control device

Abstract

Provided is a control device (30) capable of performing outside notification regardless of whether or not irradiation automatic switching control is executed, the control device being provided with an outside sensor (10) that acquires information on the surroundings of a vehicle (1) and a headlamp (90) that irradiates the front of the vehicle, and having a processing section (32) capable of performing: irradiation automatic switching control that sets the headlamp to a second state in the case where no other vehicle (1A) is detected in front of the vehicle (1) based on the information on the surroundings acquired by the outside sensor, and sets the headlamp to a first state in the case where an other vehicle is detected in front of the vehicle; and outside notification that switches the first state and the second state of the headlamp at a prescribed cycle in the case where an other vehicle that is likely to collide with the vehicle is detected in front of the vehicle based on the information on the surroundings. The processing section executes the irradiation automatic switching control in accordance with a request of a user of the vehicle, and executes the outside notification in either of the case where the irradiation automatic switching control is executed and the case where the irradiation automatic switching control is not executed.

Description

Technical Field

[0001] This invention relates to a control device for controlling a vehicle. Background Technology

[0002] In recent years, there has been active effort to provide sustainable transportation systems that also take into account vulnerable traffic participants. One such effort is the ongoing research and development related to driver assistance and autonomous driving technologies for vehicles such as automobiles, in order to further improve the safety and convenience of transportation.

[0003] Patent Document 1 discloses a vehicle driving control device that calculates the time until collision (collision time) based on the vehicle's speed, the distance between vehicles, and the relative speed of an approaching oncoming vehicle, and calculates the time (surplus time) for the vehicle to have sufficient margin to avoid the oncoming vehicle. Furthermore, if the device determines, based on the collision time and the surplus time, that the vehicle cannot have sufficient margin to avoid the oncoming vehicle, it warns the driver of the approaching oncoming vehicle and notifies the oncoming vehicle of the vehicle's presence.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 11-31299 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] For example, in situations where there are other vehicles, such as oncoming vehicles overtaking, consider using the vehicle's headlights to notify other drivers of its presence. By using the vehicle's headlights, the presence of the vehicle can be clearly and easily communicated to other drivers without the need for a dedicated external notification device. On the other hand, using headlights to notify other drivers may cause them to be dazzled due to the distance between the vehicle and other vehicles.

[0009] In addition, in recent years, from the perspective of improving safety, the number of vehicles equipped with automatic headlight switching control has been increasing. This automatic headlight switching control automatically switches between low beam and high beam, and is called "automatic high beam" (sometimes simply referred to as "AHB"). Typically, in such automatic headlight switching control, the user can switch between active (in other words, active) and inactive (in other words, inactive) modes, but it is expected that regardless of whether the automatic headlight switching control is active or inactive, the aforementioned external notification will be executed appropriately as needed.

[0010] The present invention provides a control device capable of appropriately notifying the user of the vehicle's headlights from outside the vehicle.

[0011] Solution for solving the problem

[0012] One aspect of the present invention provides a control device that controls a vehicle equipped with external sensors for acquiring information about the vehicle's surroundings and headlights illuminating the front of the vehicle, wherein...

[0013] The headlight is configured to switch between a first state and a second state that can illuminate a farther distance compared to the first state.

[0014] The control device has a processing unit that is capable of performing:

[0015] The automatic illumination switching control, based on ambient information acquired by the external sensors, sets the headlights to the second state when no other vehicle is detected in front of the vehicle, and sets them to the first state when other vehicles are detected in front of the vehicle based on the ambient information; and

[0016] The external alarm system, upon detecting other vehicles that may collide with the vehicle in front of it based on the surrounding information, switches the first and second states of the headlights at a predetermined cycle.

[0017] The processing unit executes the automatic illumination switching control according to the user's request for the vehicle.

[0018] In either the case where the automatic illumination switching control is set to be executed or the case where the automatic illumination switching control is not executed, the processing unit executes the external vehicle notification.

[0019] Invention Effects

[0020] According to the present invention, a control device is provided that can appropriately notify the user of the use of the vehicle's headlights from outside the vehicle. Attached Figure Description

[0021] Figure 1 This is a block diagram illustrating the general structure of a vehicle according to one embodiment.

[0022] Figure 2 This is a conceptual diagram representing the low beam area and the overtaking flashing light area.

[0023] Figure 3 This is a conceptual diagram representing the low beam area of ​​the headlights, the high beam area, and the overtaking flashing area.

[0024] Figure 4It is a conceptual diagram representing the surrounding situation where other vehicles are within a specified distance in front of the vehicle but have not entered the vehicle's driving lane.

[0025] Figure 5 It is a conceptual diagram representing the surrounding situation where other vehicles are within a specified distance in front of the vehicle, and at least part of the other vehicles have entered the vehicle's driving lane.

[0026] Figure 6 It is a conceptual diagram representing the surrounding situation where other vehicles are within a specified distance in front of the vehicle, at least part of the other vehicles have entered the vehicle's driving lane, and the distance between the vehicle and other vehicles is less than a second threshold.

[0027] Figure 7 This is a flowchart (1) illustrating an example of the processing performed by the control device in this embodiment.

[0028] Figure 8 This is a flowchart (2) illustrating an example of the processing performed by the control device in this embodiment.

[0029] Figure 9 This is a flowchart illustrating an example of the processing performed by the control device in this embodiment during off-vehicle notification execution.

[0030] Figure 10 This is a block diagram illustrating the general structure of a vehicle in other embodiments.

[0031] Figure 11 This is a flowchart illustrating an example of the processing performed by a control device in other embodiments.

[0032] Figure 12 This is a flowchart illustrating an example of the processing performed by a BCM in other implementations.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1 vehicle

[0035] 2 External devices

[0036] 10. Sensor group (external sensors)

[0037] 30 Control device

[0038] 31. Testing Department

[0039] 32 Processing Department

[0040] 90 Headlight Unit (Headlight)

[0041] 100 BCM (Processing Department) Detailed Implementation

[0042] Hereinafter, one embodiment of the control device of the present invention will be described in detail with reference to the accompanying drawings. Furthermore, the same or similar elements will be labeled with the same or similar reference numerals, and their descriptions will sometimes be omitted or simplified as appropriate.

