JP7014619B2 - Lighting control device and vehicle lighting equipment - Google Patents

Description

The present invention relates to a lighting control device, a lighting control method, and a vehicle lighting tool.

In addition to low-beam lamps and high-beam lamps that illuminate the front of a vehicle, headlight devices such as marking lights that spot-illuminate pedestrians detected in front of the vehicle are known.
When the sensor detects a pedestrian in front of the own vehicle, the marking light illuminates the area detected by the sensor and the surrounding area with illumination light to prompt the driver to pedestrian. Assists in finding vehicles and assists pedestrians in finding vehicles early.
Regarding the marking light, there is known a technique for surely notifying pedestrians and the like detected in front of the vehicle of the existence of the vehicle and preventing the pedestrians and the like from being glareed by spot lighting (for example, patent documents). See 1). In this technique, when a person located in front of the vehicle is detected based on an image taken by a camera that captures the front of the vehicle, the lighting area is moved in the left-right direction so as to include the person. Further, in this technique, a non-illuminated area is formed in the illuminated area so as to include at least the head of the person.

Further, there is known a technique for controlling lighting by reflecting whether it is easy or difficult for the driver of the own vehicle to find an object existing in front (see, for example, Patent Document 2). In this technology, the front of the own vehicle is illuminated by the light distribution control light, and the visible light image in front of the own vehicle is captured by the image pickup device. The three-dimensional measurement unit 22 measures the three-dimensional position in front of the own vehicle based on the output of the laser radar, and the object detection unit detects an object existing in front of the own vehicle. When the brightness of the area corresponding to the detected object in the visible light image at the time of illumination is equal to or less than the first threshold value, the illumination control unit distributes light so as to alert and irradiate the area corresponding to the detected object. Control the control light. When the brightness of the region corresponding to the detected object in the image at the time of illumination is equal to or greater than the second threshold value, the illumination control unit controls the light distribution control lamp so as not to illuminate the detected object.

Japanese Unexamined Patent Publication No. 2013-199263 Japanese Unexamined Patent Publication No. 2013-119357

However, in the technology that spotlights pedestrians and other people detected in front of the vehicle, the pedestrians detected by the sensor are illuminated by blinking the marking light. When irradiating light, there is a risk that the sensor will make an erroneous detection such as losing sight of the pedestrian (cannot be detected) at the timing when the marking light is turned off.
Further, when the vehicle is equipped with a plurality of sensors capable of detecting a pedestrian, the pedestrian detection algorithm is different for each of the plurality of sensors, and each of the plurality of sensors is a pedestrian. It is assumed that the feature points to be judged may be different. When each of the plurality of sensors detects a pedestrian's characteristic point and irradiates the pedestrian with illumination light by blinking the marking light based on the detected pedestrian's characteristic point, the sensor makes a false detection. There is a risk that it will end up.
When any sensor detects the pedestrian's head and illuminates the detected pedestrian's head by blinking the marking light, the marking light on the head When the light is turned off, the sensor may lose sight of (cannot detect) pedestrians.

The present invention has been made in consideration of such circumstances, and is used for a lighting control device, a lighting control method, and a vehicle that can reduce the false detection of a person by a sensor when a marking light is used. The purpose is to provide lighting equipment.

In order to solve the above-mentioned problems, one aspect of the present invention is a lighting control device that controls a light illumination state by a vehicle lighting, and detects a person by detecting a predetermined part of the person. The detection unit includes a lighting condition acquisition unit that acquires the lighting condition of the person based on the information indicating the person identification area that is the area of the predetermined portion, and the detection unit acquires the lighting condition by each of a plurality of sensors. The person is detected based on the information obtained, and when there are a plurality of sensors that detect the person, the lighting condition acquisition unit detects the area of the predetermined part of the person detected by the sensor having the earliest detection order. It is a lighting control device that acquires the lighting condition of the person based on the information indicating the person discrimination area .

According to one aspect of the present invention, in the lighting control device, when the person discrimination region is the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition of the head. May be done.

In one aspect of the present invention, in the lighting control device, the lighting condition acquisition unit may be configured to acquire dimming conditions.

In one aspect of the present invention, in the lighting control device, a configuration may be used in which the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a part of the person other than the head.

In one aspect of the present invention, in the lighting control device, when the person discrimination region is a portion different from the head, the lighting condition acquisition unit sets the lighting condition of a predetermined light as the lighting condition for the head. The configuration may be used to obtain.

In one aspect of the present invention, in the lighting control device, the lighting condition acquisition unit acquires a condition for turning off the light as a lighting condition for the head and a condition for emphasizing as a lighting condition for the person discrimination region. The configuration may be used.

According to one aspect of the present invention, in the lighting control device, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for the person's portion other than the person discrimination region and the head. You may.

In one aspect of the present invention, in the lighting control device, the detection unit detects the person based on the information acquired by each of the plurality of sensors, and the lighting condition acquisition unit detects the person. Even if a configuration is used in which the lighting conditions of the person are acquired based on the information indicating the person discrimination area which is the area of the predetermined part of the person detected by the sensor having a high priority. good.

In one aspect of the present invention, in the lighting control device, the vehicle lighting may be a headlight .

One aspect of the present invention is a vehicle lighting device including a vehicle lighting and the above-mentioned lighting control device.

INDUSTRIAL APPLICABILITY According to the present invention, when a marking light is used, it is possible to provide a lighting control device, a lighting control method, and a vehicle lighting device that can reduce the false detection of a person by a sensor.

It is a figure which shows the schematic structure of the automobile 1 which concerns on 1st Embodiment. It is a figure which shows the front side part of the automobile 1 to which the lighting system 100 which concerns on 1st Embodiment is applied. It is a block diagram which shows the schematic functional structure of the lighting system 100 provided in the automobile 1 which concerns on 1st Embodiment. It is a figure (the 1) which shows an example of the lighting by the lighting system 100 provided in the automobile 1 which concerns on 1st Embodiment. It is a figure (No. 2) which shows an example of lighting by the lighting system 100 provided in the automobile 1 which concerns on 1st Embodiment. It is a figure (the 3) which shows an example of the lighting by the lighting system 100 provided in the automobile 1 which concerns on 1st Embodiment. It is a figure (the 4) which shows an example of the lighting by the lighting system 100 provided in the automobile 1 which concerns on 1st Embodiment. It is a flowchart which shows an example of the operation of the lighting control device 30 provided in the automobile 1 which concerns on 1st Embodiment. It is a block diagram which shows the schematic functional structure of the lighting system 100a provided in the automobile 1a which concerns on 2nd Embodiment. It is a flowchart which shows an example of the operation of the lighting control device 30a provided in the automobile 1a which concerns on 2nd Embodiment. It is a block diagram which shows the schematic functional structure of the lighting system 100b provided in the automobile 1b which concerns on 3rd Embodiment. It is a flowchart which shows an example of the operation of the lighting control device 30b provided in the automobile 1b which concerns on 3rd Embodiment.

Next, the lighting control device, the lighting control method, and the vehicle lighting fixture according to the present embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.
In all the drawings for explaining the embodiment, the same reference numerals are used for those having the same function, and the repeated description will be omitted.
Further, "based on XX" as used in the present application means "based on at least XX", and includes a case where it is based on another element in addition to XX. Further, "based on XX" is not limited to the case where XX is directly used, but also includes the case where it is based on a case where calculation or processing is performed on XX. "XX" is an arbitrary element (for example, arbitrary information).

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
The lighting control device according to the first embodiment is mounted on a vehicle. In the present embodiment, an automobile is shown as an example of a vehicle, but the vehicle also includes a motorcycle, a bicycle, an ultra-small mobility, a personal mobility, and the like.

[Rough configuration of automobile]
FIG. 1 is a diagram showing a schematic configuration of an automobile 1 according to a first embodiment.
The vehicle 1 has a left headlight (referred to as the left headlight unit 10L in the present embodiment), a right headlight (referred to as the right side headlight unit 10R in the present embodiment), and a left side headlight. The taillight (referred to as the left taillight portion 11L in the present embodiment), the right taillight (referred to as the right taillight portion 11R in the present embodiment), and the left side mirror (referred to as the left side mirror 13L in the present embodiment). ), A right side mirror (referred to as a right side mirror 13R in this embodiment), a front window 15, and a rear window 16.
The left headlight portion 10L is arranged on the left side in front of the automobile 1, and the right headlight portion 10R is arranged on the right side in front of the automobile 1.
The left taillight portion 11L is arranged on the left side behind the automobile 1, and the right taillight portion 11R is arranged on the right side behind the automobile 1.
Further, the automobile 1 includes a front vehicle exterior detection unit (referred to as a front vehicle exterior detection unit 21 in the present embodiment) and a lighting control device 30.

