JP2021112994A - Light emission control system, vehicle, control method, and program - Google Patents

Abstract

To provide a light emission control system capable of preventing a side camera from decreasing in recognition precision owing to deficiency in light quantity.SOLUTION: A light emission control system controls a light emission part (a side sill light 51, a front wheel light 52, and a rear wheel light 53) capable of irradiating at least parts of an imaging area 301L, 301R of a side camera capable of imaging a side of a vehicle 1. The system detects an event, made to corresponding to use of the side camera, occurring, and controls the light emission part to emit light in response to detecting the event occurring so as to prevent recognition precision from decreasing owing to a deficiency in light quantity of an image of a white line and traffic participants (vehicle, walker, bicycle, etc.), which move together similarly, imaged by the side camera.SELECTED DRAWING: Figure 3

Description

The present invention relates to a light emission control system, a vehicle, a control method, and a program for illuminating the sides of a vehicle.

A vehicle equipped with a camera (side camera) for photographing the side of the vehicle has been proposed. For example, Patent Document 1 discloses a vehicle provided with a side camera to assist the driver in parking operation when the vehicle is parked.

Japanese Unexamined Patent Publication No. 2007-183877

Here, when driving at night or when driving in a tunnel, the image captured by the side camera becomes unclear due to insufficient light, and white lines and translational traffic participants (vehicles, pedestrians, etc.) The accuracy of recognizing (such as a bicycle) by the driver or image recognition technology may decrease. In such a case, even if a light source such as a headlight or a taillight is turned on, the imaging area of the side camera cannot be sufficiently illuminated, and the recognition accuracy may not be improved.

An object of the present invention is to provide a technique for preventing a decrease in recognition accuracy of a side camera due to insufficient light intensity.

According to the present invention, a camera provided in a vehicle, which is a light emitting control system that controls a light emitting unit capable of illuminating at least a part of an imaging area of the camera capable of photographing the side of the vehicle. An event detecting means for detecting the occurrence of an event associated with the use of the camera, and a control means for controlling the light emitting unit to emit light in response to the detection of the occurrence of the event by the event detecting means. A light emission control system is provided.

According to the present invention, it is possible to provide a technique for preventing a decrease in recognition accuracy of a side camera due to insufficient light amount.

The hardware block diagram of the vehicle which concerns on embodiment. The software block diagram of the vehicle which concerns on embodiment. The figure which shows the photographing area of the side camera and the irradiation area of a side light which concerns on embodiment. The processing sequence diagram of the light emission control system which concerns on embodiment. The figure which shows the example of the event which turns on the side light which concerns on embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. Further, the same or similar configuration will be given the same reference number, and duplicate description will be omitted.

<First Embodiment>
(Hardware configuration)
FIG. 1 is a block diagram of a vehicle control device according to an embodiment of the present invention, and controls the vehicle 1. In FIG. 1, the outline of the vehicle 1 is shown in a plan view and a side view. Vehicle 1 is, for example, a sedan-type four-wheeled passenger car.

The control device of FIG. 1 includes a control unit 2. The control unit 2 includes a plurality of ECUs 20 to 29 that are communicably connected by an in-vehicle network. Each ECU includes a processor typified by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may be a computer or the like including a plurality of processors, storage devices, interfaces, and the like.

Hereinafter, the functions and the like that each ECU 20 to 29 is in charge of will be described. The number of ECUs and the functions in charge can be appropriately designed, and can be subdivided or integrated from the present embodiment.

The ECU 20 executes control related to the automatic driving of the vehicle 1. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. In the control example described later, both steering and acceleration / deceleration are automatically controlled.

The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) with respect to the steering wheel 31. Further, the electric power steering device 3 includes a motor that assists the steering operation or exerts a driving force for automatically steering the front wheels, a sensor that detects the steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

The ECUs 22 and 23 control the detection units 41 to 45 for detecting the surrounding conditions of the vehicle and process the information processing of the detection results. The detection unit 41 is a camera that photographs the front of the vehicle 1 (hereinafter, may be referred to as a camera 41), and in the case of the present embodiment, it is attached to the vehicle interior side of the front window at the front of the roof of the vehicle 1. Be done. By analyzing the image taken by the camera 41, it is possible to extract the outline of the target and the lane marking line (white line or the like) on the road.

