Light distribution control device for vehicle

Abstract

A light distribution control device according to the present invention comprises a light distribution control unit that controls the light distribution of headlights, and the light distribution control unit comprises: a non-illuminated area setting unit that sets a non-illuminated area on a rear face of a preceding vehicle; a light distribution pattern generating unit that generates a light distribution pattern of the headlights, excluding the non-illuminated area; a taillight detecting unit that detects left and right taillights of the preceding vehicle; a light source detecting unit that detects a light source between the left and right taillights; a rectangular fixed object detecting unit that detects a rectangular fixed object illuminated by the light source; a turn detecting unit that detects turning of the preceding vehicle from a change in the shape of the rectangular fixed object; a non-illuminated area resetting unit that, when turning of the preceding vehicle is detected, sets a front non-illumination boundary at the front of a side face on the inside of the turn, and resets a new non-illuminated area using the front non-illumination boundary and the non-illuminated area; and a light distribution pattern regeneration unit that regenerates the light distribution pattern of the headlights excluding the reset non-illuminated area.

Description

Vehicle light distribution control device

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

[0002] BACKGROUND ART Conventionally, variable light distribution headlamp systems are known that control the distribution of illumination light from the headlights of a vehicle so as not to dazzle occupants of a preceding vehicle when traveling at night or the like.

[0003] For example, Japanese Patent Application Laid-Open Publication No. 2023-49872 discloses a variable light distribution headlamp system. This system first acquires the position information of a preceding vehicle from an ADAS (Advanced Driver-Assistance Systems) sensor, such as an on-board camera or radar device, or through vehicle-to-vehicle communication. Then, based on the acquired position information of the preceding vehicle, it checks whether the illumination range of the vehicle's own headlights is within the rear of the preceding vehicle. If the variable light distribution headlamp system determines that the illumination range of the headlights is within the rear of the preceding vehicle, it controls the illumination range so that the illuminance of the preceding vehicle due to the illumination light from the vehicle's own headlights is less than a predetermined value. This prevents the illumination light from the headlights from irradiating the occupants of the preceding vehicle, thereby avoiding dazzling.

[0004] 6, when the host vehicle M is traveling on a straight road and the preceding vehicle F is traveling on a curved road, the direction of the preceding vehicle F moves horizontally relative to the direction of the host vehicle M. As a result, the side of the preceding vehicle F may extend beyond the non-illuminated area Ard of the illumination light set in the range behind the preceding vehicle and enter the illuminated area Arh.

[0005] When the side of the preceding vehicle F enters the illumination area Arh, the side of the preceding vehicle F is suddenly illuminated by the illumination light of the subject vehicle M, as shown in the image in FIG. 7, causing dazzlement to the occupants.

[0006] In particular, when the light is directed to the driver's side, the driver is dazzled by the light directly or by the light reflected from the door mirror. If the driver is dazzled by the light, it will affect his driving operation. This also occurs when turning when the preceding vehicle is changing lanes.

[0007] To provide a light distribution control device for a vehicle that does not irradiate the side of a preceding vehicle and does not dazzle occupants, even when the direction of the preceding vehicle is oblique to the direction of the vehicle itself, in consideration of the above circumstances.

[0008] One aspect of the present invention is a light distribution control device for a vehicle that includes a driving environment information acquisition unit that acquires driving environment information ahead of the vehicle, and a light distribution control unit that controls light distribution of headlights provided on the vehicle, wherein the light distribution control unit includes a non-illuminated area setting unit that sets a non-illuminated area on a rear surface of a preceding vehicle based on the driving environment information acquired by the driving environment information acquisition unit, and a light distribution pattern generation unit that generates a light distribution pattern of the headlights excluding the non-illuminated area set by the non-illuminated area setting unit.The light distribution control unit includes a tail light detection unit that detects left and right tail lights of the preceding vehicle based on the driving environment information acquired by the driving environment information acquisition unit, and a light distribution pattern generation unit that generates a light distribution pattern of the headlights excluding the non-illuminated area set by the non-illuminated area setting unit. a rectangular fixed object detection unit that detects a rectangular fixed object illuminated by the light source detected by the light source detection unit based on the driving environment information acquired by the driving environment information acquisition unit; a turning detection unit that detects a turn of the preceding vehicle from a change in shape of the rectangular fixed object based on the driving environment information acquired by the driving environment information acquisition unit; a non-illuminated area resetting unit that, when the turning detection unit detects a turn of the preceding vehicle, sets a front non-illuminated boundary in front of the side of the preceding vehicle on the inside of the turn and resets a new non-illuminated area using the front non-illuminated boundary and the non-illuminated area; and a light distribution pattern regeneration unit that regenerates the light distribution pattern of the headlight excluding the non-illuminated area set by the non-illuminated area resetting unit.

