JP4737108B2 - Headlight control device - Google Patents

Description

  The present invention relates to a headlamp control device, and more particularly to a headlamp control device that reduces glare caused by reflected light from a headlamp reflected by an object in front of the host vehicle.

  Conventionally, there is known a headlight control device that prevents the headlight of the vehicle from being reflected on the rear surface of the preceding vehicle and becoming dazzling while waiting for traffic lights or traffic jams, and prevents forgetting to turn on when re-starting ( For example, see Patent Document 1.)

This headlamp control device detects the intensity of light incident from the front of the host vehicle, the speed of the host vehicle, and the distance to the obstacle in front of the host vehicle, the light in front of the host vehicle is strong, and the speed of the host vehicle is When the distance to the obstacle is slow and the vehicle's headlamp is automatically turned off, the glare caused by the light reflected from the rear of the preceding vehicle is suppressed. When the vehicle is weak, the vehicle speed is high, and the distance to the obstacle becomes large, the headlight of the vehicle is automatically turned on so as not to forget to turn it on.
JP 2003-31357 A

  However, since the headlamp control device described in Patent Document 1 controls the headlamp based solely on the intensity of light incident from the front of the host vehicle, the reflected light from the headlamp of the host vehicle and the oncoming vehicle are controlled. The incident light from the headlight of the car cannot be distinguished, and the headlight of the host vehicle may be accidentally turned off by receiving the incident light from the headlight of the oncoming car, which is reliable. I have to say that it lacks.

  In view of the above, the present invention provides a headlamp control device that controls a headlamp so as to suppress the glare of reflected light only when the reflected light that causes glare is derived from the headlamp of the vehicle. The purpose is to provide.

  In order to achieve the above object, a headlamp control device according to a first aspect of the present invention is an imaging unit that images the front of the host vehicle, and light in an image captured by the imaging unit is generated by the headlamp of the host vehicle. Self-other light determining means for determining whether or not the self-and-other light determining means controls the headlamp based on the brightness of the light in the image when it is determined that the self-other light determining means is due to the headlamp And a headlamp control means.

  Further, the second invention is the headlamp control device according to the first invention, wherein the self-other light determining means is configured to change between a change in light emitted by the headlamp and a change in light in the image. It is characterized in that it is determined whether or not the light is due to the headlamp based on the interlocking property.

  The third aspect of the invention is a headlamp control device according to the first aspect of the invention, wherein the self-other light determining means is based on a position of light in the image, and the light is generated by the headlamp. It is characterized by determining whether or not.

  Further, a fourth invention is a headlamp control device according to the third invention, wherein the self-other light determining means is configured such that a pair of lights in the image is biased with respect to a central vertical line of the image. And determining that the light is not due to the headlamp.

  Further, a fifth invention is a headlamp control device according to the third invention, wherein the self-other light judging means is configured such that each of a pair of lights in the image has left and right across a central vertical line of the image. If the light is present in the headlight, it is determined that the light is from the headlamp.

  The sixth invention is a headlamp control device according to any one of the first to fifth inventions, further comprising vehicle speed detecting means for detecting the vehicle speed of the host vehicle, wherein the headlamp control means is The headlamp is controlled when the vehicle speed detected by the vehicle speed detecting means is less than a threshold value.

  Further, the headlamp control device according to the seventh invention includes a light detection means for detecting light incident from the front of the host vehicle, a change in light emitted by the headlamp, and a change in light detected by the light detection means. The self-other light determining means for determining whether the light is based on the headlight of the own vehicle based on the interlocking between the self-other light, and the self-other light determining means is based on the headlight And a headlamp control means for controlling the headlamp based on the intensity of light detected by the light detection means.

  With the above-described means, the present invention provides a headlamp control device that controls a headlamp so as to suppress the glare of reflected light only when the reflected light that causes glare is derived from the headlamp of the vehicle. Can be provided.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating a configuration example of a headlight control device according to the present invention. A headlight control device 100 includes a control unit 1, a camera 2, a vehicle speed sensor 3, a headlight switch 4, and a navigation system 5. And the headlamp 6.