The detection unit 42 is a Light Detection and Ranging (LIDAR) (hereinafter, may be referred to as a lidar 42), detects a target around the vehicle 1, and measures the distance from the target. .. In the case of the present embodiment, five riders 42 are provided, one in each corner of the front portion of the vehicle 1, one in the center of the rear portion, and one on each side of the rear portion. The detection unit 43 is a millimeter-wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1, and measures a distance from the target. In the case of the present embodiment, five radars 43 are provided, one in the center of the front portion of the vehicle 1, one in each corner of the front portion, and one in each corner of the rear portion. The detection unit 44 is a camera that photographs the side of the vehicle 1 (hereinafter, may be referred to as a side camera 44), and in the case of the present embodiment, the detection unit 44 is attached to the side mirror of the vehicle 1. The detection unit 45 is a camera that photographs the rear of the vehicle 1 (hereinafter, may be referred to as a rear camera 45), and in the case of the present embodiment, at least one of the rear gate, the rear pillar, and the vehicle interior of the vehicle 1. Attached to.

The ECU 22 controls one of the cameras 41 and each rider 42, and processes information processing of the detection result. The ECU 23 controls the other camera 41 and each radar 43, and processes information processing of the detection result. By equipping two sets of devices that detect the surrounding conditions of the vehicle, the reliability of the detection results can be improved, and by equipping different types of detection units such as cameras, riders, and radar, the surrounding environment of the vehicle can be analyzed. Can be done in multiple ways. Further, the ECU 23 controls the side camera 44 and the rear camera 45 and processes the information processing of the detection result.

The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and processes the detection result or the communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined from the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c wirelessly communicates with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access the map information database 24a built in the storage device, and the ECU 24 searches for a route from the current location to the destination.

The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a wirelessly communicates with other vehicles in the vicinity and exchanges information between the vehicles.

The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the engine output in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The shift stage of the transmission is switched based on the information of. When the operating state of the vehicle 1 is automatic operation, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

The ECU 27 controls a lighting device (head light, tail light, etc.) including a direction indicator 8 (winker). In the case of the example of FIG. 1, the direction indicator 8 is provided on the front portion, the door mirror, and the rear portion of the vehicle 1. Further, the ECU 27 controls the side light 50 (side sill light 51, front wheel light 52, and rear wheel light 53). The side sill light 51, the front wheel light 52, and the rear wheel light 53 are lamps that are lit in a color different from that of the turn signal 8 and the lamp, and in one example, they are LEDs that are lit in blue.

The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged in front of the driver's seat, for example, and constitutes an instrument panel or the like. In addition, although voice and display are illustrated here, information may be notified by vibration or light. In addition, information may be transmitted by combining a plurality of voices, displays, vibrations, and lights. Further, the combination may be different or the notification mode may be different depending on the level of information to be notified (for example, the degree of urgency).

The input device 93 is a group of switches that are arranged at a position that can be operated by the driver and give instructions to the vehicle 1, but a voice input device may also be included.

The ECU 29 controls the braking device 10 and the parking brake (not shown). The brake device 10 is, for example, a disc brake device, which is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the braking device 10 in response to an instruction from the ECU 20 to control deceleration and stopping of the vehicle 1. The braking device 10 and the parking brake can also be operated to maintain the stopped state of the vehicle 1. Further, when the transmission of the power plant 6 is provided with a parking lock mechanism, this can be operated to maintain the stopped state of the vehicle 1.

(Software configuration)
Next, with reference to FIG. 2, the software configuration of the light emission control system included in the vehicle 1 according to the present embodiment will be described. The light emission control system 200 of FIG. 2 is realized by at least one of the ECUs 20 to 29 shown in FIG. The light emission control system 200 includes an event detection unit 201, a vehicle state detection unit 202, an object detection unit 203, and a side light control unit 204.