Here, in the present embodiment, a part of the constituent parts of the automobile 1 is shown, but in addition to the above, any constituent parts such as other constituent parts normally provided by a general automobile may be provided. good.
Further, a part or all of the front vehicle outside detection unit 21 and the lighting control device 30 may be provided inside the vehicle 1 without being visible from the appearance of the vehicle 1.

FIG. 2 is a diagram showing a front portion of an automobile 1 to which the lighting system 100 according to the first embodiment is applied.
As shown in FIG. 2, the left headlight unit 10L includes a left headlight unit 12L and a left marking light 20L. The left headlight unit 12L is arranged at the left end of the left front end of the vehicle 1, and the left marking light 20L is arranged on the right side of the left headlight unit 12L.
Further, the right headlight unit 10R includes a right headlight unit 12R and a right marking light 20R. The right headlight unit 12R is arranged at the right end of the front end of the vehicle 1, and the right marking light 20R is arranged on the left side of the right headlight unit 12R.

Further, on the upper side of the headlight unit 12R on the right side and the headlight unit 12L on the left side, a front end portion of the hood 50a for opening and closing the engine room of the automobile 1 is arranged. Further, the lower portion of the marking light 20L on the left side and the marking light 20R on the right side is covered from the front side by the bumper cover 50b constituting the front end portion of the automobile 1. The right headlight unit 12R and the left headlight unit 12L are symmetrically configured in the vehicle width direction.

The left headlight unit 12L includes a left headlight 14L constituting an outer portion of the left headlight unit 12L in the vehicle width direction.
The right headlight unit 12R includes a right headlight 14R that constitutes an outer portion of the right headlight unit 12R in the vehicle width direction.

The left headlight 14L and the right headlight 14R have a light source (not shown), and the light source illuminates the front of the automobile 1. The light source is configured as a light source for a high beam. Alternatively, the light source may be configured as a light source for a low beam and a light source for a high beam. That is, the left headlight 14L and the right headlight 14R mainly include a low beam that irradiates the road surface region (low beam light distribution area) in front of the automobile 1 and a region (high beam) above the region irradiated by the low beam. It is configured to be switchable to either a high beam that illuminates the light distribution area). As a light source for the left headlight 14L and the right headlight 14R, an LED (light emitting diode), a halogen lamp, a discharge lamp, a laser, or the like is used.

[Rough functional configuration of automobile lighting system]
FIG. 3 is a block diagram showing a schematic functional configuration of the lighting system 100 provided in the automobile 1 according to the first embodiment.
The lighting system 100 includes a headlight unit 10, a lighting control device 30, and a front vehicle outside detection unit 21. Further, the headlight unit 10 and the lighting control device 30 constitute a vehicle lighting tool.
Here, in the present embodiment, similarly to the general concept of "front and back", the direction in which the driver of the automobile 1 faces in the normal time and the direction in which the automobile 1 travels (runs) in the normal time is "front (forward)". , And the opposite direction is "back (rear)".

The headlight unit 10 is a so-called headlamp, and irradiates light in front of the automobile 1.
The marking light 20L on the left side mainly illuminates the left side in front of the automobile 1. The marking light 20L on the left side has an LED lighting circuit and a matrix LED. The LED lighting circuit selectively lights each LED by supplying a drive signal to a plurality of LEDs included in the matrix LED based on the light distribution control signal output by the lighting control device 30.
The matrix LED includes a plurality of LEDs arranged in a matrix. In the matrix LED, a plurality of LEDs are selectively lit based on a drive signal supplied from the LED lighting circuit. The matrix LED can light each of the plurality of LEDs independently. Further, the matrix LED can independently control the irradiation intensity (brightness) of each of the plurality of LEDs.

The marking light 20R on the right side mainly illuminates the right side in front of the automobile 1. The marking light 20R on the right side has an LED lighting circuit and a matrix LED. The LED lighting circuit selectively lights each LED by supplying a drive signal to a plurality of LEDs included in the matrix LED based on the light distribution control signal output by the lighting control device 30.
The matrix LED includes a plurality of LEDs arranged in a matrix. In the matrix LED, a plurality of LEDs are selectively lit based on a drive signal supplied from the LED lighting circuit. The matrix LED can light each of the plurality of LEDs independently. Further, the matrix LED can independently control the irradiation intensity (brightness) of each of the plurality of LEDs.
Hereinafter, any marking light among the marking light 20L on the left side and the marking light 20R on the right side will be referred to as a marking light 20.

The front vehicle outside detection unit 21 detects information about the outside of the front of the vehicle 1. In the present embodiment, the automobile 1 includes a front vehicle outside detection unit 21, but as another configuration example, a rear vehicle exterior detection unit may be provided.
Further, as another configuration example, the automobile 1 may include an out-of-vehicle detection unit (also referred to as a "side out-of-vehicle detection unit" in the present embodiment) for detecting information regarding the outside of the side of the automobile 1. As the side vehicle outside detection unit, for example, a side vehicle outside detection unit on the right side with respect to the traveling direction of the vehicle 1 and a side vehicle exterior detection unit on the left side with respect to the traveling direction of the vehicle 1 may be used.

The front vehicle outside detection unit 21 detects arbitrary information regarding the front vehicle outside. The front vehicle outside detection unit 21 may include, for example, one or more of a laser radar (LiDAR: Light Detection and Ranking), a radar, sonar, a camera (imaging device) 40, and the like. In the first embodiment, the case where the camera 40 is provided will be continued.
The camera 40 and the like may have, for example, a function of detecting visible light, a function of detecting infrared light, or both of them. In the present embodiment, the case where the camera 40 has a function of detecting visible light will be continued. The camera 40 is installed at a predetermined position of the automobile 1 (for example, near an indoor mirror), and photographs the space in front of the own vehicle.

The lighting control device 30 includes a storage unit 32, a detection unit 33, a lighting condition acquisition unit 34, and a light distribution control unit 35. Although the detection unit 33 is included in the lighting control device 30 in the present embodiment, it may be provided in the front vehicle outside detection unit 21.
The storage unit 32 stores information. Here, the storage unit 32 may store arbitrary information. As an example, the storage unit 32 may store information such as a control program or control parameters executed by the lighting control device 30. In this case, the lighting control device 30 includes, for example, a processor such as a CPU (Central Processing Unit), and the processor uses the control parameters stored in the storage unit 32 to store the control program in the storage unit 32. By executing, various processes are executed.

The detection unit 33 detects a person based on an image in front of the automobile 1 periodically taken by the camera 40.
The detection unit 33 stores information in which information indicating a sensor such as a camera 40 and information indicating a feature point determined to be a person by the sensor are associated with each other.
The detection unit 33 performs image recognition processing on the image according to the human determination algorithm, and determines whether or not the image contains feature points that can be determined to be human. The human determination algorithm is an algorithm that determines whether or not an image contains a person, and determines whether or not the image contains feature points that can be determined to be human.
Due to the difference in the human judgment algorithm, the feature points that can be judged as a human may be different. That is, when there are a plurality of human judgment algorithms, each of the plurality of human judgment algorithms may have different characteristic points that can be determined to be a human. Specifically, the characteristic points that can be determined to be a human are often the parts of the human body such as the head, shoulders, arms, torso, and feet. Hereinafter, as an example, the case where the characteristic points that can be determined to be a human are the head, shoulders, arms, torso, and feet will be described.
When the image contains a feature point that can be determined to be a person, the detection unit 33 determines that a person has been detected in front of the automobile 1. Further, when the image does not include a feature point that can be determined to be a person, the detection unit 33 determines that no person is detected in front of the automobile 1.
The detection unit 33 acquires information indicating a sensor that outputs information representing an image determined to include a feature point that can be determined to be a person when it is determined that a person is detected in front of the automobile 1. Here, the information representing the image is the image information output by the camera 40. The detection unit 33 acquires information indicating a feature point related to the acquired information indicating the sensor from information in which the information indicating the sensor and the information indicating the feature point determined to be a person by the sensor are associated with each other. ..
The detection unit 33 outputs the detection result of the person including the information indicating the acquired feature point to the lighting condition acquisition unit 34.

