Apparatus and method for controlling headlamp

Abstract

A headlamp control device and method are disclosed. A headlamp control device according to an embodiment of the present invention comprises a headlamp composed of a plurality of light sources, a first sensor module configured to detect the attitude of a vehicle, and a processor connected to the headlamp and the first sensor module, wherein the processor controls the headlamp such that the position of the lighting area changes according to the attitude of the vehicle detected through the first sensor module.

Description

Technology Field

[0001] The present invention relates to a headlamp control device and method, and more specifically, to a headlamp control device and method capable of controlling a headlamp according to the attitude of a vehicle. Background Technology

[0003] Recently, LED lamps are being used in vehicles instead of halogen or HID lamps. LED lamps can offer advantages such as low power consumption, a long lifespan, and fast response speeds.

[0004] Meanwhile, conventional headlamp systems can be affected by vibrations caused by road surface irregularities or other external impacts while the vehicle is in motion. These vibrations cause the optical axis of the headlamp to change irregularly, which can result in beam pattern wobbling. In particular, beam wobbling can be further exacerbated during high-speed driving or in rough road environments.

[0005] Such beam shaking can act as a factor that increases driver visual fatigue, and driving safety may be compromised as the visibility of the road and surrounding environment is reduced due to the beam shaking.

[0006] The background technology of the present invention is disclosed in Korean Registered Patent Publication No. 10-2651240 (March 21, 2024). The problem to be solved

[0008] An object according to one aspect of the present invention is to provide a headlamp control device and method capable of adaptively controlling the lighting area of ​​a headlamp composed of a plurality of light sources according to the attitude (or vibration) of a vehicle.

[0009] However, the technical problems that the present invention aims to solve are not limited to those described above, and other unmentioned problems can be clearly understood by those skilled in the art from the description of the invention below. means of solving the problem

[0011] A headlamp control device according to an embodiment of the present invention comprises: a headlamp composed of a plurality of light sources; a first sensor module configured to detect the attitude of a vehicle; and a processor connected to the headlamp and the first sensor module, wherein the processor controls the headlamp such that the position of the lighting area changes according to the attitude of the vehicle detected through the first sensor module.

[0012] In the present invention, the processor is characterized by controlling the headlamp such that the position of the lighting area moves downward when the pitch angle of the vehicle increases.

[0013] In the present invention, the processor is characterized by controlling the headlamp such that the position of the lighting area moves upward when the pitch angle of the vehicle decreases.

[0014] In the present invention, the processor is characterized by calculating the amount of vertical movement of the lighting area based on the pitch angle of the vehicle at the current time and the pitch angle of the vehicle at the previous time.

[0015] In the present invention, the processor is characterized by controlling the right headlamp of the vehicle such that when the roll angle of the vehicle increases, the position of the lighting area moves to the right and downward.

[0016] In the present invention, the processor is characterized by controlling the left headlamp of the vehicle such that when the roll angle of the vehicle decreases, the position of the lighting area moves to the left and downward.

[0017] The present invention further includes a second sensor module configured to detect the steering angle of a steering wheel, and the processor controls the head lamp such that the position of the lighting area changes according to the steering angle of the steering wheel detected through the second sensor module.

[0018] In the present invention, the processor controls the headlamp so that the position of the lighting area moves to the right when the steering angle increases, and controls the headlamp so that the position of the lighting area moves to the left when the steering angle decreases.

[0019] In the present invention, the processor controls the headlamp so that the lighting area moves to the right in proportion to the steering angle when the steering angle is greater than or equal to a predetermined first reference value or less than or equal to a predetermined second reference value, and controls the headlamp so that the lighting area moves to the left in proportion to the absolute value of the steering angle when the steering angle is greater than or equal to a predetermined third reference value or less than a predetermined first reference value, wherein the first reference value is 0 and the third reference value is a value that is equal in magnitude to the first reference value and has the opposite sign.