[0009] Schematic configuration diagram of a light distribution control device Flowchart (1) showing a light distribution pattern generation routine Flowchart (2) showing a light distribution pattern generation routine Flowchart (3) showing a non-illumination area resetting subroutine Bird's-eye view showing light distribution control immediately before a preceding vehicle enters a curve Bird's-eye view showing light distribution control when a preceding vehicle has entered a curve Descriptive image showing light distribution control when a preceding vehicle is traveling on a straight road Descriptive image showing light distribution control when a preceding vehicle has entered a curved road Descriptive image showing light distribution control when a preceding vehicle has entered a curved road Descriptive image showing a preceding vehicle and the state of the rear license plate of the preceding vehicle while traveling on a straight road Descriptive image showing a preceding vehicle and the state of the rear license plate of the preceding vehicle immediately after entering a curved road Descriptive image showing a preceding vehicle and the state of the rear license plate of the preceding vehicle while traveling on a curved road Bird's-eye view showing conventional light distribution control when a preceding vehicle has entered a curve Descriptive image showing conventional light distribution control when a preceding vehicle has entered a curve

[0010] An embodiment of the present invention will be described below with reference to the drawings. Note that the drawings are schematic, and the relationship between the thickness and width of each member, the thickness ratio of each member, etc., differ from the actual ones. Of course, the drawings also include portions in which the dimensional relationships and ratios differ from one another.

[0011] In FIG. 1 , symbol M denotes a vehicle (host vehicle) such as an automobile. Headlights 1 are disposed on the left and right sides of the front end of the host vehicle M. The left and right headlights 1 are variable light distribution headlamps (so-called ADB: Adaptive Driving Beam). Each headlight 1 is formed by arranging a plurality of LED (Light Emitting Diode) devices in an array or matrix. When each LED device is turned on, each headlight 1 emits a high beam that illuminates the area ahead of the host vehicle M.

[0012] The host vehicle M is also provided with a camera unit 11 as a driving environment information acquisition unit, and a headlight control unit (headlight_ECU) 21. The camera unit 11 is one of ADAS sensors (periphery monitoring sensors).

[0013] The headlight_ECU 21 and the forward driving environment recognition unit 14 of the camera unit 11 (described later) are configured with a microcontroller including a CPU, RAM, ROM, rewritable non-volatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data required for the CPU to execute various processes. The RAM serves as a work area for the CPU and temporarily stores various data for the CPU. The CPU is also called an MPU (microprocessor) or a processor. A GPU (graphics processing unit) or a GSP (graph streaming processor) may be used instead of the CPU. Alternatively, a CPU, a GPU, and a GSP may be selectively combined.

[0014] The camera unit 11 is fixed to the upper center of the front interior of the vehicle M. The camera unit 11 includes an on-board camera 12, an image processing unit 13, and a forward driving environment recognition unit 14. The on-board camera 12 is a stereo camera consisting of a main camera 12a and a sub-camera 12b. Both cameras 12a, 12b have built-in color image sensors such as color CCDs or color CMOSs. The cameras 12a, 12b are disposed on the upper front inside of the vehicle cabin, at positions symmetrical on either side of the center in the vehicle width direction, with a predetermined baseline length.

[0015] The image processing unit 13 performs predetermined image processing on the driving environment image information captured by the cameras 12a and 12b of a predetermined imaging area ahead of the vehicle M. The forward driving environment recognition unit 14 reads the driving environment image information processed by the image processing unit 13. Note that the area If in Figures 3A and 3B indicates the angle of view of the vehicle-mounted camera 12.