The lighting condition acquisition unit 34 is among the marking light 20L on the left side and the marking light 20R on the right side, based on the information representing the feature points that can be determined to be a person included in the detection result of the person output by the detection unit 33. Obtain the irradiation range and irradiation conditions of either one or both. Here, the lighting condition acquisition unit 34 divides the front of the automobile 1 into predetermined regions and acquires the irradiation conditions for each region. The area includes an area (hereinafter referred to as "human discrimination area") in which the human body is used to determine whether or not a person has been detected. In the present embodiment, the human discrimination region is defined as a head (including region), a shoulder (including region), an arm (including), a torso (including), and a foot (including). The explanation of either case will be continued.
Irradiation conditions include lighting conditions, blinking conditions, extinguishing conditions, dimming conditions, highlighted lighting conditions, and the like. Here, the lighting condition is to illuminate the marking light 20 by turning it on, and the blinking condition is to illuminate the marking light 20 by periodically turning it on and off, and turning it off. The condition is to turn off the marking light 20. Further, the dimming condition is to illuminate the marking light 20 by reducing the intensity of the light or dimming the light while the marking light 20 is lit, and the highlighting condition is to turn on the marking light 20. In the lit state, it is illuminated by increasing the intensity of light or brightening the light.
Specifically, the lighting condition acquisition unit 34 acquires feature points that can be determined to be a person included in the detection result of a person as a person discrimination area. The lighting condition acquisition unit 34 determines whether or not the person discrimination area is the head.
When the person discrimination area is the head, the lighting condition acquisition unit 34 sets the person discrimination area to a range (dimming range) in which the marking light 20 is dimmed and irradiated. The lighting condition acquisition unit 34 sets an area including a human portion other than the human identification area to a range (blinking range) in which the marking light 20 is blinked and irradiated. The lighting condition acquisition unit 34 sets an area that does not include a human part to a range (extinguishing range) in which the marking light 20 is turned off. The lighting condition acquisition unit 34 sets the marking light 20 that illuminates the dimming range and the blinking range among the marking light 20L on the left side and the marking light 20R on the right side.

Further, when the person discrimination area is not the head, the lighting condition acquisition unit 34 sets the person discrimination area to a range (enhanced range) in which the marking light 20 is highlighted and illuminated, and the head is marked. The light 20 is set to the range for turning off the light (lighting range), and the area including the person identification area and the part of the person other than the head is set to the range for blinking the marking light 20 (blinking range). The lighting condition acquisition unit 34 sets an area that does not include a human part to a range (extinguishing range) in which the marking light 20 is turned off. The lighting condition acquisition unit 34 sets a marking light 20 that illuminates an emphasis range or a blinking range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side to the light distribution control unit 35. do.
The light distribution control unit 35 is based on the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side output by the lighting condition acquisition unit 34. Then, a light distribution control signal corresponding to the irradiation range is generated, and the generated light distribution control signal is output to one or both of the marking light 20L on the left side and the marking light 20R on the right side.

[Example of lighting for people]
FIG. 4 is a diagram (No. 1) showing an example of lighting by the lighting system 100 provided in the automobile 1 according to the first embodiment.
FIG. 4 shows an example in which the head is a feature point that can be determined to be a person, and it is determined that the image in front of the automobile 1 includes a feature point that can be determined to be a person. In FIG. 4, the region for setting the irradiation condition is represented by R11-R71, R12-R72, R13-R73, and R14-R74.
The detection unit 33 determines that the image in front of the automobile 1 contains feature points that can be determined to be a person, and outputs information indicating the feature points that can be determined to be a person to the lighting condition acquisition unit 34.
The lighting condition acquisition unit 34 acquires feature points that can be determined to be a person included in the detection result of a person as a person discrimination area. Since the person discrimination area is the head, the lighting condition acquisition unit 34 sets the person discrimination area (R24) to the dimming range, and sets the area including the human part other than the person discrimination area (R34, R44, R54). , R64) is set in the blinking range. The lighting condition acquisition unit 34 sets an area (R11-R71, R12-R72, R13-R73, R14, R74) that does not include a human part as a light-off range. The lighting condition acquisition unit 34 sets the marking light 20 that illuminates the dimming range and the blinking range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the lighting condition including the irradiation range of either one or both of the marking light 20L on the left side and the marking light 20R on the right side and the setting result of the irradiation condition to the light distribution control unit 35. do.
The light distribution control unit 35 is based on the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side output by the lighting condition acquisition unit 34. Then, a light distribution control signal corresponding to the irradiation range and irradiation conditions is generated, and the generated light distribution control signal is output to either or both of the marking light 20L on the left side and the marking light 20R on the right side. As a result, as shown in FIG. 4, the marking light 20R on the right side dims the illumination to the head and blinks the illumination to the area including the human part other than the head.

FIG. 5 is a diagram (No. 2) showing an example of lighting by the lighting system 100 provided in the automobile 1 according to the first embodiment.
FIG. 5 shows an example in which the characteristic point that can be determined to be a human is the shoulder portion, and it is determined that the image in front of the automobile 1 includes the characteristic point that can be determined to be a human. In FIG. 5, the region for setting the irradiation condition is represented by R11-R71, R12-R72, R13-R73, and R14-R74.
The detection unit 33 determines that the image in front of the automobile 1 contains feature points that can be determined to be a person, and outputs information indicating the feature points that can be determined to be a person to the lighting condition acquisition unit 34.
The lighting condition acquisition unit 34 acquires feature points that can be determined to be a person included in the detection result of a person as a person discrimination area. Since the person discrimination area is the shoulder portion, the lighting condition acquisition unit 34 sets the person discrimination area (R34) as the emphasis range, sets the head (R24) as the extinguishing range, and sets the person discrimination area and other than the head. The area (R44-R64) including the human part is set as the blinking range. The lighting condition acquisition unit 34 sets an area (R11-R71, R12-R72, R13-R73, R14, R74) that does not include a human part as a light-off range. The lighting condition acquisition unit 34 sets a marking light 20 that illuminates an emphasis range or a blinking range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side to the light distribution control unit 35. do.
The light distribution control unit 35 is based on the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side output by the lighting condition acquisition unit 34. Then, a light distribution control signal corresponding to the irradiation range and irradiation conditions is generated, and the generated light distribution control signal is output to either or both of the marking light 20L on the left side and the marking light 20R on the right side. As a result, as shown in FIG. 5, the marking light 20R on the right side emphasizes the illumination on the shoulder, turns off the illumination on the head, and goes to the area including the shoulder and the part of the person other than the head. Blink the lights.

FIG. 6 is a diagram (No. 3) showing an example of lighting by the lighting system 100 provided in the automobile 1 according to the first embodiment.
FIG. 6 shows an example in which the feature point that can be determined to be a person is the foot, and it is determined that the image in front of the automobile 1 includes the feature point that can be determined to be a person. In FIG. 6, the region for setting the irradiation condition is represented by R11-R71, R12-R72, R13-R73, and R14-R74.
The detection unit 33 determines that the image in front of the automobile 1 contains feature points that can be determined to be a person, and outputs information indicating the feature points that can be determined to be a person to the lighting condition acquisition unit 34.
The lighting condition acquisition unit 34 acquires feature points that can be determined to be a person included in the detection result of a person as a person discrimination area. Since the person discrimination area is the foot, the lighting condition acquisition unit 34 sets the person discrimination area (R54, R64) as the emphasis range, sets the head (R24) as the extinguishing range, and sets the person discrimination area and the head. The area (R34, R44) including the part of the person other than the part is set as the blinking range.
The lighting condition acquisition unit 34 sets an area (R11-R71, R12-R72, R13-R73, R14, R74) that does not include a human part as a light-off range. The lighting condition acquisition unit 34 sets a marking light 20 that illuminates an emphasis range or a blinking range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side to the light distribution control unit 35. do.
The light distribution control unit 35 is based on the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side output by the lighting condition acquisition unit 34. Then, a light distribution control signal corresponding to the irradiation range and irradiation conditions is generated, and the generated light distribution control signal is output to either or both of the marking light 20L on the left side and the marking light 20R on the right side. As a result, as shown in FIG. 6, the marking light 20R on the right side emphasizes the illumination to the foot, turns off the illumination to the head, and goes to the area including the foot and the part of the person other than the head. Blink the lights.