[0020] A headlamp control method according to an embodiment of the present invention is characterized by comprising: a step in which a processor detects the attitude of a vehicle through a first sensor module; and a step in which the processor controls a headlamp composed of a plurality of light sources such that the position of an illuminated area changes according to the attitude of the vehicle detected through the first sensor module. Effects of the invention

[0022] According to the present invention, by adaptively controlling the lighting area of ​​a headlamp composed of a plurality of light sources according to the attitude (or vibration) of the vehicle, the shaking of the beam output from the headlamp can be minimized, thereby reducing the driver's visual fatigue and simultaneously improving driving safety.

[0023] However, the effects obtainable through the present invention are not limited to those described above, and other unmentioned technical effects will be clearly understood by those skilled in the art from the description of the invention below. Brief explanation of the drawing

[0025] FIG. 1 is a block diagram showing a headlamp control device according to an embodiment of the present invention. Figure 2 is an example diagram illustrating the lighting area. Figure 3 is an example diagram illustrating the movement of the lighting area according to the pitch angle of the vehicle. Figure 4 is an example diagram illustrating the process of calculating a formula for calculating the amount of movement of the lighting area. Figure 5 is an example diagram illustrating the movement of the lighting area according to the roll angle of the vehicle. Figure 6 is an example diagram illustrating the movement of the shadow zone according to the movement of the illuminated area. Figure 7 is an example diagram illustrating the movement of the lighting area according to the steering angle of the vehicle. FIG. 8 is a first flowchart showing a headlamp control method according to an embodiment of the present invention. FIG. 9 is a second flowchart showing a headlamp control method according to an embodiment of the present invention. Specific details for implementing the invention

[0026] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings. Instead, based on the principle that the inventor may appropriately define the concepts of terms to best describe his invention, they should be interpreted in a meaning and concept consistent with the technical spirit of the present invention. Therefore, it should be understood that the embodiments described in this specification and the configurations illustrated in the drawings are merely some of the most preferred embodiments of the present invention and do not represent all of the technical spirit of the present invention; thus, various equivalents and modifications that can replace them may exist at the time of filing this application. Furthermore, as used in this specification, "comprise" or "include" and / or "comprising" or "including" specify the presence of the mentioned features, numbers, steps, actions, parts, elements, and / or groups thereof, and do not exclude the presence or addition of one or more other features, numbers, actions, parts, elements, and / or groups. In addition, when describing embodiments of the present invention, "may" and "may be" may include "one or more embodiments of the present invention."

[0027] Additionally, to aid in understanding the invention, the attached drawings are not drawn to actual scale, and the dimensions of some components may be exaggerated. Furthermore, the same reference numerals may be assigned to identical components in different embodiments.

[0028] The statement that two subjects of comparison are 'identical' means that they are 'substantially identical.' Therefore, substantial identity may include deviations considered low in the industry, for example, deviations within 5%. Additionally, the statement that a parameter is uniform in a given area may mean that it is uniform from an average perspective.

[0029] Although terms such as "first," "second," etc., are used to describe various components, it goes without saying that these components are not limited by these terms. These terms are used merely to distinguish one component from another, and unless specifically stated otherwise, the first component may also be the second component.

[0030] Throughout the specification, unless specifically stated otherwise, each component may be singular or plural.

[0031] The fact that any configuration is placed on the "upper (or lower)" of a component or on the "upper (or lower)" of a component may mean not only that any configuration is placed in contact with the upper (or lower) surface of said component, but also that another configuration may be interposed between said component and any configuration placed on (or below) said component.

[0032] Furthermore, where it is stated that one component is "connected," "coupled," or "connected" to another component, it should be understood that while said components may be directly connected or connected to each other, another component may be "interposed" between each component, or that each component may be "connected," "coupled," or "connected" through another component. Additionally, when it is stated that a part is electrically coupled with another part, this includes not only cases where they are directly connected but also cases where they are connected with another component in between.