[0016] The forward driving environment recognition unit 14 recognizes and acquires forward driving environment information based on the read driving environment image information. The acquired forward driving environment information includes three-dimensional objects to be recognized and light sources. Three-dimensional objects to be recognized include a preceding vehicle, an oncoming vehicle, a pedestrian, and a rear license plate as a rectangular fixed object attached to the preceding vehicle. Light sources include the taillights of a preceding vehicle, the headlights of an oncoming vehicle, and the license plate light. Recognition objects are recognized using, for example, a well-known pattern matching method.

[0017] The driving environment information recognized by the forward driving environment recognition unit 14 is output to a headlight control unit (headlight_ECU) 21. The headlight_ECU 21 includes an auto light control unit 21 a and a light distribution control unit 21 b. A headlight drive unit 22 is connected to the output side of the headlight_ECU 21.

[0018] The auto light control unit 21a controls the ON / OFF of the headlights 1 based on the illuminance obtained from the image captured by the camera unit 11. That is, the auto light control unit 21a compares the illuminance with a preset threshold value. This threshold value determines whether the surroundings of the vehicle M are bright, dark, or dim.

[0019] If the illuminance is less than the threshold value, an ON signal is output, and if the illuminance is equal to or greater than the threshold value, an OFF signal is output. The illuminance around the vehicle M may be detected by an illuminance sensor.

[0020] The ON / OFF signal for the headlights 1 output from the automatic light control unit 21a is read by the light distribution control unit 21b. The light distribution control unit 21b controls the light distribution of the left and right headlights 1 when driving at night. More specifically, the light distribution control unit 21b generates a light distribution pattern for the illumination light emitted from the left and right headlights 1.

[0021] The light distribution control unit 21b outputs a drive signal corresponding to this light distribution pattern to the headlamp drive unit 22. In accordance with the input drive signal for the light distribution pattern, the headlamp drive unit 22 selectively causes the LED devices constituting the left and right headlights 1 to emit light. As a result, as shown in Figures 3A and 3B, the front of the vehicle M is illuminated by the light distribution pattern Lp of the illumination light emitted from the headlight 1.

[0022] The light distribution control unit 21b generates a light distribution pattern in accordance with the routine shown in Figures 2A and 2B. The processing in this routine will now be described.

[0023] The light distribution control unit 21b reads the ON / OFF signal for the headlights 1 from the automatic light control unit 21a (step S1). If the light distribution control unit 21b determines that an OFF signal has been input from the automatic light control unit 21a (NO), it exits the routine. If the light distribution control unit 21b determines that an ON signal has been input from the automatic light control unit 21a (YES), it proceeds to step S2.

[0024] In step S2, the light distribution control unit 21b reads the forward driving environment information recognized by the forward driving environment recognition unit 14 of the camera unit 11. Then, based on the forward driving environment information, the light distribution control unit 21b checks whether or not a preceding vehicle F is recognized ahead of the host vehicle M (step S3).

[0025] The light distribution control unit 21b recognizes the preceding vehicle F by detecting, for example, a taillight ahead of the preceding vehicle F. Hereinafter, a case where the preceding vehicle F is recognized by detecting a taillight ahead of the preceding vehicle F will be described as an example.

[0026] The light distribution control unit 21b first detects red pixels ahead based on the forward driving environment information. The light distribution control unit 21b then groups the detected red images. If a pair of left and right grouped red pixels is detected and the pair of left and right red pixels change synchronously, the light distribution control unit 21b determines that the left and right grouped red pixels are taillights Tl, Tr of the preceding vehicle F.

[0027] If the light distribution control unit 21b detects taillights Tl and Tr, it determines that a preceding vehicle F is present (YES) and proceeds to step S4. On the other hand, if the light distribution control unit 21b does not detect taillights Tl and Tr (NO), it jumps to step S6. The processing in step S3 corresponds to the preceding vehicle detection unit of the present invention. The processing in step S3 also includes the processing of the taillight detection unit of the present invention.

[0028] In step S4, the light distribution control unit 21b calculates an approximate inter-vehicle distance from the distances between the host vehicle M and the taillights Tl and Tr of the preceding vehicle F based on the forward driving environment information. The light distribution control unit 21b then compares this inter-vehicle distance with the long-distance distance of the illumination area Arh for normal high beams (high beam illumination area) (step S5). Note that normal high beams refer to a state in which all of the high beam LED devices provided in the headlight 1 are illuminated. The long-distance distance is a fixed value set for each vehicle model.