The event detection unit 201 detects the occurrence of an event associated with shooting by the side camera 44. The event includes that the amount of light in the imaging area of the side camera 44 is insufficient and that it is raining around the vehicle 1. In this case, since the recognition accuracy of the side camera 44 is expected to decrease, the event detection unit 201 determines that an event associated with the shooting by the side camera 44 has occurred. The event also includes that the vehicle 1 has entered an intersection, has changed lanes, and is performing a parking operation. In this case, since it is necessary for the side camera 44 to accurately recognize the road structure including the side lane and the parking frame of the vehicle 1, the event detection unit 201 is associated with the shooting by the side camera 44. Is determined to have occurred. The event also includes a case where an object including a parallel vehicle, a pedestrian, a bicycle, and a parked vehicle has entered or is expected to enter the imaging area of the side camera 44. In this case as well, since it is necessary to recognize the object with high accuracy, the event detection unit 201 determines that an event associated with the shooting by the side camera 44 has occurred. The event may also include unrecognized front camera 41 due to dirt or failure and failure of the headlights.

The vehicle state detection unit 202 detects the vehicle state of the vehicle 1 corresponding to the event. For example, the vehicle state detection unit 202 can detect the traveling mode of the vehicle 1 (during parking operation, lane change, etc.), fault detection of the front camera 41, lighting state of the headlight 8. The information regarding the vehicle state detected by the vehicle state detection unit 202 is used for the determination by the event detection unit 201. The object detection unit 203 detects an object including a traffic participant including a vehicle, a bicycle, and a pedestrian based on the information from the detection units 41 to 45. The object detection unit 203 may detect a road structure including a telephone pole, a guardrail, and a white line. The information about the object detected by the object detection unit 203 is used for the determination by the event detection unit 201. In the present embodiment, the object detection unit 203 can detect the position of the object including the direction and the distance of the detected object, and can detect the relative speed or the absolute speed of the object by detecting the object at a predetermined interval. The explanation will be given assuming that.

(Side light irradiation area)
Next, the imaging area of the side camera 44 and the irradiation area of the side light 50 will be described with reference to FIG. The side camera 44 has an imaging area 301 (301R on the right side and 301L on the left side) including the side of the vehicle 1. Although the imaging area 301 is shown so as not to include the side surface of the vehicle 1, the side surface of the vehicle 1 may be included.

The side sill light 51 has an irradiation area 311, the front wheel light 52 has an irradiation area 312, and the rear wheel light 53 has an irradiation area 313. Each irradiation area 311 to 313 irradiates at least a part of the imaging area 301. As a result, even when the amount of light in the imaging area of the side camera 44 is insufficient, it is possible to capture an image in which sufficient object detection accuracy can be obtained by the side camera 44 by irradiating with the side light 50. ..

Next, an example of the process executed by the vehicle 1 according to the present embodiment will be described with reference to FIG. The process of FIG. 4 is executed by the light emission control system 200 of the vehicle 1 when the ignition power is turned on.

First, in S401, the vehicle state detection unit 202 executes a self-diagnosis process for determining whether the side camera 44 is out of order or dirty. For example, in S401, the light emission control system 200 may take an image when the side light 50 is turned on and off, and determine whether or not the side camera 44 is normal from the change in brightness. When the light emission control system 200 determines that the side camera 44 is not normal, it is not necessary to notify the user of a warning and execute the processing after S402.

Subsequently, the light emission control system 200 advances the process to S402, and determines whether or not the event detection unit 201 has detected the lighting event. Details of the lighting event detection method will be described later with reference to FIG. When the event detection unit 201 determines that a lighting event has been detected (Yes in S402), the light emission control system 200 advances the process to S403, turns on the side light 50, and proceeds to the process to S406. When the event detection unit 201 determines that the lighting event has not been detected (No in S402), the light emission control system 200 advances the process to S404.

In S404, the light emission control system 200 determines whether or not the event detection unit 201 has detected the extinguishing event. The details of the method of detecting the extinguishing event will be described later. When the event detection unit 201 determines that the extinguishing event has been detected (Yes in S404), the light emission control system 200 advances the process to S405, turns off the side light 50, and proceeds to the process to S406. When the event detection unit 201 determines that the extinguishing event has not been detected (No in S404), the light emission control system 200 advances the process to S406.

In S406, the light emission control system 200 determines whether or not the traveling has been completed. In one example, when the engine is turned off or the ACC power supply is turned off, the light emission control system 200 determines that the running is completed. When the light emission control system 200 determines that the running has not been completed (No in S406), the light emission control system 200 returns the process to S402. When the light emission control system 200 determines that the running is completed (Yes in S406), the light emission control system 200 ends the process of FIG.