[0033] Throughout the specification, "A and / or B" means A, B, or A and B unless specifically stated otherwise. That is, "and / or" includes any combination or any combination of the enumerated items. "C to D" means C or more and D or less, unless specifically stated otherwise.

[0035] FIG. 1 is a block diagram showing a headlamp control device according to an embodiment of the present invention, FIG. 2 is an example diagram for explaining a lighting area, FIG. 3 is an example diagram for explaining the movement of a lighting area according to the pitch angle of a vehicle, FIG. 4 is an example diagram for explaining the process of calculating a formula for calculating the amount of movement of a lighting area, FIG. 5 is an example diagram for explaining the movement of a lighting area according to the roll angle of a vehicle, FIG. 6 is an example diagram for explaining the movement of a shadow zone according to the movement of a lighting area, and FIG. 7 is an example diagram for explaining the movement of a lighting area according to the steering angle of a vehicle.

[0036] Referring to FIG. 1, a headlamp control device (100) according to an embodiment of the present invention may include a headlamp (110), a first sensor module (120), a second sensor module (130), a memory (140), and a processor (150). The headlamp control device (100) according to an embodiment of the present invention may include various additional components in addition to the components shown in FIG. 1, or may not include some of the components shown in FIG. 1.

[0037] A headlamp (110) may be composed of a plurality of light sources (111). The light sources (111) may be LEDs. The headlamp (110) may include an LED array arranged in a predetermined pattern. The LED array may have a structure in which a plurality of light sources (111) are arranged in rows and columns. Under the control of a processor (150) described later, at least some of the plurality of light sources (111) constituting the headlamp (110) may be illuminated, and a beam may be formed by the illuminated light sources (111). In this embodiment, the area occupied by the illuminated light source (111) among the plurality of light sources (111) is defined as the illuminated area. The illuminated area may be in the shape of a rectangle, but is not limited thereto. For example, if a shadow zone is set, the illuminated area may be in the shape of an n or a u. FIG. 2 shows the illuminated area (L).

[0038] The first sensor module (120) can detect the attitude of the vehicle. The first sensor module (120) can detect the roll angle, pitch angle, and yaw angle of the vehicle. The first sensor module (120) may include at least one of a gyroscope sensor, an accelerometer sensor, and an IMU (Inertial Measurement Unit), and can detect the attitude of the vehicle using at least one of the gyroscope sensor, the accelerometer sensor, and the IMU.

[0039] The second sensor module (130) can detect the steering angle of the steering wheel. The second sensor module (130) may include a steering angle sensor and can detect the steering angle of the steering wheel using the steering angle sensor.

[0040] At least one instruction executed during the process of controlling the headlamp (110) may be stored in the memory (140). The memory (140) may store basic data required during the process of controlling the headlamp (110) or data generated during the process of controlling the headlamp (110), and the processor (150) may access the data stored in the memory (140) to perform the operation of controlling the headlamp (110). The memory (140) may be implemented as a computer-readable recording medium and may operate so that the processor (150) can access it. Specifically, the memory (140) may be implemented as an optical data storage device such as a hard drive, magnetic tape, memory card, ROM (Read-Only Memory), RAM (Random-Access Memory), DVD (Digital Video Disc), or optical disc.

[0041] The processor (150) is the entity that performs the operation of controlling the head lamp (110) and can be implemented as an ASIC (Application Specific Integrated Circuit), DSP (Digital Signal Processor), PLD (Programmable Logic Devices), FPGAs (Field Programmable Gate Arrays), CPU (Central Processing unit), microcontrollers and / or microprocessors, and can run an operating system or application and control multiple hardware or software components. The processor (150) can be configured to execute at least one instruction stored in memory (140) and store the execution result data in memory (140).

[0042] The processor (150) can detect the attitude of the vehicle through the first sensor module (120) and control the headlamp (110) so that the position of the lighting area changes according to the detected attitude of the vehicle. In this embodiment, the lighting area can be moved according to the attitude of the vehicle, and thus the shaking of the beam of the headlamp (110) caused by shaking during driving can be minimized, and the beam can be irradiated stably and consistently.

