JP7340607B2 - Vehicle lighting systems, vehicle systems and vehicles - Google Patents

Description

The present disclosure relates to a vehicle lighting system, a vehicle system, and a vehicle.

Currently, research into autonomous driving technology for automobiles is actively being conducted in various countries, and legislation is being developed to allow vehicles (hereinafter referred to as "vehicles") to drive on public roads in autonomous driving mode. are being considered in each country. Here, in the automatic driving mode, the vehicle system automatically controls the driving of the vehicle. Specifically, in autonomous driving mode, the vehicle system performs steering control based on information indicating the surrounding environment of the vehicle (surrounding environment information) obtained from sensors such as cameras and radars (e.g., laser radar and millimeter wave radar). At least one of (control of the traveling direction of the vehicle), brake control, and accelerator control (control of braking, acceleration and deceleration of the vehicle) is automatically performed. On the other hand, in the manual driving mode described below, the driver controls the driving of the vehicle, as in many conventional vehicles. Specifically, in the manual driving mode, the running of the vehicle is controlled according to the driver's operations (steering operation, brake operation, accelerator operation), and the vehicle system does not automatically perform steering control, brake control, and accelerator control. The vehicle driving mode is not a concept that exists only in some vehicles, but a concept that exists in all vehicles, including conventional vehicles that do not have automatic driving functions. Classified according to method etc.

In this way, in the future, on public roads, there will be two types of vehicles: vehicles running in automatic driving mode (hereinafter referred to as ``self-driving cars'') and vehicles driving in manual driving mode (hereinafter referred to as ``manual driving cars'' as appropriate). ) is expected to be mixed.

As an example of automatic driving technology, Patent Document 1 discloses an automatic following driving system in which a following vehicle automatically follows a preceding vehicle. In this automatic tracking system, each of the leading vehicle and the following vehicle is equipped with a lighting system, and the lighting system of the leading vehicle is equipped with text information to prevent other vehicles from cutting between the leading vehicle and the following vehicle. At the same time, text information indicating that automatic follow-up driving is being performed is displayed on the lighting system of the following vehicle.

Japanese Patent Application Publication No. 9-277887

By the way, with the development of automatic driving technology, there is a need to dramatically increase the detection accuracy of the surrounding environment of a vehicle. In this regard, currently developed vehicles identify the surrounding environment of the vehicle using a plurality of sensors mounted on the vehicle. In particular, the vehicle can acquire information on the presence and position of objects in front of the vehicle based on point cloud data from the LiDAR unit and radar data from the millimeter wave radar. Furthermore, the vehicle can acquire attribute information and behavior prediction information of the object based on image data from the camera. Furthermore, the vehicle employs a program (trained model) built by machine learning or deep learning to determine the attributes of objects existing outside the vehicle based on image data acquired by the camera. . This trained model is constructed by learning a large amount of image data representing a target object.

In addition, in a vehicle lighting system installed in a vehicle, in order to improve the visibility of the occupants of the own vehicle (particularly the driver) to the surrounding environment, the lighting unit has an ADB ( Adaptive Driving Beam) light distribution pattern is irradiated toward the front area of the vehicle. When a vehicle ahead, such as a preceding vehicle or an oncoming vehicle, exists in front of the vehicle, the lighting unit irradiates the ADB light distribution pattern toward the front region so that the vehicle ahead is included in the non-irradiation region. In this way, it is possible to improve the visibility of the surrounding environment for the occupants of the own vehicle without giving glare to the occupants of the vehicle ahead.

On the other hand, in conventional vehicle lighting systems, when a predetermined period of time (for example, 0.5 seconds) has elapsed since the preceding vehicle disappeared from the area in front of the vehicle (for example, when an oncoming vehicle passed the own vehicle), Later, the non-illuminated area of the ADB light distribution pattern formed due to the presence of the vehicle ahead is switched to the illuminated area. In such a situation, if an object such as a pedestrian exists in the non-irradiation area, the object is not irradiated with light for at least a predetermined period of time. For this reason, the vehicle is unable to accurately identify information related to the object (for example, object attribute information, behavior prediction information, etc.) based on image data from the camera for at least a predetermined period of time. In this way, when the vehicle ahead disappears from the area in front of the vehicle, there is room to consider a method for quickly and accurately acquiring information related to objects present in the non-illuminated area of the light distribution pattern. .

Furthermore, if the angular position of the vehicle ahead with respect to your own vehicle changes significantly, a portion of the vehicle ahead may overlap the irradiation area of the ADB light distribution pattern (in other words, a portion of the vehicle ahead may emit light from the lighting unit). A situation in which a person is irradiated with light that has been used is assumed. In such a case, the vehicle system may not be able to determine the attributes (type of object) of the vehicle ahead, which is the target object, using the image data showing the vehicle ahead captured by the on-vehicle camera and the trained model. There is sex. From the above viewpoint, there is room to improve the ADB light distribution pattern that is irradiated toward the area in front of the vehicle.

In addition, when the vehicle is running in advanced driving support mode or fully automatic driving mode, the vehicle's driving is controlled based on sensing data from multiple sensors including cameras, so some of the vehicles in front are in ADB mode. I would like to avoid situations where the light distribution pattern overlaps with the actual light distribution pattern as much as possible. As described above, there is room to study a vehicle lighting system that can radiate an optimal light distribution pattern that takes into account the driving mode of the vehicle.

A first object of the present disclosure is to make it possible to quickly acquire information related to an object existing in a non-illuminated area of a light distribution pattern with high accuracy when the preceding vehicle disappears from the area in front of the vehicle. An object of the present invention is to provide a vehicular lighting system and a vehicle.

A second object of the present disclosure is to provide a vehicle lighting system that is capable of optimizing the angular width of a non-illuminated area of a light distribution pattern by taking into account fluctuations in the angular position of a target with respect to the own vehicle. be. Furthermore, a second object of the present disclosure is to provide a vehicle system and a vehicle that can prevent a decrease in accuracy of attribute determination of an object while ensuring visibility of an occupant of the own vehicle to the surrounding environment.

A third object of the present disclosure is to provide a vehicle lighting system, a vehicle system, and a vehicle that can irradiate an optimal light distribution pattern that takes into account the driving mode of the vehicle.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle, and
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that a front vehicle existing in a region in front of the vehicle is included in the non-irradiation region.
The lighting control section includes:
When a target object exists in the non-irradiation area formed by the presence of the vehicle ahead, and predetermined information related to the target object has not yet been specified by the vehicle,
The illumination unit is controlled such that a non-irradiated area formed by the presence of the preceding vehicle is switched to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area.
The lighting control section includes:
When there is no object in the non-irradiation area formed by the presence of the preceding vehicle, or when predetermined information related to the object has already been specified by the vehicle,
The illumination unit is controlled so that a non-illuminated area formed by the presence of the preceding vehicle is switched to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area.
The first period is shorter than the second period.

According to the above configuration, when the predetermined information related to the object (for example, a pedestrian, etc.) existing in the non-irradiation area of the light distribution pattern (particularly the light distribution pattern for ADB) is not yet specified by the vehicle. In this case, the non-irradiation area is switched to the irradiation area after the first period has elapsed since the preceding vehicle disappeared from the front area. On the other hand, if there is no target in the non-irradiation area or if predetermined information related to the object has already been specified by the vehicle, the non-irradiation The area switches to the irradiation area. Furthermore, the first period is shorter than the second period. In this way, if the predetermined information related to the object existing in the non-irradiation area has not yet been identified, the period from when the vehicle ahead disappears from the area in front until the non-irradiation area switches to the irradiation area is be shortened. Therefore, the target object is illuminated with light from the illumination unit more quickly, so that predetermined information related to the target object can be quickly identified with high accuracy using the image data acquired from the camera.

Further, the predetermined information related to the target object may be attribute information of the target object or behavior prediction information of the target object.

According to the above configuration, if the attribute information or behavior prediction information of the object existing in the non-irradiation area has not yet been specified, from the time the preceding vehicle disappears from the front area until the non-irradiation area switches to the irradiation area. period will be shortened. Therefore, the target object is illuminated with light from the illumination unit more quickly, so attribute information or behavior prediction information of the target object can be quickly identified with high accuracy using image data acquired from the camera.

A vehicle lighting system according to another aspect of the present disclosure is provided in a vehicle,
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that a front vehicle existing in a region in front of the vehicle is included in the non-irradiation region.
The lighting control section includes:
When the level of the driving mode of the vehicle is equal to or higher than a predetermined level,
The illumination unit is controlled such that a non-irradiated area formed by the presence of the preceding vehicle is switched to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area.
The lighting control section includes:
When the level of the driving mode of the vehicle is lower than the predetermined level,
The illumination unit is controlled so that a non-illuminated area formed by the presence of the preceding vehicle is switched to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area.
The first period is shorter than the second period.

According to the above configuration, when the level of the driving mode of the vehicle is equal to or higher than the predetermined level, the non-irradiation area is switched to the irradiation area after the first period has elapsed since the preceding vehicle disappeared from the front area. On the other hand, if the level of the driving mode of the vehicle is lower than the predetermined level, the non-irradiation area is switched to the irradiation area after the second period has elapsed since the preceding vehicle disappeared from the front area. Furthermore, the first period is shorter than the second period. In this way, the period from when the preceding vehicle disappears from the front area until the non-irradiation area switches to the irradiation area is shortened depending on the driving mode of the vehicle. Therefore, objects (for example, pedestrians) in non-illuminated areas are illuminated by light from the lighting unit more quickly, and information related to the objects can be detected with high precision using the image data acquired from the camera. This enables quick identification.

Further, the lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automated driving mode,
The illumination unit may be controlled so that a non-irradiated area formed by the presence of the preceding vehicle is switched to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area.
The lighting control section includes:
When the driving mode of the vehicle is a partial driving support mode or a manual driving mode,
The illumination unit may be controlled so that a non-irradiated area formed by the presence of the preceding vehicle is switched to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area. The first period is shorter than the second period.

According to the above configuration, when the driving mode of the vehicle is the advanced driving support mode or the fully automatic driving mode, the period from when the vehicle in front disappears from the front area until the non-irradiation area switches to the irradiation area is shortened. Ru. Therefore, objects in non-illuminated areas are illuminated by the light from the illumination unit more quickly, making it possible to quickly identify information related to the object with high accuracy using the image data acquired from the camera. becomes.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle, and
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle.
The lighting control section includes:
The angular width of the non-irradiation area is configured to be changed in accordance with a change in the angular position of the object with respect to the vehicle.

According to the above configuration, the angular width of the non-irradiation area of the light distribution pattern (particularly, the light distribution pattern for ADB) is changed in accordance with a change in the angular position of the object with respect to the vehicle. In this way, it is possible to optimize the angular width of the non-illuminated area of the light distribution pattern by taking into account the variation in the angular position of the object.

Further, the lighting control section includes:
If the variation in the angular position is larger than a predetermined threshold, setting the angular width of the non-irradiation area to a first angular width based on the angular position;
If the variation in the angular position is less than or equal to the predetermined threshold, the angular width of the non-irradiated area is set to a second angular width smaller than the first angular width based on the angular position. may be configured.

