Light distribution control device, light distribution control method and storage medium

Abstract

A beam distribution control device, a beam distribution control method, and a storage medium are provided that enable changes to the beam distribution of headlights at more appropriate times. The beam distribution control device includes: an acquisition unit that acquires information from a driving support device indicating the operational status of a support action performed for driving support, the driving support device performing the driving support for the vehicle based on the identification results of objects in front of the vehicle identified based on detection results from multiple sensors, including optical sensors; and a beam distribution control unit that performs beam distribution control, including changes to the output level of the vehicle's headlights, the beam distribution control unit smoothly implementing the changes to the output level of the headlights in conjunction with the operation of the support action.

Description

Technical Field

[0001] This invention relates to a light distribution control device, a light distribution control method, and a storage medium. Background Technology

[0002] Conventional technologies exist that perform collision avoidance maneuvers based on the detection of objects around the vehicle by a camera. However, in controlling such driver assistance maneuvers, if the headlight illumination pattern changes due to beam distribution control, there is a possibility that the object to be avoided may not be visible due to the change in image brightness, making it impossible to properly implement collision avoidance control. Therefore, a technology has been proposed that, in automatic high beam control, suppresses the switching of the headlight beam distribution from high beam to low beam when AEB (Autonomous Emergency Braking) is operating (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-154313 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in previous beam distribution control, the following situation exists: in automatic high beam control, when AEB is working, the beam distribution of the headlights is fixed to high beam, which results in a delay in switching to low beam.

[0008] The present invention was made in consideration of such circumstances, and one of its objectives is to provide a light distribution control device, a light distribution control method, and a storage medium capable of changing the light distribution of a headlight at a more appropriate time.

[0009] Solution for solving the problem

[0010] The light distribution control device, light distribution control method, and storage medium of the present invention adopt the following structure.

[0011] (1): A light distribution control device according to one aspect of the present invention includes: an acquisition unit that acquires information from a driving support device indicating the working status of a support action performed for driving support, the driving support device performing the driving support for the vehicle based on the identification results of an object in front of the vehicle identified based on the detection results of multiple sensors including an optical sensor; and a light distribution control unit that performs light distribution control including changing the output level of the vehicle's headlights, the light distribution control unit smoothly changing the output level of the headlights in conjunction with the operation of the support action.

[0012] (2): In the above (1) scheme, the headlight can change the light distribution. When the light distribution control unit performs headlight dimming while working with the support action, it predicts the future position of the identified object and smoothly changes the output level of the headlight in the direction of the predicted position of the object.

[0013] (3): In the above scheme (1) or (2), if the image feature quantity related to the recognition of the object changes to the degree that the object cannot be recognized due to the change of the output level of the headlight, the light distribution control unit returns the light distribution of the headlight to the state before the change.

[0014] (4): In any of the above schemes (1) to (3), if the image feature quantity related to the recognition of the object does not return to the state before the change after the light distribution control unit returns the light distribution of the headlight to the state before the change, the object recognition device that performs the object recognition shall be instructed to perform the object recognition based on the detection result other than the detection result of the optical sensor.

[0015] (5): A light distribution control method of one aspect of the present invention causes a computer to perform the following processing: obtain information from a driving support device indicating the working status of a support action performed for driving support, the driving support device performing the driving support for the vehicle based on the identification results of an object in front of the vehicle identified based on the detection results of multiple sensors including optical sensors; implement light distribution control including changing the output level of the vehicle's headlights; and in the light distribution control, smoothly implement the change of the output level of the headlights along with the operation of the support action.

[0016] (6): In one aspect of the present invention, the storage medium stores a program that causes a computer to perform the following processing: obtain information from a driving support device indicating the working status of a support action performed for driving support, the driving support device performing driving support for the vehicle based on the identification results of an object in front of the vehicle identified based on the detection results of multiple sensors including optical sensors; implement beam distribution control including changing the output level of the vehicle's headlights; and in the beam distribution control, smoothly implement the change of the output level of the headlights along with the operation of the support action.

[0017] Invention Effects

[0018] According to the schemes (1) to (6) above, the driving support device that provides driving support for the vehicle based on the recognition results of objects in front of the vehicle identified by multiple sensors, including optical sensors, obtains information indicating the working status of the support actions performed for the driving support. In the light distribution control, including the change of the output level of the vehicle's headlights, the change of the output level of the headlights is implemented smoothly along with the operation of the support actions, and the reduction of object recognition accuracy can be suppressed in more appropriate scenarios. Attached Figure Description

[0019] Figure 1 This is a diagram illustrating a structural example of a control system implemented in this way.