FIG. 7 is a diagram (No. 4) showing an example of lighting by the lighting system 100 provided in the automobile 1 according to the first embodiment.
FIG. 7 shows an example in which the feature point that can be determined to be a human is the body portion, and it is determined that the image in front of the automobile 1 includes the feature point that can be determined to be a human. In FIG. 7, the region for setting the irradiation condition is represented by R11-R71, R12-R72, R13-R73, and R14-R74.
The detection unit 33 determines that the image in front of the automobile 1 contains feature points that can be determined to be a person, and outputs information indicating the feature points that can be determined to be a person to the lighting condition acquisition unit 34.
The lighting condition acquisition unit 34 acquires feature points that can be determined to be a person included in the detection result of a person as a person discrimination area. Since the person discrimination area is the body part of the lighting condition acquisition unit 34, the person discrimination area (R44) is set as the emphasis range, the head (R24) is set as the extinguishing range, and the body part and other than the head part are set. The area including the human part (R34, R54, R64) is set as the blinking range.
The lighting condition acquisition unit 34 sets an area (R11-R71, R12-R72, R13-R73, R14, R74) that does not include a human part as a light-off range. The lighting condition acquisition unit 34 sets a marking light 20 that illuminates an emphasis range or a blinking range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side to the light distribution control unit 35. do.
The light distribution control unit 35 is based on the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side output by the lighting condition acquisition unit 34. Then, a light distribution control signal corresponding to the irradiation range and irradiation conditions is generated, and the generated light distribution control signal is output to either or both of the marking light 20L on the left side and the marking light 20R on the right side. As a result, as shown in FIG. 7, the marking light 20R on the right side emphasizes the illumination to the body part, turns off the illumination to the head part, and goes to the area including the body part and the part of the person other than the head part. Blink the lights.

[Example of lighting processing procedure]
FIG. 8 is a flowchart showing an example of the operation of the lighting control device 30 provided in the automobile 1 according to the first embodiment.
(Step S11)
The detection unit 33 detects a person. The detection unit 33 outputs the detection result of a person to the lighting condition acquisition unit 34.
(Step S12)
The lighting condition acquisition unit 34 acquires information indicating a feature point that can be determined to be a person included in the detection result of the person output by the detection unit 33 as the person discrimination area.
(Step S13)
The lighting condition acquisition unit 34 determines whether or not the person discrimination region is the head.
(Step S14)
When the lighting condition acquisition unit 34 determines that the person discrimination area is not the head, the lighting condition acquisition unit 34 sets the person discrimination area as the emphasis range.
(Step S15)
The lighting condition acquisition unit 34 sets the head to the extinguishing range.
(Step S16)
The lighting condition acquisition unit 34 sets the blinking range to the area including the person discrimination area and the part of the person other than the head.

(Step S17)
When the lighting condition acquisition unit 34 determines that the person discrimination area is the head, the lighting condition acquisition unit 34 sets the person discrimination area to the dimming range.
(Step S18)
The lighting condition acquisition unit 34 sets an area including a human part other than the human identification area as a blinking range.
(Step S19)
The lighting condition acquisition unit 34 sets the marking light 20 that illuminates the highlighting range, the blinking range, and the dimming range among the marking light 20L on the left side and the marking light 20R on the right side.
The lighting condition acquisition unit 34 outputs the setting result of the lighting condition including the irradiation range and the irradiation condition of either one or both of the marking light 20L on the left side and the marking light 20R on the right side to the light distribution control unit 35. do.
The light distribution control unit 35 generates a light distribution control signal according to the irradiation range and the irradiation condition based on the setting result of the lighting condition including the irradiation range and the irradiation condition, and generates the generated light distribution control signal. Output to either one or both of the marking light 20L on the left side and the marking light 20R on the right side.
(Step S20)
Either or both of the marking light 20L on the left side and the marking light 20R on the right side supply drive signals to a plurality of LEDs included in the matrix LED based on the light distribution control signal output by the lighting control device 30. , Each LED is selectively turned on. In the matrix LED, a plurality of LEDs are selectively lit based on a drive signal supplied from the LED lighting circuit.

In the first embodiment described above, the case where the characteristic points that can be determined to be a human are the parts of the human body such as the head, shoulders, arms, torso, and feet has been described. Not limited to. For example, facial parts such as eyes, nose, and mouth may be features that can be determined to be human.
In the first embodiment described above, the case where the automobile 1 includes the marking light 20L on the left side and the marking light 20R on the right side has been described, but the present invention is not limited to this. For example, one of the marking light 20L on the left side and the marking light 20R on the right side may be provided in the automobile 1 to irradiate the front of the automobile 1 with light.
In the first embodiment described above, the case where the marking light 20 has an LED lighting circuit and a matrix LED has been described, but the present invention is not limited to this example. For example, as the marking light 20, any illuminating light may be used. For example, the lamp of the traveling beam as an illumination lamp may be, for example, a MEMS (Micro Electrical Mechanical Systems) laser scanning headlamp, a DMD (Digital Millor Device) headlamp, a matrix ADB headlamp capable of controlling columns and rows, or a column. One or more of ADB headlamps and the like capable of controlling only may be used. Here, the MEMS laser scanning headlamp is, for example, an example of a headlamp for a vehicle capable of variably changing the light distribution, and is an example of a seamless ADB lamp.
In the first embodiment described above, when the camera 40 detects a person, the case where the optimum irradiation condition is selected according to the person identification area used for determining whether or not the person is detected will be described. However, it is not limited to this example. For example, when a sensor such as a laser radar, radar, or sonar detects a person, the optimum irradiation condition is selected according to the person identification area used to determine whether or not the person is detected. May be good.
In the first embodiment described above, the case where the irradiation condition includes a lighting condition, a blinking condition, a lighting condition, a dimming condition, a highlighted lighting condition, and the like has been described, but the present invention is not limited to this example. .. For example, the irradiation conditions may include dimming blinking, emphasized blinking, and the like. Here, the condition for dimming and blinking is that the marking light 20 is turned on, the intensity of the light is reduced, the light is dimmed, and the light is turned on and off periodically. The condition for highlighting and blinking is that the marking light 20 is turned on, the intensity of the light is increased, the light is brightened, and the light is turned on and off periodically.
In the first embodiment described above, the case where the highlighting condition is to illuminate the marking light 20 by increasing the intensity of the light or brightening the light while the marking light 20 is lit has been described. Not limited to examples. For example, when the range other than the emphasized range is off or blinking, the enhanced range can be detected by the camera 40 even when the marking light 20 is turned on, so that the intensity of the light is increased or the light is brightened. It doesn't have to be.
In the first embodiment described above, the case where the dimming condition is to illuminate the marking light 20 by reducing the intensity of the light or dimming the light while the marking light 20 is lit has been described. Not limited to examples. For example, if the marking light 20 is lit and the light is dimmed from the human discrimination area, it is not necessary to reduce the light intensity or dimming the light.
In the first embodiment described above, the lighting control device 30 acquires the lighting conditions of a person based on the information indicating the person identification area which is the area of the predetermined part of the person detected by the front vehicle outside detection unit 21. The case has been described, but it is not limited to this example. For example, the lighting control device 30 is based on information indicating a person identification area, which is an area of a predetermined part of a person detected by either or both of the rear vehicle outside detection unit and the side vehicle outside detection unit. The lighting conditions of may be acquired.

According to the lighting control device 30 according to the present embodiment, the automobile 1 is provided with a sensor for detecting a person. When the sensor detects a person, the lighting control device 30 selects and selects the optimum irradiation range and irradiation condition according to the person discrimination area used for determining whether or not the person is detected. The lighting state of the marking light 20 is controlled according to the irradiation range and the irradiation conditions. With such a configuration, it is possible to encourage the driver to detect a person in front of the automobile 1 at an early stage while reducing the false detection of a person by the sensor.