[0043] [vehicle]

[0044] Figure 1 The vehicle 1 shown in this embodiment (hereinafter also referred to as "this vehicle") is an automobile with a drive source and wheels, which include drive wheels driven by the power of the drive source and steering wheels capable of steering (neither shown). For example, vehicle 1 is a four-wheeled automobile with a pair of left and right front wheels and a pair of left and right rear wheels. The drive source of vehicle 1 can be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the drive source of vehicle 1 can drive the pair of left and right front wheels, the pair of left and right rear wheels, or all four wheels. The front wheels and rear wheels can be steering wheels capable of steering in either direction or steering wheels capable of steering in both directions.

[0045] like Figure 1 As shown, vehicle 1 includes sensor group 10, navigation device 20, control device 30 (an example of the control device of the present invention), electric power steering system (EPS system) 40, communication unit 50, drive force control system 60, braking force control system 70, operation input unit 80 and headlight unit 90.

[0046] Sensor group 10 acquires various detection values ​​related to vehicle 1 or its surroundings. The detection values ​​acquired by sensor group 10 are used by control device 30 to control vehicle 1. Sensor group 10 includes a front camera 11a, a rear camera 11b, a left-side camera 11c, a right-side camera 11d, a front sonar group 12a, a rear sonar group 12b, a left-side sonar group 12c, and a right-side sonar group 12d. These cameras, sonar groups, radars, lidar, etc., can be used as external sensors to acquire information about the surroundings of vehicle 1.

[0047] The front camera 11a, rear camera 11b, left-side camera 11c, and right-side camera 11d output image data of the surrounding environment acquired by capturing images of the vehicle 1 to the control device 30. The surrounding images captured by the front camera 11a, rear camera 11b, left-side camera 11c, and right-side camera 11d are respectively referred to as the front image, rear image, left-side image, and right-side image. The image composed of the left-side image and the right-side image is also referred to as the side image.

[0048] The front sonar group 12a, rear sonar group 12b, left-side sonar group 12c, and right-side sonar group 12d emit sound waves to the periphery of the vehicle 1 and receive reflected sounds from other objects. The front sonar group 12a, for example, includes four sonars. The sonars constituting the front sonar group 12a are respectively positioned diagonally forward to the left, to the left front, to the right front, and diagonally forward to the right of the vehicle 1. The rear sonar group 12b, for example, includes four sonars. The sonars constituting the rear sonar group 12b are respectively positioned diagonally rear to the left, to the left rear, to the right rear, and to the right diagonally rear of the vehicle 1. The left-side sonar group 12c, for example, includes two sonars. The sonars constituting the left-side sonar group 12c are respectively positioned to the front left side and to the rear left side of the vehicle 1. The right-side sonar group 12d, for example, includes two sonars. The sonars constituting the right-side sonar group 12d are respectively positioned to the front right side and to the rear right side of the vehicle 1.

[0049] Furthermore, the sensor group 10 includes wheel sensors 13a and 13b, a vehicle speed sensor 14, an inertial measurement unit (IMU) 15, and an operation detection unit 16. Wheel sensors 13a and 13b detect the rotation angle of a wheel (not shown). Wheel sensors 13a and 13b can be configured as angle sensors or displacement sensors. Wheel sensors 13a and 13b output detection pulses to the control device 30 every time the wheel rotates a predetermined angle. The detection pulses output from wheel sensors 13a and 13b can be used to calculate the rotation angle and rotation speed of the wheel. The distance traveled by vehicle 1 can be calculated based on the rotation angle of the wheel. For example, wheel sensor 13a detects the rotation angle θa of the left rear wheel. Wheel sensor 13b, for example, detects the rotation angle θb of the right rear wheel.

[0050] Vehicle speed sensor 14 detects the driving speed of vehicle 1 (body), i.e., vehicle speed V, and outputs the detected vehicle speed V to control device 30. Vehicle speed sensor 14 detects vehicle speed V, for example, based on the rotation of the transmission countershaft.

[0051] The inertial measurement unit 15 detects the angular velocities of the vehicle 1 in the pitch, roll, and yaw directions, as well as the accelerations of the vehicle 1 in the longitudinal, lateral, and vertical directions, and outputs these detection results to the control device 30. Furthermore, in this embodiment, an example with an inertial measurement unit 15 is described, but it is not limited to this. For example, instead of the inertial measurement unit 15, only an accelerometer sensor for detecting the acceleration of the vehicle 1 in a specified direction or a gyroscope sensor for detecting the angular velocity of the vehicle 1 in a specified direction may be provided.

[0052] The operation detection unit 16 detects the content of the operation performed by the user using the operation input unit 80 and outputs the detected operation content to the control device 30. The operation input unit 80 may include, for example, an operation button, which accepts operations to switch between executing (in other words, the on state) and not executing (in other words, the off state) the automatic illumination switching control described later. In addition, the operation input unit 80 may also be common to the touch panel 21 described later.

[0053] The navigation device 20 uses, for example, a Global Positioning System (GPS) to detect the current location of vehicle 1 and guides the user of vehicle 1 (hereinafter also referred to as "user") to the path to the destination. The navigation device 20 has a storage device (not shown) containing a map information database.

[0054] The navigation device 20 includes a touch panel 21 and a speaker 22. The touch panel 21 can be used as an input device for receiving various information inputs to the control device 30, and as a display device controlled by the control device 30. That is, the user can input various commands to the control device 30 via the touch panel 21. In addition, screens for guiding the user and notifying the user of various information can be displayed on the touch panel 21. In addition, the speaker 22 outputs various information to the user through sound.