According to the above configuration, the angular width of the non-irradiated area increases when the variation in the angular position of the object with respect to the vehicle is large, while the angular width of the non-irradiated area increases when the variation in the angular position of the object with respect to the vehicle is small. becomes smaller. Therefore, while ensuring the visibility of the vehicle's occupants (for example, the driver) to the surrounding environment, it is possible to avoid as much as possible the situation where part of the object is illuminated by the light from the lighting unit. . In this respect, the presence of the light distribution pattern makes it possible to avoid a situation in which the vehicle system of the own vehicle is unable to determine the attribute of the object (namely, the type of the object).

Further, the variation in the angular position may be a difference between a current angular position of the object and a previous angular position of the object.

According to the above configuration, when the difference between the current angular position of the object and the previous angular position of the object is large, the angular width of the non-irradiated area becomes large, while when the difference is small, the angular width of the non-irradiated area becomes large. The angular width of the irradiation area becomes smaller. Therefore, it is possible to avoid as much as possible a situation in which a part of the object is illuminated by light from the lighting unit without reducing the visibility of the occupant of the own vehicle with respect to the surrounding environment.

The illumination control unit may be configured to calculate an average angular position of the target object from the previous time to the previous N times (N is an integer of 2 or more).
The variation in the angular position may be a difference between the current angular position of the object and the average angular position.

According to the above configuration, when the difference between the current angular position of the target object and the average angular position of the target object is large, the angular width of the non-irradiation area becomes large, while when the difference is small, the non-irradiation area becomes non-irradiated. The angular width of the region becomes smaller. Therefore, it is possible to avoid as much as possible a situation in which a part of the object is illuminated by light from the lighting unit without reducing the visibility of the occupant of the own vehicle with respect to the surrounding environment.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle, and
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle.
The lighting control section includes:
Calculating the average angular position of the angular positions from the current angular position of the object up to M times ago (M is an integer of 1 or more);
determining an angular width of the non-irradiated area based on the average angular position;
It is configured as follows.

According to the above configuration, the angular width of the non-irradiation area of the light distribution pattern (particularly the ADB light distribution pattern) is determined based on the average angular position of the object. In this way, it is possible to optimize the angular width of the non-illuminated area of the light distribution pattern by taking into account the variation in the angular position of the object. Therefore, it is possible to avoid a situation where a part of the object is illuminated by light from the lighting unit as much as possible without reducing the visibility of the occupants of the own vehicle (for example, the driver) to the surrounding environment. .

A vehicle system according to one aspect of the present disclosure includes:
a camera configured to obtain image data indicative of a surrounding environment of the vehicle;
an attribute determination unit configured to determine an attribute of an object existing outside the vehicle based on the image data;
a first angular position determination unit configured to determine a first angular position of the object relative to the central axis of the camera based on the image data;
a second angular position determination unit configured to determine, based on the first angular position, a second angular position of the object relative to the optical axis of the lighting unit as the angular position of the object;
The vehicle lighting system;
Equipped with

According to the above configuration, the angular width of the non-illuminated area of the light distribution pattern is optimized by the vehicle lighting system, so the vehicle system determines the attributes of the object based on the presence of the light distribution pattern emitted from the lighting unit. This makes it possible to avoid situations where it becomes impossible to do so. In this way, it is possible to provide a vehicle system that can prevent a decrease in the accuracy of determining the attributes of objects while ensuring the visibility of the occupants of the own vehicle to the surrounding environment.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle, and
a lighting unit configured to radiate an ADB light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle.
The illumination control section is configured to change the angular width of the non-irradiation area depending on the driving mode of the vehicle.

According to the above configuration, the angular width of the non-irradiation area of the ADB light distribution pattern is changed depending on the driving mode of the vehicle. In this way, it is possible to optimize the angular width of the non-illuminated area of the ADB light distribution pattern in consideration of the driving mode of the vehicle.

Further, the lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automatic driving mode, setting the angular width of the non-irradiation area to a first angular width based on information regarding the angular position,
When the driving mode of the vehicle is a driving support mode or a manual driving mode, the angular width of the non-irradiation area is set to a second angular width smaller than the first angular width based on the information regarding the angular position. It may be configured to do so.

According to the above configuration, when the driving mode of the vehicle is the advanced driving support mode or the fully automatic driving mode, the angular width of the non-irradiation area is set to the first angular width, while the driving mode of the vehicle is the driving support mode. mode or manual operation mode, the angular width of the non-irradiation area is set to a second angular width smaller than the first angular width.

In this regard, when the driving mode of the vehicle is advanced driving support mode or fully automated driving mode, the visibility of the occupants of the own vehicle to the surrounding environment is taken into account, since the occupants of the own vehicle do not control the driving of the vehicle. There's no need. On the other hand, since the angular width of the non-irradiation area is set to the first angular width that is larger than the second angular width, it is possible to avoid situations where objects such as the vehicle ahead are illuminated by the ADB light distribution pattern. It can be avoided as much as possible. Therefore, it is possible to avoid as much as possible a situation in which the vehicle control unit (onboard computer) of the own vehicle becomes unable to determine the attributes of the object based on the image data from the camera.

In addition, when the driving mode of the vehicle is driving support mode or manual driving mode, the angular width of the non-irradiation area is set to a second angular width smaller than the first angular width, so that the occupants of the own vehicle (In particular, the driver's) visibility of the surrounding environment can be sufficiently ensured.

A vehicle lighting system according to one aspect of the present disclosure is provided in a vehicle, and
a lighting unit configured to radiate an ADB light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
and a lighting control section configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle.
The lighting control unit causes the lighting unit to emit the ADB light distribution pattern when a predetermined condition related to the driving mode of the vehicle is satisfied, and causes the ADB light distribution pattern to be emitted from the lighting unit when the predetermined condition is not satisfied. The lighting unit is configured not to emit the ADB light distribution pattern.

According to the above configuration, when the predetermined condition related to the driving mode of the vehicle is satisfied, the ADB light distribution pattern is emitted from the lighting unit, and when the predetermined condition is not satisfied, the ADB light distribution pattern is emitted. No light pattern is emitted from the lighting unit. In this way, it is possible to provide a vehicle lighting system that can radiate an optimal light distribution pattern that takes into consideration the driving mode of the vehicle.

Further, the lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automatic driving mode, the lighting unit does not emit the ADB light distribution pattern,
When the driving mode of the vehicle is a driving support mode or a manual driving mode, the lighting unit may be configured to emit the ADB light distribution pattern.

According to the above configuration, when the driving mode of the vehicle is the advanced driving support mode or the fully automatic driving mode, the ADB light distribution pattern is not emitted from the lighting unit, while the driving mode of the vehicle is the driving support mode or the manual driving mode. In this case, the ADB light distribution pattern is emitted from the lighting unit.

In this regard, when the driving mode of the vehicle is advanced driving support mode or fully automated driving mode, the visibility of the occupants of the own vehicle to the surrounding environment is taken into account, since the occupants of the own vehicle do not control the driving of the vehicle. There's no need. On the other hand, in such a case, it is possible to avoid as much as possible a situation in which an object such as a vehicle ahead is illuminated by the ADB light distribution pattern. Therefore, it is possible to avoid as much as possible a situation in which the vehicle control unit (onboard computer) of the own vehicle becomes unable to determine the attributes of the object based on the image data from the camera.

Furthermore, when the driving mode of the vehicle is driving support mode or manual driving mode, the ADB light distribution pattern is emitted toward the outside of the vehicle, so that the occupants of the own vehicle have sufficient visibility of the surrounding environment. can be secured.

A vehicle system according to one aspect of the present disclosure includes:
a camera configured to obtain image data indicative of a surrounding environment of the vehicle;
an attribute determination unit configured to determine an attribute of an object existing outside the vehicle based on the image data;
The vehicle lighting system;
Equipped with

According to the above configuration, it is possible to provide a vehicle system that can irradiate an optimal light distribution pattern that takes into consideration the driving mode of the vehicle.

Furthermore, a vehicle may be provided that includes the above vehicle lighting system. Furthermore, a vehicle may be provided that includes the vehicle system described above.

According to the present disclosure, there is provided a vehicle-use device that allows information related to an object existing in a non-illuminated area of a light distribution pattern to be quickly acquired with high accuracy when a preceding vehicle disappears from an area in front of the vehicle. Lighting systems and vehicles can be provided.

Further, according to the present disclosure, it is possible to provide a vehicle lighting system that is capable of optimizing the angular width of the non-illuminated area of the light distribution pattern, taking into account the variation in the angular position of the object with respect to the host vehicle. . Further, it is possible to provide a vehicle system and a vehicle that can prevent a decrease in the accuracy of attribute determination of an object while ensuring visibility of the occupant of the own vehicle to the surrounding environment.

Further, according to the present disclosure, it is possible to provide a vehicle illumination system, a vehicle system, and a vehicle that can irradiate an optimal light distribution pattern that takes into account the driving mode of the vehicle.

A front view of the vehicle is shown. FIG. 1 is a block diagram showing a vehicle system. 12 is a flowchart illustrating an example of a process for determining a non-irradiation area of an ADB light distribution pattern. FIG. 3 is a diagram showing the own vehicle and a vehicle ahead. It is a figure which shows an example of the light distribution pattern for ADB formed on the virtual vertical screen. 12 is a flowchart for explaining a process (first embodiment) of switching a non-irradiation area to an irradiation area when the preceding vehicle disappears from the area in front of the host vehicle. FIG. 6 is a schematic diagram showing an ADB light distribution pattern emitted to the front area immediately before the front vehicle disappears from the front area. FIG. 7 is a schematic diagram showing an ADB light distribution pattern immediately after a non-irradiation area is switched to an irradiation area. 12 is a flowchart for explaining a process (second embodiment) for switching a non-irradiation area to an irradiation area when the preceding vehicle disappears from the area in front of the host vehicle. 12 is a flowchart for explaining a process of determining the angular width of a non-irradiation area of a light distribution pattern according to a third embodiment. FIG. 3 is a diagram showing the host vehicle and the vehicle ahead. FIG. 7 is a diagram showing an ADB light distribution pattern formed on a virtual vertical screen when the angular width of the non-irradiation area is W1. FIG. 7 is a diagram showing an ADB light distribution pattern formed on a virtual vertical screen when the angular width of the non-irradiation area is W2. 12 is a flowchart for explaining a process of determining the angular width of a non-irradiation area of a light distribution pattern according to a fourth embodiment. 12 is a flowchart for explaining a process of determining the angular width of a non-irradiation area of a light distribution pattern according to a fifth embodiment. FIG. 7 is a diagram showing an ADB light distribution pattern formed on a virtual vertical screen when the angular width of the non-irradiation area is W3. 12 is a flowchart for explaining a process of determining the angular width of a non-irradiation area of an ADB light distribution pattern according to a driving mode of a vehicle. FIG. 3 is a diagram showing the host vehicle and the vehicle ahead. FIG. 7 is a diagram showing an ADB light distribution pattern formed on a virtual vertical screen when the angular width of the non-irradiation area is W4. It is a figure which shows the light distribution pattern for ADB formed on the virtual vertical screen when the angular width of a non-irradiation area is W5. 12 is a flowchart for explaining a process of determining whether or not an ADB light distribution pattern should be emitted according to the driving mode of the vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present disclosure (hereinafter simply referred to as "this embodiment") will be described below with reference to the drawings. The dimensions of each member shown in this drawing may differ from the actual dimensions of each member for convenience of explanation.