  The headlamp control device 100 identifies light that dazzles the driver from an image ahead of the host vehicle (hereinafter referred to as “own vehicle front image”) taken by the camera 2, and the light is transmitted to the host vehicle. When the headlight 6 is derived from the headlamp 6, the irradiation angle of the headlamp 6 is narrowed, the irradiation direction is changed, the amount of light is reduced, or the light is turned off.

  The control unit 1 is a computer including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like. For example, the light source position extracting unit 10, the own / other light determining unit 11, and the front While storing a program corresponding to each of the lighting control means 12 in the ROM, the CPU is caused to execute processing corresponding to each means.

  The camera 2 is a device for imaging the periphery of the own vehicle, for example, a camera equipped with an imaging element such as a complementary metal-oxide semiconductor (CMOS) or a charge-coupled device (CCD), It is attached to a predetermined position on the direction center line (for example, in the vicinity of a room mirror in the passenger compartment) and images the front front of the host vehicle.

  The camera 2 is an infrared camera that can capture images at night, but may be a color camera or a monochrome camera.

  The vehicle speed sensor 3 is a sensor for measuring the own vehicle speed. For example, an MR (Magnetic Resistance) element reads a change in a magnetic field caused by a magnet attached to each wheel and rotating together with each wheel as a magnetic resistance. The rotational speed of the wheel and the vehicle speed are detected by taking out as a pulse signal proportional to.

  The headlamp switch 4 is a switch for manually operating the headlamp 6. For example, the headlamp switch 4 is a lever switch attached to the steering column, and transmits a control signal to the headlamp 6 via the control unit 1. By doing so, the lighting of the headlamp 6 is switched on and off, the high beam and the low beam are switched, or the irradiation angle, irradiation direction, light quantity, etc. of the headlamp 6 are adjusted.

  The navigation system 5 is a device that guides a route to a destination while displaying a map image. For example, the optimal (shortest) route from the current location to the destination is searched using the Dijkstra method, and the searched shortest route is determined. The route guidance is executed so as to guide the vehicle to the destination while being displayed on the display device.

  The current location is specified based on position information acquired by a GPS (Global Positioning System) mounted on the host vehicle, and the destination is input by the driver via an operation input device such as a touch panel.

  The GPS is a vehicle position detection means for detecting the current position of the vehicle. For example, the current position of the vehicle is determined based on a GPS signal output from a GPS satellite via a GPS antenna by a GPS receiver. Calculate. The positioning method may be any method such as single positioning or relative positioning (including interference positioning), but preferably relative positioning with high accuracy is used.

  At this time, the current position of the host vehicle is corrected based on outputs of various sensors such as a steering angle sensor, a vehicle speed sensor 3, a gyro sensor, and various information received via a beacon receiver or an FM multiplex receiver. May be.

  The headlamp 6 is a device for irradiating the front of the vehicle. For example, the headlamp 6 is a halogen lamp, an HID (High Intensity Discharge) lamp, an LED (Light Emitting Diode) lamp, or the like, and is transmitted from the control unit 1. Irradiate the front of the vehicle according to the control signal.

  The headlamp 6 may have a function of changing the intensity of the irradiation light in a stepped manner in a plurality of steps, or changing the intensity of the irradiation light in a linear manner in a stepless manner, or an irradiation angle. Or a function of changing the irradiation direction.

  Next, various units included in the control unit 1 will be described.

  The light source position extracting unit 10 is a unit for extracting the position of the light source from the front image of the host vehicle captured by the camera 2. Extract as position. Note that the light source position extracting unit 10 may extract one light source position or a plurality of light source positions.

  Further, the light source position extraction means 10 includes a pair of right and left general headlights for a vehicle, and therefore, a pair of lights having a substantially equal luminance at a predetermined distance in the horizontal direction in the front image of the vehicle. You may make it extract as a pair of light source position.