[0029] If the light distribution control unit 21b determines that the inter-vehicle distance is longer than the long-distance distance of the high-beam illumination area Arh (step S5: NO), the process proceeds to step S6. On the other hand, if the light distribution control unit 21b determines that the inter-vehicle distance is shorter than the long-distance distance of the high-beam illumination area Arh and the preceding vehicle F is within the normal high-beam illumination area Arh (step S5: YES), the process proceeds to step S7.

[0030] When the process proceeds from step S3 or step S5 to step S6, the light distribution control unit 21b generates a normal light distribution pattern Lp using high beams, outputs a drive signal to the headlamp drive unit 22, and then exits the routine. The headlamp drive unit 22 outputs a drive signal according to the normal light distribution pattern from the light distribution control unit 21b to the headlight 1. Then, the illumination light from the headlight 1 illuminates the area ahead of the vehicle M with the normal light distribution pattern Lp using high beams.

[0031] On the other hand, when the process proceeds to step S7, the light distribution control unit 21b generates a non-illuminated area Ard for the preceding vehicle F. The process in step S7 corresponds to the non-illuminated area setting unit of the present invention.

[0032] The non-illuminated area Ard is an area that is not directly illuminated by the high beams. Since the non-illuminated area Ard is not illuminated by the high beams, it does not dazzle the occupants of the preceding vehicle F. The non-illuminated area Ard may be completely shaded, or may be dimly illuminated by low beams or surrounding high beams.

[0033] The basic generation of the non-illuminated area Ard by the light distribution control unit 21b is performed using a well-known technique. Here, a technique for setting the non-illuminated area Ard on the rear surface of the preceding vehicle F based on the positions of the left and right taillights Tl and Tr will be briefly described.

[0034] The light distribution control unit 21b sets non-illumination boundaries at positions outside the centers of the left and right tail lights Tl and Tr estimated in step S3 in the vehicle width direction, with a predetermined margin added. The light distribution control unit 21b sets a non-illumination area Ard between the left and right non-illumination boundaries.

[0035] Next, the light distribution control unit 21b generates a light distribution pattern Lp (step S8). As shown in FIG. 3A, the high beam illumination area Arh is the area excluding the non-illuminated area Ard. Therefore, the light distribution pattern Lp is generated by the high beam illumination area Arh and the illumination area by the low beam (low beam illumination area) Arl. Here, the low beam illumination area Arl is set in advance. The processing in step S8 corresponds to the light distribution pattern generation unit of the present invention.

[0036] Next, the light distribution control unit 21b reads the information on the tail lights Tl, Tr detected in step S3 (step S9). The light distribution control unit 21b extracts the license light Fl (see FIG. 4A) provided on the rear of the preceding vehicle F from the forward driving environment information (step S10). The license light Fl is located between the left and right tail lights Tl, Tr. Therefore, the light distribution control unit 21b first uses the left and right tail lights Tl, Tr as references and identifies the light source that is lit between these left and right tail lights Tl, Tr as the license light Fl. Therefore, the processing in step S10 corresponds to the light source detection unit of the present invention.

[0037] Next, the light distribution control unit 21b extracts the rear license plate Fp, which is an example of a rectangular fixed object, from the image of the forward driving environment information (step S11). As shown in Figures 4A and 4B, the rear license plate Fp is located below the license plate light Fl. The rear license plate Fp is also illuminated by the light from the license plate light Fl. Therefore, the rear license plate Fp can be captured by the on-board camera 12 without irradiating the rear license plate Fp with the light from the headlights 1 of the vehicle M.

[0038] The light distribution control unit 21b then detects, for example, the outline of the rear license plate Fp from the difference in brightness of the edges that define the rear license plate Fp. The processing in step S11 corresponds to the rectangular fixed object detection unit of the present invention. The rectangular fixed object may be any object that is illuminated by a light source located between the left and right tail lights Tl and Tr. Therefore, the rectangular fixed object is not limited to the rear license plate Fp. Furthermore, the light source is not limited to the license plate light Fl.

[0039] Next, the light distribution control unit 21b continuously detects changes in the angles of the four corners of the outline of the rear license plate Fp cut out from the image of the forward driving environment information (step S12). As shown in Figures 5A to 5C, for the sake of convenience, the angles of the four corners of the rear license plate Fp are designated as θ1 to θ4 counterclockwise from the upper left.