[0043] The processor (150) can control the headlamp (110) so that the position of the illuminated area moves downward when the pitch angle of the vehicle increases. In this embodiment, the case where the pitch angle of the vehicle increases may mean the case where the front side of the vehicle rises (the case where the vehicle tilts backward). The pitch angle of the vehicle may increase as the front wheels of the vehicle rise when the vehicle goes up a speed bump or when the vehicle comes out of a pothole. FIG. 3a shows the attitude and illuminated area of ​​the vehicle when moving on flat ground, and FIG. 3b shows the attitude and illuminated area of ​​the vehicle when going up a speed bump. As can be seen in FIG. 3a and FIG. 3b, the position of the illuminated area may move downward when the pitch angle of the vehicle increases.

[0044] The processor (150) can control the headlamp (110) so that the position of the illuminated area moves upward when the pitch angle of the vehicle decreases. In this embodiment, the case where the pitch angle of the vehicle decreases may mean the case where the front side of the vehicle descends (the case where the vehicle tilts forward). The pitch angle of the vehicle may decrease as the front wheels of the vehicle descend when the vehicle goes down a speed bump (or uneven surface) or when the vehicle enters a pothole. FIG. 3c shows the vehicle's posture and illuminated area when entering a pothole. As can be seen in FIG. 3a and FIG. 3c, the position of the illuminated area may move upward when the pitch angle of the vehicle increases.

[0045] The processor (150) can detect the attitude of the vehicle and perform the process of moving the lighting area according to the detected attitude of the vehicle at a preset cycle. The processor (150) can calculate the amount of vertical movement of the lighting area based on the pitch angle of the vehicle at the current time (current cycle) and the pitch angle of the vehicle at the previous time (previous cycle). The processor (150) can calculate the amount of vertical movement of the lighting area through the following mathematical formula 1.

[0046]

[0047] Here, h represents the height from the bottom of the vehicle to the center of the illuminated area (hereinafter the illuminated area height), D represents the distance from the point where the beam formed by the headlamp (110) reaches the ground to the vehicle (hereinafter the illumination distance), h' represents the new illuminated area height, and D' represents the new illumination distance. Here, h can be calculated from information regarding the specifications of the vehicle and information regarding the position of the illuminated area at a previous point in time. D can be calculated from the pitch angle of the vehicle at a previous point in time, and D' can be calculated based on the pitch angle of the vehicle at a current point in time. Relationship information regarding the illumination distance according to the pitch angle of the vehicle can be stored in advance in memory (140), and the processor (150) can calculate D and D' by referring to the relationship information stored in memory (140). The processor (150) can calculate h' by substituting h, D, and D' into the above mathematical formula 1, and can calculate the difference between h' and h as the amount of vertical movement of the illuminated area.

[0048] FIG. 4a shows the illumination area height h and illumination distance D when the vehicle is driving on flat ground, and FIG. 4b shows the illumination area height h' and illumination distance D' when the pitch angle of the vehicle is increased due to unevenness. In FIG. 4a, the angle between the beam formed by the headlamp (110) and the ground is When, It can be defined by the following mathematical formula 2.

[0049]

[0050] In FIG. 4b as well, the angle between the beam formed by the headlamp (110) and the ground is the same as in FIG. 4a Assuming that, can be defined by the following mathematical formula 3, and by substituting the following mathematical formula 2 into mathematical formula 3 and simplifying, the above mathematical formula 1 can be derived. In mathematical formula 3, the height of the unevenness is approximated to 0.

[0051]

[0052] In various embodiments, the processor (150) may adjust the position of the lighting area by referring to relationship information regarding the position of the lighting area according to a predefined pitch angle of the vehicle. Relationship information regarding the position of the lighting area according to the pitch angle of the vehicle may be calculated in advance and stored in memory (140), and the processor (150) may detect the position of the lighting area corresponding to the current pitch angle of the vehicle from the relationship information stored in memory (140) and move the lighting area to the detected position.