  The own / other light determining means 11 is a means for determining whether or not the light at the light source position extracted by the light source position extracting means 10 is derived from the headlamp 6 of the own vehicle. When each of the pair of light source positions in the vehicle front image exists on both the left and right sides of the central vertical line of the vehicle front image, it is determined that the light in the vehicle front image is derived from the headlamp 6. This is because the position of the light source derived from the headlamp 6 of the own vehicle can be specified based on the relative position between the headlamp 6 of the own vehicle and the position of the camera 2 mounted near the rear mirror of the own vehicle.

  On the other hand, when the pair of light source positions in the front image of the own vehicle are biased to one side of the central vertical line of the front image of the own vehicle, the self-other light determination means 11 It is determined that the light source is not derived from the lighting lamp 6. Considering the mounting position of the camera 2 and the position of the headlamp 6, the position of the light source derived from the headlamp 6 of the own vehicle is not biased left and right, and the headlamp or street lamp of the oncoming vehicle is emitted. This is because it is considered that light is incident from an oblique direction.

  The own / other light determination unit 11 calculates the distance between the light source and the vehicle based on the distance between the pair of light source positions extracted by the light source position extraction unit 10, and extracts the light source position based on the calculated distance. You may make it determine whether the light in the light source position which the means 10 extracted originates in the headlamp 6 of the own vehicle.

  This is because the greater the distance between the light source and the vehicle, the smaller the distance between the pair of light source positions. If the distance between the light source and the vehicle is large, the reflected light of the headlamp 6 of the vehicle is large. This is because it is determined that the vehicle is not derived from the headlamp 6 of the own vehicle.

  Further, the self-other light determination unit 11 determines the light source position extracted by the light source position extraction unit 10 based on the distance between the pair of light source positions extracted by the light source position extraction unit 10 and the vertical position in the front image of the host vehicle. You may make it determine whether a certain light originates in the headlamp 6 of the own vehicle.

  In this case, the own / other light determination means 11 determines from the determination target a light source at a position where the reflected light derived from the headlamp 6 of the own vehicle cannot exist (for example, the upper position of the front image of the own vehicle). You may make it exclude. It is clear that it does not originate from the headlamp 6 of the own vehicle, and this is to reduce the load of the determination process.

  The headlamp control means 12 is a means for controlling the headlamp 6. For example, the light that causes glare is determined by the own / other light determination means 11 to be the headlamp 6 of the own vehicle. In such a case, the irradiation angle of the headlamp 6 is narrowed, the irradiation direction is directed downward, the amount of light is reduced, or the light is turned off.

  The headlamp control means 12 controls the headlamp 6 only when the vehicle speed measured by the vehicle speed sensor 3 is less than a threshold value (for example, 10 km / h). Even if it is determined that the light causing the glare is the headlamp 6 of the own vehicle, the state of the headlamp 6 may not be changed if the own vehicle speed is equal to or higher than the threshold. .

  This is to prevent the headlamp 6 from being turned off accidentally when the host vehicle is traveling with the headlamp 6 turned on at night, and the driver based on the vehicle speed. This is to enable the headlamp control to be started after confirming that the vehicle is trying to park the vehicle.

  Further, when the headlamp control means 12 recognizes that the own vehicle is traveling in a predetermined traveling environment (for example, near an expressway or an intersection) based on the output of the navigation system 5, Control of the headlamp 6 is prohibited even when the vehicle speed is less than the threshold value and the own / other light determining means 11 determines that the light causing the glare is the headlamp 6 of the own vehicle. You may make it do.

  This is to prevent the headlamp 6 from being turned off accidentally when the vehicle is driving near a highway or an intersection while turning on the headlamp 6 at night. Based on the output of the navigation, after confirming that the vehicle is in the vicinity of the parking lot of the home or store, etc. (this is a driving environment that does not affect driving even if the headlamp 6 is turned off) This is because the control of the headlamp can be started.