[0040] The light distribution control unit 21b estimates the behavior of the preceding vehicle F from changes in the continuous angles θ1 to θ4 of the four corners of the rear license plate Fp. The behavior of the preceding vehicle F estimated by the light distribution control unit 21b is the traveling direction (driving on a straight road, turning right, turning left) and turning speed (angular velocity) of the preceding vehicle F.

[0041] When the host vehicle M is traveling on a straight road and the preceding vehicle F is traveling on a curved road, the direction of travel of the preceding vehicle F shifts horizontally relative to the direction of travel of the host vehicle M. Therefore, when traveling on a curved road, an angular difference always occurs between the direction of travel (tangential direction) of the host vehicle M and the direction of travel (tangential direction) of the preceding vehicle F.

[0042] Generally, the curvature of a curved road gradually increases from the entrance and gradually decreases from the center of the curve toward the exit. Therefore, as the curvature of the curved road increases, the angular difference between the traveling direction of the host vehicle M and the traveling direction of the preceding vehicle F gradually increases. Conversely, as the curvature of the curved road decreases, the angular difference between the traveling direction of the host vehicle M and the traveling direction of the preceding vehicle F gradually decreases.

[0043] 5A to 5C illustrate examples of changes in the shape of the rear license plate Fp captured by the on-board camera 12 when the vehicle is traveling on a curved road and making a right turn from just before entering the curved road. FIG. 5A shows the state of the preceding vehicle F just before entering the curved road. In this state, the traveling direction of the host vehicle M and the traveling direction of the preceding vehicle F are approximately the same. Therefore, the forward traveling environment recognition unit 14 obtains information that the angles θ1 to θ4 of the four corners of the rear license plate Fp are approximately 90°.

[0044] When the preceding vehicle F enters a curved road, the angular difference between the traveling direction of the host vehicle M and the traveling direction of the preceding vehicle F gradually increases. Accordingly, the shape of the rear license plate Fp changes. Figure 5B illustrates an example in which the left side of the rear license plate Fp has moved upward on the image.

[0045] In this state, angles θ1 and θ4 change toward acute angles, and angles θ2 and θ3 change toward obtuse angles. Furthermore, when the preceding vehicle F moves toward the maximum curvature of the curved road, the shape of the rear license plate Fp moves such that the left edge moves further upward in the image, as shown in Figure 5C. Therefore, angles θ1 and θ4 change further toward acute angles, and angles θ2 and θ3 change further toward obtuse angles.

[0046] The mounting position of the rear license plate Fp varies depending on the vehicle model. Furthermore, the display surface of the rear license plate Fp is not necessarily oriented horizontally toward the rear of the vehicle. Some rear license plates Fp are mounted with the display surface tilted upward or downward.

[0047] Therefore, when the preceding vehicle F is traveling on a curved road, the change in shape of the rear license plate Fp captured by the on-board camera 12 varies depending on the vehicle model. For example, in an image of the rear license plate Fp captured by the on-board camera 12, the rear license plate Fp may change to a sideways, approximately trapezoid shape with the left and right sides shorter on the outside of the turn than on the inside. Alternatively, in an image of the rear license plate Fp captured while traveling on a curved road, the rear license plate Fp may change to a approximately trapezoid shape with the top side shorter than the bottom side. Conversely, in an image of the rear license plate Fp captured while traveling on a curved road, the rear license plate Fp may change to an upside-down, approximately trapezoid shape with the bottom side shorter than the top side.

[0048] However, the rear license plate Fp is fixed to the vehicle body. Therefore, the shape of the rear license plate Fp changes continuously with a certain regularity for each vehicle when the vehicle is traveling on a curved road. The light distribution control unit 21b detects whether the preceding vehicle F is turning on the curved road by the continuous changes in the angles θ1 to θ4 of the four corners of the rear license plate Fp (step S13). The processing in steps S12 and S13 corresponds to the turning detection unit of the present invention.

[0049] If the light distribution control unit 21b determines that the angles θ1 to θ4 have not changed or that the continuous changes are irregular (step S13: NO), it determines that the preceding vehicle F is not traveling on a curved road and exits the routine. On the other hand, if the light distribution control unit 21b determines that the continuous changes of the angles θ1 to θ4 are irregular (step S13: YES), it proceeds to step S14.

