Headlamp light distribution control device

• US 9,469,242 B2
• Filed: 10/13/2014
• Issued: 10/18/2016
• Est. Priority Date: 07/28/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Imaeda, Koji, Shiota, Kentarou
• Primary Examiner(s): Vu, Jimmy
• Assistant Examiner(s): LUONG, HENRY T
• Application Number:
  US14/512,503
• Publication Number:
  US 20150028742A1
• Time in Patent Office: 736 Days
• Field of Search: 362/465, 362/460
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/143 combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
• CPC Class Codes: B60Q 2300/056 Special anti-blinding beams, e.g. a standard beam is chopped or moved in order not to blind
• CPC Class Codes: B60Q 2300/41 preceding vehicle
• CPC Class Codes: B60Q 2300/42 oncoming vehicle
• CPC Class Codes: G06V 10/143 Sensing or illuminating at different wavelengths
• CPC Class Codes: G06V 10/48 by mapping characteristic values of the pattern into a parameter space, e.g. Hough transformation
• CPC Class Codes: G06V 10/56 relating to colour
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

In a headlamp light distribution control device, a light source configured by a pair of lamps mounted in a forward vehicle is extracted from an image of the forward vehicle if a distance to the forward vehicle is less than a predetermined value, and the number of the extracted light sources is judged. When the number of the extracted light sources is two, an irradiation direction of a headlamp is controlled such that a shielded area is set in an irradiation area to prevent an area including the lamp of the forward vehicle from being irradiated. When the number of the extracted light sources is one, the irradiation direction is controlled such that a shielded area is set in the irradiation area to have a margin in right and left directions larger than the shielded area set when the number of the extracted light sources is two.

Claims

1. A headlamp light distribution control device for a vehicle, the headlamp light distribution control device comprising:

an image acquisition unit configured to acquire an image of a forward area which is ahead of an own vehicle;

an extraction unit configured to extract a forward vehicle from the image of the forward area acquired by the image acquisition unit;

a distance acquisition unit configured to acquire a distance between the own vehicle and the forward vehicle;

a judgment unit configured to

extract a light source configured by a pair of lamps mounted in the forward vehicle from the image of the forward vehicle extracted by the extraction unit if the distance from the own vehicle to the forward vehicle acquired by the distance acquisition unit is less than a predetermined value, and

judge the number of the extracted light sources; and

a control unit configured to

set, when the judgment unit judges that the number of the extracted light sources is two, a shielded area in an irradiation area of a headlamp of the own vehicle so as to prevent an area including the lamp of the forward vehicle from being irradiated, and

set, when the judgment unit judges that the number of the extracted light sources is one, a shielded area in the irradiation area of the headlamp of own vehicle so as to have a margin in right and left directions larger than the shielded area set when the number of the extracted light sources is two.

4. The headlamp light distribution control device according to claim 1, wherein:

the distance acquisition unit acquires distance information indicating a distance between the own vehicle and the forward vehicle from at least one of a radar, a stereo camera, and a monocular camera; and

based on a variation in the distance indicated by the acquired distance information, the control unit sets the shielded area to be larger as the variation in the distance becomes larger.

5. The headlamp light distribution control device according to claim 4, wherein:

the control unit sets the shielded area so as to satisfy a relationship expressed by

A>

B>

C

where

A is a size of the shielded area that is set when the distance information is acquired by the radar or the stereo camera,

B is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is two, and

C is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is one.

10. The headlamp light distribution control device according to claim 1, further comprising:

a stereo camera capable of acquiring a distance between the forward vehicle and the own vehicle.

11. The headlamp light distribution control device according to claim 1, further comprising:

a radar capable of detecting at least one of target objects including a lane, a road shape, a road surface state, a passing-place, a light source, an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an oncoming vehicle, an oncoming pedestrian, an oncoming object, a two-wheeled vehicle, a bicycle, a road side object, a signboard, a road sign, a traffic signal, an interrupting object that interrupts a visual field of the camera device, and an external environment of the own vehicle.

2. A headlamp light distribution control device for a vehicle, the headlamp light distribution control device comprising:

an image acquisition unit configured to acquire an image of a forward area which is ahead of an own vehicle;

an extraction unit configured to extract a forward vehicle from the image of the forward area acquired by the image acquisition unit; and

a control unit configured to

set, when the number of light sources in the image of the extracted forward vehicle is two, a shielded area in an irradiation area of a headlamp of the own vehicle so as to prevent an area including the lamp of the forward vehicle from being irradiated, and

set, when the number of light sources in the image of the extracted forward vehicle is one, a shielded area in the irradiation area of the headlamp of own vehicle so as to have a margin in right and left directions larger than the shielded area set when the number of the extracted light sources is two.

3. The headlamp light distribution control device according to claim 2, further comprising:

a distance acquisition unit configured to acquire a distance between the own vehicle and the forward vehicle;

a judgment unit configured to

extract a light source configured by a pair of lamps mounted in the forward vehicle from the image of the forward vehicle extracted by the extraction unit if the distance from the own vehicle to the forward vehicle acquired by the distance acquisition unit is less than a predetermined value, and

judge the number of the extracted light sources.

6. The headlamp light distribution control device according to claim 2, further comprising:

a distance acquisition unit configured to acquire distance information indicating a distance between the own vehicle and the forward vehicle from at least one of a radar, a stereo camera, and a monocular camera,

wherein, based on a variation in the distance indicated by the acquired distance information, the control unit sets the shielded area to be larger as the variation in the distance becomes larger.