[0053] The processor (150) can control the right headlamp so that the position of the illuminated area moves to the right and downward when the roll angle of the vehicle increases. In this embodiment, the case where the roll angle of the vehicle increases may mean the case where the right side of the vehicle rises (the case where the vehicle tilts to the left). The roll angle of the vehicle may increase as the right wheel rises when passing an obstacle located to the right of the vehicle's direction of travel. FIG. 5a shows the attitude and illuminated area of ​​the vehicle when passing an obstacle located to the right of the vehicle's direction of travel. As shown in FIG. 5a, the processor (150) can move the illuminated area of ​​the right headlamp to the right and downward relative to the reference position when the roll angle of the vehicle increases. At this time, the processor (150) may not move the illuminated area of ​​the left headlamp.

[0054] The processor (150) can control the left headlamp so that the position of the illuminated area moves to the left and downward when the roll angle of the vehicle decreases. In this embodiment, the case where the roll angle of the vehicle decreases may mean the case where the left side of the vehicle rises (the case where the vehicle tilts to the right). When passing an obstacle located to the left of the vehicle's direction of travel, the roll angle of the vehicle may decrease as the left wheel rises. FIG. 5b shows the attitude and illuminated area of ​​the vehicle when passing an obstacle located to the left of the vehicle's direction of travel. As shown in FIG. 5b, the processor (150) can move the illuminated area of ​​the left headlamp to the left and downward relative to the reference position when the roll angle of the vehicle decreases. At this time, the processor (150) may not move the illuminated area of ​​the right headlamp.

[0055] The processor (150) can adjust the position of the lighting area by referring to relationship information regarding the position of the lighting area according to the roll angle of the vehicle that is predefined. Relationship information regarding the position of the lighting area according to the roll angle of the vehicle may be calculated in advance and stored in the memory (140), and the processor (150) can detect the position of the lighting area corresponding to the current roll angle of the vehicle from the relationship information stored in the memory (140) and move the lighting area to the detected position.

[0056] In some cases, as illustrated in FIG. 6a, the lighting area may be formed so that a shadow zone is set. When adjusting the lighting area according to the present embodiment, as shown in FIG. 6b, the extinguishing area corresponding to the shadow zone may also move together, and thus the shadow zone can be maintained at a constant level regardless of the vehicle's position.

[0057] The processor (150) can detect the steering angle of the steering wheel through the second sensor module (130) and control the headlamp (110) so that the position of the lighting area changes according to the detected steering angle. In this embodiment, the lighting area can be moved according to the steering angle of the vehicle, and thus can support the driver to perceive the surroundings more clearly while the vehicle is being steered.

[0058] The processor (150) can control the headlamp (110) so that the position of the illuminated area moves to the right when the steering angle of the steering wheel increases. In this embodiment, the case where the steering angle of the steering wheel increases may mean the case where the steering wheel is rotated clockwise. The steering angle of the steering wheel may increase when the vehicle turns right.

[0059] The processor (150) can control the headlamp (110) so that the position of the illuminated area moves to the left when the steering angle of the steering wheel decreases. In this embodiment, the case where the steering angle of the steering wheel decreases may mean the case where the steering wheel is rotated counterclockwise. The steering angle of the steering wheel may increase when the vehicle turns left. FIG. 7 shows the illuminated area when the vehicle turns left. As shown in FIG. 7, the position of the illuminated area may move to the left when the steering angle of the steering wheel decreases.

[0060] The processor (150) can control the headlamp (110) so that the lighting area moves to the right in proportion to the steering angle of the steering wheel when the steering angle of the steering wheel is greater than or equal to a predefined first reference value (e.g., 0°) and less than or equal to a predefined second reference value (e.g., 30°). The processor (150) can control the headlamp (110) so that the lighting area is located at the outermost right edge when the steering angle of the steering wheel has a value equal to the second reference value. At this time, the value obtained by dividing the maximum amount of movement of the lighting area that can move to the right by the second reference value may correspond to a proportionality constant, and the amount of movement of the lighting area may be the value obtained by multiplying the amount of change in the steering angle of the steering wheel by the proportionality constant.