Next, an example of the lighting event according to the present embodiment will be described with reference to FIGS. 5 (A) to 5 (C).

In FIG. 5A, the vehicle 1 travels at a speed V1 in the X direction along the arrow 501, and the traffic participant 500 travels at a speed V2 along the arrow 502 which is the same X direction as the vehicle 1. And. In this case, the vehicle 1 can detect the traffic participant 500 behind the vehicle by the rear camera 45 or the like. The traffic participant 500 includes vehicles including automobiles and motorcycles, bicycles and pedestrians. Here, the traffic participant 500 is located at a distance of X1 behind the imaging area 301L of the vehicle 1 and Y1 to the left at time T1, and the traffic participant 500 is moving faster than the vehicle 1 (). V2> V1).

In this case, it can be predicted that the traffic participant 500 will enter the imaging area 301L of the side camera 44 of the vehicle 1 after time X1 / (V2-V1) from T1. When the traffic participant 500 enters the imaging area 301L, it is desirable that the side camera 44 detects the object of the traffic participant 500. Therefore, the lighting event includes the prediction that the traffic participant 500 will enter the imaging area 301. .. As a result, when it is necessary for the side camera 44 to recognize the traffic participant 500, it is possible to prevent the recognition performance of the side camera 44 from deteriorating due to insufficient light intensity.

In one example, the light emission control system 200 may turn on the side light 50 according to the time until the traffic participant 500 enters the imaging area 301. For example, the side light 50 may be turned on after the time X1 / (V2-V1) from the time T1. Alternatively, the side light 50 may be turned on after the time 0.8 * X1 / (V2-V1) from the time T1 so that the side light 50 is turned on before the traffic participant enters the imaging area 301. As a result, the side of the vehicle 1 can be illuminated by the side light 50 before the timing when the side camera 44 recognizes the traffic participant 500, and before the traffic participant 500 enters the imaging area 301 of the side camera 44. The exposure of the side camera 44 can be adjusted in advance.

In FIG. 5B, the vehicle 1 is traveling at a speed V3 in the X direction along the arrow 511, and the traffic participant 510 is traveling at a speed V4 along the arrow 504 which is the same X direction as the vehicle 1. And. Here, it is assumed that the traffic participant 510 is located inside the image pickup area 301L of the vehicle 1 at time T2, X2 from the rear end of the image pickup area 301L, and Y2 to the left. Here, when the relative speed (V4-V3) between the vehicle 1 and the traffic participant 510 is smaller than a predetermined threshold value, it can be predicted that the traffic participant 510 will continue to stay inside the imaging area 301L. It is predicted that the traffic participant 500 will continue to stay in the imaging area 301 because it is desirable that the side camera 44 accurately detects the object of the traffic participant 500 while the traffic participant 500 stays inside the imaging area 301L. Included in the lighting event.

In one example, the light emission control system 200 may turn on the side light 50 depending on how long the traffic participant 500 stays in the imaging area 301. For example, if V3> V4, the traffic participant 500 is expected to remain in the imaging area 301L for time X2 / (V3-V4). Therefore, the side light control unit 204 may control the side light 50 so as to keep lighting the side light 50 from the time T2 to the time X2 / (V3-V4).

In FIG. 5C, the vehicle 1 shall change lanes along the arrow 520. In this case, the vehicle 1 needs to confirm that there are no traffic participants in the lane to be changed. Therefore, the side light control unit 204 may turn on the side light 50 until the lane change operation is completed in order to improve the accuracy of object detection using the side camera 44. The side light control unit 204 may turn on the side light 50 to recognize the white line for the lane change operation. Therefore, the lighting event includes that the vehicle 1 is executing the lane change operation. In one example, when the winker of the vehicle 1 is activated, it may be determined that the vehicle 1 is executing the vehicle changing operation. In addition, the lane change operation includes the vehicle 1 turning right or left at an intersection and merging lanes.

In addition to the events shown in FIGS. 5A to 5C, when it is raining, the object detection accuracy using the image taken by the side camera 44 may decrease. Therefore, the lighting event includes the fact that the vehicle 1 determines that it is raining. In this case, the vehicle 1 may determine that it is raining when the wiper is operating.

