JP6586471B2 - 前照灯制御装置 - Google Patents
前照灯制御装置 Download PDFInfo
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- JP6586471B2 JP6586471B2 JP2017557776A JP2017557776A JP6586471B2 JP 6586471 B2 JP6586471 B2 JP 6586471B2 JP 2017557776 A JP2017557776 A JP 2017557776A JP 2017557776 A JP2017557776 A JP 2017557776A JP 6586471 B2 JP6586471 B2 JP 6586471B2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/03—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for supply of electrical power to vehicle subsystems or for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
- B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
- B60Q1/1415—Dimming circuits
- B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
- B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/10—Indexing codes relating to particular vehicle conditions
- B60Q2300/11—Linear movements of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
- B60Q2300/40—Indexing codes relating to other road users or special conditions
- B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Exposure Control For Cameras (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Studio Devices (AREA)
Description
図1は本実施形態における前照灯制御装置100の構成図である。
本実施形態の前照灯制御装置100は、自車両から前方を撮像した画像を用いて自車両のヘッドライト(前照灯)の配光をロービーム又はハイビームに切り換える制御を行うものであり、自車両の前方に先行車両や対向車両などの前方車両を検知した場合には配光をロービームに制御し、前方車両を検知していない場合には配光をハイビームに制御する。前方車両を検知する方法は、遠方と近傍で異なっており、遠方の車両検知は光点抽出により行い、近傍の車両検知は物体検知により行う。
本実施形態における配光制御処理は、ステレオ物体検知処理フローS201と、配光制御処理フローS207とを有する。
101…カメラ1
102…カメラ2
103…画像信号処理部
104…視差算出部
105…光点抽出部
106…記憶領域
107…画像情報保存部
108…視差情報保存部
109…立体物情報保存部
110…光点情報保存部
111…露光時間保存部
112…認識処理部
113…近傍遠方領域推定部
114…立体物検知部
115…車両光点抽出部
116…露光時間算出部
117…配光制御判定部
118…制御信号出力部
301、307、311、401、405、409、501…自車両
302、308、312、402、405、409…近傍車両検知の検知可能距離
303、309、313、403、407、411、503、505…遠方車両検知の検知可能距離
304、310、314、404、408、412、502、502…前方車両
305…近傍車両検知と遠方車両検知の切り替わり範囲
306…自車両と前方車両との相対的な動き
Claims (7)
- 撮像装置によって撮像された画像に基づいて物体検出処理を行う物体検出部と、
前記撮像装置によって撮像された画像に基づいて光点抽出処理を行う光点抽出部と、
前記物体検出処理の結果と前記光点抽出処理の結果とに基づいて、前照灯の照射状態を制御する配光制御部と、を有し、
前記前照灯の照射状態には、照射距離の長い遠方照射状態と照射距離の短い近傍照射状態とが少なくとも含まれ、
前記配光制御部は、前記物体検出部が物体を検出する場合、及び、前記光点抽出部が光点を抽出する場合の少なくとも一方の場合に、前記前照灯を近傍照射状態とする前照灯制御信号を生成することを特徴とする前照灯制御装置。 - 前記物体検出部は、第1の露光時間で撮像された画像に基づいて物体検出処理を行い、
前記光点抽出部は、前記第1の露光時間とは異なる第2の露光時間で撮像された画像に基づいて前記光点抽出処理を行うことを特徴とする請求項1に記載の前照灯制御装置。 - 前記第1の露光時間及び第2の露光時間の少なくとも一方を制御する露光時間制御部を備えることを特徴とする請求項2に記載の前照灯制御装置。
- 前記露光時間制御部は、前記物体検出部が物体を検出可能な物体検出可能距離に基づいて、前記第2の露光時間を制御することを特徴とする請求項3に記載の前照灯制御装置。
- 前記露光時間制御部は、前記物体検出部が物体を検出可能な物体検出可能距離と前記光点抽出部が光点を抽出可能な光点抽出可能距離とが部分的に重複して設定されるように前記第2の露光時間を制御することを特徴とする請求項3に記載の前照灯制御装置。
- 前記配光制御部は、前記物体検出部により物体が検出されず、かつ前記光点抽出部により光点が抽出されていない場合に、前記前照灯を遠方照射状態とする前照灯制御信号を生成することを特徴とする請求項1に記載の前照灯制御装置。
- 前記撮像装置は、ステレオカメラであり、
前記物体検出部は、前記ステレオカメラの視差画像によって得られる距離情報に基づいて物体を検出し、
前記光点抽出部は、単一の画像内の輝度パターンに基づいて光点を抽出することを特徴とする請求項1に記載の前照灯制御装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015252811 | 2015-12-25 | ||
JP2015252811 | 2015-12-25 | ||
PCT/JP2016/083153 WO2017110277A1 (ja) | 2015-12-25 | 2016-11-09 | 前照灯制御装置 |
Publications (2)
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JPWO2017110277A1 JPWO2017110277A1 (ja) | 2018-08-30 |