[0055] The control device 30 is mounted on the vehicle 1 and can be communicatively connected to other devices mounted on the vehicle 1, thereby controlling the vehicle 1 as a whole through communication with these other devices. The control device 30 is implemented, for example, by an ECU, which includes a processor for performing various calculations, a storage device with a non-temporary storage medium for storing various information, and an input / output device for controlling data input and output between the inside and outside of the control device 30. Furthermore, the control device 30 can be implemented by a single ECU or by multiple ECUs (e.g., see reference...). Figure 10 This is achieved. Furthermore, the control device 30 will be described again later.

[0056] Other devices connected to the control unit 30 (hereinafter also referred to as "other devices") include, for example, the cameras, sonar arrays and sensors included in the sensor group 10, the EPS ECU 45 of the EPS system 40, the drive ECU 61 of the drive force control system 60, and the brake ECU 71 of the brake force control system 70. Furthermore, the EPS ECU 45, drive ECU 61 and brake ECU 71 will be described later.

[0057] The control device 30 is connected to other devices, for example, via a wired communication network consisting of various wiring harnesses, cables, connectors, etc., laid out within the vehicle 1. Furthermore, communication between the control device 30 and other devices can utilize, for example, a Controller Area Network (CAN), a Local Interconnect Network (LIN), FlexRay, and CAN with Flexible Data Rate (CAN FD).

[0058] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS electronic control device (EPS ECU) 45. The steering angle sensor 41 detects the steering angle θst of the steering mechanism 46. The torque sensor 42 detects the torque TQ applied to the steering mechanism 46.

[0059] The EPS motor 43, for example, can assist the steering operation of a user (e.g., the driver of vehicle 1) by applying driving or reaction force to the steering column 47 connected to the steering device 46 during the aforementioned lane keeping assist control. The resolver 44 detects the rotation angle θm of the EPS motor 43. The EPS ECU 45 is responsible for the overall control of the EPS system 40.

[0060] The drive force control system 60 includes a drive ECU 61. The drive force control system 60 performs drive force control of the vehicle 1. The drive ECU 61 controls the engine (not shown) based on the user's operation of the accelerator pedal (not shown), thereby controlling the drive force of the vehicle 1. In addition, during the aforementioned autonomous movement control, the drive ECU 61 can also control the drive force of the vehicle 1 to make the vehicle 1 travel at a predetermined speed.

[0061] The braking force control system 70 includes a braking ECU 71. The braking force control system 70 performs braking force control on the vehicle 1. The braking ECU 71 controls the braking mechanism (not shown) and the like based on the user's operation of the brake pedal (not shown), thereby controlling the braking force of the vehicle 1. Additionally, during the aforementioned autonomous movement control, the braking ECU 71 can also appropriately control the braking mechanism to decelerate or stop the vehicle 1.

[0062] The communication unit 50 is a communication interface for communication between the control device 30 and an external device 2 outside the vehicle 1. That is, the control device 30 can communicate with the external device 2 via the communication unit 50. Communication between the vehicle 1 and the external device 2 can be achieved, for example, using mobile communication networks such as cellular lines, Wi-Fi, and Bluetooth. The external device 2 is managed, for example, by the manufacturer of the vehicle 1. Furthermore, the external device 2 can be a virtual server (cloud server) implemented in a cloud computing service, or it can be a physical server implemented as a single device.

[0063] The headlight unit 90 includes a headlight 91 mounted on the front end of the vehicle body of the vehicle 1 and illuminating the front of the vehicle 1, and a headlight drive circuit (not shown) that drives the headlight 91 under the control of the control device 30. The headlight 91 is configured to switch between a first state called "low beam" and a second state called "high beam" that illuminates a farther distance than the first state when it is lit. The headlight drive circuit switches the lighting and extinguishing of the headlight 91, as well as the low beam and high beam, under the control of the control device 30.

[0064] [Control Device]

[0065] Next, an example of the control device 30 will be described in detail.

[0066] For example, when other vehicles, such as oncoming vehicles, are overtaking, vehicle 1 notifies these other vehicles of its presence via an external warning signal. This allows other drivers to be notified of the vehicle's presence, thus improving vehicle 1's safety. Furthermore, the external warning signal can be configured as a flashing light that switches between low and high beams of the headlights 91 at a predetermined interval (e.g., one second). By configuring the external warning signal as a flashing light, the presence of the vehicle can be communicated to other drivers intuitively and easily without requiring an additional dedicated external warning device.

[0067] However, if the external warning using headlights 91 is performed regardless of the distance between the vehicle and other vehicles, it may actually hinder other drivers' evasive maneuvers (such as slowing down or turning back into the oncoming lane). For example, if the external warning using headlights 91 is performed on other vehicles approaching the vehicle, it may sometimes cause the drivers of other vehicles to be dazzled, which may in turn hinder their evasive maneuvers.

[0068] Therefore, the control device 30 determines whether there are other vehicles that may collide with the vehicle 1 based on the surrounding information of the vehicle 1. If such other vehicles exist, it performs an external warning by using the headlights 91, depending on the distance between the vehicle and the other vehicles. Thus, when other vehicles are a certain distance away from the vehicle, the presence of the vehicle can be notified by the external warning, prompting the drivers of the other vehicles to take evasive action. On the other hand, when other vehicles are approaching the vehicle, the external warning is not performed, thereby avoiding dazzling the drivers of other vehicles and hindering their evasive actions. Therefore, the external warning by using the headlights 91 can be performed appropriately.

[0069] In addition, in recent years, from the perspective of improving safety, vehicles such as Vehicle 1 are sometimes equipped with an automatic headlight switching control called "automatic high beam," which automatically switches between low beam and high beam. Typically, such automatic headlight switching control is set to be executed by the user (in other words, in the on state) or not executed (in other words, in the off state), but it is expected that the aforementioned external notification will be performed appropriately as needed, regardless of whether the automatic headlight switching control is on or off.