<Configuration example>
As a configuration example, it is a lighting control device (lighting control device 30 in this embodiment) that controls a light illumination state by a vehicle lighting (headlight unit 10 in this embodiment), and is a predetermined person. Lighting that acquires lighting conditions for a person based on information indicating a detection unit (in this embodiment, the detection unit 33) that detects a person by detecting a part and a person identification area that is an area of a predetermined part. A lighting control device including a condition acquisition unit (in this embodiment, a lighting condition acquisition unit 34).

As a configuration example, when the person discrimination region is the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition of the head.
As a configuration example, the lighting condition acquisition unit acquires a dimming condition.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a part of a person other than the head.
As a configuration example, when the human discrimination region is a portion different from the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition for the head.
As a configuration example, the lighting condition acquisition unit acquires a condition for turning off the light as a lighting condition for the head and a condition for emphasizing as a lighting condition for the human discrimination area.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a person discrimination area and other parts of a person other than the head.
As an example of the configuration, the vehicle extinguishing is a headlight.

[Second Embodiment]
FIG. 1 can be applied to the schematic configuration of the automobile 1a according to the second embodiment. However, the automobile 1a according to the second embodiment is provided with the front outside detection unit 21a instead of the front outside detection unit 21 as compared with the automobile 1 according to the first embodiment, and instead of the lighting control device 30. The difference is that the lighting control device 30a is provided.
FIG. 2 can be applied to the front side portion of the automobile 1a to which the lighting device according to the second embodiment is applied.

[Rough functional configuration of automobile lighting system]
FIG. 9 is a block diagram showing a schematic functional configuration of the lighting system 100a provided in the automobile 1a according to the second embodiment.
The lighting system 100a includes a headlight unit 10, a lighting control device 30a, and a front vehicle exterior detection unit 21a. Further, the headlight unit 10 and the lighting control device 30a constitute a vehicle lighting tool.
Here, in the present embodiment, similarly to the general concept of "front and back", the direction in which the driver of the automobile 1a faces in the normal time and the direction in which the automobile 1a travels (runs) in the normal time is "front (forward)". , And the opposite direction is "back (rear)".
The front vehicle outside detection unit 21a detects information about the outside of the front of the vehicle 1a. In the present embodiment, the automobile 1a includes a front vehicle outside detection unit 21a, but as another configuration example, a rear vehicle exterior detection unit may be provided.
Further, as another configuration example, the automobile 1a may include an out-of-vehicle detection unit (also referred to as a "side out-of-vehicle detection unit" in the present embodiment) for detecting information regarding the outside of the side of the automobile 1a. As the side vehicle exterior detection unit, for example, a side vehicle exterior detection unit on the right side with respect to the traveling direction of the automobile 1a and a side vehicle exterior detection unit on the left side with respect to the traveling direction of the automobile 1a may be used.

The front vehicle outside detection unit 21a detects arbitrary information regarding the front vehicle outside. The front vehicle exterior detection unit 21a may include, for example, two or more of a laser radar 42, a radar, sonar, a camera (imaging device) 40, and the like. In the second embodiment, the case where the camera 40 and the laser radar 42 are provided will be described.
The camera 40 may have, for example, a function of detecting visible light, a function of detecting infrared light, or both of them. In the present embodiment, the case where the camera 40 has a function of detecting visible light will be continued. The camera 40 is installed at a predetermined position of the automobile 1a (for example, near an indoor mirror), and photographs the space in front of the own vehicle. The camera 40 outputs the image information obtained by photographing the space in front of the own vehicle to the detection unit 33a.
The laser radar 42 irradiates the front of the automobile 1a with a laser or millimeter wave, irradiates the irradiated laser or millimeter wave in a two-dimensional manner, and receives the laser or millimeter wave reflected in front of the automobile 1a. The laser radar 42 outputs the received laser or millimeter wave to the detection unit 33a.

The lighting control device 30a includes a storage unit 32a, a detection unit 33a, a lighting condition acquisition unit 34, and a light distribution control unit 35. In this embodiment, the detection unit 33a is included in the lighting control device 30a, but may be provided in the front vehicle outside detection unit 21a.
The storage unit 32a stores information. Here, the storage unit 32a may store arbitrary information. As an example, the storage unit 32a may store information such as a control program or control parameters executed by the lighting control device 30a. In this case, the lighting control device 30a includes, for example, a processor such as a CPU, and the processor executes a control program stored in the storage unit 32a by using the control parameters stored in the storage unit 32a. Perform various processes.

The detection unit 33a acquires an image in front of the automobile 1a that is periodically taken by the camera 40. Further, the detection unit 33a measures the three-dimensional position (for example, the direction and distance of each point) of each point in front of the automobile 1a based on the laser or millimeter wave output by the laser radar 42, and the three-dimensional position of each point. Generate an image showing the position.
The detection unit 33a stores information in which information indicating a sensor such as a camera 40 or a laser radar 42 is associated with information indicating a feature point determined to be a person by the sensor.
The detection unit 33a performs image recognition processing on the image output by the camera 40 and the image generated based on the laser or millimeter wave output by the laser radar 42 according to the human determination algorithm, and the image is subjected to image recognition processing by a person. It is determined whether or not a feature point that can be determined to exist is included. The human determination algorithm is an algorithm that determines whether or not an image contains a person, and determines whether or not the image contains feature points that can be determined to be human.
Due to the difference in the human judgment algorithm, the feature points that can be judged as a human may be different. That is, when there are a plurality of human judgment algorithms, each of the plurality of human judgment algorithms may have different characteristic points that can be determined to be a human. Specifically, the characteristic points that can be determined to be a human are often the parts of the human body such as the head, shoulders, arms, torso, and feet. Hereinafter, as an example, the case where the characteristic points that can be determined to be a human are the head, shoulders, arms, torso, and feet will be described.

When the image contains a feature point that can be determined to be a person, the detection unit 33a determines that a person has been detected in front of the automobile 1a. Further, when the image does not include a feature point that can be determined to be a person, the detection unit 33a determines that no person is detected in front of the automobile 1a.
The detection unit 33a acquires information indicating a sensor that outputs information representing an image that is first determined to include a feature point that can be determined to be a human among the camera 40 and the laser radar 42 as a human discrimination region. do. Here, the information representing the image is the image information output by the camera 40, the laser or the millimeter wave output by the laser radar 42.
The detection unit 33a acquires information indicating a feature point related to the acquired information indicating the sensor from information in which the information indicating the sensor and the information indicating the feature point determined to be a person by the sensor are associated with each other. .. That is, when the detection unit 33a first determines that the image output by the camera 40 includes feature points that can be determined to be human among the camera 40 and the laser radar 42, the detection unit 33a uses the camera 40 as a human identification area. The information indicating the feature point stored in association with the information indicating the camera 40 is acquired.
Further, when the detection unit 33a first determines that the image output by the laser radar 42 includes a feature point that can be determined to be a person among the camera 40 and the laser radar 42, the detection unit 33a serves as a person discrimination area. , Acquires information indicating a feature point stored in association with the information indicating the laser radar 42.
The detection unit 33 outputs the detection result of the person including the information indicating the acquired feature point to the lighting condition acquisition unit 34.

[Example of lighting for people]
As an example of lighting by the lighting system 100a provided in the automobile 1a according to the second embodiment, the above-mentioned FIGS. 4 to 7 can be applied.
[Example of lighting processing procedure]
FIG. 10 is a flowchart showing an example of the operation of the lighting control device 30a provided in the automobile 1a according to the second embodiment.

(Step S21)
The detection unit 33a performs image recognition processing on the image output by the camera 40 and the image generated based on the laser or millimeter wave output by the laser radar 42, and the feature point that the image can be determined to be a person. Detects a person by determining whether or not is included.
(Step S22)
The detection unit 33a acquires information indicating a sensor that outputs an image of the camera 40 and the laser radar 42, which is first determined to include a feature point that can be determined to be a person according to the order in which a person is detected. do.
(Step S23)
As a human discrimination region, the detection unit 33a associates the information indicating the feature points related to the acquired information indicating the sensor with the information indicating the sensor and the information indicating the feature points determined to be a person by the sensor. Get from the information.
(Step S24)
The lighting condition acquisition unit 34 determines whether or not the person discrimination region is the head.
As steps S25-S31, steps S14-S20 described with reference to FIG. 8 can be applied.