[0050] The light distribution control unit 21b resets the non-irradiation area Ard in step S14. The process in step S14 corresponds to the non-irradiation area resetting unit of the present invention.

[0051] The resetting of the non-irradiation area Ard is performed in accordance with a subroutine shown in Fig. 2C. The processing in this subroutine will now be described.

[0052] The light distribution control unit 21b first detects the headlights Fh of the preceding vehicle F based on the forward driving environment information (step S21). When the preceding vehicle F is traveling straight at night, the taillights Tl, Tr of the preceding vehicle F are the brightest in the image captured by the on-board camera 12. Furthermore, when the preceding vehicle F turns while traveling on a curved road, the light from the headlights Fh is detected in front of the vehicle body on the inside of the turn. The light distribution control unit 21b determines whether the light from the taillights Tl, Tr on the outside of the vehicle body is the light from the headlights Fh by, for example, determining whether the illuminance of that light exceeds a preset threshold value.

[0053] The light distribution control unit 21b then checks whether the preceding vehicle F is turning right or left based on the light from the detected headlight Fh (step S22). If the headlight Fh on the inside of the turn is on the right side of the preceding vehicle F, the light distribution control unit 21b determines that the preceding vehicle F is turning right (YES) and proceeds to step S23. On the other hand, if the headlight Fh on the inside of the turn is on the left side of the preceding vehicle F, the light distribution control unit 21b determines that the preceding vehicle F is turning left (NO) and branches to step S24.

[0054] As described above, the light distribution control unit 21b detects regular changes in the angles θ1 to θ4 of the four corners of the rear license plate Fp to determine whether the preceding vehicle F is turning (steps S10 to S13). However, the light distribution control unit 21b can omit the processing in steps S10 to S12 and determine in step S13 that the preceding vehicle F is turning when light from either the left or right headlight Fh of the preceding vehicle F is detected.

[0055] However, for example, consider a situation in which the host vehicle M is traveling on a straight road while following a preceding vehicle F. Even if the host vehicle M is traveling in the same lane, the host vehicle M may be traveling with its lateral position shifted relative to the preceding vehicle F. In such a situation, the on-board camera 12 may capture the light from either the left or right headlight Fh of the preceding vehicle F. If the light distribution control unit 21b acquires information about the headlights Fh of the preceding vehicle F from the forward traveling environment information, it may erroneously determine that the preceding vehicle F is turning.

[0056] In contrast, the light distribution control unit 21b of this embodiment determines that the preceding vehicle F is turning when it detects a regular change in the shape of the rear license plate Fp. Therefore, when the host vehicle M is traveling on a straight road, the light distribution control unit 21b is unlikely to erroneously determine that the preceding vehicle F is turning.

[0057] In step S23, the light distribution control unit 21b calculates the lateral distance ΔW between the center of the right taillight Tr and the headlight based on the forward driving environment information. Then, the light distribution control unit 21b sets the right front non-illumination boundary at a position that is a predetermined margin added to the lateral distance ΔW from the center of the right taillight Tr (step S25).

[0058] The light distribution control unit 21b then resets the non-irradiation area Ard between the left and right non-irradiation boundaries (step S26), and proceeds to step S15 in Fig. 2B. Note that the left non-irradiation boundary has already been set in step S7 in Fig. 2A.

[0059] Furthermore, when the process branches from step S22 to step S24, the light distribution control unit 21b calculates the lateral distance ΔW between the center of the left taillight Tl and the headlight based on the forward driving environment information. Next, the light distribution control unit 21b sets the left front non-illumination boundary at a position that is a predetermined margin added to the lateral distance ΔW from the center of the left taillight Tl (step S27).

[0060] The light distribution control unit 21b then resets the non-irradiation area Ard between the left and right non-irradiation boundaries (step S28), and proceeds to step S15 in Fig. 2B. Note that the right non-irradiation boundary has already been set in step S7 in Fig. 2A.

[0061] 2B, the light distribution control unit 21b regenerates the light distribution pattern Lp. The process in step S15 corresponds to the light distribution pattern regeneration unit of the present invention.