[0070] Therefore, the control device 30 appropriately performs external notification as needed in either the case where automatic illumination switching control is performed according to the user's request or the case where automatic illumination switching control is not performed according to the user's request. Thus, even when automatic illumination switching control is set not to be performed according to the user's request, external notification to use the headlights 91 can still be appropriately performed.

[0071] Specifically, the control device 30 may be a functional unit implemented by a processor executing a program stored in the storage device of the control device 30, or a functional unit implemented by an input / output device of the control device 30, and includes a detection unit 31 and a processing unit 32.

[0072] The detection unit 31 detects other vehicles existing around the vehicle 1, or the distance between the vehicle 1 and other vehicles existing around the vehicle 1, based on various detection values ​​(i.e., surrounding information) acquired by the sensor group 10 that are related to the vehicle 1 or its surroundings. The detection unit 31 then transmits the detection results to the processing unit 32.

[0073] The processing unit 32 detects other vehicles whose travel direction is opposite to that of vehicle 1 and which may collide with vehicle 1, based on the detection results from the detection unit 31. Here, other vehicles that may collide with vehicle 1 are, for example, vehicles whose distance from vehicle 1 is less than a threshold (e.g., the first threshold d1 described later). Alternatively, other vehicles that may collide with vehicle 1 may also be vehicles whose time to collision (TTC) is less than a threshold. The TTC can be calculated by dividing the distance between vehicle 1 and other vehicles by the relative speed between vehicle 1 and other vehicles.

[0074] Hereinafter, other vehicles whose direction of travel is opposite to that of vehicle 1 and which may collide with vehicle 1 are also referred to as "vehicles subject to external notification". When a vehicle subject to external notification is detected, the processing unit 32 performs external notification using the headlight 91 based on the distance between vehicle 1 and the vehicle subject to external notification (details will be described later).

[0075] In addition, the processing unit 32 is configured to also perform automatic switching control of the headlights 91 between low beam (i.e., first state) and high beam (i.e., second state) according to the requirements of the user of the vehicle 1 (e.g., the driver).

[0076] For example, here, the user's request could be a specified operation performed using the operation input unit 80, touch panel 21, etc. Furthermore, the processing unit 32, for example, disables the automatic illumination switching control when there is an operation intended to disable it (in other words, turn it off), and executes the automatic illumination switching control when there is no such operation (i.e., in the default state). Additionally, it can detect operations on the operation input unit 80, touch panel 21, etc., based on signals output from the operation input unit 80, touch panel 21, etc., to the control device 30.

[0077] When the automatic illumination switching control is executed, the processing unit 32 detects other vehicles in front of the vehicle 1 based on the detection results of the detection unit 31. Furthermore, if other vehicles in front of the vehicle 1 are detected, the processing unit 32 sets the headlight 91 to low beam; on the other hand, if no other vehicles in front of the vehicle 1 are detected, the processing unit 32 sets the headlight 91 to high beam (details will be described later).

[0078] [Specific examples of control devices controlling headlights]

[0079] Next, a specific example of the control device 30 controlling the headlight 91 will be described. Figure 2 This is a conceptual diagram showing the low beam area where the headlights 91 are set to low beam when the automatic illumination switching control is executed, and the overtaking flashing area where the overtaking flashing lights are activated as an external notification.

[0080] That is, when performing automatic illumination switching control, if the processing unit 32 does not detect any other vehicles within a predetermined distance d0 in front of vehicle 1 (this vehicle), it sets the headlight 91 to high beam (see also...). Figure 3 On the other hand, if the processing unit 32 detects other vehicles within a specified distance d0, it sets the headlights 91 to low beam (see also...). Figure 4 ).

[0081] Additionally, when the processing unit 32 detects a vehicle to be alerted from outside the vehicle and the distance between vehicle 1 and the vehicle to be alerted from outside the vehicle is below a first threshold d1 and above a second threshold d2 which is smaller than the first threshold d1, it controls the headlights 91 to perform an external alert (i.e., overtaking flashing lights) (see also...). Figure 5 On the other hand, if the processing unit 32 detects a vehicle to be notified from outside the vehicle and the distance between vehicle 1 and the vehicle to be notified from outside the vehicle is less than the second threshold d2, it does not perform the external vehicle notification (see also [reference]). Figure 6 ).

[0082] The following is for reference Figures 3 to 6 To illustrate more specifically, consider an example of control device 30 controlling headlight 91.

[0083] Figure 3 This is a conceptual diagram representing a surrounding situation where there are no other vehicles in front of vehicle 1, or the distance between vehicle 1 and other vehicles is greater than a predetermined distance d0. In such a situation, from the perspective of ensuring visibility, setting the headlights 91 to high beam is preferable for the driver of vehicle 1, and even with the headlights 91 set to high beam, the possibility of obstructing the driving of other drivers is low. Therefore, when performing automatic illumination switching control, the processing unit 32, upon acquiring surrounding information indicating such a surrounding situation, sets the headlights 91 to high beam.

[0084] Figure 4 This is a conceptual diagram showing the surrounding situation where other vehicles 1A, whose directions of travel are opposite to the direction of travel of this vehicle, exist in front of vehicle 1, and the distance between vehicle 1 and other vehicles 1A is a predetermined distance d0 or less, dl1. Additionally, in Figure 4 In the example shown, other vehicle 1A has not entered the driving lane of vehicle 1. Under such circumstances, from the perspective of avoiding glare to the driver of other vehicle 1A, it is preferable to set the headlight 91 to low beam. Therefore, when performing automatic illumination switching control, the processing unit 32 sets the headlight 91 to low beam after acquiring ambient information indicating such ambient conditions.

[0085] Figure 5This is a conceptual diagram showing the surrounding situation where other vehicles 1A, whose directions of travel are opposite to the direction of travel of this vehicle, exist in front of vehicle 1, and the distance between vehicle 1 and other vehicles 1A is a predetermined distance d12 or less. Additionally, in Figure 5 In the example shown, another vehicle 1A enters the lane where vehicle 1 is traveling. Furthermore, in Figure 5 In the example shown, the distance d12 between vehicle 1 and other vehicles 1A is below a first threshold d1 and above a second threshold d2. If left unchecked, other vehicles 1A entering the lane where vehicle 1 is traveling may collide with vehicle 1.

[0086] Therefore, when the automatic irradiation switching control is executed, the processing unit 32 acquires the representation Figure 5 In the case of surrounding information as shown, other vehicle 1A is detected as the vehicle to be notified externally. Furthermore, the processing unit 32 executes an external notification by flashing the headlights 91 to indicate the presence of vehicle 1 to the driver of other vehicle 1A. This prompts the driver of other vehicle 1A to take evasive action, thereby improving the safety of vehicle 1.

[0087] Furthermore, even when the automatic illumination switching control is not being executed, the processing unit 32 acquires the representation Figure 5 In the case of surrounding information as shown, other vehicles 1A are also detected as vehicles to be notified from outside the vehicle, and the headlights 91 are activated to flash when overtaking, notifying the driver of other vehicles 1A of the presence of vehicle 1. Thus, even if the automatic illumination switching control is set not to be performed according to the user's request, the external notification using the headlights 91 can still be performed appropriately.

[0088] Figure 6 This is a conceptual diagram showing the surrounding situation where other vehicles 1A, whose directions of travel are opposite to the direction of travel of this vehicle, exist in front of vehicle 1, and the distance between vehicle 1 and other vehicles 1A is a predetermined distance d13 or less. Additionally, in Figure 6 In the example shown, another vehicle 1A enters the lane where vehicle 1 is traveling. Furthermore, in Figure 6 In the example shown, the distance d13 between vehicle 1 and other vehicle 1A is below the second threshold d2. Under such circumstances, if the headlight 91 is set to high beam (including overtaking flash), it may cause glare to the driver of other vehicle 1A, which may hinder the driver of other vehicle 1A from making evasive maneuvers.

[0089] Therefore, when the automatic irradiation switching control is executed, the processing unit 32 acquires the representation Figure 6When given surrounding information indicating the surrounding conditions, other vehicles 1A are detected as vehicles requiring external notification, but external notification is not performed; for example, the headlights 91 are set to low beam. This prevents the drivers of other vehicles 1A from being blinded by the high beams of the headlights 91, thus avoiding hindering evasive maneuvers and improving the safety of vehicle 1. Furthermore, the processing unit 32 can also, upon acquiring surrounding information indicating such surrounding conditions, control the headlights 91 to perform actions similar to normal (e.g., ...). Figure 5 Compared to external vehicle notifications with reduced intensity, external vehicle notifications with reduced intensity are defined as notifications that will not cause glare to drivers of other vehicles (1A), such as very short-duration overtaking flashing lights and overtaking flashing lights with reduced light intensity, but without particular limitation.

[0090] Furthermore, even when the automatic illumination switching control is not being executed, the processing unit 32 acquires the representation Figure 6 In the case of surrounding information as shown, the vehicle does not perform external notification. Alternatively, in this situation, the processing unit 32 can also control the headlights 91 to perform the same actions as normally (e.g., ...). Figure 5 Compared to external vehicle notifications (where the notification intensity is reduced), external vehicle notifications have reduced their intensity.

[0091] [An example of a process performed by the control device]

[0092] Next, refer to Figures 7 to 9 An example of the processing performed by the control device 30 will be described. For example, during the starting of the vehicle 1 (e.g., during ignition power-on), the control device 30 repeatedly performs the processing at a predetermined cycle. Figure 7 The series of processes shown.

[0093] like Figure 7 As shown, the control device 30 (e.g., the processing unit 32) determines whether the automatic high beam is on, that is, whether the automatic illumination switching control is being executed (step S11). If the automatic high beam is off (step S11; no), that is, if the automatic illumination switching control is not being executed (i.e., not being executed), the control device 30 enters... Figure 8 The processing of step S22 shown (described later).

[0094] When automatic high beam is on, i.e., when automatic illumination switching control is in progress (step S11; Yes), the control device 30 determines whether other vehicles are detected in front of the vehicle based on surrounding information (step S12). If no other vehicles are detected (step S12; No), the control device 30 sets the headlight 91 to high beam (step S13).

[0095] If another vehicle is detected in front of the vehicle (step S12; Yes), the control device 30 determines whether the distance between the vehicle and the other vehicle is less than or equal to a predetermined distance d0 (step S14). If the distance between the vehicle and the other vehicle is greater than or equal to the predetermined distance d0 (step S14; No), the control device 30 sets the headlight 91 to high beam (step S13).

[0096] If the distance between the vehicle and other vehicles is less than or equal to a predetermined distance d0 (step S14; Yes), the control device 30 determines whether the other vehicle ahead is an oncoming vehicle (step S15). In this determination, for example, it is determined whether the other vehicle's direction of travel is opposite to the vehicle's direction of travel (i.e., whether the other vehicle is an oncoming vehicle) based on the change in the distance between the vehicle and other vehicles. If the other vehicle ahead is not an oncoming vehicle (step S15; No), the control device 30 sets the headlight 91 to low beam (step S16).

[0097] If other vehicles ahead are oncoming vehicles (step S15; Yes), the control device 30 determines whether other vehicles (i.e., oncoming vehicles) have entered the vehicle's driving lane (step S17). In this determination, for example, it is determined based on surrounding information whether at least a portion of the other vehicle has entered the vehicle's driving lane. That is, there is a high probability of a collision with the vehicle if other vehicles whose direction of travel is opposite to the vehicle's and at least a portion of them have entered the vehicle's driving lane. Therefore, based on this determination, in step S21 described later, external notification can be provided to other vehicles with a high probability of colliding with the vehicle.

[0098] If no other vehicle (i.e., an oncoming vehicle) enters the vehicle's driving lane (step S17; No), the control device 30 sets the headlight 91 to low beam (step S16). On the other hand, if another vehicle enters the vehicle's driving lane (step S17; Yes), the control device 30 determines whether the distance between the vehicle and other vehicles is less than a first threshold d1 (step S18). If the distance between the vehicle and other vehicles is greater than the first threshold d1 (step S18; No), the control device 30 sets the headlight 91 to low beam (step S16).

[0099] If the distance between the vehicle and other vehicles is below the first threshold d1 (step S18; Yes), the control device 30 determines whether the distance between the vehicle and other vehicles is above the second threshold d2 (step S19). If the distance between the vehicle and other vehicles is less than the second threshold d2 (step S19; No), the control device 30 sets the headlight 91 to low beam (step S16).

[0100] If the distance between this vehicle and other vehicles is greater than or equal to the second threshold d2 (step S19; Yes), the control device 30 determines whether other conditions related to the external vehicle notification are also met, provided that the external vehicle notification in step S21, which will be described next, is executed (step S20). If the other conditions are not met (step S20; No), the control device 30 does not execute the external vehicle notification and sets the headlight 91 to low beam (step S16). Furthermore, specific examples of other conditions used in the process of step S20 will be described later.

[0101] If other conditions are met (step S20; Yes), the control device 30 causes the headlights 91 to perform an external warning, i.e., a passing flashing light (step S21). That is, when the distance between the vehicle and other vehicles is below a first threshold d1 and above a second threshold d2, the control device 30 causes the headlights 91 to perform an external warning. This external warning can, for example, be configured to perform three sets of passing flashing lights that switch between high beam and low beam.

[0102] According to the processing in this flowchart, if other vehicles are detected in front of the vehicle whose direction of travel is opposite to that of the vehicle and which may collide with the vehicle (steps S12 to S17), and the distance between the vehicle and other vehicles is below a first threshold and above a second threshold, the driver of the other vehicle can be prompted to take evasive action by using the external notification of the headlight 91 (steps S18 to S21).

[0103] On the other hand, if the external warning using headlight 91 is performed even when the distance between the vehicle and other vehicles is less than the second threshold, it may cause glare to the drivers of other vehicles, potentially hindering their evasive maneuvers. Therefore, when the distance between the vehicle and other vehicles is less than the second threshold, the external warning is not performed or the warning intensity is reduced, thereby avoiding the situation where glare caused by the external warning hinders the evasive maneuvers of other vehicles (step S19; no). Therefore, the external warning can be performed appropriately, improving the safety of vehicle 1. Furthermore, while the decision to perform the external warning is based on the distance between the vehicle and other vehicles, it is not limited to this. For example, instead of the distance between the vehicle and other vehicles, the decision to perform the external warning may be based on the aforementioned TTC.

[0104] In addition, other conditions in step S20 include, for example, the following conditions 1) to 3), but are not specifically limited.

[0105] 1) Curvature of the road

[0106] The control device 30 (e.g., the processing unit 32) determines, based on information from the map information database stored in the navigation device 20, whether the curvature of the road the vehicle is traveling on is greater than or equal to a predetermined value. Furthermore, if the curvature of the road is greater than or equal to the predetermined value, the control device 30 activates the headlights 91 to provide an external warning based on the distance between the vehicle and other vehicles.

[0107] That is, if the curvature of the road on which vehicle 1 is traveling is less than a predetermined value, the detection accuracy of other vehicles traveling in directions opposite to the vehicle's direction of travel and potentially colliding with it may decrease. Based on this condition, the control device 30 (e.g., processing unit 32) causes the headlight 91 to perform an external warning when the curvature of the road on which vehicle 1 is traveling is greater than or equal to a predetermined value, thus suppressing the execution of external warnings when there are actually no other vehicles that could potentially collide with the vehicle.

[0108] 2) The speed of this vehicle

[0109] The control device 30 (e.g., the processing unit 32) determines whether the vehicle's speed is above a predetermined value based on vehicle speed information obtained from the vehicle speed sensor 14. Furthermore, if the vehicle's speed is above the predetermined value, the control device 30 activates the headlights 91 to issue an external warning based on the distance between the vehicle and other vehicles.

[0110] For example, when vehicle 1 is stationary or its speed is less than a predetermined value, the likelihood of the vehicle colliding with other vehicles is relatively lower compared to when the vehicle's speed is above the predetermined value. Based on this condition, the control device 30 (e.g., processing unit 32) performs an external notification when the vehicle's speed is above the predetermined value, thus suppressing the external notification when the likelihood of a collision with other vehicles is low.

[0111] 3) The speed of other vehicles

[0112] The control device 30 (e.g., the processing unit 32) determines whether the speed of other vehicles is above a predetermined value based on surrounding information. Furthermore, if the speed of other vehicles is above the predetermined value, the control device 30, based on the distance between its vehicle and other vehicles, causes the headlights 91 to issue an external warning.

[0113] For example, when other vehicles are stationary or traveling at speeds below a specified value, the likelihood of this vehicle colliding with other vehicles is relatively lower compared to when other vehicles are traveling at speeds above the specified value. Based on this condition, the control device 30 (e.g., processing unit 32) performs an external notification when other vehicles are traveling at speeds above the specified value, thus suppressing external notifications when the likelihood of this vehicle colliding with other vehicles is low.

[0114] Additionally, as in Figure 2 As explained, the automatic illumination switching control sets the headlights 91 to high beam (i.e., the second state) when no other vehicle is detected within a predetermined distance d0 in front of vehicle 1, and sets the headlights 91 to low beam (i.e., the first state) when other vehicles are detected within the predetermined distance d0. Here, the predetermined distance d0 is set to be greater than a first threshold d1. Thus, the automatic illumination switching control can appropriately control the state of the headlights 91 based on the distance between the vehicle and other vehicles in front of it.

[0115] In addition, Figure 7 In step S11, if the automatic high beam is off (step S11; no), that is, if the automatic illumination switching control is not being executed (not being executed), the control device 30 enters... Figure 8 The processing in step S22 shown is as follows. Furthermore, when the automatic illumination switching control is not activated, i.e., automatic high beam is off, the control device 30, except when the external vehicle notification is executed (described later), sets the headlight 91 to a state corresponding to the position of the headlight switch. The headlight switch is, for example, included in the operation input unit 80.

[0116] like Figure 8 As shown, the control device 30 determines whether other vehicles are detected in front of the vehicle based on surrounding information (step S22). If no other vehicles are detected (step S22; no), the control device 30 terminates the process. Figure 8 The series of processes shown.

[0117] If another vehicle is detected in front of the vehicle (step S22; Yes), the control device 30, in the same manner as in step S15, determines whether the other vehicle in front is an oncoming vehicle (step S23). If the other vehicle in front is not an oncoming vehicle (step S23; No), the control device 30 terminates the process. Figure 8 The series of processes shown.

[0118] If the other vehicle ahead is an oncoming vehicle (step S23; Yes), the control device 30, similar to the process in step S17, determines whether the other vehicle (i.e., oncoming vehicle) has entered the vehicle's driving lane (step S24). If the other vehicle (i.e., oncoming vehicle) has not entered the vehicle's driving lane (step S24; No), the control device 30 terminates. Figure 8 The series of processes shown.

[0119] If another vehicle (i.e., an oncoming vehicle) enters the vehicle's driving lane (step S24; Yes), the control device 30, similar to the process in step S18, determines whether the distance between the vehicle and other vehicles is below a first threshold d1 (step S25). If the distance between the vehicle and other vehicles is greater than the first threshold d1 (step S25; No), the control device 30 terminates the process. Figure 8 The series of processes shown.

[0120] If the distance between the vehicle and other vehicles is below the first threshold d1 (step S25; Yes), the control device 30, similar to the process in step S19, determines whether the distance between the vehicle and other vehicles is above the second threshold d2 (step S26). If the distance between the vehicle and other vehicles is less than the second threshold d2 (step S26; No), the control device 30 terminates. Figure 8 The series of processes shown.

[0121] If the distance between this vehicle and other vehicles is greater than or equal to the second threshold d2 (step S26; Yes), the control device 30, in the same manner as in step S20, determines whether other conditions related to external notification are also met (step S27). If other conditions are not met (step S27; No), the control device 30 terminates. Figure 8 The series of processes shown.

[0122] If other conditions are met (step S27; Yes), the control device 30 causes the headlights 91 to perform external notification, i.e., overtaking flashing lights (step S28), and then ends the process. Figure 8 The series of processes shown.

[0123] As explained above, the control device 30 performs automatic irradiation switching control ( Figure 7 ) and the case where automatic irradiation switching control is not executed ( Figure 8 In any of the following situations, external notification can be executed ( Figure 7 Step S21 and Figure 8 (Step S28). Therefore, in either the case of executing automatic illumination switching control or not executing automatic illumination switching control, when another vehicle that may collide with this vehicle is detected in front of this vehicle, an external notification can be executed, thereby prompting the driver of the other vehicle to take evasive action, thereby improving the safety of vehicle 1.

[0124] Furthermore, in the example described above, the process in step S25 also uses... Figure 7The processing in step S18 uses the same first threshold d1, but is not limited to it. That is, in the processing in step S25, the first threshold d1′ can also be used instead of the first threshold d1. In other words, the first threshold can be... Figure 7 The execution of automatic irradiation switching control and Figure 8 The values ​​change when the automatic irradiation switching control is not executed. These multiple first thresholds are, for example, pre-stored in the storage device of the control device 30. In this case, the first threshold d1′ when the automatic irradiation switching control is not executed is less than the first threshold d1 when the automatic irradiation switching control is executed, and d2<d1′<d1 holds true.

[0125] That is, users who do not want automatic illumination switching control tend not to want the headlights 91 to be in the second state, i.e., high beam. Therefore, by making the first threshold d1′ when automatic illumination switching control is not performed smaller than the first threshold d1 when automatic illumination switching control is performed, it is possible to avoid issuing an external notification to temporarily set the headlights 91 to high beam against the user's wishes when the possibility of collision between the vehicle and other vehicles is relatively low.

[0126] Figure 9 This is a flowchart illustrating an example of the processing performed by control device 30 during the execution of an external notification. For example... Figure 9 As shown, the control device 30 first determines whether an external notification is being executed (step S31). If the external notification is not being executed (step S31; no), the process ends. Figure 9 The series of processes shown.

[0127] If the external vehicle notification is in progress (step S31; Yes), the control device 30 determines whether a predetermined period has elapsed since the external vehicle notification began (step S32). If the predetermined period has elapsed (step S32; Yes), the control device 30 terminates the external vehicle notification (step S37) and ends the process. Figure 9 The process is illustrated in the diagram. This allows the external notification to terminate after a predetermined period has elapsed since it began, thus avoiding prolonged external notification operations.

[0128] If the specified period has not elapsed (step S32; no), the control device 30 determines whether the steering amount or steering torque of the vehicle 1 has reached or exceeded a specified value after the external notification begins (step S33). The steering amount corresponds to the steering angle θst of the steering device 46 detected by the steering angle sensor 41 of the EPS system 40. The steering torque corresponds to the torque TQ applied to the steering device 46 detected by the torque sensor 42.

[0129] If the steering amount or steering torque reaches or exceeds a predetermined value (step S33; Yes), the control device 30 terminates the external notification (step S37) and ends the process. Figure 9 The series of processes shown demonstrates that, as a result, the external vehicle warning can be terminated when the vehicle's steering amount or steering torque reaches a predetermined value or higher after the external vehicle warning has begun, and the situation where external vehicle warnings continue even when the probability of a collision between the vehicle and other vehicles is low due to a change in the vehicle's direction can be suppressed.