In the description of this embodiment, for convenience of explanation, "left-right direction", "up-down direction", and "front-back direction" may be referred to as appropriate. These directions are relative directions set for the vehicle 1 shown in FIG. Here, the "left-right direction" is a direction including the "left direction" and the "right direction." The "vertical direction" is a direction including "upward direction" and "downward direction." "Anteroposterior direction" is a direction including "front direction" and "rear direction." Although the "front-back direction" is not shown in FIG. 1, the "front-back direction" is a direction perpendicular to the left-right direction and the up-down direction.

Further, in this embodiment, the "horizontal direction" of the vehicle 1 is referred to, but the "horizontal direction" is a direction perpendicular to the up-down direction (vertical direction), and includes the left-right direction and the front-back direction. .

First, a vehicle 1 and a vehicle system 2 according to the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 shows a front view of a vehicle 1. FIG. FIG. 2 is a block diagram of the vehicle system 2 provided in the vehicle 1.

The vehicle 1 is a vehicle (automobile) that can run in an automatic driving mode, and includes a vehicle system 2 shown in FIG. 2. As shown in FIG. 2, the vehicle system 2 includes a vehicle control section 3 and a vehicle lighting system 4. Furthermore, the vehicle system 2 includes a sensor 5 , a camera 6 , a radar 7 , an HMI (Human Machine Interface) 8 , a GPS (Global Positioning System) 9 , a wireless communication unit 10 , and a storage device 11 . Furthermore, the vehicle system 2 includes a steering actuator 12 , a steering device 13 , a brake actuator 14 , a brake device 15 , an accelerator actuator 16 , and an accelerator device 17 .

The vehicle control unit 3 is configured to control the running of the vehicle 1. The vehicle control unit 3 includes, for example, at least one electronic control unit (ECU). The electronic control unit includes a computer system (eg, SoC (System on a Chip), etc.) including one or more processors and one or more memories, and an electronic circuit including active elements and passive elements such as transistors. The processor is, for example, at least one of a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit). Including one. The CPU may be composed of multiple CPU cores. A GPU may be configured by multiple GPU cores. The memory includes ROM (Read Only Memory) and RAM (Random Access Memory). A vehicle control program may be stored in the ROM. For example, the vehicle control program may include an artificial intelligence (AI) program for autonomous driving. An AI program is a program (trained model) constructed by supervised or unsupervised machine learning (particularly deep learning) using a multilayer neural network. The RAM may temporarily store a vehicle control program, vehicle control data, and/or surrounding environment information indicating the surrounding environment of the vehicle. The processor may be configured to load programs specified from various vehicle control programs stored in the ROM onto the RAM, and execute various processes in cooperation with the RAM. Further, the computer system may be configured by a non-Neumann type computer such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). Furthermore, the computer system may be configured by a combination of a Neumann type computer and a non-Neumann type computer.

The vehicle lighting system 4 includes a left headlamp 40L, a right headlamp 40R, and a lighting control section 43.

The left headlamp 40L is arranged on the left front side of the vehicle 1, as shown in FIG. The left headlamp 40L includes a lamp housing (not shown), a translucent lamp cover (not shown) that covers the opening of the lamp housing, a low beam lighting unit 45L, and an ADB (Adaptive Driving Beam). A lighting unit 46L is provided. Each of the low beam lighting unit 45L and the ADB lighting unit 46L is arranged in a lamp chamber formed by a lamp housing and a lamp cover.

The right headlamp 40R is arranged on the right front side of the vehicle 1. The right headlamp 40R includes a lamp housing (not shown), a translucent lamp cover (not shown) that covers the opening of the lamp housing, a low beam lighting unit 45R, and an ADB lighting unit 46R. Be prepared. Each of the low beam lighting unit 45R and the ADB lighting unit 46R is arranged in a lamp chamber formed by a lamp housing and a lamp cover.

The low beam lighting units 45L and 45R (hereinafter sometimes simply referred to as "low beam lighting unit 45") include, for example, a light source unit that emits light, a reflector that reflects the light emitted from the light source unit, and a light shielding plate that blocks part of the light reflected by the reflector.

The low beam lighting unit 45 is configured to radiate a low beam light distribution pattern PL (see FIG. 5) onto the front area of the vehicle 1. The low beam light distribution pattern PL shown in FIG. 5 is a light distribution pattern formed on a virtual vertical screen that is virtually placed 25 m in front of the vehicle 1.

As shown in FIG. 5, the low beam light distribution pattern PL has an oncoming lane side cutoff line CL1, an own lane side cutoff line CL1, and a diagonal cutoff line CL3 connected to these cutoff lines CL1 and CL2.

The ADB lighting units 46L and 46R (hereinafter sometimes simply referred to as "ADB lighting unit 46") are configured to irradiate the ADB light distribution pattern PH (see FIG. 5) to the front area of the vehicle 1. has been done. The ADB light distribution pattern PH shown in FIG. 5 is a light distribution pattern formed on a virtual vertical screen.

As shown in FIG. 5, the ADB light distribution pattern PH is located above the low beam light distribution pattern PL. In other words, the angular position of the ADB light distribution pattern PH in the vertical direction (vertical direction) is larger than the angular position of the low beam light distribution pattern PL in the vertical direction.

The ADB light distribution pattern PH has an irradiation area PH1 where light is irradiated and a non-irradiation area PH2 where light is not irradiated. In particular, when an object such as the forward vehicle 1A exists in front of the vehicle 1, the ADB lighting unit 46 sets the ADB light distribution pattern PH to the vehicle 1 so that the object is located in the non-irradiation area PH2. form in front of. In this way, glare light is preferably prevented from being applied to the object. On the other hand, when there is no object such as the forward vehicle 1A in front of the vehicle 1, the ADB lighting unit 46 transmits an ADB light distribution pattern (that is, a high beam light distribution pattern) consisting only of the irradiation area to the vehicle 1. form in front of. In this way, the ADB lighting unit 46 irradiates the ADB light distribution pattern or the high beam light distribution pattern having a non-irradiation area forward depending on the presence or absence of the target object.

The ADB lighting unit 46 includes, for example, a light source consisting of a plurality of LEDs (light emitting diodes) arranged in a matrix (n rows x m columns, n and m are integers of 1 or more) and light emitted from the light source. It may also include a projection lens that allows the light to pass through. In this case, the ADB lighting unit 46 can form an ADB light distribution pattern PH having an irradiation area and a non-irradiation area in front of the vehicle 1 by individually controlling the lighting/extinguishing of the plurality of LEDs. can.

As another configuration of the ADB lighting unit 46, the ADB lighting unit 46 may include, for example, a light source that emits light, a reflector, a MEMS (Micro Electro Mechanical Systems) mirror, and a projection lens. The reflector is configured to reflect light emitted from the light source toward the MEMS mirror. The MEMS mirror reflects the light reflected by the reflector toward the projection lens. The MEMS mirror includes a plurality of micromirror elements arranged in a matrix (n rows x m columns). The angle of each of the plurality of micromirror elements is set to a first angle (ON state) that reflects light toward the projection lens or a second angle (OFF state) that does not reflect light toward the projection lens, depending on the control signal. is set to In this way, by controlling the angle of each micromirror element of the MEMS mirror, the ADB lighting unit 46 forms an ADB light distribution pattern PH having an irradiation area and a non-irradiation area in front of the vehicle 1. be able to.

In addition, as another configuration of the ADB lighting unit 46, the ADB lighting unit 46 is a blade scanning type lighting device that includes a light source that emits light and a rotating reflector in which a plurality of blades are provided around a rotation axis. It may be a unit. The rotating reflector can scan the reflected light by reflecting the light emitted from the light source while rotating in one direction about the rotation axis. In this way, as the rotary reflector rotates, the ADB lighting unit 46 can form the ADB light distribution pattern PH having an irradiation area and a non-irradiation area in front of the vehicle 1.

The lighting control section 43 is configured to control the operations of the low beam lighting unit 45 and the ADB lighting unit 46. In particular, the lighting control section 43 is configured to control the low beam lighting unit 45 so that the low beam light distribution pattern is emitted to the front of the vehicle 1. The lighting control unit 43 is configured to control the ADB lighting unit 46 so that the ADB light distribution pattern is emitted to the front of the vehicle 1.

Furthermore, the illumination control unit 43 controls, based on information regarding the angular position (in particular, the angular position in the horizontal direction) of an object such as another vehicle existing outside the vehicle 1, to ensure that the object is included in the non-irradiation area. It is configured to control the ADB lighting unit 46. Further, the illumination control unit 43 is configured to change the angular width of the non-illuminated area of the ADB light distribution pattern in accordance with fluctuations in the angular position of the object (particularly the angular position in the horizontal direction).

The lighting control section 43 includes at least one electronic control unit (ECU). The electronic control unit includes a computer system (eg, SoC, etc.) that includes one or more processors and one or more memories, and an electronic circuit that includes active and passive elements such as transistors. The processor includes at least one of a CPU, an MPU, a GPU, and a TPU. The memory includes ROM and RAM. Further, the computer system may be configured by a non-Neumann type computer such as an ASIC or an FPGA.

Returning to FIG. 2, the sensor 5 includes at least one of an acceleration sensor, a speed sensor, and a gyro sensor. The sensor 5 is configured to detect the running state of the vehicle 1 and output running state information to the vehicle control unit 3. The sensor 5 includes a seating sensor that detects whether the driver is sitting in the driver's seat, a face direction sensor that detects the direction of the driver's face, an external weather sensor that detects the external weather condition, and a sensor that detects whether there is a person inside the vehicle. It may further include a human sensor or the like for detection.

The camera 6 is, for example, a camera including an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS). For example, the camera 6 may be arranged inside the vehicle 1 so as to face the windshield 70 of the vehicle 1, as shown in FIG. Furthermore, the camera 6 may be placed within the left headlamp 40L and/or the right headlamp 40R. The camera 6 is configured to acquire image data showing the surrounding environment of the vehicle 1 and then transmit the image data to the vehicle control unit 3. The vehicle control unit 3 acquires surrounding environment information based on the transmitted image data and the learned model. In particular, the vehicle control unit 3 functions as an attribute determination unit configured to determine the attributes of an object existing outside the vehicle 1 based on the image data and the learned model.