[0061] The processor (150) can control the headlamp (110) so that the illuminated area moves to the left in proportion to the absolute value of the steering angle of the steering wheel when the steering angle of the steering wheel is greater than or equal to a predefined third reference value (e.g., -30°) or less than a first reference value (e.g., 0°). The first reference value may be 0, and the third reference value may be a value that has the same magnitude as the second reference value but a different sign. The processor (150) can control the headlamp (110) so that the illuminated area is located at the outermost left corner when the steering angle of the steering wheel has a value equal to the third reference value. At this time, the value obtained by dividing the maximum amount of movement of the illuminated area that can move to the left by the third reference value may correspond to a proportionality constant, and the amount of movement of the illuminated area may be the value obtained by multiplying the amount of change in the steering angle of the steering wheel by the proportionality constant.

[0062] In various embodiments, the processor (150) may control the lighting area using the vehicle's yaw angle instead of the steering angle of the steering wheel. In this case, the processor (150) may control the headlamp (110) so that the position of the lighting area moves to the left when the vehicle's yaw angle increases. Here, the case where the vehicle's yaw angle increases may mean the case where the vehicle turns left. The processor (150) may control the headlamp (110) so that the position of the lighting area moves to the right when the vehicle's yaw angle decreases. Here, the case where the vehicle's yaw angle decreases may mean the case where the vehicle turns right.

[0064] FIG. 8 is a flowchart showing a headlamp control method according to an embodiment of the present invention.

[0065] Hereinafter, with reference to FIG. 8, we will examine the process of controlling the headlamp (110) according to the vehicle's posture, focusing on the operation of the processor (150). Some of the steps described below may be performed in a different order than the order described below or may be omitted.

[0066] First, the processor (150) can detect the current attitude of the vehicle (the attitude of the vehicle at the current time) through the first sensor module (120) (S801).

[0067] Next, the processor (150) can compare the vehicle's current attitude with the vehicle's previous attitude (the vehicle's attitude in the previous cycle) (S803).

[0068] Next, the processor (150) can control the position of the illuminated area based on the result of comparing the vehicle's current position and the vehicle's previous position (S805). In step S805, the processor (150) can control the headlamp (110) so that the position of the illuminated area moves downward when the vehicle's pitch angle increases. In step S805, the processor (150) can control the headlamp (110) so that the position of the illuminated area moves upward when the vehicle's pitch angle decreases. In step S805, the processor (150) can control the right headlamp so that the position of the illuminated area moves to the right and downward when the vehicle's roll angle increases. In step S805, the processor (150) can control the left headlamp so that the position of the illuminated area moves to the left and downward when the vehicle's roll angle decreases.

[0070] FIG. 9 is a flowchart showing a headlamp control method according to an embodiment of the present invention.

[0071] Hereinafter, with reference to FIG. 9, we will examine the process of controlling the head lamp (110) according to the steering angle of the steering wheel, focusing on the operation of the processor (150). Some of the steps described below may be performed in a different order than the order described below or may be omitted.

[0072] First, the processor (150) can detect the current steering angle of the steering wheel through the second sensor module (130) (S901).

[0073] Next, the processor (150) can compare the current steering angle of the steering wheel with the previous steering angle of the steering wheel (S903).

[0074] Next, the processor (150) can control the position of the illuminated area based on the result of comparing the current steering angle of the steering wheel with the previous steering angle of the steering wheel (S905). In step S905, the processor (150) can control the headlamp (110) so that the position of the illuminated area moves to the right when the steering angle of the steering wheel increases. In step S905, the processor (150) can control the headlamp (110) so that the position of the illuminated area moves to the left when the steering angle of the steering wheel decreases.

