JP4535162B2 - Anti-glare area map, generation method and generation apparatus thereof - Google Patents

Description

  The present invention relates to an anti-glare area map used for control of a variable light distribution headlamp (AFS: Adaptive Front-lighting System) that is mounted on a vehicle and changes the light distribution according to a road shape and a running state, a generation method thereof, and the like The present invention relates to a generation device.

  Conventionally, the vehicle width of the preceding vehicle or the oncoming vehicle (hereinafter referred to as “target vehicle”), the relative angle and relative distance to the host vehicle, the vehicle speed and the steering position of the host vehicle, and the like are detected. By controlling the intensity of the headlight independently or by controlling the headlight's optical axis left / right / up / down, the driver of the target vehicle will not be dazzled (glare feels uncomfortable). A light distribution control device that adjusts the intensity and irradiation range is known (see, for example, Patent Document 1).

  However, since this light distribution control device performs light distribution control without quantitatively judging the degree of glare, the light distribution control device is controlled by controlling the optical axis of the headlight more than necessary. The driver's field of view of the equipped vehicle (hereinafter referred to as “reference vehicle”) is limited more than necessary, or conversely, the control of the optical axis is insufficient, causing the driver of the target vehicle to feel glare uncomfortable. There is a problem.

  On the other hand, an evaluation value W representing the degree of glare received by the driver of the target vehicle is obtained using the Schmidt-Clausen and Bindels equation (1), and the calculation result is used for light distribution control. Has been studied (see Non-Patent Document 1).

E _Bi is the illuminance in front of the driver of the target vehicle, θi is the incident angle formed by the line of sight of the driver of the target vehicle and the optical axis direction of the lamp of the reference vehicle, Lu is the adaptation brightness of the driver of the target vehicle, C _p00 , C _pL is a constant, and i is an identifier corresponding to each lamp constituting the headlamp.

  Specifically, by comparing this evaluation value W with the Dobo's nine-point scale shown in Table 1, it is assumed that the driver feels discomfort due to glare when W ≦ 4, so that W> 4. It is considered to perform light distribution control.

JP 2004-161082 A Jinichi Masuko, Kazumoto Morita, Takeo Okada, Michiaki Sekine “Analysis of Dazzling Situation that Variable Light Distribution Headlamp (AFS) Gives to Oncoming Car Driver” Summary of Lectures at the 2014 Traffic Safety and Environment Research Institute Presentation, p . 79-199 (2002)

However, in order to calculate the evaluation value W, it is necessary to obtain the illuminance E _{Bi in} front of the eye and the incident angle θi according to the situation between the reference vehicle and the target vehicle that change every moment. In particular, the headlamp is composed of a traveling headlamp called a so-called high beam and a passing headlamp called a so-called low beam, and is composed of a pair of lamps, that is, a total of four lamps. It is necessary to obtain the illuminance in front of each lamp. For this reason, there is a problem that calculation of these anterior illuminance E _Bi and incident angle θi requires a lot of processing, and it is difficult to realize light distribution control based on the evaluation value W in real time.

  In order to solve the above problems, an object of the present invention is to provide a technique necessary for realizing accurate light distribution control in real time without restricting the field of view of the driver of the reference vehicle more than necessary. .

The invention according to claim 1, which has been made to achieve the above object, is an anti-glare area map used for controlling a variable light distribution headlamp that is mounted on a vehicle and changes a light distribution according to a road shape and a running state. there are estimated based on the vehicle is imaging means for imaging the front mounted vehicles, target vehicle oncoming vehicles or preceding vehicles for the reference vehicle, said target vehicle driver by the headlight of the reference vehicle is dazzled The maximum value of the inter-vehicle distance between the reference vehicle and the target vehicle is defined as a boundary distance, and the boundary distance is indicated for each divided region obtained by dividing the imaging region of the imaging unit in a grid pattern. It is characterized by that.

  According to the anti-glare area map of the present invention configured as described above, if the divided region in which the target vehicle is imaged in the imaging region and the distance between the target vehicle and the reference vehicle are known, the target vehicle It is possible to immediately estimate whether or not the driver is dazzled by the headlight of the reference car, and as a result, the driver of the target car is dazzled (glare is unpleasant without limiting the field of view of the driver of the reference car more than necessary). It is possible to carry out accurate light distribution control in real time.