The radar 7 includes at least one of a millimeter wave radar, a microwave radar, and a laser radar (for example, a LiDAR unit). For example, the LiDAR unit is configured to detect the surrounding environment of the vehicle 1. In particular, the LiDAR unit is configured to acquire 3D mapping data (point cloud data) indicating the surrounding environment of the vehicle 1 and then transmit the 3D mapping data to the vehicle control unit 3. The vehicle control unit 3 identifies surrounding environment information (for example, the distance and direction of the object) based on the transmitted 3D mapping data.

The HMI 8 includes an input section that receives input operations from the driver, and an output section that outputs driving information and the like to the driver. The input unit includes a steering wheel, an accelerator pedal, a brake pedal, a driving mode changeover switch for changing the driving mode of the vehicle 1, and the like. The output unit is a display (for example, a head up display (HUD), etc.) that displays various driving information. The GPS 9 is configured to acquire current position information of the vehicle 1 and output the acquired current position information to the vehicle control unit 3.

The wireless communication unit 10 is configured to receive information regarding other vehicles around the vehicle 1 from other vehicles and to transmit information regarding the vehicle 1 to the other vehicles (vehicle-to-vehicle communication). Furthermore, the wireless communication unit 10 is configured to receive infrastructure information from infrastructure equipment such as traffic lights and marker lights, and to transmit driving information of the vehicle 1 to the infrastructure equipment (road-to-vehicle communication). The wireless communication unit 10 also receives information regarding the pedestrian from a portable electronic device (smartphone, tablet, wearable device, etc.) carried by the pedestrian, and transmits own vehicle running information of the vehicle 1 to the portable electronic device. (pedestrian-to-vehicle communication). The vehicle 1 may communicate directly with other vehicles, infrastructure equipment, or portable electronic devices in an ad hoc mode, or may communicate via a communication network such as the Internet.

The storage device 11 is an external storage device such as a hard disk drive (HDD) or an SSD (Solid State Drive). The storage device 11 may store two-dimensional or three-dimensional map information and/or a vehicle control program. For example, three-dimensional map information may be composed of 3D mapping data (point cloud data). The storage device 11 is configured to output map information and a vehicle control program to the vehicle control section 3 in response to a request from the vehicle control section 3. The map information and vehicle control program may be updated via the wireless communication unit 10 and a communication network.

When the vehicle 1 runs in the automatic driving mode, the vehicle control unit 3 transmits at least a steering control signal, an accelerator control signal, and a brake control signal based on driving state information, surrounding environment information, current position information, map information, etc. Generate one automatically. The steering actuator 12 is configured to receive a steering control signal from the vehicle control unit 3 and control the steering device 13 based on the received steering control signal. The brake actuator 14 is configured to receive a brake control signal from the vehicle control unit 3 and control the brake device 15 based on the received brake control signal. The accelerator actuator 16 is configured to receive an accelerator control signal from the vehicle control unit 3 and control the accelerator device 17 based on the received accelerator control signal. In this way, the vehicle control unit 3 automatically controls the running of the vehicle 1 based on the running state information, surrounding environment information, current position information, map information, and the like. That is, in the automatic driving mode, the driving of the vehicle 1 is automatically controlled by the vehicle system 2.

On the other hand, when the vehicle 1 runs in the manual driving mode, the vehicle control unit 3 generates a steering control signal, an accelerator control signal, and a brake control signal according to the driver's manual operations on the accelerator pedal, brake pedal, and steering wheel. In this manner, in the manual driving mode, the steering control signal, accelerator control signal, and brake control signal are generated by the driver's manual operations, so that the driving of the vehicle 1 is controlled by the driver.

Next, the driving mode of the vehicle 1 will be explained. The driving mode consists of an automatic driving mode and a manual driving mode. The automatic driving mode consists of a fully automatic driving mode, an advanced driving support mode, and a driving support mode. In the fully automatic driving mode, the vehicle system 2 automatically performs all driving controls such as steering control, brake control, and accelerator control, and the driver is not in a state where he or she can drive the vehicle 1. In the advanced driving support mode, the vehicle system 2 automatically performs all driving controls such as steering control, brake control, and accelerator control, and the driver does not drive the vehicle 1 although he is in a state where he can drive the vehicle 1. In the driving support mode, the vehicle system 2 automatically performs some driving control among steering control, brake control, and accelerator control, and the driver drives the vehicle 1 under the driving support of the vehicle system 2. On the other hand, in the manual driving mode, the vehicle system 2 does not automatically perform travel control, and the driver drives the vehicle 1 without driving support from the vehicle system 2.

(Processing to determine non-irradiation area of light distribution pattern for ADB)
Next, with reference to FIGS. 3 to 5, the process of determining the non-irradiation area of the ADB light distribution pattern will be described below. FIG. 3 is a flowchart for explaining an example of the process of determining the non-irradiation area PH2 of the ADB light distribution pattern PH. FIG. 4 is a diagram showing the host vehicle 1 and the preceding vehicle 1A. FIG. 5 is a diagram showing an example of the ADB light distribution pattern PH formed on the virtual vertical screen.

In this embodiment, for convenience, only the ADB light distribution pattern PH formed by the ADB lighting unit 46R provided in the right headlamp 40R will be described. In particular, since the method of generating the ADB light distribution pattern using the ADB lighting unit 46L is not particularly different in principle from the method of generating the ADB light distribution pattern PH using the ADB lighting unit 46R, this embodiment It is not specifically explained. In other words, the method of controlling the ADB lighting unit 46L is the same as the control method of the ADB lighting unit 46R, so the ADB lighting unit 46L will not be particularly described in this embodiment. Furthermore, in this description, the "vehicle ahead" is an oncoming vehicle or a preceding vehicle.

As shown in FIG. 3, in step S1, the camera 6 acquires image data showing the surrounding environment of the vehicle 1, and then transmits the image data to the vehicle control unit 3. Next, in step S2, the vehicle control unit 3 determines whether an object such as the forward vehicle 1A exists in front of the vehicle 1 based on the transmitted image data.

If it is determined that an object such as the forward vehicle 1A exists in front of the vehicle 1 (YES in step S2), the vehicle control unit 3 acquires the current angular position θ of the forward vehicle 1A. On the other hand, if the vehicle control unit 3 determines that there is no object such as the forward vehicle 1A in front of the vehicle 1 (NO in step S2), the vehicle control unit 3 changes the high beam light distribution pattern (i.e., from only the irradiation area PH1). ADB light distribution pattern) is emitted forward (step S4).

In step S3, the vehicle control unit 3 determines the current angular position φ _n of the preceding vehicle 1A with respect to the central axis Cx of the camera 6 based on the transmitted image data (see FIG. 4). Specifically, the vehicle control unit 3 determines the current left end angular position φ _{l_n} of the front vehicle 1A with respect to the center axis Cx, and the current right end angular position φ _{r_n} of the front vehicle 1A with respect to the center axis Cx. Here, the angular position of the forward vehicle 1A with respect to the central axis Cx is the angular position in the horizontal direction, not the angular position in the up-down direction (vertical direction).

Next, the vehicle control unit 3 determines, based on the current angular position φ _n of the forward vehicle 1A with respect to the central axis Cx of the camera 6, the current angular position θ _n of the forward vehicle 1A with respect to the optical axis Ax of the ADB lighting unit 46R. (see Figure 4). Specifically, the vehicle control unit 3 determines the current left end angular position θ _{l_n} of the forward vehicle 1A with respect to the optical axis Ax based on the current left end angular position φ _{l_n} of the forward vehicle 1A with respect to the central axis Cx. Further, the vehicle control unit 3 determines the current right end angular position _{θ r_n} of the forward vehicle 1A with respect to the optical axis Ax based on the current right end angular position φ r_n of the forward vehicle 1A with respect to the central axis Cx. Here, the angular position of the forward vehicle 1A with respect to the optical axis Ax is the angular position in the horizontal direction, not the angular position in the vertical direction. Further, it is assumed that information regarding the relative positional relationship between the camera 6 and the ADB lighting unit 46R is stored in the memory of the vehicle control unit 3.

Next, in step S5, the illumination control unit 43 receives information regarding the current angular position θ _n of the preceding vehicle 1A from the vehicle control unit 3, and then performs ADB control based on the current angular position θ _n of the preceding vehicle 1A. A non-irradiation area PH2 of the light distribution pattern PH is determined. In particular, the illumination control unit 43 sets the margin between the left end angular position θ _{l_n} of the front vehicle 1A and the left end boundary El of the non-irradiation area PH2 to α, and also sets the margin between the left end angular position θ _{r_n} of the front vehicle 1A and the non-irradiation The margin between the area PH2 and the right edge boundary Er is set to α. Here, the margin α is α≧0. In this way, the illumination control unit 43 determines the non-irradiation area PH2 so that the angular range θ of the non-irradiation area PH2 satisfies θ _{l_n} −α≦θ≦θ _{r_n} +α. Here, the angular width W of the non-irradiation area PH2 is expressed as shown in equation (1) below.
W=2α+(θ _{r_n} - θ _{l_n} )...(1)

Thereafter, the lighting control unit 43 controls the ADB lighting unit 46R so that the ADB light distribution pattern PH including the irradiation area PH1 and the non-irradiation area PH2 is emitted to the front of the vehicle 1 (step S6). In this way, the processes from steps S1 to S6 are repeatedly executed.

(First embodiment)
Next, a method of controlling the ADB light distribution pattern PH according to the first embodiment will be described below with reference to FIGS. 6 to 8. FIG. 6 is a flowchart for explaining the process of switching the non-illuminated area PH2 of the ADB light distribution pattern PH to the illuminated area PH1 when the preceding vehicle 1A disappears from the area in front of the own vehicle 1. FIG. 7 is a schematic diagram showing the ADB light distribution pattern PH emitted to the front area immediately before the front vehicle 1A disappears from the area in front of the vehicle 1. It should be noted that in FIG. 7, the low beam light distribution pattern PL is not illustrated. FIG. 8 is a schematic diagram showing the ADB light distribution pattern PH immediately after the non-irradiation area PH2 is switched to the irradiation area PH1.

In this embodiment, it is assumed that the preceding vehicle 1A already exists in the area in front of the vehicle 1 as a precondition. Further, for convenience of explanation, only the ADB light distribution pattern PH formed by the ADB illumination unit 46R provided in the right headlamp 40R will be explained.

As shown in FIG. 6, in step S10, the vehicle control unit 3 selects at least one of the image data transmitted from the camera 6, the 3D mapping data transmitted from the LiDAR unit, and the radar data transmitted from the millimeter wave radar. Based on this, it is determined whether the preceding vehicle 1A has disappeared from the area in front of the vehicle 1. Here, the state in which the forward vehicle 1A disappears from the area in front of the vehicle 1 corresponds to the state in which the forward vehicle 1A has passed the vehicle 1 (see FIG. 8).

If the determination result in step S10 is NO, the determination process in step S10 is performed again. On the other hand, if the determination result in step S10 is YES, the vehicle control unit 3 transmits disappearance information indicating that the preceding vehicle 1A has disappeared from the front area to the illumination control unit 43. After that, the process proceeds to step S11.