Further, the lighting event may include that the vehicle state detection unit 202 or the object detection unit 203 detects a deterioration in the detection performance of the front camera 41, the rear camera 45, the LIDAR 42, and the millimeter wave radar 43. For example, when the lane cannot be detected by the front camera 41, or when the detection / non-detection of an object is frequently switched by the LIDAR 42, the detection performance of the front camera 41, the rear camera 45, the LIDAR 42, and the millimeter wave radar 43 deteriorates. It may be determined that it is.

The lighting event may also include that the vehicle 1 is performing a parking operation. For example, when the front camera 41 or the rear camera 45 detects the parking frame, or when it is determined that the vehicle is in the parking lot based on the position information of the vehicle 1, the vehicle 1 instructs the vehicle 1 to automatically park. It may be determined that the parking operation is being executed. Further, the lighting event may include that the light amount of the imaging area 301 of the side camera 44 is equal to or less than a predetermined light amount by the side camera 44 of the vehicle 1. The amount of light in the imaging area 301 of the side camera 44 may be determined using a sensor (not shown) such as a photoelectric sensor.

The lighting events described above can be arbitrarily combined. For example, the side light 50 may be controlled to be turned on when the light intensity of the imaging area 301 of the side camera 44 is equal to or less than a predetermined light intensity and when the vehicle 1 is performing a lane change operation. In another example, the side light 50 may be controlled to be turned on when the amount of light in the imaging area 301 of the side camera 44 is equal to or less than a predetermined amount of light, or when the vehicle 1 is performing a lane change operation. As a result, the side light 50 can be turned on at an appropriate timing depending on the case where low power consumption is important or the recognition performance of the side camera 44 is important.

Next, the extinguishing event will be described. The extinguishing event may be a predetermined time after the lighting event is no longer detected. For example, in the example of FIG. 5B, since the speed of the vehicle 1 is faster than the speed of the traffic participant 510, the traffic participant 510 may leave the imaging area 301L. In this case, the extinguishing event may include the detection that the traffic participant 500 has left the imaging area 301L, or the fact that the traffic participant 500 cannot be detected by the side camera 44. Further, in the example of FIG. 5C, the end of the lane change operation of the vehicle 1 is included in the extinguishing event. In this case, the event detection unit 201 can determine that the lane change operation has ended, that is, an extinguishing event has occurred when the vehicle 1 continues to travel in parallel with the lane in front of the vehicle 1 for a predetermined time. ..

In S402, all or any of the front wheel light 52, the side sill light 51, and the rear wheel light 53 may be turned on. When any of the front wheel light 52, the side sill light 51, and the rear wheel light 53 is turned on, it may be determined which side light is turned on based on the detected lighting event. In one example, the side light corresponding to the position of the object detected by the object detection unit 203 may be turned on. For example, in the example of FIG. 5A, since it is predicted that a traffic participant will enter the imaging area 301L on the left side in the traveling direction of the vehicle 1, only the side light 50 on the left side of the vehicle 1 should be turned on. You may control it.

Further, the side light control unit 204 may turn on the side light 50 so as to gradually increase the brightness. This makes it possible to facilitate the exposure compensation of the side camera 44. Further, by turning on the side light 50 so as to gradually increase the brightness, it is possible to alert the traffic participants while preventing the traffic participants from being surprised.

As described above, the light emission control system according to the present embodiment detects an event associated with shooting by the side camera and turns on the side light. This makes it possible for the side camera to recognize the translational traffic participants and the white line that could not be recognized by the side camera.

<Summary of Embodiment>
1. 1. The light emission control system (for example, light emission control system 200) of the above embodiment is a camera (for example, detection means 44) provided in a vehicle (for example, vehicle 1), and is capable of imaging the side of the vehicle. A light emitting control system that controls a light emitting unit (for example, a side light 50) capable of illuminating at least a part of an area (for example, an imaging area 301), and is an event detecting means for detecting the occurrence of an event associated with the use of the camera. (For example, an event detection unit 201) and a control means (for example, a side light control unit 204) for controlling the light emitting unit to emit light in response to the event detection means detecting the occurrence of the event.