Next, the invention according to claim 2 is an anti-glare area map generation method for generating the anti-glare area map according to claim 1, wherein one of the divided areas is a target area, and a plurality of preset settings. One of the inter-vehicle distances is set as a specified distance, the target vehicle driver's eye point is located in the target region, and the target vehicle is present at a position away from the reference vehicle by the specified distance. Calculate the incident angle formed by the illuminance in front of the driver of the car and the line of sight of the driver of the target vehicle and the irradiation direction of the headlight of the reference vehicle, and based on the calculated illuminance in front of the eye and the incident angle, Schmidt- an evaluation value calculation step of calculating an evaluation value of the discomfort glare using the formula Clausen and Bindels, formation obtained by calculating the evaluation value in the evaluation value calculation procedure for each of the set inter-vehicle distance fixing the target area And an extraction procedure for extracting, as the boundary distance, the maximum value of the set inter-vehicle distance at which the evaluation value is equal to or less than a preset threshold, and the evaluation value calculation procedure and the extraction procedure are all divided. An anti-glare area map is generated by repeating for an area.

  According to such a generation method, since the boundary distance is obtained using the evaluation value of the unpleasant glare calculated from the Schmidt-Clausen and Bindels equation, an anti-glare area map with high accuracy can be generated.

  The invention described in claim 3 is an anti-glare area map generation device that generates the anti-glare area map according to claim 1, wherein the position of the eye point of the driver of the target vehicle and the headlamp of the reference vehicle Input means for inputting parameters defining the relationship, and acquisition means for acquiring light distribution data representing the relationship between the illuminance of the headlamp and the three-dimensional position.

  Then, the evaluation value calculating means sets one of the divided areas as a target area, one of a plurality of preset inter-vehicle distances as a specified distance, and the eye point of the driver of the target vehicle is located in the target area. Assuming that the target vehicle exists at a position away from the reference vehicle by the specified distance, the specified distance, the parameter input by the input means, and the light distribution data acquired by the acquisition means Based on the illuminance in front of the driver of the target vehicle and the incident angle formed by the line of sight of the driver of the target vehicle and the irradiation direction of the headlight of the reference vehicle, the calculated illuminance in front of the eye and the incident angle Based on the above, the evaluation value of discomfort glare is calculated using the Schmidt-Clausen and Bindels equation.

  Further, based on a result of the extraction unit fixing the target area and causing the evaluation value calculation unit to calculate the evaluation value for each of the set inter-vehicle distances, the evaluation value is equal to or less than a preset threshold value. The maximum distance is extracted as the boundary distance.

  Then, the output means outputs the correspondence relationship between the divided area and the boundary distance acquired by executing the evaluation value calculating means and the extracting means for all the divided areas as the anti-glare area map.

That is, the anti-glare area map generation apparatus of this invention is an apparatus which implement | achieves the anti-glare area map generation method of Claim 2, and can obtain the effect similar to this.
Further, in the anti-glare area map generation device of the present invention, the parameters are input via the input means, and the light distribution data is acquired via the acquisition means. Therefore, the anti-glare area map corresponding to each vehicle is obtained. It can be generated easily.

In addition, it is desirable that the parameters input by the input unit include the mounting height of the headlamp, the mounting interval, and the mounting height of the imaging unit, as described in claim 4.
Further, as described in claim 5, when the headlamp is composed of a plurality of pairs of lamps having different irradiation directions, the evaluation value calculating means calculates the total value of the individual frontal illuminances calculated for each of the lamps as the frontal illuminance. What is necessary is just to comprise so that.

Further, as described in claim 6, it is desirable that the evaluation value calculation means calculates the illuminance in front of the eye in consideration of the transmittance of the windshield.
In this case, the illuminance in front of the eye can be estimated with higher accuracy, and as a result, the accuracy of the anti-glare area map can be improved.

Embodiments of the present invention will be described below with reference to the drawings.
<Device configuration>
FIG. 1 is a block diagram showing a configuration of an anti-glare area map generation device 1 to which the present invention is applied.