In the second embodiment described above, the case where the characteristic points that can be determined to be a human are the parts of the human body such as the head, shoulders, arms, torso, and feet has been described. Not limited to. For example, facial parts such as eyes, nose, and mouth may be features that can be determined to be human.
In the second embodiment described above, the case where the automobile 1a includes the marking light 20L on the left side and the marking light 20R on the right side has been described, but this is not the case. For example, one of the marking light 20L on the left side and the marking light 20R on the right side may be provided in the automobile 1a to irradiate the front of the automobile 1a with light.
In the second embodiment described above, the case where the marking light 20 has an LED lighting circuit and a matrix LED has been described, but the present invention is not limited to this example. For example, as the marking light 20, any illuminating light may be used. For example, the lamp of the traveling beam as an illumination lamp may be, for example, a MEMS laser scanning headlamp, a DMD headlamp, a matrix ADB headlamp capable of controlling columns and rows, or an ADB headlamp capable of controlling only columns. One or more of them may be used. Here, the MEMS laser scanning headlamp is, for example, an example of a headlamp for a vehicle capable of variably changing the light distribution, and is an example of a seamless ADB lamp.
In the second embodiment described above, the camera 40 and the laser radar 42 acquire information indicating a sensor that outputs information representing an image that is first determined to include a feature point that can be determined to be a human. The case has been described, but it is not limited to this example. In addition to the camera 40 and the laser radar 42, sensors such as radar and sonar are provided in the automobile 1a, and it is first determined that the feature points that can be determined to be humans are included among the plurality of sensors provided in the automobile 1a. Information indicating the sensor that outputs the information representing the image may be acquired, and the same processing may be performed.
In the second embodiment described above, the case where the irradiation condition includes a lighting condition, a blinking condition, a lighting condition, a dimming condition, a highlighted lighting condition, and the like has been described, but the present invention is not limited to this example. .. For example, the irradiation conditions may include conditions such as dimming blinking and highlighting blinking. Here, the condition for dimming and blinking is that the marking light 20 is turned on, the intensity of the light is reduced, the light is dimmed, and the light is turned on and off periodically. The condition for highlighting and blinking is that the marking light 20 is turned on, the intensity of the light is increased, the light is brightened, and the light is turned on and off periodically.
In the second embodiment described above, the case where the highlighting condition is to illuminate the marking light 20 by increasing the intensity of the light or brightening the light while the marking light 20 is lit has been described. Not limited to examples. For example, when the range other than the emphasized range is extinguished or blinking, the enhanced range can be detected by the camera 40 and the laser radar 42 even when the marking light 20 is turned on, so that the intensity of light can be increased. It is not necessary to brighten the light.
In the second embodiment described above, the case where the dimming condition is to illuminate the marking light 20 by reducing the intensity of the light or dimming the light while the marking light 20 is lit has been described. Not limited to examples. For example, if the marking light 20 is lit and the light is dimmed from the human discrimination area, it is not necessary to reduce the light intensity or dimming the light.
In the second embodiment described above, the lighting control device 30a acquires the lighting condition of the person based on the information indicating the person identification area which is the area of the predetermined part of the person detected by the front vehicle outside detection unit 21a. The case has been described, but it is not limited to this example. For example, the lighting control device 30a is based on the information indicating the person identification area which is the area of a predetermined part of the person detected by either or both of the rear vehicle outside detection unit and the side vehicle outside detection unit. The lighting conditions of may be acquired.

According to the lighting control device 30a according to the present embodiment, the automobile 1a is provided with a plurality of sensors for detecting a person. The lighting control device 30a acquires information indicating a sensor that outputs information representing an image that is first determined to include a feature point that can be determined to be a human among a plurality of sensors. The detection unit 33a acquires information indicating a feature point related to the acquired information indicating the sensor from the information indicating the sensor and the information indicating the feature point determined to be a person by the sensor. The lighting control device 30a selects the optimum irradiation condition according to the person identification area used for determining whether or not a person has been detected based on the acquired information indicating the feature point, and the selected irradiation condition. Therefore, the lighting state of the marking light 20 is controlled. With such a configuration, it is possible to encourage the driver to detect a person in front of the automobile 1a at an early stage while reducing the false detection of a person by the sensor.

<Configuration example>
As a configuration example, it is a lighting control device (lighting control device 30a in this embodiment) that controls a light illumination state by a vehicle lighting (headlight unit 10 in this embodiment), and is a predetermined person. Lighting that acquires lighting conditions for a person based on information indicating a detection unit (in this embodiment, the detection unit 33a) that detects a person by detecting a part and a person identification area that is an area of a predetermined part. A lighting control device including a condition acquisition unit (in this embodiment, a lighting condition acquisition unit 34).

As a configuration example, when the person discrimination region is the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition of the head.
As a configuration example, the lighting condition acquisition unit acquires a dimming condition.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a part of a person other than the head.
As a configuration example, when the human discrimination region is a portion different from the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition for the head.
As a configuration example, the lighting condition acquisition unit acquires a condition for turning off the light as a lighting condition for the head and a condition for emphasizing as a lighting condition for the human discrimination area.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a person discrimination area and other parts of a person other than the head.
As an example of the configuration, the detection unit detects a person based on the information acquired by each of the plurality of sensors, and the lighting condition acquisition unit detects the person in the earliest order when there are a plurality of sensors that have detected the person. Based on the information indicating the person discrimination area, which is the area of the predetermined part of the person detected by, the lighting condition of the person is acquired.
As an example of the configuration, the vehicle extinguishing is a headlight.

[Third Embodiment]
FIG. 1 can be applied to the schematic configuration of the automobile 1b according to the third embodiment. However, the automobile 1b according to the third embodiment is provided with the front outside detection unit 21b instead of the front outside detection unit 21 as compared with the automobile 1 according to the first embodiment, and instead of the lighting control device 30. The difference is that the lighting control device 30b is provided.
FIG. 2 can be applied to the front side portion of the automobile 1b to which the lighting device according to the third embodiment is applied.

[Rough functional configuration of automobile lighting system]
FIG. 11 is a block diagram showing a schematic functional configuration of the lighting system 100b provided in the automobile 1b according to the third embodiment.
The lighting system 100b includes a headlight unit 10, a lighting control device 30b, and a front vehicle exterior detection unit 21b. Further, the headlight unit 10 and the lighting control device 30b constitute a vehicle lighting tool.
Here, in the present embodiment, similarly to the general concept of "front and back", the direction in which the driver of the automobile 1b faces in the normal time and the direction in which the automobile 1b travels (runs) in the normal time is "front (forward)". , And the opposite direction is "back (rear)".
The front vehicle outside detection unit 21b detects information about the front outside of the vehicle 1b. In the present embodiment, the automobile 1b includes a front vehicle outside detection unit 21b, but as another configuration example, a rear vehicle exterior detection unit may be provided.
Further, as another configuration example, the automobile 1b may include an out-of-vehicle detection unit (also referred to as a "side out-of-vehicle detection unit" in the present embodiment) for detecting information regarding the outside of the side of the automobile 1b. As the side vehicle outside detection unit, for example, a side vehicle outside detection unit on the right side with respect to the traveling direction of the vehicle 1b and a side vehicle exterior detection unit on the left side with respect to the traveling direction of the vehicle 1b may be used.

The front vehicle outside detection unit 21b detects arbitrary information regarding the front vehicle outside. The front vehicle exterior detection unit 21b may include, for example, two or more of a laser radar 42, a radar, sonar, a camera (imaging device) 40, a camera 44, and the like. In the third embodiment, the case where the camera 40, the laser radar 42, and the camera 44 are provided will be described.
The camera 40 has, for example, a function of detecting infrared light. The camera 40 is installed at a predetermined position of the automobile 1b (for example, near an indoor mirror), and photographs the space in front of the own vehicle. The camera 40 outputs the image information obtained by photographing the space in front of the own vehicle to the detection unit 33b.
The laser radar 42 irradiates the front of the automobile 1b with a laser or millimeter wave, irradiates the irradiated laser or millimeter wave in a two-dimensional manner, and receives the laser or millimeter wave reflected in front of the automobile 1b. The laser radar 42 outputs the received laser or millimeter wave to the detection unit 33b.
The camera 44 has, for example, a function of detecting visible light. The camera 44 is installed at a predetermined position of the automobile 1b (for example, near an indoor mirror), and photographs the space in front of the own vehicle. The camera 44 outputs the image information obtained by photographing the space in front of the own vehicle to the lighting control device 30b.