[0062] The light distribution control unit 21b sets the area excluding the non-illuminated area Ard as a high beam illumination area Arh, and then resets the light distribution pattern Lp using this high beam illumination area Arh and low beam illumination area Arl.

[0063] 3B and 4B, in this embodiment, the inner surface of the turning preceding vehicle F is set as the non-illuminated area Ard. Therefore, the high beam is not irradiated onto the inner surface of the turning preceding vehicle F. Therefore, the occupants of the turning preceding vehicle F are not dazzled.

[0064] In particular, if the driver's seat is on the inside of the turning preceding vehicle F, the high beams of the host vehicle M will not be illuminated on the door mirror on the driver's seat side of the preceding vehicle F. Therefore, the driver will not be dazzled by light reflected from the door mirror, and driving operations will not be affected. Furthermore, in this embodiment, the turning of the preceding vehicle F is determined based on regular changes in the shape of the rear license plate Fp. Therefore, irregular changes in the shape of the rear license plate Fp when traveling on a straight road, etc., will not be mistakenly determined as a turning.

[0065] The present invention is not limited to the above-described embodiment, but can also be applied to cases where the preceding vehicle F changes lanes or turns right or left at an intersection, for example.

[0066] Furthermore, the illuminance of the taillights Tl, Tr and headlights Fh may be detected by an illuminance sensor. This illuminance sensor is included in the ADAS sensor. Furthermore, the on-board camera 12 provided in the camera unit 11 is not limited to a stereo camera. For example, instead of a stereo camera, the on-board camera 12 may be a combination of a monocular camera and a radar such as millimeter-wave radar, microwave radar, or LiDAR (Light Detection and Ranging). In this case, information on the recognized object and light source is obtained from driving environment image information captured by the monocular camera, and the distance to the recognized object and light source is obtained from distance measurement information obtained by the radar. Note that the monocular camera and radar are also included in the ADAS sensor.

Claims

1. A light distribution control device for a vehicle comprising: a driving environment information acquisition unit that acquires driving environment information ahead of the vehicle; and a light distribution control unit that controls the light distribution of headlights provided on the vehicle, wherein the light distribution control unit comprises: a non-illuminated area setting unit that sets a non-illuminated area on the rear of a preceding vehicle based on the driving environment information acquired by the driving environment information acquisition unit; and a light distribution pattern generation unit that generates a light distribution pattern of the headlights excluding the non-illuminated area set by the non-illuminated area setting unit, wherein the light distribution control unit comprises: a tail light detection unit that detects the left and right tail lights of the preceding vehicle based on the driving environment information acquired by the driving environment information acquisition unit; a light source detection unit that detects a light source between the left and right tail lights detected by the tail light detection unit; a rectangular fixed object detection unit that detects a rectangular fixed object illuminated by the light source detected by the light source detection unit based on the driving environment information acquired by the driving environment information acquisition unit; and a turning detection unit that detects a turning of the preceding vehicle from a change in shape of the rectangular fixed object based on the driving environment information acquired by the driving environment information acquisition unit. a non-illuminated area resetting unit that, when the turning detection unit detects a turn of the preceding vehicle, sets a front non-illuminated boundary in the front part of the side of the preceding vehicle on the inside of the turn and resets a new non-illuminated area using the front non-illuminated boundary and the non-illuminated area; and a light distribution pattern regenerating unit that regenerates the light distribution pattern of the headlight excluding the non-illuminated area set by the non-illuminated area resetting unit.

2. The vehicle light distribution control device described in claim 1, characterized in that when the turning detection unit detects a turn of the preceding vehicle, the non-illuminated area resetting unit detects the headlight on the inside of the turn of the preceding vehicle based on the driving environment information acquired by the driving environment information acquisition unit, and sets the front non-illuminated boundary on the side of the headlight.

3. The vehicle light distribution control device according to claim 1, wherein the turning detection unit detects turning of the preceding vehicle from regular changes in the four corners of the rectangular fixed object.

4. The vehicle light distribution control device according to claim 3, wherein the rectangular fixed object is a rear number plate.

5. A light distribution control device for a vehicle as described in any one of claims 1 to 4, characterized in that the driving environment information acquisition unit is a camera unit mounted on the vehicle, and the driving environment information is acquired from driving environment image information captured by the camera unit.

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