  The anti-glare area map refers to a vehicle equipped with a camera that captures the front of the vehicle (hereinafter referred to as an “in-vehicle camera”) as a reference vehicle, an oncoming vehicle or a preceding vehicle with respect to the reference vehicle as a target vehicle, The imaging area of the in-vehicle camera is divided into a grid pattern with the maximum distance between the reference vehicle and the target vehicle, which is estimated to be dazzling by the light (feeling unpleasant glare) as the boundary distance. Each divided area (see FIG. 2A) is associated with a boundary distance in the divided area.

  As shown in FIG. 1, the anti-glare area map generation device 1 includes a keyboard, a mouse, a tablet, and the like. Constants used for calculating the evaluation value W for quantitatively evaluating the glare about the driver of the car, output defining parameters for defining the output format of the anti-glare area map, an input unit 11 for inputting various commands, and an external Light distribution data representing the relationship between the position in the three-dimensional space and the illuminance at that position for each of a plurality of lamps that comprise a memory (for example, a USB memory) or a hard disk, etc. And an input file storage unit 13 for storage.

  Further, the anti-glare area map generation device 1 includes a well-known microcomputer mainly composed of a CPU, a ROM, and a RAM, and is stored in various parameters and constants input from the input unit 11 and the input file storage unit 13. Based on the light distribution data, the calculation processing unit 15 that generates the anti-glare area map and the external memory or the hard disk, like the input file storage unit 13, stores the anti-glare area map generated by the calculation processing unit 15. An output file storage unit 17 and a liquid crystal display or the like, and a display unit for displaying an input screen for inputting various parameters and constants via the input unit 11 and an anti-glare area map stored in the output file storage unit 17 19.

  As shown in FIG. 2 (b), the headlamp 30 of the reference vehicle has a pair of lamps L1, L2 whose optical axis is installed in front of the vehicle M and is set to face almost the front of the vehicle M. A traveling headlamp (so-called high beam) 31, and a pair of outer headlights 31 (in the vehicle width direction) installed so that the optical axis faces downward from the traveling headlight 31. It comprises a headlight for passing (so-called low beam) 33 composed of lamps L3 and L4. The passing headlight 33 is lit alone, but the traveling headlamp 31 is not lit alone, and is always configured to be lit together with the passing headlight 33. .

The in-vehicle camera 40 includes an image sensor (CCD image sensor or CMOS image sensor) configured by arranging individual imaging elements in a two-dimensional lattice, a lens that collects light from a subject on the image sensor, and the like. It is assumed that it is installed at the center position in the vehicle width direction on the front surface of the vehicle M.
<Details of input file (light distribution data)>
FIG. 3A is a table showing details of the light distribution data stored in the input file storage unit 13, and FIG. 3B is an elevation angle of -20 to 20 [at a position 25 m away from the headlamp. deg] and yaw angle of -45 to 45 [deg]. This is an isoluminous curve (a graph of light distribution data) representing the result of measuring the illuminance of the headlamp.

As shown in FIG. 3A, the light distribution data includes the beam type (passing / running), beam position (left / right), imaging distance R [m], elevation angle minimum value α _MIN [deg], elevation angle. Maximum value α _MAX [deg], angular increment Δα (= Δβ) [deg], minimum yaw angle value β _MIN [deg], maximum yaw angle value β _MAX [deg], {(α _MAX −α _MIN ) / Δα} X {(β _MAX −β _MIN ) / Δβ} pieces of luminance data Aαβ [cd / m ² ] (where α _MIN ≦ α ≦ α _MAX , β _MIN ≦ β ≦ β _MAX ).

Then, four types of light distribution data corresponding to the four lamps L1 to L4 constituting the headlamp, which are specified by the beam type and the beam position, are prepared.
<Details of setting parameters in the input section>
FIG. 4 is a table showing details of various parameters and constants set via the input unit 11.

As shown in FIG. 4 (a), the illuminance calculation parameters in front of the eye include the lane width W _ROAD , the offset width W _OFFS between the center of the reference vehicle and the driver of the target vehicle, the installation height H _{LA of} the headlight for the _train , There are the width W _{LB of} the passing headlight, the installation height H _LB of the passing headlight, the camera height H _CM , the height coefficient K, the eye point height H _EP , and the glass transmittance τ of the windshield.