The lighting control device 30b includes a storage unit 32b, a detection unit 33b, a lighting condition acquisition unit 34, and a light distribution control unit 35. In this embodiment, the detection unit 33b is included in the lighting control device 30b, but may be provided in the front vehicle outside detection unit 21b.
The storage unit 32b stores information. Here, the storage unit 32b may store arbitrary information. As an example, the storage unit 32b may store information such as a control program or control parameters executed by the lighting control device 30b. In this case, the lighting control device 30b includes, for example, a processor such as a CPU, and the processor executes a control program stored in the storage unit 32b by using the control parameters stored in the storage unit 32b. Perform various processes.

The detection unit 33b acquires an image in front of the automobile 1b which is periodically photographed by the camera 40. Further, the detection unit 33b measures the three-dimensional position (for example, the direction and distance of each point) of each point in front of the automobile 1b based on the laser or millimeter wave output by the laser radar 42, and the three-dimensional position of each point. Generate an image showing the position. Further, the detection unit 33b acquires an image in front of the automobile 1b which is periodically photographed by the camera 44.
The detection unit 33b stores information in which information indicating a sensor such as a camera 40, a laser radar 42, or a camera 44 is associated with information indicating a feature point determined to be a person by the sensor.
Further, the detection unit 33b has information indicating sensors such as the camera 40, the laser radar 42, and the camera 44, and information indicating feature points when at least two of these sensors determine that the person is a person at the same time. Stores information associated with the priority of the sensor used to obtain the.

The detection unit 33b performs image recognition processing on the image output by the camera 40, the image generated based on the laser or millimeter wave output by the laser radar 42, and the image output by the camera 44 according to the human determination algorithm. This is done to determine if the image contains feature points that can be determined to be human. The human determination algorithm is an algorithm that determines whether or not an image contains a person, and determines whether or not the image contains feature points that can be determined to be human.
Due to the difference in the human judgment algorithm, the feature points that can be judged as a human may be different. That is, when there are a plurality of human judgment algorithms, each of the plurality of human judgment algorithms may have different characteristic points that can be determined to be a human. Specifically, the characteristic points that can be determined to be a human are often the parts of the human body such as the head, shoulders, arms, torso, and feet. Hereinafter, as an example, the case where the characteristic points that can be determined to be a human are the head, shoulders, arms, torso, and feet will be described.
When the image contains a feature point that can be determined to be a person, the detection unit 33b determines that a person has been detected in front of the automobile 1b. Further, when the image does not include a feature point that can be determined to be a person, the detection unit 33b determines that no person is detected in front of the automobile 1b.

The detection unit 33b acquires information indicating a sensor that outputs information representing an image determined at the same time as including feature points that can be determined to be humans among the camera 40, the laser radar 42, and the camera 44. Here, the information representing the image is the image information output by the camera 40, the laser or millimeter wave output by the laser radar 42, or the image information output by the camera 44.
Each of the camera 40, the laser radar 42, and the camera 44 acquires image information, a laser or millimeter wave, and image information in a periodic cycle, and obtains the acquired image information and the laser or millimeter wave. , Image information is output to the detection unit 33b. Here, at the same time, the cycle in which the camera 40 outputs the image to the detection unit 33b, the cycle in which the laser radar 42 outputs the laser or millimeter wave to the detection unit 33b, and the cycle in which the camera 44 outputs the image to the detection unit 33b. The cycle is the same.
The detection unit 33b acquires the priority related to the acquired information indicating the sensor from the information associated with the information indicating the sensor and the priority of the sensor used for acquiring the information indicating the feature point. The detection unit 33b acquires information indicating the sensor having the highest priority based on the acquired priority. As a human discrimination region, the detection unit 33b associates the information indicating the feature points associated with the acquired information indicating the sensor with the information indicating the sensor and the information indicating the feature points determined to be a person by the sensor. Get from the information.
The detection unit 33 outputs the detection result of the person including the information indicating the acquired feature point to the lighting condition acquisition unit 34.

[Example of lighting for people]
As an example of lighting by the lighting system 100b provided in the automobile 1b according to the third embodiment, the above-mentioned FIGS. 4 to 7 can be applied.
[Example of lighting processing procedure]
FIG. 12 is a flowchart showing an example of the operation of the lighting control device 30b provided in the automobile 1b according to the third embodiment.
The lighting control device 30b performs image recognition processing on an image output by the camera 40, a laser or millimeter wave output by the laser radar 42, or an image generated based on the image output by the camera 44, and performs image recognition processing on the image. , A person is detected at the same time by determining whether or not a feature point that can be determined to be a person is included.
(Step S41)
The detection unit 33b performs image recognition processing on the image output by the camera 40, the laser or millimeter wave output by the laser radar 42, or the image generated based on the image output by the camera 44, and the image is subjected to image recognition processing. A person is detected by determining whether or not a feature point that can be determined to be a person is included.
(Step S42)
The detection unit 33b acquires information indicating a sensor that outputs an image determined to include a feature point that can be determined to be a human according to the priority of the camera 40, the laser radar 42, and the camera 44. ..

(Step S43)
The detection unit 33b acquires the priority corresponding to each of the acquired information indicating the sensor from the information associated with the information indicating the sensor and the priority of the sensor used for acquiring the information indicating the feature point. do. The detection unit 33b acquires information indicating the sensor having the highest priority based on the acquired priority. As a human discrimination region, the detection unit 33b associates the information indicating the feature points associated with the acquired information indicating the sensor with the information indicating the sensor and the information indicating the feature points determined to be a person by the sensor. Get from the information.
(Step S44)
The lighting condition acquisition unit 34 determines whether or not the person discrimination region is the head. The lighting condition acquisition unit 34 sets a feature point included in the detection result of a person that can be determined to be a person in the person discrimination area, and determines whether or not the set person discrimination area is the head.
As steps S45-S51, steps S14-S20 described with reference to FIG. 8 can be applied.

In the third embodiment described above, the case where the characteristic points that can be determined to be a human are the parts of the human body such as the head, shoulders, arms, torso, and feet has been described. Not limited to. For example, facial parts such as eyes, nose, and mouth may be features that can be determined to be human.
In the third embodiment described above, the case where the automobile 1b includes the marking light 20L on the left side and the marking light 20R on the right side has been described, but this is not the case. For example, one of the marking light 20L on the left side and the marking light 20R on the right side may be provided in the automobile 1a to irradiate the front of the automobile 1a with light.
In the third embodiment described above, the case where the marking light 20 has an LED lighting circuit and a matrix LED has been described, but the present invention is not limited to this example. For example, as the marking light 20, any illuminating light may be used. For example, the lamp of the traveling beam as an illumination lamp may be, for example, a MEMS laser scanning headlamp, a DMD headlamp, a matrix ADB headlamp capable of controlling columns and rows, or an ADB headlamp capable of controlling only columns. One or more of them may be used. Here, the MEMS laser scanning headlamp is, for example, an example of a headlamp for a vehicle capable of variably changing the light distribution, and is an example of a seamless ADB lamp.
In the third embodiment described above, information indicating a sensor that outputs information representing an image determined to include a feature point that can be determined to be a human is included in the camera 40, the laser radar 42, and the camera 44. , The case of acquiring based on the priority has been described, but the present invention is not limited to this example. In addition to the camera 40, the laser radar 42, and the camera 44, sensors such as a radar and sonar are provided in the automobile 1b, and among a plurality of sensors provided in the automobile 1a, a feature point that can be determined to be a person is included. Information indicating the sensor that outputs the information indicating the image determined to be determined may be acquired based on the priority, and the same processing may be performed.
Further, among the sensors such as the camera 40, the laser radar 42, the camera 44, the radar, and the sonar, two sensors are provided in the automobile 1b, and it is determined that the person is a person among the plurality of sensors provided in the automobile 1a. Information indicating a sensor that outputs information representing an image determined to include possible feature points may be acquired based on the priority, and the same processing may be performed.
In the third embodiment described above, the case where the irradiation condition includes a lighting condition, a blinking condition, a lighting condition, a dimming condition, a highlighted lighting condition, and the like has been described, but the present invention is not limited to this example. .. For example, the irradiation condition may include a condition of dimming blinking, a condition of highlighting blinking, and the like. Here, the condition for dimming and blinking is that the marking light 20 is turned on, the intensity of the light is reduced, the light is dimmed, and the light is turned on and off periodically. The condition for highlighting and blinking is that the marking light 20 is turned on, the intensity of the light is increased, the light is brightened, and the light is turned on and off periodically.
In the third embodiment described above, the case where the highlighting condition is to illuminate the marking light 20 by increasing the intensity of the light or brightening the light while the marking light 20 is lit has been described. Not limited to examples. For example, when the range other than the emphasized range is off or blinking, the enhanced range can be detected by the camera 40, the laser radar 42, and the camera 44 even when the marking light 20 is turned on, so that the light intensity is increased. It does not have to be made to brighten or brighten the light.
In the third embodiment described above, the case where the dimming condition is to illuminate the marking light 20 by reducing the intensity of the light or dimming the light while the marking light 20 is lit has been described. Not limited to examples. For example, if the marking light 20 is lit and the light is dimmed from the human discrimination area, it is not necessary to reduce the light intensity or dimming the light.
In the third embodiment described above, the lighting control device 30b acquires the lighting condition of the person based on the information indicating the person identification area which is the area of the predetermined part of the person detected by the front vehicle outside detection unit 21b. The case has been described, but it is not limited to this example. For example, the lighting control device 30b is a person based on information indicating a person identification area which is an area of a predetermined part of a person detected by either or both of the rear vehicle outside detection unit and the side vehicle outside detection unit. The lighting conditions of may be acquired.

According to the lighting control device 30b according to the present embodiment, the automobile 1b is provided with a plurality of sensors for detecting a person. The lighting control device 30b acquires information indicating the sensor that outputs information representing the determined image at the same time as including the feature points that can be determined to be human among the plurality of sensors. The lighting control device 30b acquires the priority related to the acquired information indicating the sensor from the information associated with the information indicating the sensor and the priority of the sensor used to acquire the information indicating the feature point. ..
The lighting control device 30b acquires information indicating the sensor having the highest priority based on the acquired priority. The lighting control device 30b acquires information indicating a feature point associated with the acquired information indicating the sensor from information indicating the sensor and information indicating the feature point determined to be a person by the sensor. do.
The lighting control device 30b is acquired by selecting the optimum irradiation conditions according to the person identification area used for determining whether or not a person is detected based on the acquired information indicating the feature points. The lighting state of the marking light 20 is controlled according to the acquired irradiation conditions. With such a configuration, it is possible to encourage the driver to detect a person in front of the automobile 1b at an early stage while reducing the false detection of a person by the sensor.

<Configuration example>
As a configuration example, it is a lighting control device (lighting control device 30b in this embodiment) that controls a light illumination state by a vehicle lighting (headlight unit 10 in this embodiment), and is a predetermined person. Lighting that acquires lighting conditions for a person based on information indicating a detection unit (in this embodiment, the detection unit 33b) that detects a person by detecting a part and a person identification area that is an area of a predetermined part. A lighting control device including a condition acquisition unit (in this embodiment, a lighting condition acquisition unit 34).

As a configuration example, when the person discrimination region is the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition of the head.
As a configuration example, the lighting condition acquisition unit acquires a dimming condition.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a part of a person other than the head.
As a configuration example, when the human discrimination region is a portion different from the head, the lighting condition acquisition unit acquires the lighting condition of a predetermined light as the lighting condition for the head.
As a configuration example, the lighting condition acquisition unit acquires a condition for turning off the light as a lighting condition for the head and a condition for emphasizing as a lighting condition for the human discrimination area.
As a configuration example, the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a person discrimination area and other parts of a person other than the head.
As an example of the configuration, the detection unit detects a person based on the information acquired by each of the plurality of sensors, and the lighting condition acquisition unit uses a sensor having a higher priority when there are a plurality of sensors that have detected a person. The lighting condition of the person discrimination area is acquired based on the information indicating the person discrimination area which is the area of the detected person's predetermined part.
As an example of the configuration, the vehicle extinguishing is a headlight.

A program for realizing the functions of the devices (for example, lighting control devices 30, 30a, 30b, etc.) according to the above-described embodiment is recorded on a computer-readable recording medium, and the program recorded on the recording medium. May be processed by loading the computer system into the computer system and executing the above.
The term "computer system" as used herein may include hardware such as an operating system (OS: Operating System) or peripheral devices.
The "computer-readable recording medium" includes a flexible disk, a photomagnetic disk, a ROM (Read Only Memory), a writable non-volatile memory such as a flash memory, and a portable medium such as a DVD (Digital Versaille Disc). A storage device such as a hard disk built into a computer system.

Further, the "computer-readable recording medium" is a volatile memory (for example, DRAM) inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. It also includes those that hold the program for a certain period of time, such as Dynamic Random Access Memory)).
Further, the above program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program means a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the above-mentioned functions. Further, the above program may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.
Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment and includes design changes and the like within a range not deviating from the gist of the present invention.

1, 1a, 1b ... Automobile, 10 ... Headlight section, 10L ... Left headlight section, 10R ... Right headlight section, 11L ... Left taillight section, 11R ... Right taillight section, 12L ... Left headlight section Unit, 12R ... right headlight unit, 13L ... left side mirror, 13R ... right side mirror, 14L ... left headlight, 14R ... right headlight, 15 ... front window, 16 ... rear window, 20L ... left side Marking light, 20R ... Right marking light, 21, 21a, 21b ... Front vehicle outside detection unit, 30, 30a, 30b ... Lighting control device, 32, 32a, 32b ... Storage unit, 33, 33a, 33b ... Detection unit, 34 ... Lighting condition acquisition unit, 35 ... Light distribution control unit, 40, 44 ... Camera, 42 ... Laser radar, 50a ... Hood, 50b ... Bumper cover, 100, 100a, 100b ... Lighting system

Claims (10)

It is a lighting control device that controls the lighting state of vehicle lighting.
A detection unit that detects a person by detecting a predetermined part of the person,
A lighting condition acquisition unit for acquiring the lighting condition of the person based on the information indicating the person identification area which is the area of the predetermined part is provided .
The detection unit detects the person based on the information acquired by each of the plurality of sensors.
When there are a plurality of sensors that have detected the person, the lighting condition acquisition unit is based on the information indicating the person identification area, which is the area of the predetermined part of the person, which is detected by the sensor having the earliest detection order. A lighting control device that acquires the lighting conditions of a person . The lighting control device according to claim 1, wherein the lighting condition acquisition unit acquires a predetermined light lighting condition as a lighting condition of the head when the person discrimination region is a head. The lighting control device according to claim 2, wherein the lighting condition acquisition unit acquires a dimming condition. The lighting control device according to claim 2 or 3, wherein the lighting condition acquisition unit acquires a blinking condition as a lighting condition for a part of the person other than the head. The lighting control according to claim 1, wherein the lighting condition acquisition unit acquires a predetermined light lighting condition as a lighting condition for the head when the person discrimination region is a portion different from the head. Device. The lighting control device according to claim 5, wherein the lighting condition acquisition unit acquires a condition for turning off the lights as a lighting condition for the head and a condition for emphasizing as a lighting condition for the person discrimination area. The lighting control device according to claim 5 or 6, wherein the lighting condition acquisition unit acquires a blinking condition as a lighting condition for the person's portion other than the person discrimination area and the head. The detection unit detects the person based on the information acquired by each of the plurality of sensors.
When there are a plurality of sensors that have detected the person, the lighting condition acquisition unit is based on the information indicating the person discrimination area, which is the area of the predetermined part of the person, detected by the sensor having a high priority. The lighting control device according to any one of claims 1 to 7, wherein the lighting conditions of the above are acquired. The lighting control device according to any one of claims 1 to 8 , wherein the vehicle lighting is a headlight . Vehicle headlights and
A vehicle lamp comprising the lighting control device according to any one of claims 1 to 9 .

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