot irradiation with a large light amount is also more likely to notice the presence of the vehicle.

[0067] Furthermore, according to the vehicle control device 100, when it is recognized that the vehicle is located within the irradiation target approach area set on the map, it is determined that the irradiation target approach area condition is satisfied. Therefore, in places such as urban areas where pedestrians are likely to approach, the lateral width of the irradiation range of the headlamp 7 can be expanded to reduce the driver's oversight of pedestrians and the like. In addition, in the vehicle control device 100, after recognizing a road sign or road surface marking corresponding to the area determination image pattern from the captured image of the front camera 3, it is determined that the irradiation target approach area condition is satisfied for a certain period of time or until traveling a certain distance. Therefore, when recognizing a road sign or road surface marking provided in an urban area with many pedestrians, the lateral width of the irradiation range of the headlamp 7 can be expanded to reduce the driver's oversight of pedestrians and the like.

[0068] As described above, the embodiments of the present invention have been explained. However, the present invention is not limited to the above-described embodiments. The present invention can be implemented in various forms with various changes and improvements based on the knowledge of those skilled in the art, including the above-described embodiments.

[0069] The vehicle control device 100 does not necessarily have to include the vehicle speed determination unit 11. The vehicle control device 100 may perform switching to wide beam or spot irradiation regardless of the vehicle speed.

[0070] The vehicle control device 100 does not necessarily have to include the information providing unit 13. The vehicle control device 100 may execute switching to wide beam or spot irradiation without notifying the driver.

[0071] The vehicle control device 100 does not necessarily have to include the collision possibility determination unit 16. The vehicle control device 100 may perform spot irradiation with a certain amount of light on the irradiation target regardless of the collision possibility.

[0072] The vehicle control device 100 may change the degree of expansion of the irradiation range of the wide beam according to the road conditions on which the vehicle is traveling. When the lane width on which the vehicle is traveling is equal to or greater than a predetermined threshold value, the vehicle control device 100 may further expand the lateral width of the irradiation range of the wide beam compared to the case where the lane width is less than the predetermined threshold value. When the vehicle is located near an intersection, the vehicle control device 100 may further expand the lateral width of the irradiation range of the wide beam compared to the case where the vehicle is located in the straight road zone 30.

[0073] The vehicle control device 100 may execute switching between normal light distribution and wide light distribution not only for high beam but also for low beam. Also in the case of low beam, wide light distribution is performed so that the lateral width of the irradiation range where the light amount at a height of 1 m is 10 lux or more is expanded compared to normal light distribution.

Explanation of Reference Numerals

[0074] 1…GNSS receiver unit, 2…map database, 3…front camera, 4…radar sensor, 5…vehicle speed sensor, 6…HMI, 7…headlamp, 10…ECU, 11…vehicle speed determination unit, 12…condition determination unit, 13…information provision unit, 14…irradiation range control unit, 15…irradiation target detection unit, 16…collision possibility determination unit, 17…spot irradiation control unit, 100…vehicle control device.

Claims

1. A vehicle control device for controlling the irradiation of a vehicle's headlamp, comprising: a condition determination unit that determines whether a preset irradiation target approach area condition is satisfied based on the position information of the vehicle on a map and map information, or based on the captured image of a front camera of the vehicle and an area determination image pattern; an irradiation range control unit that expands the lateral width of the irradiation range of the headlamp when it is determined by the condition determination unit that the irradiation target approach area condition is satisfied, compared to when it is not determined that the irradiation target approach area condition is satisfied; an irradiation target detection unit that detects an irradiation target including a pedestrian in front of the vehicle based on the captured image of the front camera of the vehicle or the detection result of a radar sensor of the vehicle; a spot irradiation control unit that performs spot irradiation on the irradiation target with the headlamp when the irradiation target is detected by the irradiation target detection unit; and is provided with; The condition determination unit determines that the irradiation target approach area condition is satisfied for a certain period of time or until the vehicle travels a certain distance after recognizing a road sign or road surface marking corresponding to the area determination image pattern from the captured image of the front camera. Vehicle control device.

2. When the irradiation target is detected by the irradiation target detection unit, a collision possibility determination unit that determines whether there is a high possibility of collision between the vehicle and the irradiation target based on the captured image of the front camera of the vehicle or the detection result of the radar sensor of the vehicle is further provided, When it is determined by the collision possibility determination unit that there is a high possibility of collision between the vehicle and the irradiation target, the spot irradiation control unit increases the light amount of the spot irradiation on the irradiation target compared to when it is not determined that there is a high possibility of collision between the vehicle and the irradiation target. The vehicle control device according to claim 1.

3. The vehicle control device according to claim 1 or 2, wherein the condition determination unit determines that the irradiation target approach area condition is satisfied when it is recognized that the vehicle is located within an irradiation target approach area set on a map.

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