As shown in FIGS. 2B and 2C, the headlight installation heights H _LA and H _LB , the camera height H _CM and the eye point height H _EP are the heights from the road surface. The widths W _LA and W _{LB of} each headlamp are the installation intervals of a pair of lamps constituting the headlamp. Further, the height coefficient K, a coefficient which is set according to the installation height H _CM-vehicle camera 40 installed in a reference vehicle, installation height H _LA of each headlamp, by multiplying the H _LB by, may be used to correct the error of the anti-glare area map generated by the height H _CM installation of the in-vehicle camera 40 is different.

As shown in FIG. 4B, the constants used to calculate the evaluation value W include adaptation luminance Lu [cd / m ² ], constant C _p00 [lx / min ^0.46 ], constant C _pL [cd / m ^2]. ].
The evaluation value is calculated using the Schmidt-Clausen and Bindels equation shown as equation (1), where C _p00 = 0.003 and C _pL = 0.04. The adaptation luminance Lu is the luminance that the driver of the target vehicle is adapting, and here Lu = 1 is used.

  Furthermore, the anti-glare area map generation device 1 is configured to be able to set a Deg output setting that defines the divided area in units of angles and a Pix output setting that specifies in units of pixels as the output format of the anti-glare area map.

As shown in FIG. 4C, the output regulation parameters for the Deg output setting include an elevation angle range: lower limit angle −θx _LIM to upper limit angle θx _LIM [deg], elevation angle step Δθx [deg], and yaw angle range: There is a lower limit angle −θy _LIM to an upper limit angle θy _LIM [deg] and a yaw angle step Δθy [deg]. In this case, the number of divided areas in the elevation angle (vertical) direction is 2θx _LIM / Δθx, and the number of divided areas in the yaw angle (horizontal) direction is 2θy _LIM / Δθy.

On the other hand, as shown in FIG. 4D, the output regulation parameters of the Pix output setting include the focal length F [mm] of the in-vehicle camera, the image sensor size: width W _EL × height H _EL [mm], and image size. : Horizontal W _PX × vertical H _PX [pix].

In addition, on the input screen (not shown) displayed on the display unit 19 when setting these parameters and constants, a command for starting a map generation process for generating an anti-glare area map using the set parameters and constants is issued. A map generation start button for input is also displayed.
<Details of output file (anti-glare area map)>
FIG. 5 is a table showing details of the anti-glare area map (output file) stored in the output file storage unit 17, and (a) shows a part of the output file obtained when the Deg output setting is selected, (b ) Shows a part of the output file obtained when the Pix output setting is selected. 5A and 5B show only 3 × 9 divided areas corresponding to the upper left corner area of the imaging screen.

As shown in FIG. 5 (a), the anti-glare area map generated by the Deg output setting is obtained by expressing the yaw angle range −θy _{LIM to} θy _LIM as the yaw angle step Δθy on the horizontal axis and the elevation angle range −θx _LIM to With the angle represented by θx _LIM as an increment of elevation Δθx as the vertical axis, the boundary distance is stored in association with each of the divided areas specified by the yaw angle θy and the elevation angle θx.

  In addition, as shown in FIG. 5B, the anti-glare area map generated by the Pix output setting has a boundary in each of the divided areas (pixels) specified by the numbers in the width direction and the height direction representing the pixel positions. The distance is stored in association with each other.

However, in the anti-glare area map by the Pix output setting, the divided area (W _PX × H _PX pixels) has a relationship in which the focal length F and the image sensor size W _EL × H _EL are shown in FIG. From the relational expressions (2) and (3) defined by: However, in the divided area, the pixel position in the elevation direction is x (−H _PX / 2 ≦ x ≦ H _PX / 2), and the pixel position in the yaw direction is y (−W _PX / 2 ≦ y ≦ H _PX / 2). To do.