7. The headlamp light distribution control device according to claim 6, wherein:

the control unit sets the shielded area so as to satisfy a relationship expressed by

A>

B>

C

where

A is a size of the shielded area that is set when the distance information is acquired by the radar or the stereo camera,

B is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is two, and

C is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is one.

8. The headlamp light distribution control device according to claim 3, wherein:

the distance acquisition unit acquires distance information indicating a distance between the own vehicle and the forward vehicle from at least one of a radar, a stereo camera, and a monocular camera; and

based on a variation in the distance indicated by the acquired distance information, the control unit sets the shielded area to be larger as the variation in the distance becomes larger.

9. The headlamp light distribution control device according to claim 8, wherein:

the control unit sets the shielded area so as to satisfy a relationship expressed by

A>

B>

C

where;

A is a size of the shielded area that is set when the distance information is acquired by the radar or the stereo camera;

B is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is two; and

C is a size of the shielded area that is set when the distance information is not acquired by the radar or the stereo camera and when the number of lamps of the forward vehicle is one.

12. The headlamp light distribution control device according to claim 2, further comprising:

a stereo camera capable of acquiring a distance between the forward vehicle and the own vehicle.

13. The headlamp light distribution control device according to claim 2, further comprising:

a radar capable of detecting at least one of target objects including a lane, a road shape, a road surface state, a passing-place, a light source, an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an oncoming vehicle, an oncoming pedestrian, an oncoming object, a two-wheeled vehicle, a bicycle, a road side object, a signboard, a road sign, a traffic signal, an interrupting object that interrupts a visual field of the camera device, and an external environment of the own vehicle.

14. A camera device, coupled to a headlamp system for a vehicle, the headlamp system including a headlamp irradiating light in front of an own vehicle and a changing unit for changing an irradiation area of the headlamp, the camera device comprising:

a control unit configured to control the changing unit;

an image acquisition unit configured to acquire an image of a forward area which is ahead of the own vehicle; and

an extraction unit configured to;

extract a forward vehicle from the image of the forward area acquired by the image acquisition unit; and

extract a light source configured by a pair of lamps mounted in the forward vehicle from the image of the extracted forward vehicle,

wherein the control unit is configured to;

set, when the number of the extracted light sources is two, a shielded area in an irradiation area of the headlamp of the own vehicle so as to prevent an area including the lamp of the forward vehicle from being irradiated;

set, when the number of the extracted light sources is one, a shielded area in the irradiation area of the headlamp of own vehicle so as to have a margin in right and left directions larger than the shielded area set when the number of the extracted light sources is two; and

output information of the set shielded area to the changing unit.

15. The camera device according to claim 14, wherein:

the camera device includes a stereo camera capable of acquiring a distance between the forward vehicle and the own vehicle.

16. The camera device according to claim 14, further comprising:

a radar capable of detecting at least one of target objects including a lane, a road shape, a road surface state, a passing-place, a light source, an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an oncoming vehicle, an oncoming pedestrian, an oncoming object, a two-wheeled vehicle, a bicycle, a road side object, a signboard, a road sign, a traffic signal, an interrupting object that interrupts a visual field of the camera device, and an external environment of the own vehicle.

17. A camera device, coupled to a headlamp system for a vehicle, the headlamp system including a headlamp irradiating light in front of an own vehicle and a changing unit for changing an irradiation area of the headlamp, the camera device comprising:

a control unit configured to control the changing unit;

an image acquisition unit configured to acquire an image of a forward area which is ahead of the own vehicle; and

an extraction unit configured to extract a forward vehicle from the image of the forward area acquired by the image acquisition unit; and

extract a light source configured by a pair of lamps mounted in the forward vehicle from the image of the extracted forward vehicle,

wherein the control unit is configured to;

detect, based on the image of the forward area, at least one of target objects including a lane, a road shape, a road surface state, a passing-place, a light source, an obstacle, a preceding vehicle, a preceding pedestrian, a preceding object, a stationary vehicle, a stationary pedestrian, a stationary object, an oncoming vehicle, an oncoming pedestrian, an oncoming object, a two-wheeled vehicle, a bicycle, a road side object, a signboard, a road sign, a traffic signal, an interrupting object that interrupts a visual field of the camera device, an external environment of the own vehicle;

control the changing unit to change, when the at least one of target objects is detected, the irradiation area of the headlamp so as to reduce a glare of the headlamp given to the detected at least one of target objects;

perform a vehicle control for the own vehicle regarding at least one of a forward collision avoidance, an intersection collision avoidance, a crossing collision avoidance, a speed alert, a lane deviation prevention, a collision alert, an inter-vehicle distance alert, a lane deviation alert, an automatic high beam, a traffic sign display, a full speed adaptive cruise control, a lane keeping, a lane changing accident prevention, a blind spot alert, a blind spot monitor, an automatic lane changing, a front cross traffic alert, a rear cross traffic alert, and a stepping error prevention, an automatic parking;

set, when the number of the extracted light sources is two, a shielded area in an irradiation area of the headlamp of the own vehicle so as to prevent an area including the lamp of the forward vehicle from being irradiated;

set, when the number of the extracted light sources is one, a shielded area in the irradiation area of the headlamp of own vehicle so as to have a margin in right and left directions larger than the shielded area set when the number of the extracted light sources is two; and

output information of the set shielded area to the changing unit.

18. The camera device according to claim 17, wherein:

the camera device includes a stereo camera capable of acquiring a distance between the forward vehicle and the own vehicle.

19. The camera device according to claim 17, further comprising:

a radar capable of detecting the at least one of target objects.