  Next, a process in which the headlamp control device 100 reduces the light amount of the headlamp 6 (hereinafter referred to as “headlamp dimming process”) will be described with reference to FIGS.

  FIG. 2 is a diagram showing the relationship between the surrounding environment of the host vehicle V and the host vehicle front image captured by the camera 2, and the host vehicle V turns on the headlamp 6 at night while driving the preceding vehicle (large truck) F. The upper view of the state which is drive | working back and the own vehicle front image G1 which the camera 2 imaged at that time is shown. In addition, the area | region shown with the dotted line ahead of the own vehicle V shows the irradiation range of the headlamp 6. FIG.

  As shown in FIG. 2, the light emitted by the headlamp 6 of the host vehicle V is reflected on the rear surface of the preceding vehicle F, and the reflected light is shorter as the inter-vehicle distance between the host vehicle V and the preceding vehicle F is shorter. The intensity of the car is increased, making the driver feel dazzling.

  In this case, the light source position extraction means 10 extracts the pixel having the maximum luminance in the region where the luminance is equal to or greater than the threshold as the light source position, and the light source position LP1 derived from the left headlamp of the own vehicle V and the right front of the own vehicle V. The light source position RP1 derived from the lighting is extracted.

  Thereafter, the self-other light determining means 11 has the vehicle front image G1 because each of the pair of light source positions LP1 and RP1 in the vehicle front image G1 exists on both the left and right sides of the central vertical line CL1 of the vehicle front image G1. Is determined to be derived from the headlamp 6.

  Thereafter, the headlamp control means 12 suppresses the intensity of light reflected by the preceding vehicle F by turning the irradiation direction of the headlamp 6 downward or reducing the amount of light, and feels dazzling to the driver. Do not let it.

  FIG. 3 shows a top view of a state in which the driver is facing the wall surface W1 to park the host vehicle V, and a host vehicle front image G2 captured by the camera 2 at that time. In addition, the area | region shown with the dotted line ahead of the own vehicle V shows the irradiation range of the headlamp 6. FIG.

  As shown in FIG. 3, the light irradiated by the headlamp 6 of the host vehicle V is reflected by the wall surface W1, and the shorter the distance between the host vehicle V and the wall surface W1, the greater the intensity of the reflected light. Make the driver feel dazzling.

  In this case, the light source position extraction means 10 extracts the pixel having the maximum luminance in the region where the luminance is equal to or greater than the threshold as the light source position, and the light source position LP2 derived from the left headlight of the own vehicle V and the right front of the own vehicle V. The light source position RP2 derived from the lighting is extracted.

  Thereafter, the own / other light determination means 11 has the vehicle front image G2 because the pair of light source positions LP2 and RP2 in the vehicle front image G2 exist on both the left and right sides of the central vertical line CL2 of the vehicle front image G2. Is determined to be derived from the headlamp 6, and the headlamp control means 12 reflects the light on the wall surface W1 by turning the irradiation direction of the headlamp 6 downward or reducing the amount of light. Suppress the intensity of the light to prevent the driver from feeling dazzling.

  The wall surface W1 is inclined at an angle θ as shown in FIG. 3 and approaches the left side when viewed from the own vehicle V and moves away toward the right side when viewed from the own vehicle V, but the light source position LP2, Since RP2 comes to be located in front of the headlamp 6 regardless of the inclination of the wall surface W1, the inclination of the wall surface W1 does not affect the determination of the own / other light determination means 11. The same applies to the case where the wall surface W1 approaches toward the right side when viewed from the own vehicle V and moves away toward the left side when viewed from the own vehicle V.

  FIG. 4 shows a top view in a state where the host vehicle V and the oncoming vehicle T face each other, and a host vehicle front image G3 captured by the camera 2 at that time. In addition, the area | region shown with the dotted line ahead of the own vehicle V, and the area | region shown with the dotted line ahead of the oncoming vehicle T show the irradiation range of the headlamp in each vehicle.