[0076] As such, according to the present invention, by controlling the lighting area of ​​a headlamp composed of a plurality of light sources according to the vehicle's posture, the shaking of the beam output from the headlamp can be minimized, and accordingly, the driver's visual fatigue can be reduced and driving safety can be improved.

[0077] As used herein, the terms “part” and “module” may include units implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. “Part” and “module” may be a component formed integrally, or a minimum unit of said component or a part thereof that performs one or more functions. For example, according to one embodiment, “part” and “module” may be implemented in the form of an Application-Specific Integrated Circuit (ASIC).

[0078] The implementations described herein may be implemented, for example, as methods or processes, devices, software programs, data streams, or signals. Even if discussed only in the context of a single form of implementation (e.g., discussed only as a method), the implementation of the discussed features may also be implemented in other forms (e.g., devices or programs). Devices may be implemented in appropriate hardware, software, and firmware, etc. Methods may be implemented in devices such as processors, which generally refer to processing devices including, for example, computers, microprocessors, integrated circuits, or programmable logic devices. Processors also include communication devices such as computers, cell phones, portable / personal digital assistants ("PDAs"), and other devices that facilitate the communication of information between end-users.

[0079] Although the present invention has been described above by limited embodiments and drawings, the present invention is not limited thereto, and it is obvious that various modifications and variations are possible within the scope of the technical spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs. Explanation of the symbols

[0081] 100: Headlamp control unit 110: Headlamp 111: Light source 120: 1st sensor module 130: Second sensor module 140: Memory 150: Processor

Claims

Claim 1 A headlamp control device comprising: a headlamp composed of a plurality of light sources; a first sensor module configured to detect the attitude of a vehicle; and a processor connected to the headlamp and the first sensor module, wherein the processor controls the headlamp so that the position of the lighting area changes according to the attitude of the vehicle detected through the first sensor module. Claim 2 In claim 1, the processor controls the headlamp so that the position of the lighting area moves downward when the pitch angle of the vehicle increases. Claim 3 In claim 2, the processor controls the headlamp so that the position of the lighting area moves upward when the pitch angle of the vehicle decreases. Claim 4 In claim 2, the processor calculates the amount of vertical movement of the lighting area based on the pitch angle of the vehicle at the current time and the pitch angle of the vehicle at the previous time. Claim 5 In claim 1, the processor controls the right headlamp of the vehicle such that when the roll angle of the vehicle increases, the position of the lighting area moves to the right and downward. Claim 6 In claim 5, the processor controls the left headlamp of the vehicle such that when the roll angle of the vehicle decreases, the position of the lighting area moves to the left and downward. Claim 7 A headlamp control device according to claim 1, further comprising a second sensor module configured to detect the steering angle of a steering wheel, wherein the processor controls the headlamp such that the position of the lighting area changes according to the steering angle of the steering wheel detected through the second sensor module. Claim 8 A headlamp control device according to claim 7, wherein the processor controls the headlamp so that the position of the lighting area moves to the right when the steering angle increases, and controls the headlamp so that the position of the lighting area moves to the left when the steering angle decreases. Claim 9 A headlamp control device according to claim 7, wherein the processor controls the headlamp so that the lighting area moves to the right in proportion to the steering angle when the steering angle is greater than or equal to a predetermined first reference value and less than or equal to a predetermined second reference value, and controls the headlamp so that the lighting area moves to the left in proportion to the absolute value of the steering angle when the steering angle is greater than or equal to a predetermined third reference value and less than the first reference value, wherein the first reference value is 0 and the third reference value is a value having the same magnitude as the first reference value and the opposite sign. Claim 10 A headlamp control method comprising: a step of a processor detecting the attitude of a vehicle through a first sensor module; and a step of the processor controlling a headlamp composed of a plurality of light sources such that the position of an illuminating area changes according to the attitude of the vehicle detected through the first sensor module.

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