[0020] Figure 2 This is a flowchart illustrating an example of the process of the first light distribution change process implemented by the light distribution control device in the embodiment.

[0021] Figure 3 This is a flowchart illustrating an example of the process of the second light distribution change process implemented by the light distribution control device in the embodiment.

[0022] Figure 4 This diagram illustrates an example of how, in the third light distribution change process, the change in the light distribution of the object's orientation is implemented smoothly according to the movement of the object.

[0023] Figure 5 This is a flowchart illustrating an example of the process of a third light distribution change process implemented by the light distribution control device in an embodiment.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1…Control system, 10…Camera, 12…Radar device, 16…Object recognition device, 40…Vehicle sensor, 80…Driving operation device, 100…Driving support device, 110…Storage unit, 120…Control unit, 121…AEB control unit, 122…AES control unit, 123…FCW control unit, 200…Driving drive force output device, 210…Braking device, 220…Steering device, 230…Alarm device, 300…Light distribution control device, 310…Storage unit, 320…Control unit, 321…Information acquisition unit, 322…ADB control unit, 400…Headlight. Detailed Implementation

[0026] Hereinafter, embodiments of the light distribution control device, light distribution control method, and storage medium of the present invention will be described with reference to the accompanying drawings.

[0027] <First Implementation Method>

[0028] [Overall Structure]

[0029] Figure 1 This diagram illustrates a structural example of the control system 1 utilizing the driving support device 100 of the embodiment. The control system 1 is mounted on a mobile body. In the following description, the mobile body is, for example, a vehicle. The vehicle is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, whose drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electricity generated by a generator connected to the internal combustion engine, or electricity discharged from a secondary battery or fuel cell.

[0030] The control system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) device 14, an object recognition device 16, a vehicle sensor 40, a driving control unit 80, a driving support device 100, a driving force output device 200, a braking device 210, a steering device 220, an alarm device 230, a light distribution control device 300, and a headlight 400. These devices and equipment are interconnected via multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, and wireless communication networks. It should be noted that... Figure 1 The structure shown is just one example; you can omit part of the structure or add other structures.

[0031] Camera 10 is, for example, a digital camera utilizing a solid-state imaging element such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal-Oxide Semiconductor). Camera 10 is mounted anywhere on the vehicle equipped with control system 1 (hereinafter referred to as the vehicle). When taking pictures of the front, camera 10 is mounted on the upper part of the windshield, behind the rearview mirror inside the vehicle, etc. Camera 10, for example, periodically and repeatedly takes pictures of the surroundings of the vehicle. Camera 10 can also be a stereo camera. Camera 10 is an example of an optical sensor.

[0032] Radar device 12 radiates millimeter-wave or other radio waves around the vehicle and detects the radio waves (reflected waves) reflected by objects to detect at least the position (distance and orientation) of the objects. Radar device 12 can be installed in any part of the vehicle. Radar device 12 can also detect the position and speed of objects using FM-CW (Frequency Modulated Continuous Wave) method.

[0033] The LIDAR14 illuminates the area around the vehicle with light (or electromagnetic waves of a similar wavelength) and measures the scattered light. The LIDAR14 detects the distance to an object based on the time from the emission of light to the reception of light. The illuminating light can be, for example, a pulsed laser. The LIDAR14 can be mounted on any part of the vehicle.

[0034] The object recognition device 16 performs sensor fusion processing on some or all of the detection results from the camera 10, radar device 12, and LIDAR 14 to identify the position, type, speed, etc. of objects. Specifically, the object recognition device 16 mainly identifies the direction of the object and the distance to the object, and performs image processing on the image captured by the camera 10 to identify the type, movement, etc. of the objects captured in the image, as the detection results of the radar device 12 and LIDAR 14.

[0035] For example, the object recognition device 16 identifies a specific object by comparing a pre-prepared template with feature quantities obtained from an image, utilizing pattern matching processing for recognizing specific objects (e.g., obstacles) and a learned model based on machine learning. The learned model is a model that, when an image of a specific object is captured as input, outputs information indicating the presence of the specific object in the image and representing the position of the specific object.