  As shown in FIG. 3, the light emitted by the headlamp 6 of the host vehicle V is not reflected on any object, but the light emitted by the headlamp of the oncoming vehicle T passes through the windshield and passes through the windshield. It enters the interior and makes the driver feel dazzling.

  In this case, the light source position extraction means 10 extracts the pixel having the maximum luminance in the region where the luminance is equal to or greater than the threshold as the light source position, and the light source position LP3 derived from the left headlamp of the oncoming vehicle T and the right front of the oncoming vehicle T. The light source position RP3 derived from the lighting is extracted.

  After that, the self-other light determining means 11 determines that each of the pair of light source positions LP3 and RP3 in the vehicle forward image G3 is biased to the left of the central vertical line CL3 of the vehicle forward image G3. It is determined that the light of the image G3 is not derived from the headlamp 6 of the host vehicle V, and the headlamp control means 12 prevents the state of the headlamp 6 of the host vehicle V from changing.

  This is because the light of the vehicle front image G3 is derived from the headlamp of the oncoming vehicle T and cannot be controlled, and the irradiation direction of the headlamp 6 of the vehicle V is mistakenly directed downward. This is to prevent the driver of the oncoming vehicle T from being confused and the visibility of the driver of the host vehicle V from being deteriorated by reducing the amount of light.

  Although a pair of light source positions LP3 and RP3 derived from the headlight of the oncoming vehicle T may temporarily exist on both the left and right sides of the central vertical line CL3 of the vehicle front image G3, Even in this case, the own / other light determination means 11 can determine whether the light is derived from the headlamp 6 of the own vehicle V based on the distance between the pair of light source positions.

  This is because when the distance between the pair of light source positions is large, that is, when the distance between the own vehicle V and the oncoming vehicle T is small, it is not considered that the oncoming vehicle T exists in front of the own vehicle V. The self-other light determining means 11 has the light source positions LP3 and RP3 on the left and right sides of the central vertical line CL3 of the vehicle front image G3 only when the distance between the pair of light source positions is less than a predetermined distance. Even if it is a case, it determines with not originating in the headlamp 6 of the own vehicle V. FIG.

  Further, the fact that the pair of light source positions LP3 and RP3 derived from the headlight of the oncoming vehicle T is present on both the left and right sides of the central vertical line CL3 of the vehicle front image G3 does not continue for a long time. The own / other light determining means 11 continuously monitors the pair of light source positions LP3 and RP3 over a predetermined period, and determines whether or not the light is derived from the headlamp 6 of the own vehicle V. May be.

  FIG. 5 is a flowchart showing the flow of the headlamp dimming process. The headlamp control device 100 is operated by the headlamp switch 4 from the time when the headlamp 6 is turned on by the headlamp switch 4. It is assumed that the headlamp dimming process is periodically executed until the headlamp 6 is turned off.

  First, the control unit 1 determines whether or not the headlamp 6 is lit based on the output of the headlamp switch 4 (step S1). If the headlamp 6 is not lit ( NO in step S1), the headlamp dimming process is immediately terminated. This is because it is not necessary to control the headlamp 6.

  When the headlamp 6 is lit (YES in step S1), the control unit 1 acquires the host vehicle speed based on the output of the vehicle speed sensor 3 (step S2), and whether or not the host vehicle speed is less than the threshold value. Is determined (step S3).

  When the host vehicle speed is equal to or higher than the threshold (NO in step S3), the control unit 1 immediately ends the headlamp dimming process. This is to prevent the state of the headlamp 6 from being changed by mistake.

  If the host vehicle speed is less than the threshold (YES in step S3), the control unit 1 acquires the host vehicle front image captured by the camera 2 (step S4), and specifies the light source position by the light source position extraction means 10.

  Thereafter, the control unit 1 determines whether or not the luminance of the identified light source position is equal to or higher than the threshold (step S5). If the luminance of the light source position is less than the threshold (NO in step S5), the headlamp is immediately The dimming process is terminated. This is because the light at the specified light source position does not dazzle the driver.