<Operation processing unit>
The arithmetic processing unit 15 is configured to execute at least map generation processing for generating an anti-glare area map and map display processing for displaying the anti-glare area map stored in the output file storage unit 17 on the display unit 19. ing. In the map display process, the anti-glare area map obtained by the Pix output setting is displayed.

<< Map generation process >>
Here, the outline | summary of the glare-proof area map production | generation process which the arithmetic processing part 15 performs is demonstrated along the flowchart shown in FIG.

  When this processing is started, first, in S110, an input screen for setting various parameters and constants is displayed on the display unit 19, and in subsequent S120, processing for receiving setting input via the input unit 11 is executed.

  Then, it is determined whether or not the map generation start button displayed on the input screen has been operated. If it is determined that the map generation start button has not been operated, the process returns to S120 to continue the process of accepting the parameter setting input.

  On the other hand, if it is determined in S130 that the map generation start button is operated, the process proceeds to S140, and 4 corresponding to the four lamps L1 to L4 constituting the headlamp 30 from the input file storage unit 13. Individual (passing: left / right, driving: left / right) input files (light distribution data) are acquired.

  In S150, a boundary distance calculation process for calculating a boundary distance that is an element of the anti-glare area map is executed based on the various parameters and constants received in S120 and the light distribution data acquired in S140, and in subsequent S160, the process proceeds to S150. An output file (anti-glare area map) in which the calculated boundary distance is associated with the divided area is stored in the output file storage unit 17, and the present process ends.

<< Boundary distance calculation process >>
Next, details of the boundary distance calculation process executed in S150 will be described with reference to the flowchart shown in FIG.

When this processing is started, first, in S210, an area necessary for storing the anti-glare area map, specifically, a divided area is determined based on the output regulation parameters θx _LIM , Δθx, θy _LIM , Δθy of the Deg output setting. An area capable of storing (2θx _LIM / Δθx) × (2θy _LIM / Δθy) boundary distances, which is a number, is secured on the RAM constituting the arithmetic processing unit 15.

In S220, the boundary distance is not calculated from the divided areas specified by θx, θy (−θx _LIM ≦ θx ≦ θx _LIM , −θy _LIM ≦ θy ≦ θy _LIM , where Δθx, Δθy steps). Is selected as the target divided area, and in the subsequent S230, the evaluation value W is calculated in S260, which will be described later, among the preset inter-vehicle distances (10 m to 3000 m in increments of 1 m) for the target divided area selected in S220. Those not yet selected are selected as the target inter-vehicle distance D.

  In S240, the line of sight of the driver of the target vehicle and the optical axis direction of each lamp Li (i = 1 to 4) for each of the four lamps L1 to L4 constituting the headlamp based on the illuminance calculation parameter in front of the eyes. Is calculated (elevation angle αi, yaw angle βi).

Specifically, the elevation angles α _{1 to} α ₄ are obtained by using equations (4) and (5) (see FIG. 8A), and the yaw angles β _{1 to} β ₄ are obtained by equations (6) to (9) (FIG. 8 (b)).

In S250, for each lamp Li constituting the headlamp, an illuminance in front of the driver of the target vehicle (hereinafter referred to as “individual illuminance in front of the eye”) E _Bi due to light emitted from each lamp Li is calculated.

Specifically, the individual anterior illuminance E _Bi is extracted from the luminance data Ai at the position specified by the elevation angle αi and yaw angle βi calculated in S240 based on the light distribution data for the lamp Li read in S140. The extracted luminance data Ai, the target inter-vehicle distance D, and the glass transmittance τ are calculated by the equation (10).

E _Bi = Ai / D ² × τ (10)
In S260, as described above, based on the individual anterior illuminances E _{B1 to} E _B4 calculated in S250 and the angles θ _{1 to} θ ₄ (= β _{1 to} β ₄ ) formed by the driver of the target vehicle and the lamp optical axis. Using the equation (1), that is, the Schmidt-Clausen and Bindels equation, the evaluation value W of discomfort glare is calculated.

  In S270, it is determined whether or not the evaluation value W has been calculated for all target inter-vehicle distances for the target divided region selected in S220. If there is a set inter-vehicle distance for which the evaluation value W has not yet been calculated, S230 is determined. Returning to FIG. 5, the processes of S230 to S260 described above are repeated.

  On the other hand, if the evaluation value W has been calculated for all the set inter-vehicle distances, the process proceeds to S280, where the maximum set inter-vehicle distance at which the evaluation value W is less than 4 is extracted as the boundary distance, and the map secured in S210. Store in the storage area.

  In S290, it is determined whether or not the process of extracting the boundary distance has been executed for all the divided areas. If there is a divided area that has not been executed, the process returns to S220, and the above-described processes of S220 to S280 are performed. repeat.

  On the other hand, if the process of extracting the boundary distance for all the divided areas has been executed, the process proceeds to S300, and the anti-glare area map stored in the map storage area on the RAM based on the Deg output setting and the Pix The anti-glare area map converted to the output setting is stored in the output file storage unit 17 and the present process is terminated.

The anti-glare area map refers to a vehicle equipped with a camera that captures the front of the vehicle (hereinafter referred to as an “in-vehicle camera”) as a reference vehicle, an oncoming vehicle or a preceding vehicle with respect to the reference vehicle as a target vehicle, and a front of the reference vehicle. The imaging area of the in-vehicle camera is divided into a grid pattern with the maximum distance between the reference vehicle and the target vehicle, which is estimated to be dazzling by the light (feeling unpleasant glare) as the boundary distance. Each divided area (see FIG. 2A) is associated with a boundary distance in the divided area.
<Effect>
As described above, the anti-glare area map generated by the anti-glare area map generation device 1 is a set inter-vehicle distance that is estimated to cause the driver of the target vehicle to be dazzled by the headlight of the reference vehicle (feel glare uncomfortable). Each of the divided areas obtained by dividing the imaging area of the in-vehicle camera in a grid pattern is associated with the boundary distance in the divided area.

  Therefore, according to the anti-glare area map, if the divided region in which the target vehicle is captured in the captured image obtained from the in-vehicle camera 40 of the reference vehicle and the distance between the target vehicle and the reference vehicle are known, It can be immediately estimated whether the driver is dazzled by the headlights of the reference vehicle.

  As a result, if light distribution control is performed using an anti-glare area map, the driver of the target vehicle is not dazzled (glare feels uncomfortable) without restricting the field of view of the driver of the reference vehicle more than necessary. Control can be performed in real time.

  Moreover, according to the anti-glare area map, the boundary distance obtained by focusing only on the position of the eye point (position in the captured image) of the target vehicle driver, regardless of road conditions (road gradient, road curvature, etc.) Because it is used, it can be used in common for any road conditions.

Further, according to the anti-glare area map generation device 1, an anti-glare area map is generated using various parameters and constants input via the input unit 11 and light distribution data acquired from the input file storage unit 13. An anti-glare area map corresponding to each vehicle can be easily generated.
[Other Embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, It is possible to implement in various aspects within the range which does not deviate from the summary of this invention.

  For example, in the above embodiment, after calculating the evaluation values for all the set inter-vehicle distances, the boundary distance is extracted. However, the evaluation value W is calculated in order from the shortest set inter-vehicle distance, and the evaluation value W is a threshold value. When it becomes less than, the set inter-vehicle distance at that time may be set as a boundary distance, and calculation of an evaluation value may be omitted for a distance further than that.

  Moreover, in the said embodiment, although the input file memory | storage part 13 has memorize | stored only the input file (light distribution data) used for the production | generation of a map, the input file about various vehicles is memorize | stored beforehand, An input file to be used may be selected via the input unit 11.

The block diagram which shows the structure of a glare-proof area map production | generation apparatus. (A) is a schematic diagram of an anti-glare area map, (b) is an explanatory diagram showing a configuration of a reference vehicle and parameters used for map generation, and (c) is an explanatory diagram showing parameters related to the target vehicle. (A) is the table | surface which shows the detail of an input file (light distribution data), (b) is an isometric curve figure which represented the content of the light distribution data visually. A table showing various parameters and constants set via the input section. Table showing details of output file (anti-glare area map). The flowchart which shows the content of a map production | generation process. The flowchart which shows the detail of a boundary distance calculation process. Explanatory drawing which shows the calculation principle of the parameter used for calculation of illuminance in front of eyes.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Anti-glare area map production | generation apparatus 11 ... Input part 13 ... Input file memory | storage part 15 ... Arithmetic processing part 17 ... Output file memory | storage part 19 ... Display part 30 ... Headlight 31 ... Headlight for driving 33 ... Headlight for passing Light 40 ... In-vehicle camera L1-L4 ... Lamp

Claims (6)

It is an anti-glare area map used to control a variable light distribution headlamp that is mounted on a vehicle and changes the light distribution according to the road shape and traveling state,
It is estimated that the vehicle on which the imaging means for imaging the front is mounted is the reference vehicle, the oncoming vehicle or the preceding vehicle with respect to the reference vehicle is the target vehicle, and the driver of the target vehicle is dazzled by the headlight of the reference vehicle. The maximum value of the inter-vehicle distance between the reference vehicle and the target vehicle is defined as a boundary distance, and the boundary distance is indicated for each divided region obtained by dividing the imaging region of the imaging unit in a grid pattern. Anti-glare area map. An anti-glare area map generation method for generating the anti-glare area map according to claim 1,
One of the divided areas is a target area, one of a plurality of preset inter-vehicle distances is a designated distance, the eye point of the driver of the target vehicle is located in the target area, and the target car is the reference Assuming that the vehicle is located at the specified distance from the vehicle, an incident angle formed by the illuminance in front of the driver of the target vehicle and the line of sight of the driver of the target vehicle and the irradiation direction of the headlight of the reference vehicle is calculated An evaluation value calculation procedure for calculating an evaluation value of discomfort glare using the Schmidt-Clausen and Bindels formula based on the calculated illuminance in front of the eye and the incident angle;
Based on the result of the evaluation value calculation procedure for calculating the evaluation value for each of the set inter-vehicle distances with the target area fixed, the maximum value of the set inter-vehicle distance at which the evaluation value is equal to or less than a preset threshold value. An extraction procedure for extracting as the boundary distance;
The anti-glare area map generation method comprising generating the anti-glare area map by repeating the evaluation value calculation procedure and the extraction procedure for all divided regions. An anti-glare area map generating device that generates the anti-glare area map according to claim 1,
Input means for inputting parameters defining the positional relationship between the eye point of the driver of the target vehicle and the headlight of the reference vehicle;
An acquisition means for acquiring light distribution data representing a relationship between the illuminance of the headlamp and a three-dimensional position, one of the divided areas as a target area, and one of a plurality of preset inter-vehicle distances As the designated distance, it is assumed that the eye point of the driver of the target vehicle is located in the target area, and the target vehicle exists at a position away from the reference vehicle by the specified distance. Based on the input parameters and the light distribution data acquired by the acquisition means, the illuminance in front of the driver of the target vehicle, the line of sight of the driver of the target vehicle, and the irradiation direction of the headlight of the reference vehicle, An evaluation value calculating means for calculating an evaluation value of unpleasant glare using the Schmidt-Clausen and Bindels formula based on the calculated anterior illuminance and the incident angle.
Based on the results of fixing the target area and causing the evaluation value calculation means to calculate the evaluation value for each of the set inter-vehicle distances, the maximum value of the inter-vehicle distance at which the evaluation value is equal to or less than a preset threshold is defined as a boundary. Extraction means for extracting as a distance;
An output means for outputting a correspondence relationship between the divided area and the boundary distance acquired by executing the evaluation value calculating means and the extracting means for all the divided areas as the anti-glare area map;
An anti-glare area map generation device comprising:   4. The anti-glare area map generation according to claim 3, wherein the parameters input by the input unit include a mounting height of the headlight, a mounting interval, and a mounting height of the imaging unit. apparatus. The headlamp is composed of a plurality of pairs of lamps with different irradiation directions,
The anti-glare area map generation device according to claim 3 or 4, wherein the evaluation value calculation unit uses a total value of individual front eye illuminances calculated for each of the lamps as the front eye illuminance.   The anti-glare area map generation device according to any one of claims 3 to 5, wherein the evaluation value calculation means calculates the illuminance in front of the eye in consideration of transmittance of a windshield.