[0036] The object recognition device 16 outputs the recognition result of the identified object to the driving support device 100 and the light distribution control device 300. The object recognition device 16 may also directly output the detection results from the camera 10, radar device 12, and LIDAR 14 to the driving support device 100 and the light distribution control device 300. The object recognition result may also be supplied to the light distribution control device 300 via the driving support device 100. In this case, the object recognition device 16 may be configured to output the object recognition result only to the driving support device 100.

[0037] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity about a vertical axis, and an orientation sensor for detecting the orientation of the vehicle.

[0038] The driving control unit 80 includes, for example, an accelerator pedal, a brake pedal, a gear shift lever, a steering wheel, a special-shaped steering gear, a control lever, and other operating components. A sensor is installed on the driving control unit 80 to detect the amount or presence of operation, and the detection result is output to some or all of the driving support device 100, the driving force output device 200, the braking device 210, and the steering device 220.

[0039] The driving force output device 200 outputs driving force (torque) for vehicle movement to the drive wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, as well as an ECU (Electronic Control Unit) that controls them. The ECU controls the above-mentioned structure according to information input from the control unit 120 or from the driving operation device 80.

[0040] The braking device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the control unit 120 or from the driving control unit 80, so that braking torque corresponding to the braking operation is output to each wheel. The braking device 210 may have a backup mechanism for transmitting hydraulic pressure generated by the operation of the brake pedal included in the driving control unit 80 via the master hydraulic cylinder to the hydraulic cylinder. It should be noted that the braking device 210 is not limited to the structure described above, and may also be an electronically controlled hydraulic braking device that controls the actuator according to information input from the control unit 120 and transmits hydraulic pressure from the master hydraulic cylinder to the hydraulic cylinder.

[0041] The steering system 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the control unit 120 or from the driving control unit 80.

[0042] [Structure of the driving support device]

[0043] The driving support device 100 includes, for example, a storage unit 110 and a control unit 120. The control unit 120 is implemented by executing programs (software) through a hardware processor such as a CPU (Central Processing Unit). Furthermore, some or all of these components can be implemented using hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or through a combination of software and hardware. The program can be pre-stored in a storage device such as an HDD or flash memory (a storage device with a non-transitory storage medium) of the driving support device 100, or stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving support device 100 by mounting the storage medium (non-transitory storage medium) to a drive unit.

[0044] The storage unit 110 is implemented, for example, by an HDD, flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory). The storage unit 110 stores, for example, information including references, thresholds, etc., used by the driving support device 100 in the control described later.

[0045] The control unit 120 includes, for example, an AEB control unit 121, an AES control unit 122, and an FCW control unit 123. The AEB control unit 121 controls the driver assistance function of Autonomous Emergency Braking (AEB). The AEB control unit 121 controls the braking device 210 based on the recognition result of the object in front of the vehicle identified by the object recognition device 16, thereby realizing the AEB function (AEB system).

[0046] The AES control unit 122 controls the driving support function of Automatic Emergency Steering (AES). The AES control unit 122 controls the steering device 220 based on the recognition result of the object in front of the vehicle identified by the object recognition device 16, thereby realizing the AES function (AES system).

[0047] The FCW control unit 123 controls the driver support function of the Forward Collision Warning (FCW). Based on the recognition results of objects in front of the vehicle identified by the object recognition device 16, the FCW control unit 123 activates the warning device 230, thereby realizing the FCW function (FCW system). The warning device 230 can be any device that outputs a warning. For example, the warning device 230 can be a device that displays the warning on a display, or a device that reports the warning through sound, vibration, etc.

[0048] It should be noted that, in this embodiment, the AEB system, AES system, and FCW system are examples of driving assistance functions that perform actions to avoid dangers caused by objects in front of the vehicle based on the recognition results of the objects identified by the object recognition device 16.

[0049] [Structure of the light distribution control device]

[0050] The light distribution control device 300 includes, for example, a storage unit 310 and a control unit 320. The control unit 320 is implemented, for example, by executing a program (software) using a hardware processor such as a CPU. Furthermore, some or all of these components can be implemented using hardware (including a circuitry) such as an LSI, ASIC, FPGA, or GPU, or through the coordinated use of software and hardware. The program can be pre-stored in a storage device such as an HDD or flash memory (a storage device with a non-transitory storage medium) of the driver support device 100, or it can be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driver support device 100 by mounting the storage medium (a non-transitory storage medium) to the drive unit.

[0051] The storage unit 310 is implemented, for example, by an HDD, flash memory, EEPROM, ROM, or RAM. The storage unit 310 stores, for example, information including references, thresholds, etc., used by the light distribution control device 300 in the control described later.

[0052] The control unit 320 includes, for example, an information acquisition unit 321 and an ADB control unit 322. The information acquisition unit 321 acquires information from the driver support device 100 indicating the operating status of support actions in each driver support function of the AEB system, AES system, and FCW system. Additionally, the information acquisition unit 321 acquires information related to the recognition of objects in front of the vehicle (hereinafter referred to as "recognition information") from the object recognition device 16. The recognition information includes information indicating the object recognition result and information indicating the image feature quantities of the object acquired during the object recognition process.

[0053] The ADB control unit 322 controls the beam distribution of the headlight 400 of this vehicle. The headlight 400 is constructed using an Adaptive Driving Beam (ADB) headlight, and the beam distribution of the output light can be changed. Hereinafter, in this embodiment, "beam distribution" control refers to controlling one or both of the light output level and the output direction. Furthermore, in this embodiment, "dimming" refers to adjusting the light output level (hereinafter referred to as "dimming level"). Specifically, increasing the dimming level of the headlight 400 corresponds to increasing the illumination of the headlight 400, and decreasing the dimming level corresponds to dimming the illumination of the headlight 400. The ADB control unit 332 is an example of a "beam distribution control unit".

[0054] Specifically, the ADB control unit 322 smoothly changes the light distribution when, based on identification information, it is presumed that the headlight 400's light distribution control may interfere with at least one of the driving support functions of the AEB, AES, and FCW systems (e.g., braking, steering, or alarm actions). Here, interference with the driving support function refers to a situation where, due to the change in the headlight 400's light distribution, the illumination pattern of the subject captured by the camera 10 differs significantly, reducing the reliability of the camera 10's detection results of the vehicle's surroundings. In other words, when the ADB control unit 322 generates a request to change the light distribution during support operation, it smoothly changes the light distribution in a manner that does not adversely affect the support operation.

[0055] It should be noted that the intervention timing can typically be the time when the support action is in operation. However, if the start time of the support action can be predicted to some extent, in order to more reliably suppress the adverse effects of beam distribution control on the support action, a certain period earlier than the start time (hereinafter referred to as the "operation start standby period") can also be included in the intervention timing. That is, the intervention timing is determined along with the operation of the support action. In other words, the ADB control unit 322 can smoothly implement the change of the output level of the headlight 400 along with the operation of the support action.

[0056] In addition, the request to change the light distribution can be a request generated by the ADB control unit 322 based on the status of the vehicle, the conditions around the vehicle, etc., or it can be a request notified to the light distribution control device 300 by the driver of the vehicle to change the light distribution.

[0057] More specifically, the ADB control unit 322 performs the following first to third light distribution change processes. The first light distribution change process is the process of smoothly changing the dimming level of the headlight 400 at the time of interference. The second light distribution change process is the process of predicting the movement of an object detected at the time of interference and smoothly changing the dimming level in the direction of the moving object. The third light distribution change process is the process of instructing the object recognition device 16 to change the operating conditions related to the object recognition process when the reliability of the detection result of the camera 10 decreases due to the implementation of light distribution control. Hereinafter, with reference to... Figures 2-4 The flowchart explains the details of the first to third photodistribution change processes.

[0058] [First photometric change processing]

[0059] Figure 2 This is a flowchart illustrating an example of the first light distribution change process performed by the light distribution control device 300 in the embodiment. First, the ADB control unit 322 determines whether a support action is in operation in at least one of the driving support functions of the AEB system, AES system, and FCW system (step S101).

[0060] Here, if it is determined that no support action is working in the AEB system, AES system, and FCW system, the ADB control unit 322 determines whether a support action has started in at least one of the driving support functions of the AEB system, AES system, and FCW system within a specified period of time (step S102). That is, step S102 determines whether the current period is within the work start standby period, and by combining it with step S101, determines whether the current time is an intervention opportunity.

[0061] If the determination result in steps S101 and S102 is true (yes), the ADB control unit 322 determines that the current time is the right time to intervene and proceeds to step S105 for processing. If the determination result in steps S101 and S102 is false (no), the ADB control unit 322 determines that the current time is not the right time to intervene and proceeds to step S103 for processing.