Next, the vehicle control unit 3 determines whether an object such as a pedestrian P exists in the non-irradiation area PH2 of the ADB light distribution pattern PH (step S11). Specifically, as shown in FIG. 7, the vehicle control unit 3 determines whether the pedestrian P is formed by the presence of the preceding vehicle 1A, based on at least one of image data, 3D mapping data, and radar data. It is determined whether it exists in the non-irradiation area PH2. At this point, the pedestrian P's attribute information and behavior prediction information may not be specified.

When the vehicle control unit 3 determines that there is no object such as a pedestrian P in the non-irradiation area PH2 formed by the presence of the preceding vehicle 1A (NO in step S11), the illumination control unit 43 The ADB illumination unit 46R is controlled so that the non-irradiation area PH2 is switched to the irradiation area PH1 when or after the second period t2 has elapsed since disappearing from the front area (step S14). More specifically, first, the illumination control unit 43 receives from the vehicle control unit 3 information indicating that no object such as a pedestrian P exists in the non-irradiation area PH2. Next, the illumination control unit 43 changes the non-irradiation area PH2 to the irradiation area PH1 when or after a second period t2 (for example, t2 = 0.5 seconds) has elapsed from the time when the disappearance information was received from the vehicle control unit 3. The ADB lighting unit 46R is controlled to switch. This second period t2 may be a time interval conventionally used in switching control from the non-irradiation area PH2 to the irradiation area PH1.

On the other hand, when the vehicle control unit 3 determines that an object such as a pedestrian P exists in the non-irradiation area PH2 formed by the presence of the preceding vehicle 1A (YES in step S11), the vehicle control unit 3 performs the determination process in step S12. Execute. In step S12, the vehicle control unit 3 determines whether attribute information of the pedestrian P (object) has already been specified.

If the determination result in step S12 is YES, the illumination control unit 43 controls the ADB so that the non-irradiation area PH2 is switched to the irradiation area PH1 when or after the second period t2 has elapsed since the forward vehicle 1A disappeared from the front area. control the lighting unit 46R (step S14).

On the other hand, if the determination result in step S12 is NO, the illumination control unit 43 switches the non-irradiation area PH2 to the irradiation area PH1 when or after the first period t1 has elapsed since the forward vehicle 1A disappeared from the front area. The ADB lighting unit 46R is controlled (step S13).

More specifically, first, the lighting control unit 43 determines that an object such as a pedestrian P exists in the non-irradiation area PH2, and that the attribute information of the pedestrian P (object) has not yet been specified. The information shown is received from the vehicle control unit 3. Next, the lighting control unit 43 controls the ADB lighting unit 46R so that the non-irradiation area PH2 is switched to the irradiation area PH1 when or after the first period t1 has elapsed from the time when the disappearance information was received from the vehicle control unit 3. do.

The first period t1 is a period shorter than the second period t2 (0<t1<t2), and its value is not particularly limited. The first period t1 may be, for example, 0.1 second. In the process of step S13, the ADB lighting unit 46R can switch the non-irradiation area PH2 formed by the presence of the preceding vehicle 1A to the irradiation area PH1 in a shorter period of time.

According to the present embodiment, when the attribute information (an example of predetermined information) of the pedestrian P (object) existing in the non-irradiation area PH2 of the ADB light distribution pattern PH has not been specified by the vehicle 1, The non-irradiation area PH2 switches to the irradiation area PH1 when or after the first period t1 (<t2) has elapsed since the forward vehicle 1A disappeared from the front area. On the other hand, if the target object does not exist in the non-irradiation area PH2 or if the attribute information of the target object has already been specified, the object does not exist when or after the second period t2 has elapsed since the forward vehicle 1A disappeared from the front area. The irradiation area PH2 is switched to the irradiation area PH1.

In this way, when the attribute information of an object such as a pedestrian P existing in the non-irradiation area PH2 has not yet been specified, the period until the non-irradiation area PH2 is switched to the irradiation area PH1 is shortened. Therefore, the target object is illuminated with light from the ADB illumination unit 46R more quickly, so that the attribute information of the target object can be quickly identified with high accuracy using the image data acquired from the camera 6.

In this respect, if the object is not irradiated with light, the camera 6 cannot acquire image data that clearly shows the object. In such a situation, it becomes difficult for the vehicle control unit 3 to identify the attribute information of the object with high accuracy based on the image data. On the other hand, in this embodiment, since the light is irradiated onto the target object more quickly, the vehicle control unit 3 can quickly identify the attribute information of the target object with high accuracy based on the image data.

Note that in the process of step S12, it is determined whether the attribute information of the object such as the pedestrian P has already been specified, but the present embodiment is not limited to this. For example, in the process of step S12, it may be determined whether the behavior prediction information of the target object has already been specified. In this case as well, in a situation where the target object is not clearly shown in the image data, it becomes difficult for the vehicle control unit 3 to specify the behavior prediction information of the target object with high accuracy based on the image data. On the other hand, in the present embodiment, the light is irradiated to the target object more quickly, so that the vehicle control unit 3 can quickly identify the behavior prediction information of the target object with high accuracy based on the image data.

(Second embodiment)
A method of controlling the ADB light distribution pattern PH according to the second embodiment will be described below with reference to FIGS. 7 to 9. FIG. 9 is a flowchart for explaining the process of switching the non-irradiation area PH2 to the irradiation area PH1 when the forward vehicle 1A disappears from the area in front of the vehicle 1. Note that, similarly in this embodiment, only the ADB light distribution pattern PH formed by the ADB lighting unit 46R will be described.

As shown in FIG. 9, in step S20, the vehicle control unit 3 determines whether the preceding vehicle 1A has disappeared from the area in front of the vehicle 1, based on at least one of image data, 3D mapping data, and radar data. Determine. If the determination result in step S20 is NO, the determination process in step S20 is executed again. On the other hand, if the determination result in step S20 is YES, the vehicle control unit 3 transmits disappearance information indicating that the preceding vehicle 1A has disappeared from the front area to the illumination control unit 43. After that, the process proceeds to step S21.

Next, in step S21, the vehicle control unit 3 determines whether the level of the driving mode of the vehicle 1 is equal to or higher than a predetermined level. In the following description, it is assumed that each of the vehicle driving modes is associated with the following levels. In other words, as the level of automation of the driving mode of a vehicle increases, the level of the driving mode becomes higher.

For example, in the process of step S21, the vehicle control unit 3 may determine whether the level of the driving mode of the vehicle 1 is level 3 or higher. In this case, if the driving mode of the vehicle 1 is the fully automatic driving mode or the advanced driving support mode, the determination result in step S21 is YES. On the other hand, when the driving mode of the vehicle 1 is the driving support mode or the manual driving mode, the determination result in step S21 is NO. Further, in the process of step S21, it may be determined whether the level of the driving mode of the vehicle 1 is equal to or higher than level N (2≦N≦4).

Next, when the determination result in step S21 is NO, the illumination control unit 43 controls the illumination control unit 43 when a second period t2 (for example, t2=0.5 seconds) has elapsed or elapsed since the forward vehicle 1A disappeared from the front area. The ADB lighting unit 46R is controlled so that the non-irradiation area PH2 is later switched to the irradiation area PH1 (step S23). More specifically, the lighting control unit 43 receives information indicating that the level of the driving mode of the vehicle 1 is not higher than a predetermined level from the vehicle control unit 3, and then receives disappearance information from the vehicle control unit 3. The ADB illumination unit 46R is controlled so that the non-irradiation area PH2 is switched to the irradiation area PH1 when or after the second period t2 has elapsed from the time when the non-irradiation area PH2 has elapsed.

On the other hand, when the determination result in step S21 is YES, the illumination control unit 43 changes the non-irradiation area PH2 to the irradiation area PH1 when or after the first period t1 has elapsed since the forward vehicle 1A disappeared from the front area. The ADB lighting unit 46R is controlled to switch (step S22). More specifically, the lighting control unit 43 receives information indicating that the level of the driving mode of the vehicle 1 is equal to or higher than a predetermined level from the vehicle control unit 3, and then receives disappearance information from the vehicle control unit 3. The ADB illumination unit 46R is controlled so that the non-irradiation area PH2 is switched to the irradiation area PH1 when or after the first period t1 has elapsed from the time when the non-irradiation area PH2 has elapsed.

According to the present embodiment, depending on the driving mode of the vehicle 1, the period from when the forward vehicle 1A disappears from the front area until the non-irradiation area PH2 switches to the irradiation area PH1 is shortened. Therefore, an object such as a pedestrian P existing in the non-irradiation area PH2 is irradiated with light from the ADB lighting unit 46R more quickly, so information related to the object ( It becomes possible to quickly identify the object's attribute information and/or behavior prediction information with high accuracy.

In particular, assume that in step S21, it is determined whether the level of the driving mode of the vehicle 1 is level 3 or higher. In this case, when the vehicle 1 is traveling in the fully automatic driving mode or the advanced driving support mode (that is, when the traveling of the vehicle 1 is controlled by the vehicle control unit 3), the vehicle 1A ahead is The non-irradiation area PH2 switches to the irradiation area PH1 when or after the first period t1 has elapsed since the disappearance. On the other hand, when the vehicle 1 is running in the driving support mode or the manual driving mode (that is, when the driving of the vehicle 1 is mainly controlled by the driver), when the preceding vehicle 1A disappears from the front area The non-irradiation area PH2 switches to the irradiation area PH1 when or after the second period t2 has elapsed.

In this way, when the traveling of the vehicle 1 is controlled by the vehicle control unit 3, it is necessary to quickly identify information related to the object from the image data from the camera 6 with high accuracy. Therefore, in this embodiment, by shortening the period until the non-irradiation area PH2 switches to the irradiation area PH1, image data that clearly shows the target object can be quickly acquired, and information related to the target object can be quickly acquired. can be specified. On the other hand, when the driving of the vehicle 1 is mainly controlled by the driver, the period until the non-irradiation area PH2 switches to the irradiation area PH1 is not shortened in order to reduce the sense of discomfort given to the driver of the vehicle 1. .

(Third embodiment)
Next, a process for determining the angular width of the non-irradiation area of the ADB light distribution pattern according to the third embodiment will be described below with reference to FIGS. 10 to 13. FIG. 10 is a flowchart for explaining the process of determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH according to the third embodiment. FIG. 11 is a diagram showing the host vehicle 1 and the preceding vehicle 1B. FIG. 12 is a diagram showing the ADB light distribution pattern PH formed on the virtual vertical screen when the angular width W of the non-irradiation area PH2 is W1. FIG. 13 is a diagram showing the ADB light distribution pattern PH formed on the virtual vertical screen when the angular width W of the non-irradiation area PH2 is W2 (>W1).

In this embodiment, for convenience of explanation, only the ADB light distribution pattern PH formed by the ADB lighting unit 46R provided in the right headlamp 40R will be described. In particular, since the method of generating the ADB light distribution pattern using the ADB lighting unit 46L is not particularly different in principle from the method of generating the ADB light distribution pattern PH using the ADB lighting unit 46R, this embodiment It is not specifically explained. In other words, the method of controlling the ADB lighting unit 46L is the same as the method of controlling the ADB lighting unit 46R, and therefore will not be particularly described in this embodiment.

As shown in FIG. 10, in step S31, the camera 6 acquires image data showing the surrounding environment of the vehicle 1, and then transmits the image data to the vehicle control unit 3. Here, the image data shows the preceding vehicle 1B. Further, the "vehicle ahead" is an oncoming vehicle or a preceding vehicle. Next, in step S32, the vehicle control unit 3 (first angular position determination unit) determines the current angular position φ _n of the preceding vehicle 1B with respect to the central axis Cx of the camera 6 based on the transmitted image data. (See Figure 11). Specifically, the vehicle control unit 3 determines the current left end angular position φ _{l_n} of the front vehicle 1B with respect to the center axis Cx, and the current right end angular position φ _{r_n} of the front vehicle 1B with respect to the center axis Cx. Here, the angular position of the forward vehicle 1B with respect to the central axis Cx is an angular position in the horizontal direction, not an angular position in the up-down direction (vertical direction).

Next, the vehicle control unit 3 (second angular position determining unit) determines the position of the front vehicle relative to the optical axis Ax of the ADB lighting unit 46R based on the current angular position φ _n of the preceding vehicle 1B relative to the central axis Cx of the camera 6. Determine the current angular position θ _n of 1B (see FIG. 11). Specifically, the vehicle control unit 3 determines the current left end angular position θ _{l_n} of the forward vehicle 1B with respect to the optical axis Ax based on the current left end angular position φ _{l_n} of the forward vehicle 1B with respect to the central axis Cx. Further, the vehicle control unit 3 determines the current right-end angular position θ _{r_n} of the forward vehicle 1B with respect to the optical axis Ax based on the current right-end angular position φ _{r_n} of the forward vehicle 1B with respect to the central axis Cx. Here, the angular position of the forward vehicle 1B with respect to the optical axis Ax is the angular position in the horizontal direction, not the angular position in the vertical direction. Further, it is assumed that information regarding the relative positional relationship between the camera 6 and the ADB lighting unit 46R is stored in the memory of the vehicle control unit 3.

Next, in step S33, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D between the current angular position θ _n of the preceding vehicle 1B and the previous angular position θ _n-1 of the preceding vehicle 1B. . Specifically, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D=|θ between the current left end angular position θ _{l_n} of the preceding vehicle 1B and the previous left end angular position θ _{l_n-1} of the preceding vehicle 1B. You may also calculate _{l_n} −θ _{l_n-1} |. Further, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D between the current right end angular position θ _{r_n} of the forward vehicle 1B and the previous right end angular position θ _{r_n -1} of the forward vehicle 1B. You may also calculate _{r_n-1} |.

Next, in step S34, the illumination control unit 43 determines whether the calculated difference D is larger than a predetermined threshold Dth. Here, information regarding the predetermined threshold value Dth is stored on the memory of the illumination control section 43. The predetermined threshold value Dth may be a fixed value or may change depending on the driving state of the vehicle 1 or the surrounding environment.

When determining that the calculated difference D is larger than the predetermined threshold Dth (YES in step S34), the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the first angular width W1 ( Step S35). Specifically, as shown in FIG. 12, the illumination control unit 43 sets the margin between the left end angular position θ _{l_n} of the forward vehicle 1B and the left end boundary El of the non-irradiation area PH2 to α ₁ , and The margin between the right end angular position θ _{r_n} of the car 1B and the right end boundary Er of the non-irradiation area PH2 is set to _α1 . Here, the margin α ₁ is α ₁ >0. In this way, the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the first angular width W1 shown in equation (2) below. Here, the angular range of the non-irradiation area PH2 is θ _{l_n} −α ₁ ≦θ≦θ _{r_n} +α ₁ .
W1=2α ₁ + (θ _{r_n} - θ _{l_n} )...(2)

On the other hand, if the illumination control unit 43 determines that the calculated difference D is less than or equal to the predetermined threshold value Dth (NO in step S34), the illumination control unit 43 sets the angular width W of the non-irradiation area PH to be smaller than the first angular width W1. A smaller second angular width W2 is set (step S36). Specifically, as shown in FIG. 13, the illumination control unit 43 sets the margin between the left end angular position θ _{l_n} of the forward vehicle 1B and the left end boundary El of the non-irradiation area PH2 to α ₂ , and The margin between the right end angular position θ _{r_n} of the car 1B and the right end boundary Er of the non-irradiation area PH2 is set to _α2 . Here, the margin α ₂ is smaller than the margin α ₁ (0≦α ₂ <α ₁ ). In this way, the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the second angular width W2 (<W1) shown in equation (3) below. Here, the angular range of the non-irradiation area PH2 is θ _{l_n} −α ₂ ≦θ≦θ _{r_n} +α ₂ .
W2=2α ₂ + (θ _{r_n} - θ _{l_n} )...(3)

In this way, after the angular width W of the non-irradiation area PH2 is set in step S35 or step S36, the illumination control unit 43 creates the ADB light distribution pattern PH having the irradiation area PH1 and the non-irradiation area PH2. decide. Thereafter, the lighting control unit 43 controls the ADB lighting unit 46R so that the ADB light distribution pattern PH is emitted to the front of the vehicle 1 (step S37). In this way, the processes from steps S31 to S37 are repeatedly executed.

According to the present embodiment, according to the difference D between the current angular position θ _n and the previous angular position θ _n−1 of the forward vehicle 1B, which corresponds to the change in the angular position θ of the forward vehicle 1B with respect to the vehicle 1. , the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH is changed. In particular, when the difference D is larger than a predetermined threshold Dth, the angular width W of the non-irradiation area PH2 is set to the first angular width W1. On the other hand, when the difference D is less than or equal to the predetermined threshold Dth, the angular width W of the non-irradiation area PH2 is set to the second angular width W2, which is smaller than the first angular width W1. In this way, while ensuring the visibility of the occupants of the host vehicle 1 (for example, the driver) to the surrounding environment, it is possible to prevent a situation in which a part of the vehicle ahead 1B is illuminated by the light from the ADB lighting unit 46R. can be avoided as much as possible.

In this regard, when the vehicle ahead 1B overlaps with a part of the irradiation area PH1 of the ADB light distribution pattern PH, the vehicle control unit 3 selects the forward direction from the image data indicating the vehicle 1B ahead which overlaps with the part of the irradiation area PH1. There is a possibility that the attributes of the vehicle 1B (ie, the type of object) may not be accurately determined. The reason for this is that the trained model for determining the attributes of the object may not be able to accurately determine the attributes of the object that overlaps a part of the irradiation area PH1.

Therefore, in this embodiment, a part of the front vehicle 1B is illuminated with light from the ADB lighting unit 46R so that the vehicle control unit 3 can accurately determine the attributes of objects such as the front vehicle 1B. situations can be avoided as much as possible. Furthermore, in order to avoid a situation where a part of the vehicle ahead 1B is illuminated by the light from the ADB lighting unit 46R, the angular width W of the non-illuminated area PH2 is adjusted according to the change in the angular position of the vehicle ahead 1B with respect to the vehicle 1. Optimized.

(Fourth embodiment)
Next, a process for determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern according to the fourth embodiment will be described below, mainly with reference to FIG. 14. FIG. 14 is a flowchart for explaining the process of determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH according to the fourth embodiment. In the following description, the ADB light distribution pattern PH shown in FIGS. 12 and 13 will be referred to as appropriate.

As shown in FIG. 14, in step S40, the camera 6 acquires image data showing the surrounding environment of the vehicle 1, and then transmits the image data to the vehicle control unit 3. Next, in step S41, the vehicle control unit 3 determines the current angular position θ _n (in particular, the current left end angular position θ _{l_n} and the current right end angular position θ _{r_n} ).

Next, in step S42, the vehicle control unit 3 or the lighting control unit 43 calculates the average angular position θ _AVR of the preceding vehicle 1B with respect to the optical axis Ax. In this regard, the vehicle control unit 3 or the lighting control unit 43 determines the angular position θ n-N N times before (N is an integer of 2 or more) from the previous angular position θ _{n-1 of} the forward vehicle 1B with respect to the optical axis Ax. Calculate the average angular position _θAVR between then. More specifically, the vehicle control unit 3 or the lighting control unit 43 determines the left end average angular position θ _{l_AVR} from the previous left end angular position θ _{l_n−1} of the preceding vehicle 1B to the left end angular position θ _{l_n−N} N times before. Calculate. Further, the vehicle control unit 3 or the lighting control unit 43 calculates the right end average angular position θ _{r_AVR} of the preceding vehicle 1B from the previous right end angular position θ _{r_n-1} to the N times previous right end angular position θ _{r_n-N} .

Next, in step S43, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D between the current angular position θ _n of the preceding vehicle 1B and the calculated average angular position θ _AVR . Specifically, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D between the current left end angular position θ _{l_n} of the forward vehicle 1B and the left end average angular position θ _{l_AVR} of the forward vehicle 1B = |θ _{l_n} −θ _{l_AVR} | may also be calculated. Further, the vehicle control unit 3 or the lighting control unit 43 calculates the difference D=|θ _{r_n} −θ _{r_AVR} | between the current right end angular position θ _{r_n} of the forward vehicle 1B and the right end average angular position θ _{r_AVR} of the forward vehicle 1B. It may be calculated.

Next, in step S44, the illumination control unit 43 determines whether the calculated difference D is larger than a predetermined threshold Dth. When the illumination control unit 43 determines that the calculated difference D is larger than the predetermined threshold Dth (YES in step S44), the illumination control unit 43 changes the angular width W of the non-irradiation area PH2 to a first value, as shown in FIG. The angular width is set to W1 (step S45). On the other hand, if the illumination control unit 43 determines that the calculated difference D is less than or equal to the predetermined threshold value Dth (NO in step S44), the illumination control unit 43 adjusts the angular width W of the non-irradiation area PH to a second value, as shown in FIG. The second angular width W2 is set to be smaller than the first angular width W1 (step S46). Next, after determining the ADB light distribution pattern PH having the irradiation area PH1 and the non-irradiation area PH2, the illumination control unit 43 controls the ADB light distribution pattern PH so that the ADB light distribution pattern PH is emitted to the front of the vehicle 1. The lighting unit 46R is controlled (step S47).

According to the present _embodiment , the _ADB controller is configured to use the The angular width W of the non-irradiation area PH2 of the light distribution pattern PH is changed. In particular, when the difference D is larger than a predetermined threshold Dth, the angular width W of the non-irradiation area PH2 is set to the first angular width W1. On the other hand, when the difference D is less than or equal to the predetermined threshold Dth, the angular width W of the non-irradiation area PH2 is set to the second angular width W2, which is smaller than the first angular width W1. In this way, while ensuring the visibility of the occupants of the host vehicle 1 (for example, the driver) to the surrounding environment, it is possible to prevent a situation in which a part of the vehicle ahead 1B is illuminated by the light from the ADB lighting unit 46R. can be avoided as much as possible.

(Fifth embodiment)
Next, a process for determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern according to the fifth embodiment will be described below, mainly with reference to FIGS. 15 and 16. FIG. 15 is a flowchart for explaining the process of determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH according to the fifth embodiment. FIG. 16 is a diagram showing the ADB light distribution pattern PH formed on the virtual vertical screen when the angular width W of the non-irradiation area PH2 is W3.

As shown in FIG. 15, in step S50, the camera 6 acquires image data showing the surrounding environment of the vehicle 1, and then transmits the image data to the vehicle control unit 3. Next, in step S51, the vehicle control unit 3 determines the current angular position θ _n (in particular, the current left end angular position θ _{l_n} and the current right end angular position θ _{r_n} ).

Next, in step S52, the vehicle control unit 3 or the lighting control unit 43 calculates the average angular position θ _AVR of the preceding vehicle 1B with respect to the optical axis Ax. In this regard, the vehicle control unit 3 or the illumination control unit 43 moves from the current angular position θ _n of the forward vehicle 1B with respect to the optical axis Ax to the angular position θ n _−M M times ago (M is an integer of 1 or more). Calculate the average angular position θ _AVR between. More specifically, the vehicle control unit 3 or the lighting control unit 43 calculates the left end average angular position θ _{l_AVR} from the current left end angular position θ _{l_n} of the forward vehicle 1B to the left end angular position θ _{l_n−} M M times before. do. Further, the vehicle control unit 3 or the lighting control unit 43 calculates the right end average angular position θ _{r_AVR} from the current right end angular position θ _{r_n} of the preceding vehicle 1B to the right end angular position θ _{r_n−M} M times ago.

Next, in step S53, the illumination control unit 43 determines the angular width W of the non-irradiation area PH2 based on the average angular position θ _AVR of the preceding vehicle 1B. Specifically, as shown in FIG. 16, the illumination control unit 43 sets the angular width W of the non-irradiation area to the third angular width W3 shown in equation (4) below. Here, the distance between the left end boundary El of the non-irradiation area PH2 and the left end average angular position θ _{l_AVR} is set as a margin α ₃ , and the distance between the right end boundary Er and the right end average angular position θ _{r_AVR} of the non-irradiation area PH2 is set as a margin α 3. The distance between them is set as a margin _α3 . The margin _α3 is 0 or more. Further, the angular range of the non-irradiation area PH2 is θ _{l_AVR} −α ₃ ≦θ≦θ _{r_AVR} +α ₃ .
W3=2α ₃ + (θ _{r_AVR} −θ _{l_AVR} )...(4)

Next, after determining the ADB light distribution pattern PH having the irradiation area PH1 and the non-irradiation area PH2, the illumination control unit 43 determines that the ADB light distribution pattern PH is emitted to the front of the vehicle 1. The ADB lighting unit 46R is controlled so that the ADB illumination unit 46R is set (step S54).

According to this embodiment, the angular width W3 of the non-irradiation area PH2 of the ADB light distribution pattern is determined based on the average angular position θ _AVR of the preceding vehicle 1B. In this way, it is possible to optimize the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH, taking into account the variation in the angular position of the preceding vehicle 1B. Therefore, it is possible to avoid as much as possible a situation in which a portion of the vehicle ahead 1B is illuminated by light from the ADB lighting unit 46R without reducing the visibility of the occupants of the own vehicle 1 with respect to the surrounding environment.

(Sixth embodiment)
Next, with reference to FIGS. 17 to 20, a process for determining the angular width of the non-irradiation area of the ADB light distribution pattern according to the driving mode of the vehicle 1 will be described below. FIG. 17 is a flowchart for explaining the process of determining the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH according to the driving mode of the vehicle 1. FIG. 18 is a diagram showing the host vehicle 1 and the preceding vehicle 1C. FIG. 19 is a diagram showing the ADB light distribution pattern PH formed on the virtual vertical screen when the angular width W of the non-irradiation area PH2 is the first angular width W4. FIG. 20 is a diagram showing the ADB light distribution pattern PH formed on the virtual vertical screen when the angular width W of the non-irradiation area PH2 is the second angular width W5 (<W4).

In this embodiment, for convenience of explanation, only the ADB light distribution pattern PH formed by the ADB lighting unit 46R provided in the right headlamp 40R will be described. In particular, since the method of generating the ADB light distribution pattern using the ADB lighting unit 46L is not particularly different in principle from the method of generating the ADB light distribution pattern PH using the ADB lighting unit 46R, this embodiment It is not specifically explained. In other words, the method of controlling the ADB lighting unit 46L is the same as the method of controlling the ADB lighting unit 46R, and therefore will not be particularly described in this embodiment.

As shown in FIG. 17, in step S61, the camera 6 acquires image data showing the surrounding environment of the vehicle 1, and then transmits the image data to the vehicle control unit 3. Here, the image data shows the preceding vehicle 1C. Further, the "vehicle ahead" is an oncoming vehicle or a preceding vehicle.

Next, when the vehicle control unit 3 determines that an object such as the forward vehicle 1C exists in front of the vehicle 1 (YES in step S62), the vehicle control unit 3 acquires the current angular position θ of the forward vehicle 1C. On the other hand, if the vehicle control unit 3 determines that there is no object such as the forward vehicle 1C in front of the vehicle 1 (NO in step S62), the vehicle control unit 3 changes the high beam light distribution pattern (i.e., from only the irradiation area PH1). ADB light distribution pattern PH) is emitted forward (step S63).

Next, in step S64, the vehicle control unit 3 first determines the current angular position φ _n of the preceding vehicle 1C with respect to the central axis Cx of the camera 6 based on the transmitted image data (see FIG. 18). . Specifically, the vehicle control unit 3 determines the current left end angular position φ _{l_n} of the front vehicle 1C with respect to the center axis Cx, and the current right end angular position φ _{r_n} of the front vehicle 1C with respect to the center axis Cx. Here, the angular position of the front vehicle 1C with respect to the central axis Cx is the angular position in the horizontal direction, not the angular position in the vertical direction (vertical direction).

Next, the vehicle control unit 3 determines, based on the current angular position φ _n of the forward vehicle 1C with respect to the central axis Cx of the camera 6, the current angular position θ _n of the forward vehicle 1C with respect to the optical axis Ax of the ADB lighting unit 46R. (see Figure 18). Specifically, the vehicle control unit 3 determines the current left end angular position θ _{l_n} of the forward vehicle 1C with respect to the optical axis Ax based on the current left end angular position _{φ l_n} of the forward vehicle 1C with respect to the central axis Cx. Furthermore, the vehicle control unit 3 determines the current right end angular position θ _{r_n} of the forward vehicle 1C with respect to the optical axis Ax based on the current right end angular position φ _{r_n} of the forward vehicle 1C with respect to the central axis Cx. Here, the angular position of the forward vehicle 1C with respect to the optical axis Ax is the angular position in the horizontal direction, not the angular position in the vertical direction. Further, it is assumed that information regarding the relative positional relationship between the camera 6 and the ADB lighting unit 46R is stored in the memory of the vehicle control unit 3.

Next, in step S65, the lighting control unit 43 determines whether the driving mode of the vehicle 1 is the fully automatic driving mode or the advanced driving support mode, based on the information indicating the driving mode of the vehicle 1 received from the vehicle control unit 3. judge whether When the lighting control unit 43 determines that the driving mode of the vehicle 1 is the fully automatic driving mode or the advanced driving support mode (YES in step S65), the lighting control unit 43 sets the angular width W of the non-irradiation area PH2 of the ADB light distribution pattern PH. The first angular width W4 is set (step S66).

Specifically, as shown in FIG. 19, the illumination control unit 43 sets the margin between the left end angular position θ _{l_n} of the forward vehicle 1C and the left end boundary El of the non-irradiation area PH2 to _α4 , and The margin between the right end angular position θ _{r_n} of the car 1C and the right end boundary Er of the non-irradiation area PH2 is set to _α4 . Here, the margin α ₄ is α ₄ >0. In this way, the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the first angular width W4 shown in equation (5) below. Here, the angular range of the non-irradiation area PH2 is θ _{l_n} −α ₄ ≦θ≦θ _{r_n} +α ₄ .
W4=2α ₄ + (θ _{r_n} - θ _{l_n} )...(5)

On the other hand, if the lighting control unit 43 determines that the driving mode of the vehicle 1 is not the fully automatic driving mode or the advanced driving support mode (NO in step S65), the lighting control unit 43 sets the angular width W of the non-irradiation area PH2 to the second angular width. It is set to W5 (step S67). In other words, the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the second angular width W5 when the driving mode of the vehicle 1 is the driving support mode or the manual driving mode. Specifically, as shown in FIG. 20, the illumination control unit 43 sets the margin between the left end angular position θ _{l_n} of the forward vehicle 1C and the left end boundary El of the non-irradiation area PH2 to _α5 , and The margin between the right end angular position θ _{r_n} of the car 1C and the right end boundary Er of the non-irradiation area PH2 is set to _α5 . Here, the margin α ₅ is smaller than the margin α ₄ (0≦α ₅ <α ₄ ). In this way, the illumination control unit 43 sets the angular width W of the non-irradiation area PH2 to the second angular width W5 (<W4) shown in equation (6) below. Here, the angular range of the non-irradiation area PH2 is θ _{l_n} −α ₅ ≦θ≦θ _{r_n} +α ₅ .
W5=2α ₅ + (θ _{r_n} - θ _{l_n} )...(6)

In this way, after the angular width W of the non-irradiation area PH2 is set in step S66 or step S67, the illumination control unit 43 creates the ADB light distribution pattern PH having the irradiation area PH1 and the non-irradiation area PH2. decide. Thereafter, the lighting control unit 43 controls the ADB lighting unit 46R so that the ADB light distribution pattern PH is emitted toward the front of the vehicle 1 (step S68). In this way, the processes from steps S61 to S68 are repeatedly executed.

According to this embodiment, when the driving mode of the vehicle 1 is the advanced driving support mode or the fully automatic driving mode, the angular width W of the non-irradiation region PH2 is set to the first angular width W4. On the other hand, when the driving mode of the vehicle 1 is the driving support mode or the manual driving mode, the angular width W of the non-irradiation area PH2 is set to the second angular width W5.

When the driving mode of the vehicle 1 is the advanced driving support mode or the fully automated driving mode, the occupant of the own vehicle 1 does not control the driving of the vehicle 1, so the visibility of the occupant of the own vehicle 1 to the surrounding environment is considered. There's no need. On the other hand, since the angular width W of the non-irradiation area PH2 is set to the first angular width W4, which is larger than the second angular width W5, objects such as the vehicle ahead 1C are The situation of being exposed to radiation can be avoided as much as possible. Therefore, it is possible to avoid as much as possible a situation where the vehicle control unit 3 (vehicle computer) of the host vehicle 1 is unable to determine the attributes of the object based on the image data from the camera 6 and the learned model.

In this respect, when the vehicle ahead 1C overlaps with a part of the irradiation area PH1 of the ADB light distribution pattern PH, the vehicle control unit 3 selects the forward direction from the image data indicating the vehicle 1C ahead which overlaps with the part of the irradiation area PH1. There is a possibility that the attributes of the vehicle 1C (ie, the type of object) may not be accurately determined. The reason for this is that the learned model for determining the attributes of the object may not be able to accurately determine the attributes of the object that overlaps a part of the irradiation area PH1. Therefore, in this embodiment, a part of the front vehicle 1C is illuminated with light from the ADB lighting unit 46R so that the vehicle control unit 3 can accurately determine the attributes of objects such as the front vehicle 1C. situations can be avoided as much as possible.

On the other hand, when the driving mode of the vehicle 1 is the driving support mode or the manual driving mode, the angular width W of the non-irradiation area PH2 is set to the second angular width W5, which is smaller than the first angular width W4. Therefore, sufficient visibility of the surrounding environment for the occupants of the host vehicle 1 (particularly the driver) can be ensured.

In addition, in this embodiment, in the determination process of step S65, it is determined whether the driving mode of the vehicle 1 is fully automatic driving mode or advanced driving support mode, but this embodiment is limited to this. isn't it. For example, in the determination process of step S65, it may be determined whether the driving mode of the vehicle 1 is the fully automatic driving mode. Further, it may be determined whether the driving mode of the vehicle 1 is a fully automatic driving mode, an advanced driving support mode, or a driving support mode (in other words, whether the driving mode of the vehicle 1 is an automatic driving mode). .

(Seventh embodiment)
Next, with reference mainly to FIG. 21, a process for determining whether or not the ADB light distribution pattern PH should be emitted according to the driving mode of the vehicle 1 will be described below. FIG. 21 is a flowchart for explaining the process of determining whether or not the ADB light distribution pattern PH2 should be emitted according to the driving mode of the vehicle 1. In the following description, the ADB light distribution pattern PH and the low beam light distribution pattern PL shown in FIG. 19 will be referred to as appropriate.

As shown in FIG. 21, in step S70, it is determined whether the driving mode of the vehicle 1 is the fully automatic driving mode or the advanced driving support mode, based on the information indicating the driving mode of the vehicle 1 received from the vehicle control unit 3. judge.

If the lighting control unit 43 determines that the driving mode of the vehicle 1 is the fully automatic driving mode or the advanced driving support mode (YES in step S70), the lighting control unit 43 determines not to irradiate the ADB light distribution pattern PH toward the front. (Step S71). Thereafter, the illumination control section 43 controls the low beam illumination unit 45R so that the low beam light distribution pattern PL is emitted forward.

On the other hand, if the lighting control unit 43 determines that the driving mode of the vehicle 1 is not the fully automatic driving mode or the advanced driving support mode (NO in step S70), the lighting control unit 43 may emit the ADB light distribution pattern PH toward the front. is determined (step S72). Thereafter, the lighting control unit 43 controls the ADB lighting unit 46R so that the ADB light distribution pattern PH is emitted forward, and also controls the ADB light distribution pattern PL so that it is emitted forward. Controls the low beam lighting unit 45R. In this case, if an object such as the forward vehicle 1C exists in the area in front of the vehicle 1, the ADB lighting unit 46R is controlled so that the object is included in the non-irradiation area PH2. On the other hand, when there is no object in the area in front of the vehicle 1, the ADB light distribution pattern PH (that is, the high beam light distribution pattern) including only the irradiation area PH1 is emitted forward.

According to this embodiment, when the driving mode of the vehicle 1 is the advanced driving mode or the fully automatic driving mode, the ADB light distribution pattern PH is not emitted from the ADB lighting unit 46R, but the driving mode of the vehicle 1 is In the driving support mode or manual driving mode, the ADB light distribution pattern PH is emitted from the ADB lighting unit 46R.

In particular, when the driving mode of the vehicle 1 is the advanced driving support mode or the fully automated driving mode, the occupant of the vehicle 1 does not control the driving of the vehicle 1, so the visibility of the occupant in the surrounding environment of the vehicle 1 is taken into consideration. There's no need. On the other hand, in such a case, it is possible to avoid as much as possible a situation in which objects such as the preceding vehicle 1C are illuminated by the ADB light distribution pattern PH. Therefore, it is possible to avoid a situation in which the vehicle control unit 3 is unable to determine the attributes of the object based on the image data from the camera 6 and the learned model.

On the other hand, when the driving mode of the vehicle 1 is the driving support mode or the manual driving mode, the ADB light distribution pattern PH is emitted toward the outside of the vehicle 1, so that the occupants (especially This makes it possible to ensure sufficient visibility for drivers (and drivers).

In addition, in this embodiment, in the determination process of step S70, it is determined whether the driving mode of the vehicle 1 is fully automatic driving mode or advanced driving support mode, but this embodiment is limited to this. isn't it. For example, in the determination process of step S70, it may be determined whether the driving mode of the vehicle 1 is the fully automatic driving mode. Further, it may be determined whether the driving mode of the vehicle 1 is a fully automatic driving mode, an advanced driving support mode, or a driving support mode (in other words, whether the driving mode of the vehicle 1 is an automatic driving mode). .

Although the embodiments of the present invention have been described above, it goes without saying that the technical scope of the present invention should not be interpreted to be limited by the description of the present embodiments. This embodiment is merely an example, and those skilled in the art will understand that various modifications can be made within the scope of the invention as set forth in the claims. The technical scope of the present invention should be determined based on the scope of the invention described in the claims and the equivalent scope thereof.

This application combines the contents disclosed in the Japanese patent application (Patent Application No. 2019-124310) filed on July 3, 2019, and the content disclosed in the Japanese patent application (Patent Application No. 2019-124310) filed on July 3, 2019. 2019-124311) and the content disclosed in the Japanese patent application (Japanese Patent Application No. 2019-124312) filed on July 3, 2019 are appropriately cited.

Claims (17)

A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that a front vehicle existing in a region in front of the vehicle is included in the non-irradiation region;
The lighting control section includes:
When a target object exists in the non-irradiation area formed by the presence of the vehicle ahead, and predetermined information related to the target object has not yet been specified by the vehicle,
Controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area;
When there is no object in the non-irradiation area formed by the presence of the preceding vehicle, or when predetermined information related to the object has already been specified by the vehicle,
controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area;
The first period is shorter than the second period,
Vehicle lighting system. The vehicle lighting system according to claim 1, wherein the predetermined information related to the target object is attribute information of the target object or behavior prediction information of the target object. A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that a front vehicle existing in a region in front of the vehicle is included in the non-irradiation region;
The lighting control section includes:
When the level of the driving mode of the vehicle is equal to or higher than a predetermined level,
Controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area;
When the level of the driving mode of the vehicle is lower than the predetermined level,
controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area;
The first period is shorter than the second period,
Vehicle lighting system. The lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automated driving mode,
Controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a first period has elapsed since the preceding vehicle disappeared from the forward area;
When the driving mode of the vehicle is a partial driving support mode or a manual driving mode,
controlling the lighting unit so that a non-illuminated area formed by the presence of the preceding vehicle switches to an irradiated area after a second period has elapsed since the preceding vehicle disappeared from the forward area;
The first period is shorter than the second period,
The vehicle lighting system according to claim 3. A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle;
The lighting control section includes:
A vehicle illumination system configured to change the angular width of the non-irradiation area in accordance with a change in the angular position of the object with respect to the vehicle. The lighting control section includes:
If the variation in the angular position is larger than a predetermined threshold, setting the angular width of the non-irradiation area to a first angular width based on the angular position;
If the variation in the angular position is less than or equal to the predetermined threshold, the angular width of the non-irradiated area is set to a second angular width smaller than the first angular width based on the angular position. The vehicular lighting system according to claim 5, comprising: 7. The vehicle lighting system of claim 6, wherein the variation in angular position is a difference between a current angular position of the object and a previous angular position of the object. The lighting control section includes:
It is configured to calculate the average angular position of the angular position of the target from the previous time to the previous N times (N is an integer of 2 or more),
7. The vehicle lighting system of claim 6, wherein the variation in angular position is a difference between the current angular position of the object and the average angular position. A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to emit a light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle;
The lighting control section includes:
Calculating the average angular position of the angular positions from the current angular position of the object up to M times ago (M is an integer of 1 or more);
determining an angular width of the non-irradiated area based on the average angular position;
A vehicle lighting system configured as follows. a camera configured to obtain image data indicative of a surrounding environment of the vehicle;
an attribute determination unit configured to determine an attribute of an object existing outside the vehicle based on the image data;
a first angular position determination unit configured to determine a first angular position of the object relative to the central axis of the camera based on the image data;
a second angular position determination unit configured to determine, based on the first angular position, a second angular position of the object relative to the optical axis of the lighting unit as the angular position of the object;
A vehicular lighting system according to any one of claims 5 to 9,
A vehicle system equipped with A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to radiate an ADB light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle;
The lighting control section includes:
A vehicular lighting system configured to change the angular width of the non-irradiation area according to a driving mode of the vehicle. The lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automatic driving mode, setting the angular width of the non-irradiation area to a first angular width based on information regarding the angular position,
When the driving mode of the vehicle is a driving support mode or a manual driving mode, the angular width of the non-irradiation area is set to a second angular width smaller than the first angular width based on the information regarding the angular position. The vehicle lighting system according to claim 11, wherein the vehicle lighting system is configured to. A vehicle lighting system installed in a vehicle, comprising:
a lighting unit configured to radiate an ADB light distribution pattern having an irradiation area and a non-irradiation area toward the outside of the vehicle;
a lighting control unit configured to control the lighting unit so that the object is included in the non-irradiation area based on information regarding the angular position of the object existing outside the vehicle;
The lighting control section includes:
If a predetermined condition related to the driving mode of the vehicle is satisfied, causing the lighting unit to emit the ADB light distribution pattern;
If the predetermined condition is not met, the lighting unit does not emit the ADB light distribution pattern;
A vehicle lighting system configured as follows. The lighting control section includes:
When the driving mode of the vehicle is an advanced driving support mode or a fully automatic driving mode, the lighting unit does not emit the ADB light distribution pattern,
The vehicle lighting system according to claim 13, wherein the lighting system for a vehicle is configured to emit the ADB light distribution pattern from the lighting unit when the driving mode of the vehicle is a driving support mode or a manual driving mode. . a camera configured to obtain image data indicative of a surrounding environment of the vehicle;
an attribute determination unit configured to determine an attribute of an object existing outside the vehicle based on the image data;
The vehicle lighting system according to any one of claims 11 to 14;
A vehicle system equipped with A vehicle comprising the vehicle lighting system according to any one of claims 1 to 9 and 12 to 14. A vehicle comprising the vehicle system according to claim 10 or 15.

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