This makes it possible to prevent a decrease in the recognition accuracy of the side camera due to insufficient light intensity.

2. In the light emission control system of the above embodiment, the event includes at least one of the lane change of the vehicle, the parking operation of the vehicle, the operation of the wiper, and the operation of the winker.

This makes it possible to increase the amount of light on the side of the vehicle in response to a predetermined event of the vehicle that is expected to be imaged by the side camera.

3. 3. In the light emission control system of the above embodiment, the vehicle further includes an object detecting means (for example, an object detecting unit 203) capable of operating to detect a traffic participant, and in the event, the object detecting means participates in the traffic. Includes the detection of a person.

As a result, when a traffic participant is detected, the amount of light on the side of the vehicle is increased, and even when the traffic participant moves to the side of the vehicle, it can be recognized.

4. In the light emission control system of the above embodiment, the object detecting means further predicts whether or not the detected traffic participant enters the imaging area, and in the event, the traffic participant enters the imaging area. Then, it further includes what the object detecting means predicted.

As a result, the side light can be turned on only when the detected traffic participant enters the imaging area of the side camera.

5. In the light emitting control system of the above embodiment, when the object detecting means detects the traffic participant outside the imaging area, the control means emits the light emitting unit before the traffic participant enters the imaging area. Make it emit light.

As a result, when the detected traffic participant enters the imaging area of the side camera, the side light can be turned on in advance.

6. In the light emission control system of the above embodiment, the object detecting means calculates the relative speed of the detected traffic participant with respect to the vehicle, and the event further includes that the relative speed is equal to or less than the threshold value.

This makes it possible to turn on the side lights only when the detected traffic participant is expected to translate with the vehicle.

7. In the light emission control system of the above embodiment, the light emitting unit emits light of a color different from the light emitting colors of the headlight, the brake light, and the winker provided in the vehicle.

This prevents surrounding traffic participants from confusing headlights, brake lights, winkers with side lights.

8. In the light emission control system of the above embodiment, the light emitting unit emits blue light.

This prevents surrounding traffic participants from confusing headlights, brake lights, winkers with side lights.

9. In the light emitting control system of the above embodiment, the light emitting unit is provided on at least one of the side sill of the vehicle and the wheel.

This makes it possible to appropriately irradiate the side of the vehicle.

10. The light emission control system of the above embodiment has a light amount detecting means capable of detecting the amount of light on the side of the vehicle, and the control means detects the occurrence of the event and the vehicle detected by the light amount detecting means. When it is determined that the amount of light on the side of the light emitting unit is insufficient, the light emitting unit is controlled to emit light.

This makes it possible to illuminate the side of the vehicle in response to an event in which the amount of light is insufficient and the amount of light is insufficient.

11. In the light emitting control system of the above embodiment, the control means further determines the length of the light emitting time for causing the light emitting unit to emit light based on the event detected by the event detecting means.

This makes it possible to illuminate the side of the vehicle for an appropriate time according to the event.

12. In the light emitting control system of the above embodiment, the control means causes the light emitting unit to emit light so as to gradually increase the brightness of the light emitting means.

This makes it possible for the side camera to easily adjust the exposure.

13. In the light emitting control system of the above embodiment, the light emitting unit has a plurality of light emitting elements, and the control means emits light from any of the plurality of light emitting elements based on the event detected by the event detecting means. Determine if you want to.

This makes it possible to prevent a decrease in the recognition accuracy of the side camera due to insufficient light intensity.

14. The vehicle of the above embodiment is a camera provided in the vehicle, and corresponds to a light emitting means capable of irradiating at least a part of the imaging area of the camera capable of photographing the side of the vehicle and the use of the camera. It includes an event detecting means for detecting the occurrence of an attached event, and a control means for controlling the light emitting unit to emit light in response to the event detecting means detecting the occurrence of the event.

This makes it possible to prevent a decrease in the recognition accuracy of the side camera due to insufficient light intensity.

15. The control method of the above embodiment is a control method of the vehicle having a camera provided in the vehicle and having a light emitting unit capable of illuminating at least a part of the imaging area of the camera capable of imaging the side of the vehicle. An event detection step for detecting the occurrence of an event associated with the use of the camera, and a light emission control for controlling the light emitting unit to emit light in response to the detection of the occurrence of the event in the event detection step. Including the process.