[0062] In step S103, the ADB control unit 322 determines whether a dimming request has been generated. If a dimming request is determined to have been generated, the ADB control unit 322 performs dimming at the requested dimming level (step S104) and ends the first beam distribution change process. Conversely, if no dimming request is determined to have been generated in step S103, the ADB control unit 322 skips step S104 and ends the first beam distribution change process.

[0063] Additionally, in step S105, the ADB control unit 322 determines whether a dimming request has been generated (step S105). If it is determined that no dimming request has been generated, the ADB control unit 322 terminates the first light distribution change process. On the other hand, in step S105, if it is determined that a dimming request has been generated, the ADB control unit 322 determines whether an object has been detected by the object recognition device 16 (step S106). If it is determined that no object has been detected by the object recognition device 16, the ADB control unit 322 proceeds to step S104 to perform the requested dimming and terminates the light distribution change process.

[0064] On the other hand, in step S106, if it is determined that an object has been detected by the object recognition device 16, the ADB control unit 322 changes the dimming level of the headlight 400 by one level toward the required dimming level (step S107). Here, dimming level refers to the light output level corresponding to each level when the required dimming is divided into multiple levels.

[0065] When the ADB control unit 322 changes the dimming level by one level in step S107, it then determines whether the changed dimming level meets the required dimming level (step S108). If it determines that the changed dimming level meets the required dimming level, the ADB control unit 322 ends the light distribution change process. On the other hand, if it determines in step S108 that the changed dimming level does not meet the required dimming level, the ADB control unit 322, after a predetermined standby time (step S109), returns to step S106 and repeats the dimming level change until the changed dimming level meets the required dimming level.

[0066] By performing such a first beam distribution change process, the ADB control unit 322 smoothly implements a change in the light output level at the moment when the beam distribution control of the headlight 400 performed by itself interferes with the various driver support functions of the AEB system, AES system and FCW system (interference timing), thereby suppressing the situation where the accuracy of object recognition is reduced due to the change in the beam distribution of the headlight 400.

[0067] [Second photometric change processing]

[0068] Figure 3 This is a flowchart illustrating an example of the process of the second light distribution change processing implemented by the light distribution control device 300 in an embodiment. Figure 3 In the process, for the same treatment as the first photometric change treatment, the annotation is used to distinguish it from the previous one. Figure 2The same symbols are used, thus the explanation is omitted. The second light distribution change process differs from the first light distribution change process in that the ADB control unit 322 executes steps S201 and S202 instead of step S107.

[0069] Specifically, in step S106, if it is determined that an object has been detected by the object recognition device 16, the ADB control unit 322 first predicts the movement of the detected object (hereinafter referred to as the "object object") (step S201), and then changes the dimming level by one level in the predicted position direction of the moving object (step S202). For example, the ADB control unit 322 may also predict the moving direction and speed of the object object based on the past object recognition results in the object recognition device 16, and predict the location reached after moving at the predicted speed and in the predicted moving direction for a predetermined time as the destination location of the object object.

[0070] Figure 4 This diagram illustrates an example of how the change in dimming level is smoothly implemented in the light distribution in the direction of the object during the second light distribution change process. Figure 4 This indicates that the vehicle M is traveling in lane D1, as indicated by road markings L1 to L3. In this situation, for example, at time t0, an object B is detected at location X0, and a dimming request to increase the dimming level is generated. At this time, the ADB control unit 322 predicts the movement of object B, anticipating its arrival at location X1 at time t1 (> time t0) and at location X2 at time t2 (> time t1). In this case, the ADB control unit 322 tracks the movement of object B while smoothly increasing the dimming level in the direction of object B's position.

[0071] For example, at time t0, the ADB control unit 322, after generating a dimming request for the direction where there is no object B, quickly changes the current dimming level to the requested dimming level (required level). On the other hand, for the direction where object B exists (the direction of the observation point X0 from the vehicle M at this time point), the current dimming level is changed to a dimming level that is one level higher than the required level, namely dimming level #1.

[0072] Next, at time t1, after a predetermined time has elapsed from time t0, the ADB control unit 322 maintains the required level for the direction in which the target object B does not exist. On the other hand, for the direction in which the target object B exists (the direction of the observation point X1 from the vehicle M at this time), the current dimming level, namely dimming level #1, is changed to a dimming level, namely dimming level #2, which is one level higher than the required level.