JP6586471B2 true JP6586471B2 (ja) | 2019-10-02 |
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JP2017557776A Active JP6586471B2 (ja) | 2015-12-25 | 2016-11-09 | 前照灯制御装置 |
Country Status (5)
Country | Link |
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US (1) | US10351048B2 (ja) |
EP (1) | EP3395613B1 (ja) |
JP (1) | JP6586471B2 (ja) |
CN (1) | CN108367703B (ja) |
WO (1) | WO2017110277A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3547208A1 (en) * | 2018-03-27 | 2019-10-02 | Aptiv Technologies Limited | A device and a method for clustering light spots |
EP3858673A4 (en) * | 2018-09-25 | 2021-11-10 | Koito Manufacturing Co., Ltd. | VEHICLE HEADLIGHT AND HEADLIGHT SYSTEM |
KR102127614B1 (ko) * | 2018-11-05 | 2020-06-29 | 현대모비스 주식회사 | 헤드램프 제어 장치 및 방법 |
Family Cites Families (14)
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US5796094A (en) * | 1993-02-26 | 1998-08-18 | Donnelly Corporation | Vehicle headlight control using imaging sensor |
US7068815B2 (en) * | 2003-06-13 | 2006-06-27 | Sarnoff Corporation | Method and apparatus for ground detection and removal in vision systems |
JP4253275B2 (ja) | 2003-08-11 | 2009-04-08 | 株式会社日立製作所 | 車両制御システム |
JP4253271B2 (ja) * | 2003-08-11 | 2009-04-08 | 株式会社日立製作所 | 画像処理システム及び車両制御システム |
JP4262072B2 (ja) * | 2003-12-05 | 2009-05-13 | 株式会社日立製作所 | 自動車用補助機器制御装置 |
EP1837803A3 (en) * | 2006-03-24 | 2008-05-14 | MobilEye Technologies, Ltd. | Headlight, taillight and streetlight detection |
JP4697101B2 (ja) * | 2006-09-07 | 2011-06-08 | 株式会社デンソー | 車両検出装置、およびライト制御装置 |
CN201808505U (zh) * | 2010-09-30 | 2011-04-27 | 长安大学 | 一种基于单片机的汽车远近灯自动切换装置 |
WO2012066609A1 (ja) * | 2010-11-19 | 2012-05-24 | 三菱電機株式会社 | 環境推定装置及び車両制御装置 |
JP2013047091A (ja) * | 2011-07-25 | 2013-03-07 | Sharp Corp | 照明装置および当該照明装置を備えた車両用前照灯 |
JP5680573B2 (ja) * | 2012-01-18 | 2015-03-04 | 富士重工業株式会社 | 車両の走行環境認識装置 |
JP2013206356A (ja) | 2012-03-29 | 2013-10-07 | Hitachi Automotive Systems Ltd | 画像処理装置及び画像処理カメラ装置 |
EP3051518B1 (en) | 2013-09-27 | 2020-12-09 | Hitachi Automotive Systems, Ltd. | Object detector |
KR20160075135A (ko) * | 2014-12-19 | 2016-06-29 | 현대모비스 주식회사 | 자동차 물체인식 시스템 및 그 동작방법 |
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2016
- 2016-11-09 CN CN201680055525.2A patent/CN108367703B/zh active Active
- 2016-11-09 JP JP2017557776A patent/JP6586471B2/ja active Active
- 2016-11-09 WO PCT/JP2016/083153 patent/WO2017110277A1/ja active Application Filing
- 2016-11-09 EP EP16878175.5A patent/EP3395613B1/en active Active
- 2016-11-09 US US15/764,405 patent/US10351048B2/en active Active
Also Published As
Publication number | Publication date |
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CN108367703A (zh) | 2018-08-03 |
WO2017110277A1 (ja) | 2017-06-29 |
CN108367703B (zh) | 2021-02-05 |
EP3395613B1 (en) | 2024-03-20 |
EP3395613A4 (en) | 2019-08-14 |
EP3395613A1 (en) | 2018-10-31 |
JPWO2017110277A1 (ja) | 2018-08-30 |
US20180319319A1 (en) | 2018-11-08 |
US10351048B2 (en) | 2019-07-16 |
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