  When the luminance of the light source position is equal to or higher than the threshold (YES in step S5), the control unit 1 determines whether or not the light source is derived from the headlamp 6 of the host vehicle V by the own / other light determination unit 11. However, if it is determined that it is not derived from the headlamp 6 of the host vehicle V (NO in step S6), the headlamp dimming process is immediately terminated. This is because a light source other than the headlamp 6 of the host vehicle V cannot be controlled.

  When it determines with it originating in the headlamp 6 of the own vehicle V (YES of step S6), the control part 1 reduces the light quantity of the headlamp 6 by the headlamp control means 12, and makes a driver | operator. The headlamp dimming process is terminated after preventing the glare from being felt.

  With the above configuration, the headlamp control device 100 narrows the irradiation angle of the headlamp 6 of the host vehicle V when the light reflected on the wall or glass is derived from the headlamp 6 of the host vehicle V, Since the irradiation direction is changed, the amount of light is reduced, or the light is turned off, it is possible to prevent a driver or a person on the other side of the glass from being dazzled.

  The headlamp control device 100 affects the driving operation because the headlamp 6 is controlled only when the host vehicle V is traveling at a low speed or when the host vehicle is stopped. In addition, it is possible to prevent the driver from feeling dazzled by the reflected light.

  FIG. 6 is a diagram illustrating another configuration example of the headlight control device according to the present invention. The headlight control device 200 includes a brightness sensor 7 and is provided with a camera 2. 100. The headlight control device 200 is also different from the headlight control device 100 in that the light source position extraction unit 10 is omitted. Since other components are common to the headlight control device 100, description of these components is omitted.

  The brightness sensor 7 is a sensor for measuring the brightness of light incident from the front of the host vehicle. For example, there is a sensor using CdS (cadmium sulfide) whose internal electrical resistance is changed by received light.

  The brightness sensor 7 is attached, for example, on the driver's seat side dashboard so as to face the front of the vehicle so that the brightness of light incident on the driver's eyes can be measured.

  The headlight control device 200 detects whether or not there is light that causes the driver to dazzle based on the brightness of light incident from the front of the vehicle detected by the brightness sensor 7, and the light. Is derived from the headlamp 6 of the host vehicle V, the irradiation angle of the headlamp 6 is narrowed, the irradiation direction is changed, the amount of light is reduced, or the light is turned off.

  Here, the self-other light determining means 11 determines that the light detected by the brightness sensor 7 is based on the linkage between the change in the light emitted from the headlamp 6 and the change in the light in the front image of the own vehicle. It is determined whether it is derived from the V headlamp 6 or not.

  The change of the light emitted from the headlamp 6 is, for example, the control unit 1 autonomously blinking the light of the headlamp 6 or changing the irradiation angle, the irradiation direction, or the light quantity continuously or stepwise. It means to let you.

  For example, when the control unit 1 blinks the light from the headlamp 6, the self-other light determination unit 11 blinks in synchronization with the light from the headlamp 6 when the light detected by the brightness sensor 7 flickers. It is determined that the detected light is derived from the headlamp 6.

  FIG. 7 shows a top view in a state where the driver is facing the wall surface W2 to park the vehicle V, and a scene in front of the vehicle that the driver can visually recognize through the windshield at that time. In addition, the area | region shown with the dotted line ahead of the own vehicle V shows the irradiation range of the headlamp 6. FIG.

  As shown in FIG. 7, the light irradiated by the headlamp 6 of the host vehicle V is reflected by the wall surface W2, and the shorter the distance between the host vehicle V and the wall surface W2, the greater the intensity of the reflected light. Make the driver feel dazzling.

  In this case, the self-other light determination means 11 emits the light detected by the brightness sensor 7 (light derived from the right headlamp of the host vehicle V reflected by the wall surface W2) from the right headlamp of the host vehicle V. Whether or not the light changes in conjunction with the change in light is monitored, and in the case of interlocking, it is determined that the detected light is derived from the right headlamp.