[0073] Next, at time t2, after a predetermined time has elapsed from time t1, the ADB control unit 322 maintains the required level for the direction in which the target object B does not exist. On the other hand, for the direction in which the target object B exists (the direction of the observation point X2 from the vehicle M at this time), the current dimming level, namely dimming level #2, is changed to a dimming level, namely dimming level #3, which is one level higher than the required level.

[0074] By performing this second beam distribution change process, the ADB control unit 322 can smoothly change the dimming level in the direction of the object's position when a dimming requirement for the headlight 400 arises at the moment when the beam distribution control of the headlight 400 interferes with any of the driver assistance functions in the AEB, AES, and FCW systems (interference timing). Furthermore, it can ensure that the illumination range of the light from which the dimming level change is smoothly implemented follows the movement of the object and moves towards it. As a result, the situation where the illumination pattern of the object changes significantly due to the change in the dimming level of the headlight 400 is suppressed. In other words, the beam distribution control device 300 according to the embodiment can suppress interference between the beam distribution control of the headlight 400 and the driver assistance functions, and can also suppress the reduction in the functionality of the driver assistance functions.

[0075] [Third beam distribution modification processing]

[0076] Figure 5 This is a flowchart illustrating an example of the process of the third light distribution change processing implemented by the light distribution control device 300 in an embodiment. Figure 5 In the middle, for the same treatment as the second light distribution change treatment, the marking is the same as... Figure 3 The same symbols are omitted from the description. The third light distribution change process differs from the second light distribution change process in that the ADB control unit 322 also performs the processes of steps S301 to S304.

[0077] Specifically, in step S202, when the dimming level is changed by one level in the predicted position direction of the object, the ADB control unit 322 determines whether the image feature quantity for identifying the object has changed by performing this dimming level change (step S301). It should be noted that in this determination, the error of the feature quantity within the range that can identify the same object between the compared frames can be ignored. That is, in this case, "no change" can be allowed. If it is determined that the image feature quantity for the object has not changed, the ADB control unit 322 proceeds to step S108 for processing and performs a change in the level of light distribution (dimming level and light output direction) until the required dimming level is reached.

[0078] On the other hand, in step S301, if the image feature quantity of the target object is determined to have changed, the ADB control unit 322 restores the changed light distribution to the state before the change in step S202 (step S302). By restoring the change in light distribution in step S302, the ADB control unit 322 determines whether the image feature quantity of the target object has returned to the image feature quantity before the dimming level was changed in step S202 (hereinafter referred to as "image feature quantity before change") (step S303). That is, the ADB control unit 322 determines whether the image feature quantity has been restored to a state that can identify the target object.

[0079] Here, if the image feature value of the identified object returns to the image feature value before the change, the ADB control unit 322 proceeds to step S108 for processing, and implements a change in the light distribution level until the required dimming level is achieved. On the other hand, in step S303, if the image feature value of the identified object does not return to the image feature value before the change, the ADB control unit 322 instructs the object recognition device 16 to change the settings related to object recognition (step S304). Specifically, the ADB control unit 322 instructs the object recognition device 16 to perform object recognition without using the detection results detected by the camera 10 in sensor fusion.

[0080] The ADB control unit 322 performs this third light distribution change process, altering the light distribution in the predicted position direction of the object. As a result, if the image feature value of the object changes to the point where object recognition cannot continue, the light distribution in the object direction can be restored to its previous state. Therefore, the ADB control unit 322 can suppress the inability to continue object recognition due to the light distribution change and can smoothly implement changes in the dimming level in the object direction.

[0081] Furthermore, if the ADB control unit 322 indicates to the object recognition device 16 that object recognition will not be performed in sensor fusion if the object's image features do not return to their pre-change state even when the light distribution in the object's direction is restored to its pre-change state—that is, if the reliability of the detection result detected by the camera 10 decreases beyond the allowable range—then the ADB control unit 322 can suppress the decrease in object recognition accuracy caused by changing the dimming level in the object's direction.

[0082] It should be noted that in step S304, the ADB control unit 322 may also be configured such that, in sensor fusion, the detection results detected by the camera 10 are not completely ignored, but the detection results detected by the camera 10 are weighted according to the reliability, thereby reducing the influence of the detection results of the camera 10 on the recognition results.

[0083] In this embodiment, the light distribution control device 300, when there is a high probability of interference between the light distribution control of the headlight 400 and the control of the driver assistance function performed by the AEB control unit 121, AES control unit 122 and FCW control unit 123 (interference opportunity), can localize the change in the light distribution of the headlight 400 by smoothly implementing the change in the output level of light in a specific direction, and can suppress the impact on the image recognition results at a higher level.

[0084] The implementation methods described above can be manifested as follows.

[0085] The control device is configured to include:

[0086] Storage device, which stores a program; and

[0087] Hardware processor,

[0088] The hardware processor executes the program stored in the storage device to perform the following processing:

[0089] Information indicating the operational status of support actions performed for driving assistance is obtained from the driving assistance device, which performs the driving assistance for the vehicle based on the identification results of objects in front of the vehicle identified by multiple sensors, including optical sensors.

[0090] Implement beam distribution control, including changes to the output level of the vehicle's headlights; and

[0091] In the light distribution control, the output level of the headlights is changed smoothly along with the operation of the support action.

[0092] The above description illustrates specific embodiments of the present invention, but the present invention is not limited to such embodiments in any way, and various modifications and substitutions can be made without departing from the spirit of the present invention.

Claims

1. A light distribution control device, wherein, The light distribution control device includes: The acquisition unit acquires information from the driving support device indicating the working status of the support actions performed for driving support. The driving support device performs the driving support for the vehicle based on the recognition results of objects in front of the vehicle identified by multiple sensors, including optical sensors. as well as The light distribution control unit implements light distribution control, including changes to the output level of the vehicle's headlights. When the light distribution control unit operates in conjunction with the support action and there are multiple changeable levels before reaching the target headlight output level, it uses these multiple changeable levels to periodically change the headlight output level. If the image feature quantity related to object recognition changes to a level where the object cannot be recognized due to a change in the output level of the headlight, the light distribution control unit will restore the light distribution of the headlight to its state before the change. If, after the light distribution control unit restores the light distribution of the headlight to its previous state, the image feature quantity related to the object recognition has not returned to a level sufficient to recognize the object, the object recognition device that performs the object recognition shall be instructed to recognize the object based on detection results other than those of the optical sensor.

2. The light distribution control device according to claim 1, wherein, The headlights are capable of changing their light distribution. When the headlights are dimmed during the operation of the support action, the light distribution control unit predicts the future position of the identified object and changes the output level of the headlights in stages in the direction of the predicted position of the object.

3. A method for controlling light distribution, wherein, The light distribution control method causes the computer to perform the following processing: Information indicating the operational status of support actions performed for driving assistance is obtained from the driving assistance device, which performs the driving assistance for the vehicle based on the identification results of objects in front of the vehicle identified by multiple sensors, including optical sensors. Implement light distribution control, including changes to the output level of the vehicle's headlights; as well as In the aforementioned light distribution control, if multiple changeable levels exist before reaching the target headlight output level, the headlight output level is changed in stages using these multiple changeable levels, in conjunction with the operation of the support action. In the light distribution control, if the image feature quantity related to object recognition changes to a level where the object cannot be recognized due to a change in the output level of the headlight, the light distribution of the headlight is restored to its state before the change. If, after the headlight's light distribution is returned to its previous state, the image feature quantity related to the object's recognition does not return to a level sufficient to recognize the object, the object recognition device performing the object recognition is instructed to recognize the object based on detection results other than those from the optical sensor.

4. A storage medium, wherein, The storage medium stores a program that causes the computer to perform the following processes: Information indicating the operational status of support actions performed for driving assistance is obtained from the driving assistance device, which performs the driving assistance for the vehicle based on the identification results of objects in front of the vehicle identified by multiple sensors, including optical sensors. Implement light distribution control, including changes to the output level of the vehicle's headlights; as well as In the aforementioned light distribution control, if multiple changeable levels exist before reaching the target headlight output level, the headlight output level is changed in stages using these multiple changeable levels, in conjunction with the operation of the support action. In the light distribution control, if the image feature quantity related to object recognition changes to a level where the object cannot be recognized due to a change in the output level of the headlight, the light distribution of the headlight is restored to its state before the change. If, after the headlight's light distribution is returned to its previous state, the image feature quantity related to the object's recognition does not return to a level sufficient to recognize the object, the object recognition device performing the object recognition is instructed to recognize the object based on detection results other than those from the optical sensor.

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