This makes it possible to prevent a decrease in the recognition accuracy of the side camera due to insufficient light intensity.

<Other Embodiments>
The invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

1: Vehicle, 44: Side camera, 51: Side sill light, 52: Front wheel light, 53: Rear wheel light

Claims (17)

A camera provided in a vehicle, which is a light emitting control system that controls a light emitting unit capable of irradiating at least a part of an imaging area of the camera capable of photographing the side of the vehicle.
An event detection means for detecting the occurrence of an event associated with the use of the camera, and
A control means for controlling the light emitting unit to emit light in response to the event detection means detecting the occurrence of the event.
Luminous control system with. The light emission control system according to claim 1, wherein the event includes at least one of a lane change of the vehicle, a parking operation of the vehicle, an operation of a wiper, and an operation of a winker. The vehicle further has object detection means capable of operating to detect traffic participants located in the vicinity.
The light emission control system according to claim 1, wherein the event includes the detection of the traffic participant by the object detecting means. The object detecting means further predicts whether or not the detected traffic participant enters the imaging area, and further predicts whether or not the detected traffic participant enters the imaging area.
The light emission control system according to claim 3, wherein the event further includes the object detecting means predicting that the traffic participant will enter the imaging area. The control means is characterized in that when the object detecting means detects the traffic participant outside the imaging area, the light emitting unit emits light before the traffic participant enters the imaging area. The light emission control system according to 4. The object detecting means calculates the relative speed of the detected traffic participant with respect to the vehicle, and calculates the relative speed of the detected traffic participant with respect to the vehicle.
The light emission control system according to any one of claims 3 to 5, wherein the event further includes that the relative velocity is equal to or less than a threshold value. The light emitting control according to any one of claims 1 to 6, wherein the light emitting unit emits light of a color different from the light emitting color of the headlight, the brake light, and the winker provided in the vehicle. system. The light emitting control system according to claim 7, wherein the light emitting unit emits blue light. The light emitting control system according to any one of claims 1 to 8, wherein the light emitting unit is provided on at least one of a side sill of the vehicle and a wheel. It has a light amount detecting means capable of detecting the light amount on the side of the vehicle, and has
The control means is characterized in that when the occurrence of the event is detected and it is determined that the amount of light on the side of the vehicle detected by the light amount detecting means is insufficient, the light emitting unit is controlled to emit light. The light emission control system according to any one of claims 1 to 9. The method according to any one of claims 1 to 10, wherein the control means further determines the length of the light emitting time for causing the light emitting unit to emit light based on the event detected by the event detecting means. Luminous control system. The light emitting control system according to any one of claims 1 to 11, wherein the control means causes the light emitting unit to emit light so as to gradually increase the brightness of the light emitting unit. The light emitting unit has a plurality of light emitting elements and has a plurality of light emitting elements.
The control means according to any one of claims 1 to 12, wherein the control means determines which of the plurality of light emitting elements emits light based on the event detected by the event detection means. Luminous control system. It is a control method of a light emitting control system provided in a vehicle and including a light emitting unit capable of irradiating at least a part of an imaging area of the camera capable of photographing the side of the vehicle.
An event detection process for detecting the occurrence of an event associated with the use of the camera, and
A control step of controlling the light emitting unit to emit light in response to the detection of the occurrence of the event in the event detection step.
A control method comprising. A program for operating a computer as the light emission control system according to any one of claims 1 to 13. It ’s a vehicle,
A camera provided in the vehicle, which is a light emitting means capable of irradiating at least a part of the imaging area of the camera capable of imaging the side of the vehicle.
An event detection means for detecting the occurrence of an event associated with the use of the camera, and
A control means for controlling the light emitting means to emit light in response to the event detecting means detecting the occurrence of the event.
Vehicles equipped with. A method for controlling a vehicle, which is a camera provided in the vehicle and has a light emitting unit capable of irradiating at least a part of an imaging area of the camera capable of photographing the side of the vehicle.
An event detection process for detecting the occurrence of an event associated with the use of the camera, and
A control step of controlling the light emitting unit to emit light in response to the detection of the occurrence of the event in the event detection step.
Control methods including.

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