  Thereafter, the headlamp control means 12 suppresses the intensity of the light reflected by the wall surface W2 by turning the irradiation direction of the right headlamp of the host vehicle V downward or reducing the amount of light, and dazzles the driver. Do not let you feel.

  As described above, the headlamp control device 200 is configured such that even when only one of the left and right lights of the headlamp 6 is reflected by an object in front of the vehicle, the reflected light is derived from the headlamp 6. It is possible to control the headlamp 6 so as not to make the driver feel dazzled after determining whether or not to do so.

  The headlight control device 200 is derived not only from the light emitted from a pair of headlights provided in an oncoming vehicle, but also from the light emitted from a single headlight provided in a motorcycle or the like and the headlight 6 of the host vehicle V. It is possible to reliably distinguish the light (reflected light).

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the headlight control device includes either the camera 2 or the brightness sensor 7, but may include both the camera 2 and the brightness sensor 7.

It is FIG. (1) which shows the structural example of a headlamp control apparatus. FIG. 6 is a diagram (part 1) illustrating a relationship between a surrounding environment of a host vehicle and a host vehicle front image captured by a camera. FIG. 5 is a diagram (part 2) illustrating a relationship between a surrounding environment of a host vehicle and a host vehicle front image captured by a camera. It is FIG. (3) which shows the relationship between the surrounding environment of the own vehicle, and the own vehicle front image which a camera images. It is a flowchart which shows the flow of a headlamp dimming process. It is FIG. (2) which shows the structural example of a headlamp control apparatus. It is FIG. (4) which shows the relationship between the surrounding environment of the own vehicle, and the own vehicle front image which a camera images.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Camera 3 Vehicle speed sensor 4 Headlight switch 5 Navigation system 6 Headlight 7 Brightness sensor 10 Light source position extraction means 11 Self-other light determination means 12 Headlight control means 100, 200 Headlight control apparatus CL1 ~ CL3 Center vertical line F Preceding vehicle G1 to G3 Front image of own vehicle LP1 to LP3 Light source position derived from left headlight RP1 to RP3 Light source position derived from right headlight T Oncoming vehicle V Own vehicle W1, W2 Wall surface

Claims (7)

Imaging means for imaging the front of the vehicle;
Self-other light determining means for determining whether or not the light in the image captured by the imaging means is due to the headlight of the own vehicle;
Headlamp control means for controlling the headlamp based on the brightness of the light in the image when it is determined that the self-other light determination means is due to the headlamp;
A headlamp control device comprising: The self-other light determining means determines whether or not the light is due to the headlamp based on a linkage between a change in light emitted by the headlamp and a change in light in the image. ,
The headlamp control device according to claim 1. The self-other light determining means determines whether the light is due to the headlamp based on the position of the light in the image.
The headlamp control device according to claim 1. The self-other light determining means determines that the light is not due to the headlamp when a pair of lights in the image are deviated from a central vertical line of the image,
The headlamp control apparatus according to claim 3. The self-other light determining means determines that the light is due to the headlamp when each of the pair of lights in the image is present on the left and right sides of the central vertical line of the image,
The headlamp control apparatus according to claim 3. It further comprises vehicle speed detecting means for detecting the vehicle speed of the host vehicle,
The headlamp control means controls the headlamp when the vehicle speed detected by the vehicle speed detection means is less than a threshold;
The headlamp control device according to any one of claims 1 to 5. Light detection means for detecting light incident from the front of the vehicle;
Based on the linkage between the change in the light emitted by the headlamp and the change in the light detected by the light detection means, it is determined whether or not the light is due to the headlamp of the own vehicle. Light determination means;
Headlamp control means for controlling the headlamp based on the intensity of light detected by the light detection means when it is determined that the self-other light determination means is due to the headlamp;
A headlamp control device comprising: