JP7134887B2 - In-vehicle control device - Google Patents

Description

The present invention relates to a control device for controlling lights mounted on a vehicle.

2. Description of the Related Art Conventionally, there is a technique described in Patent Document 1 as a control device for controlling lights mounted on a vehicle. Patent Document 1 discloses lighting means capable of illuminating the surroundings of the vehicle. When the recognition unit determines that the object to be recognized is difficult to see as a result of image recognition, the lighting means illuminates the corresponding area. The device for recognizing the external world is described (see claim 9).

Patent application 2009-176276

However, in the appearance recognition device described in Patent Document 1, when detecting a parking frame by image recognition based on a plurality of images captured by a plurality of cameras, the end of the parking frame cannot be detected or the recognition target becomes difficult to see. However, since the area where lighting is required changes moment by moment during the parking process, lighting in all directions with sufficient illuminance can be used to turn on unnecessary lighting. There is a problem that it lights up and wastes the electric power of the vehicle.

In addition, it is necessary to ensure a brightness that allows the user to visually recognize the target parking space, and to be able to park in the target parking space without any problems.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an in-vehicle controller capable of appropriately recognizing a recognition target from a photographed image and reducing power consumption even in a dark environment around the vehicle.

A representative example of the invention disclosed in the present application is as follows. That is, an in-vehicle control device mounted on a vehicle, comprising a recognition unit that recognizes an object using images taken by a plurality of cameras, and a control unit that controls lights mounted on the vehicle, The recognition unit determines the illuminance around the vehicle using at least one of the illuminance information acquired by the sensor, the captured image, and an image synthesized from the captured images, and determines the illuminance. According to the result, lights that satisfy the predetermined illuminance and consume less power are selected in the order of small lights, fog lights, and headlights in the front of the vehicle, small lights, turn lights in the order of the side of the vehicle, and the rear of the vehicle. is controlled so that the small lights, back lamps, and brake lamps are selectively turned on in that order .

According to one aspect of the present invention, it is possible to illuminate the surroundings of the vehicle with appropriate illuminance while suppressing power consumption. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a block diagram showing the configuration of an appearance recognition device according to an embodiment of the present invention; FIG. It is a figure which shows the arrangement|positioning of the front lamp of the vehicle of the Example of this invention. It is a figure which shows the arrangement|positioning of the front lamp of the vehicle of the Example of this invention. It is a figure which shows the arrangement|positioning of the rear lamp of the vehicle of the Example of this invention. It is a flowchart which shows a parking assistance process in the Example of this invention. 6 is a flow chart showing processing of lighting control 1 of FIG. 5 in an embodiment of the present invention; FIG. 6 is a diagram showing a lamp lighting state in lighting control 1 of FIG. 5 in the embodiment of the present invention; FIG. 6 is a flow chart showing processing of lighting control 2 of FIG. 5 in an embodiment of the present invention; FIG. FIG. 6 is a flow chart showing processing of lighting control 2 of FIG. 5 in an embodiment of the present invention; FIG. FIG. 6 is a flow chart showing processing of lighting control 2 of FIG. 5 in an embodiment of the present invention; FIG. FIG. 6 is a diagram showing a front light lighting state in the lighting control 2 of FIG. 5 in the embodiment of the present invention; FIG. 6 is a diagram showing a lighting state of side lights in lighting control 2 of FIG. 5 in the embodiment of the present invention; 6 is a diagram showing a rear lamp lighting state in the illumination control 2 of FIG. 5 in the embodiment of the present invention; FIG.

The configuration and operation of the appearance recognition device according to the embodiment of the present invention will be described below with reference to the drawings. In addition, in each figure, the structure to which the same code|symbol was attached|subjected shows the same site|part.

The external world recognition device will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an external world recognition device 100 of this embodiment.

In this embodiment, the external world recognition device 100 is used to recognize the parking space when the vehicle is parked in the parking space by the parking assistance device. The external world recognition device 100 is mounted on a vehicle and has a computer. The computer executes a program, as shown in FIG. a recognition unit 111 for recognizing preset recognition targets by image processing based on the synthesized image synthesized by the synthesis conversion unit 106; vehicle state/external environment/internal environment Lights mounted on the vehicle (headlights 112, small lights 113, fog lights 114, turn lamps 115, brake lamps 116, back lamps 117, a lighting control unit 108 that controls the back fog lamp 211, corner lamp 212, maneuvering lamp 213, etc.); The functions of a display unit 107 that superimposes and displays information as necessary based on the results and information from the sensor 109 and the control unit 105 that performs control based on the recognition results and information from the sensor 109 are configured. be done.

The image input units 101 to 104 are configured by, for example, cameras, take images of the surroundings of the own vehicle, and output the taken images to the synthesizing conversion unit 106 . Synthesis conversion unit 106 performs conversion processing such as enlargement/reduction/rotation/mapping on each image input from image input units 101 to 104 in accordance with parameters input from parameter generation unit 110, thereby reducing a plurality of images. number of images, and the synthesized image created by these processes is sent to the recognition unit 111 .

The recognition unit 111 performs image processing on the synthesized image created by the synthesis conversion unit 106, and recognizes parking frames such as white lines, tiger ropes, and pallets of a pallet-type parking lot appearing in the synthesized image. Further, the recognition unit 111 requests the sensor 109 that observes the state of the vehicle, the external environment, and the internal environment to acquire sensor information according to the parking state. Then, the parameter generation unit 110 is instructed to set parameters according to the sensor information acquired from the sensor 109 . The parameters instructed to the parameter generation unit 110 are, for example, parameters for determining an image to be adopted in overlapping portions of images when combining a plurality of images. Furthermore, the recognition unit 111 determines a situation in which the recognition target such as the parking frame line is difficult to see, based on the result of image recognition. The controller 108 is instructed to turn on/off the lamps 112 to 117 and 211 to 213, and the irradiation range.

The display unit 107 receives the recognition result from the recognition unit 111 and the information from the sensor 109, and draws and displays an image on which the information is superimposed as necessary. Further, the display unit 107 has an input interface such as a touch panel and switches.

The control unit 105 controls steering, acceleration/deceleration, and braking based on the result of recognition by the recognition unit 111 and information from the sensor 109 to perform automatic parking.

FIG. 2 is a diagram showing an arrangement example of lights mounted in front of the vehicle. The vehicle 10 is equipped with a plurality of lights in front. For example, headlights 112, small lights 113, fog lights 114, turn lamps 115, corner lamps 212 and maneuvering lamps 213, which are mounted symmetrically.

FIG. 3 is a diagram showing an arrangement example of lights mounted on the side of the vehicle. A plurality of lights are mounted on the side of the vehicle 10 . For example, there are a small light 113, a turn lamp 115, a corner lamp 212 and a maneuvering lamp 213, and each light is mounted symmetrically (that is, not only on the left side shown in the drawing, but also on the right side not shown). there is

FIG. 4 is a diagram showing an arrangement example of lights mounted on the rear of the vehicle. A plurality of lights are mounted on the rear of the vehicle 10, such as a small light 113, a turn lamp 115, a brake lamp 116, a back lamp 117, and a back fog lamp 211, for example. Each light is mounted symmetrically.

In this embodiment, as will be described below, the lights arranged in the above-described positions are managed in six groups of left front, right front, left side, right side, left rear, and right rear. Control the turn-on of lights in the direction of travel and in the direction of recognized parking spaces.

FIG. 5 is a flowchart of a parking assistance method using the external world recognition device 100 described above.

When receiving a parking assistance request by the driver's switch operation, voice, line of sight, etc. (step S20), the recognition unit 111 requests the sensor 109 to check the illuminance around the vehicle (step S21). Then, the recognition unit 111 checks the illuminance around the vehicle and determines whether there is sufficient illuminance for image recognition (step S22). For example, it is possible to determine whether the illuminance around the vehicle is sufficient based on the comparison result between the illuminance around the vehicle 10 detected by the illuminance sensor 109 and a predetermined threshold value. The illuminance around the vehicle may be obtained separately for the front, left side, right side, and rear. The illuminance around the vehicle may be determined using the illuminance sensor 109, or may be determined based on the brightness of pixels in a predetermined range around the vehicle in the images captured by the image input units 101-104.

When the illuminance around the vehicle is sufficient, the recognition unit 111 detects parking space candidates by recognizing parking frames such as white lines without turning on the lights (step S24). On the other hand, when the illuminance around the vehicle is insufficient, the recognition unit 111 executes lighting control 1 to instruct the lighting control unit 108 to turn on the lights (step S23), and proceeds to step S25. The details of illumination control 1 will be described later with reference to FIG. 6. In order to perform image recognition with minimum power consumption, lights with low power consumption are turned on first to determine whether image recognition is possible.

Next, the detected parking space candidate is displayed on the display unit 107 and presented to the driver (step S25). In particular, immediately after starting the parking assist operation, the device side does not know the parking space in which the vehicle is desired to be parked. For this reason, it is preferable to look widely around the own vehicle, find more parking space candidates, and present them to the driver.

The driver selects a desired parking space from the parking space candidates displayed on the display unit 107 . The selection by the driver is input to the recognition unit 111 (step S26). The selection of the parking space may be made by inputting it on the touch panel of the display unit 107, by observing the line-of-sight direction of the driver or fellow passenger, or by recognizing the voice.

When the target parking space is selected, the control unit 105 controls the shift position, steering, accelerator, brake, etc. to control the direction and speed of the vehicle in order to guide the vehicle to the selected target parking space. (Step S27). During execution of vehicle control by the control unit 105, the recognition unit 111 detects the relative positional relationship between the position of the vehicle and the position of the target parking space using the result of image recognition (step S28). The illuminance of the target parking space is confirmed using information from the sensor 109 (step S29), and it is determined whether the illuminance is sufficient for image recognition and visual confirmation (step S30). For example, the illuminance of the target parking space may be determined using the illuminance sensor 109, or may be determined based on the brightness within the parking frame in the image synthesized by the synthesizing conversion unit 106. FIG. Specifically, if even a part of the luminance in the parking frame in the synthesized image is smaller than a predetermined threshold value, it may be determined that the illuminance is insufficient.

If the illuminance of the target parking space is sufficient, the recognition unit 111 continues vehicle control without further turning on the lights. On the other hand, when the illuminance of the target parking space is insufficient, the recognition unit 111 executes lighting control 2 to instruct the lighting control unit 108 to turn on the lights (step S31), and proceeds to step S32.

After that, the control unit 105 continues vehicle control and completes parking assistance when the vehicle is parked in the target parking space (step S32).

Through the process described above, the necessary lights can be turned on so that the area around the vehicle that needs to be recognized by the camera has an appropriate illuminance in the course of a series of parking assistance, suppressing unnecessary power consumption. Image recognition errors due to insufficient illuminance can be prevented.

Next, the lighting control 1 (step S23 in FIG. 5) will be described with reference to the flowchart in FIG.

First, since it is determined in step S22 that the illuminance for image recognition is insufficient, the recognition unit 111 determines whether the small light 113 is on (step S41). If the small light 113 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the small light 113 (step S43).

Next, while the small light 113 is on, the recognition unit 111 attempts to detect a parking space candidate in the image synthesized by the synthesis conversion unit 106 (step S43). illuminance is determined (step S44). For example, considering the state in which only the small light 113 is lit in FIG. In the range where there is no white line, the white line cannot be recognized. Therefore, if the brightness of even a part of the detection range of the parking space candidate in the synthesized image is smaller than a predetermined threshold value, it is preferable to determine that the illuminance is insufficient. Note that if a predetermined number (for example, one or more) of parking space candidates are detected in the composite image, image recognition is successful in at least a part of the area, so it may be determined that the illuminance is sufficient.

If the illuminance is sufficient, the lighting control 1 ends. On the other hand, if the illuminance is insufficient to detect the predetermined number of parking space candidates, it is determined whether the fog lights 114 are on (step S45). If the fog light 114 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the fog light 114 (step S46).

Next, the recognition unit 111 attempts to detect a parking space candidate in the image synthesized by the synthesis conversion unit 106 while the fog light 114 is on (step S47). illuminance is determined (step S48). For example, considering the state in which only the small light 113 and the fog light 114 are lit in FIG. In areas where the light does not reach, it is not possible to recognize marking lines such as white lines. In this state, even if the parking space 22 is vacant, it cannot be detected as a parking space candidate, and a plurality of parking space candidates cannot be presented to the driver.

If the illuminance is sufficient, the lighting control 1 ends. On the other hand, if the illuminance is insufficient to detect the predetermined number of parking space candidates, it is determined whether the headlights 112 are on (step S49). If the headlights 112 are not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the headlights 112 (step S50). Then, the recognition unit 111 attempts to detect a parking space candidate in the image synthesized by the synthesis conversion unit 106 while the fog light 114 is on (step S51). For example, considering the state in which the small light 113, the fog light 114, and the headlight 112 are turned on in FIG. ing.

As described above, in the lighting control 1, the recognition unit 111 and the lighting control unit 108 sequentially turn on the lights having different irradiation ranges and consuming less power according to the illuminance around the vehicle, so that the minimum amount of lights necessary for image recognition is turned on. Since the light illuminates the detection range of parking space candidates, it is possible to detect multiple parking space candidates while suppressing unnecessary power consumption.

Next, with reference to the flow charts of FIGS. 8, 9 and 10, lighting control 2 (step S31 of FIG. 5) will be described for vehicle control for backing up and parallel parking in the target parking space 31. FIG.

In FIG. 11, the vehicle moves from position 30A to position 30B, and control unit 105 starts vehicle control toward target parking space 31 selected by the driver (step S27). Then, the recognition unit 111 detects the relative positional relationship between the target parking space and the vehicle position (step S28). For example, at position 30A in FIG. 11, it is recognized that there is a target parking space to the left of the vehicle position. That is, the recognition unit 111 determines that the direction in which the vehicle is traveling is left front.

First, since it is determined that the illuminance of the target parking space (left front) detected in step S30 is insufficient for the sensor 109 to recognize the information image, the recognition unit 111 detects that the small light 113 is It is determined whether it is lit (step S64). If the small light 113 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the small light 113 (step S65).

Next, the recognition unit 111 determines whether the illuminance of the left front target parking space is sufficient for image recognition and visual confirmation with the small light 113 turned on (step S66). For example, considering the state in which only the small light 113 is lit in FIG. 11, the small light 113 has a low light intensity and a narrow irradiation range, so the target parking space 31 is not irradiated, and image recognition is difficult. The driver becomes invisible. Therefore, if the luminance of the target parking space in the synthesized image is even partially smaller than a predetermined threshold value, it should be determined that the illuminance is insufficient. Since the target parking space is continuously recognized after the start of vehicle control, if the recognition unit 111 loses sight of the target parking space, it may be determined that the illuminance is insufficient.

If the illuminance of the left front target parking space is sufficient, vehicle control is continued. On the other hand, if the illuminance of the target parking space on the left front is insufficient, it is determined whether the fog light 114 is on (step S67). If the fog light 114 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the fog light 114 (step S68).

Next, the recognition unit 111 determines whether the illuminance of the left front target parking space is sufficient for image recognition and visual confirmation in a state where the fog light 114 is on (step S69). For example, considering the state in which the small lights 113 and the fog lights 114 are turned on in FIG. Recognition is difficult and the driver cannot see.

If the illuminance of the left front target parking space is sufficient, vehicle control is continued. On the other hand, if the illuminance of the target parking space on the left front is insufficient, the recognition unit 111 determines whether the headlights 112 are on (step S70). If the headlights 112 are not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the headlights 112 (step S71). For example, considering the state in which the small lights 113, the fog lights 114, and the headlights 112 are turned on in FIG. be able to do so.

In this embodiment, an example of controlling the lighting of the small light 113, the fog light 114, and the headlight 112 as the lights on the left front side of the vehicle has been described. Lighting may be controlled.

After that, when the vehicle control moves the vehicle from position 30A to position 30B in FIG. 12 and the target parking space moves from the front left to the left (step S72 in FIG. 9), the recognition unit 111 recognizes the position of the vehicle and the target parking space. Detect the relative positional relationship with the position of the parking space. For example, in FIG. 12, it is recognized that the target parking space is on the left side of the vehicle at position 30B (step S73). Therefore, the recognition unit 111 determines that there is no need to recognize the front of the vehicle, instructs the lighting control unit 108 to turn off the headlights 112 and the fog lights 114 that illuminate the front of the vehicle, and The light 114 is turned off (step S74). Since the small light 113 also illuminates the side of the vehicle, it is preferable to leave it on. Note that the lights that are manually turned on by the driver are not turned off.

Next, the recognition unit 111 determines whether the illuminance of the target parking space on the left side is sufficient for image recognition and visual confirmation while the small light 113 is on (step S76). If the illuminance of the target parking space on the left side is sufficient, vehicle control is continued. On the other hand, when the illuminance of the target parking space on the left side is insufficient, the recognition unit 111 instructs the lighting control unit 108 to turn on the lamp. A small light 113 and a turn lamp 115 are arranged on the side of the vehicle. Since the small light 113 is on, it is determined whether the turn lamp 115 is on (step S77). When the turn lamp 115 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the turn lamp 115, and turns on the turn lamp 115 (step S78).

For example, when considering the state in which the small lights 113 and the turn lamps 115 are lit in FIG. Become. Note that the turn lamp 115 blinks intermittently in a normal usage pattern, but may be in a lighting mode in which continuous lighting is required when illuminance is required. Further, if the small light 113 is not turned on, it may be determined whether to turn on the turn lamp 115 after turning on the small light 113 and confirming the illuminance of the target parking space.

In this embodiment, an example of controlling the lighting of the small light 113 and the turn lamp 115 as lights on the left side of the vehicle has been described. or lighting of the maneuvering lamp 213 may be controlled.

After that, when the vehicle control moves the vehicle from position 30B to position 30C in FIG. 13 and the target parking space moves from the left side to the left rear (step S79 in FIG. 10), the recognition unit 111 recognizes the vehicle position and the target parking space. Detects the relative positional relationship with the position of the parking space. For example, in FIG. 13, at position 30B, the target parking space is recognized to be on the left rear of the own vehicle (step S80). That is, the recognition unit 111 determines that the direction in which the vehicle is traveling is left rear. Therefore, the recognition unit 111 determines that there is no need to recognize the side of the vehicle, instructs the lighting control unit 108 to turn off the turn lamp 115 that has been illuminating the side of the vehicle, and turns off the turn lamp 115 ( step S81). Since the small light 113 also illuminates the rear of the vehicle, it is preferable to leave it lit. As a result of checking the illuminance of the target parking space, if the illuminance is insufficient, the turn lamp 115 may be turned on again.

Next, the recognition unit 111 determines whether the illuminance of the left rear target parking space is sufficient for image recognition and visual confirmation with the small light 113 turned on (step S83). For example, consider the state in which only the small light 113 is lit in FIG. In this case, only the upper left part of the target parking space 31 is illuminated with light, making it difficult to recognize the image and making it impossible for the driver to see.

If the illuminance of the left rear target parking space is sufficient, vehicle control is continued. On the other hand, if the illuminance of the left rear target parking space is insufficient, the recognition unit 111 determines whether the back lamp 117 is on (step S84). If the back lamp 117 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the back lamp 117, and turns on the back lamp 117 (step S85).

Next, the recognition unit 111 determines whether the illuminance of the left rear target parking space is sufficient for image recognition and visual confirmation in a state where the back lamp 117 is on (step S86). For example, considering the state in which the small light 113 and the back lamp 117 are lit in FIG. It is difficult and the driver cannot see it.

If the illuminance of the left rear target parking space is sufficient, vehicle control is continued. On the other hand, when the illuminance of the target parking space on the left rear is insufficient, the recognition unit 111 determines whether the brake lamp 116 is on (step S87). If the brake lamp 116 is not lit, the recognition unit 111 instructs the lighting control unit 108 to turn on the brake lamp 116 (step S88). For example, considering the state in which the small light 113, the back lamp 117, and the brake lamp 116 are lit in FIG. be able to do so.

Thereafter, the control unit 105 continues vehicle control (step S89).

In the present embodiment, an example of controlling the lighting of the back lamp 117 and the brake lamp 116 as lights at the left rear of the vehicle has been described. may

As described above, in lighting control 2, the recognition unit 111 and the lighting control unit 108 cooperate to determine the direction of the target parking space based on the positional relationship between the vehicle position and the target parking space, and determine the illuminance of the target parking space. lights in the direction of the determined target parking space are selected, and the illuminance of a plurality of lights with different irradiation ranges is checked step by step in combination with low power consumption and turned on. Therefore, the target parking space can be illuminated with a minimum amount of power, and power consumption can be suppressed. Also, the driver can visually confirm the parking space.

As described above, according to the position of the vehicle in automatic parking (parking assistance), lights with sufficient illuminance necessary for recognizing the camera image are turned on and off at appropriate times, and the necessary amount of light is adjusted. Adjustable.

Also, the lighting operation may be shared with lighting operations for other purposes. For example, the hazard lamps are turned on (all the turn lamps 115 are flashed) to inform the surroundings that the vehicle is automatically parked and to call attention to it. ), the hazard lamps may be flashed while also lighting the lights of the present invention.

Further, although the headlight 112 may be downward lighting that consumes less power, the downward lighting and the upward lighting may be selectively used according to the illuminance around the vehicle in image recognition. As a result, image recognition errors due to insufficient illuminance can be prevented while reducing power consumption.

Also, in this embodiment, whether each lamp is turned on or off is controlled, but the luminous intensity of each lamp may be controlled. For example, it lights up at low intensity at first, and then lights up at high intensity when the illumination is insufficient. By controlling the luminous intensity of the lamp in a plurality of stages in this way, it is possible to reduce the power consumption when the illuminance is determined to be sufficient.

Moreover, the parking mode is not limited to parallel parking, and the method of the present invention can be applied to parallel parking and the like. Furthermore, for the lights that need to be turned on in each parking mode, the irradiable range of each light in the positional relationship between the vehicle and the target parking space as shown in FIGS. 7, 11, 12, and 13 is stored in advance. , based on the route for automatic parking and the target parking space, the area around the vehicle that requires spatial recognition is calculated, and the necessary lights are turned on. can be easily selected.

This figure shows an example in which the function of selecting the necessary lights and the function of controlling the lighting of the lights are installed in the same control unit (ECU), but there are various control functions not mentioned here. Each function including , does not necessarily have to be implemented in the same controller. For example, a control unit that has the function of selecting the necessary lights can send a lighting command to the control unit that has the function of lighting the lights. , and the actual lighting operation may be performed by a control unit having the function of performing the lighting of the light.

As described above, in the embodiment of the present invention, the recognition unit 111 uses at least one of illuminance information acquired by a sensor, a photographed image, and an image synthesized from the photographed images to detect a vehicle. is determined, and the lighting control unit 108 is controlled so as to selectively turn on a lamp that satisfies a predetermined illuminance and consumes less power according to the illuminance determination result. It is possible to turn on the lamp with a reasonable illuminance and prevent errors in image recognition. Also, the driver can see the surroundings of the vehicle without any trouble.

Further, the recognition unit 111 repeatedly determines the illuminance so as to be able to respond to changes in the situation around the vehicle, and controls the lighting of the lights according to the determination result of the illuminance. You can turn on the light with appropriate illuminance.

In addition, when detecting a parking space candidate in which the vehicle can be parked, the recognition unit 111 controls the lighting of the lights according to the determination result of the illuminance around the vehicle. .

In addition, the recognition unit 111 manages the lights in six groups of the left front, right front, left side, right side, left rear, and right rear, and controls the lights of the groups in the traveling direction of the vehicle to turn on. , the lights can be turned on with appropriate illuminance according to the traveling direction of the vehicle. In particular, since the control is performed so that the lights of the group in the direction of the selected parking space selected by the driver among the parking space candidates are lit, the lights can be lit with sufficient illuminance to detect the parking frame.

In addition, the recognition unit 111 controls the lighting of the lights on the traveling direction side of the vehicle in ascending order of power consumption until a predetermined illuminance standard is satisfied. You can turn on the lights. In other words, by illuminating the traveling direction of the vehicle, which is determined by the relative positional relationship between the illuminance around the vehicle and the position of the vehicle and the position of the target parking space in exterior recognition by the camera, with lights of different illuminance, power consumption can be reduced. illuminance necessary for appearance recognition can be ensured, and an error in image recognition due to insufficient illuminance can be prevented. In addition, by illuminating the target parking space, the driver can see the route to the target parking space, and the situation around the vehicle (i.e. camera image) can be displayed on the display screen, so that the parking frame and obstacles can be confirmed.

In addition, the recognition unit 111 determines the illuminance around the vehicle and controls the lighting mode of the lamp according to the illuminance determination result. In particular, since there are few lights on the side of the vehicle, the illuminance of the side of the vehicle can be improved by changing the lighting mode of the turn lamp 115 from the normal blinking lighting mode to the continuous lighting mode. In addition, by properly using the downward lighting and the upward lighting of the headlight 112, the power consumption can be reduced and the lamp can be lit with an appropriate illuminance.

It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, the configuration of another embodiment may be added to the configuration of one embodiment. Further, additions, deletions, and replacements of other configurations may be made for a part of the configuration of each embodiment.

In addition, each configuration, function, processing unit, processing means, etc. described above may be realized by hardware, for example, by designing a part or all of them with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing a program to execute.

Information such as programs, tables, and files that implement each function can be stored in storage devices such as memories, hard disks, SSDs (Solid State Drives), or recording media such as IC cards, SD cards, and DVDs.

In addition, the control lines and information lines indicate those considered necessary for explanation, and do not necessarily indicate all the control lines and information lines necessary for mounting. In practice, it can be considered that almost all configurations are interconnected.

10 Vehicle 100 External recognition device 101, 102, 103, 104 Image input unit 105 Control unit 106 Synthesis conversion unit 107 Display unit 108 Lighting control unit 109 Sensor 110 Parameter generation unit 111 Recognition unit 112 Headlight 113 Small light 114 Fog light 115 Turn Lamp 116 Brake lamp 117 Back lamp 211 Back fog lamp 212 Corner lamp 213 Maneuvering lamp

Claims (7)

An in-vehicle control device mounted on a vehicle,
a recognition unit that recognizes an object using images captured by a plurality of cameras;
A control unit that controls the lights mounted on the vehicle,
The recognition unit determines the illuminance around the vehicle using at least one of illuminance information acquired by a sensor, the captured image, and an image synthesized from the captured images, and determines the illuminance. According to the determination result, lights that satisfy a predetermined illuminance and consume less power are selected in the order of small lights, fog lights, and headlights in the front of the vehicle, and small lights and turn lamps in the order of the side of the vehicle. An in-vehicle control device for selectively turning on a small light, a back lamp, and a brake lamp in this order . The in-vehicle control device according to claim 1,
The in-vehicle control device, wherein the recognizing unit repeatedly determines the illuminance so as to be able to respond to changes in circumstances around the vehicle, and controls lighting of the lamp according to the illuminance determination result. The in-vehicle control device according to claim 1,
The recognition unit manages the lights in six groups of left front, right front, left side, right side, left rear, and right rear, and controls to turn on the lights of the groups in the traveling direction of the vehicle. An in-vehicle control device characterized by: The in-vehicle control device according to claim 1,
The in-vehicle control device, wherein the recognizing unit controls lighting of the lamp according to a determination result of illuminance around the vehicle when detecting a parking space candidate in which the vehicle can be parked. The in-vehicle control device according to claim 4,
The recognition unit manages the lights in six groups of left front, right front, left side, right side, left rear, and right rear, and indicates the direction of the selected parking space selected by the driver from the parking space candidates. An in-vehicle control device that controls lighting of a group lamp. The in-vehicle control device according to claim 1,
The in-vehicle control device, wherein the recognizing unit controls the lights on the traveling direction side of the vehicle so that they are turned on in ascending order of power consumption until the predetermined illuminance standard is satisfied. The in-vehicle control device according to claim 1,
The in-vehicle control device, wherein the recognition unit determines the illuminance around the vehicle, and controls the lighting mode of the lamp according to the determination result of the illuminance.

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