[0130] If the steering amount or steering torque does not reach a predetermined value (step S33; no), the control device 30 determines whether the change in the yaw angle of the vehicle 1 from the start of the external warning after the external warning begins reaches a predetermined value (step S34). The change in yaw angle is the change in the front and rear axles of the vehicle 1 relative to the reference axle, and can be calculated, for example, based on the steering angle θst of the steering device 46 detected by the inertial measurement unit 15 or the steering angle sensor 41 of the EPS system 40.

[0131] If the change in yaw angle exceeds a predetermined value (step S34; Yes), the control device 30 terminates the external notification (step S37) and ends the process. Figure 9 The series of processes shown demonstrates that, as a result, the external warning can be terminated when the change in the vehicle's yaw angle from the start of the external warning is above a predetermined value, and the situation where external warnings continue even when the probability of a collision between the vehicle and other vehicles is low due to a change in the vehicle's direction can be suppressed.

[0132] If the change in yaw angle does not exceed a predetermined value (step S34; no), the control device 30 determines, based on surrounding information, whether oncoming vehicles (other vehicles) have withdrawn from the vehicle's driving lane after the external notification begins (step S35). If the oncoming vehicle has withdrawn from the vehicle's driving lane (step S35; no), the control device 30 terminates the external notification (step S37) and ends the process. Figure 9 The series of processes shown demonstrates that, as a result, the external vehicle notification can be terminated if other vehicles have withdrawn from the vehicle's lane after the external vehicle notification has begun, and the situation where external vehicle notification continues even when the probability of a collision between the vehicle and other vehicles is low can be prevented.

[0133] If an oncoming vehicle fails to exit its lane (step S35; Yes), the control device 30 determines whether the speed of the other vehicle is less than a predetermined value (step S36). If the speed of the other vehicle is not less than the predetermined value (step S36; No), the control device 30 terminates the process directly. Figure 9 The series of processes shown.

[0134] On the other hand, if the speed of other vehicles is less than a predetermined value (step S36; Yes), the control device 30 terminates the external vehicle notification (step S37). Thus, the external vehicle notification can be terminated if the speed of other vehicles is less than a predetermined value after the external vehicle notification has started, preventing the external vehicle notification from continuing even when the probability of a collision between the vehicle and other vehicles is low.

[0135] [Other Implementation Methods]

[0136] Next, an example of another embodiment of the control device of the present invention will be described. Figure 10 The vehicle 1 shown in other embodiments is basically equipped with the same Figure 1 The vehicle 1 shown in the embodiment has the same structure, but the control device 30 consists of an Advanced Driving Assistance System Electronic Control Unit (ADASECU) and also includes a Body Control Module (BCM) 100 that connects the control device 30 to the headlight unit 90. The BCM 100 is an ECU that controls the overall functions of the vehicle body of the vehicle 1. It can control the interior and exterior lighting, doors, windows, rearview mirrors, and wipers, etc., but in this figure, it is shown that the BCM 100 controls the headlight unit 90 under the instruction of the control device 30.

[0137] Figure 11 This is a flowchart illustrating an example of the processing performed by the control device 30 in other embodiments. The control device 30 of this embodiment, for example, repeatedly performs this process at a predetermined cycle during the starting of the vehicle 1 (e.g., during ignition power-on). Figure 11 The series of processes shown.

[0138] like Figure 11 As shown, the control device 30 determines whether other vehicles are detected in front of the vehicle based on surrounding information (step S41). If no other vehicles are detected (step S41; no), the control device 30 terminates the process. Figure 11 The series of processes shown.

[0139] If another vehicle is detected in front of the vehicle (step S41; Yes), the control device 30, in the same manner as in step S15, determines whether the other vehicle in front is an oncoming vehicle (step S42). If the other vehicle in front is not an oncoming vehicle (step S42; No), the control device 30 terminates the process. Figure 11 The series of processes shown.

[0140] If the other vehicle ahead is an oncoming vehicle (step S42; Yes), the control device 30, similar to the process in step S17, determines whether the other vehicle (i.e., oncoming vehicle) has entered the vehicle's driving lane (step S43). If the other vehicle (i.e., oncoming vehicle) has not entered the vehicle's driving lane (step S43; No), the control device 30 terminates. Figure 11 The series of processes shown.

[0141] If another vehicle (i.e., an oncoming vehicle) enters the vehicle's driving lane (step S43; Yes), the control device 30, similar to the process in step S18, determines whether the distance between the vehicle and other vehicles is below a first threshold d1 (step S44). If the distance between the vehicle and other vehicles is greater than the first threshold d1 (step S44; No), the control device 30 terminates. Figure 11 The series of processes shown.

[0142] If the distance between the vehicle and other vehicles is below the first threshold d1 (step S44; Yes), the control device 30, similar to the process in step S19, determines whether the distance between the vehicle and other vehicles is above the second threshold d2 (step S45). If the distance between the vehicle and other vehicles is less than the second threshold d2 (step S45; No), the control device 30 terminates. Figure 11 The series of processes shown.

[0143] If the distance between this vehicle and other vehicles is greater than or equal to the second threshold d2 (step S45; Yes), the control device 30, in the same manner as in step S20, determines whether other conditions related to external notification are also met (step S46). If other conditions are not met (step S46; No), the control device 30 terminates. Figure 11 The series of processes shown.

[0144] If other conditions are met (step S46; Yes), the control device 30 instructs the BCM100 to perform external notification, i.e., overtaking flashing lights (step S47), and then ends the process. Figure 11 The series of processes shown.

[0145] Figure 12 This is a flowchart illustrating an example of the processing performed by the BCM100 in other embodiments. The BCM100, for example, repeatedly performs this process at predetermined intervals during the starting of the vehicle 1 (e.g., during ignition power-on). Figure 12 The series of processes shown.

[0146] like Figure 12As shown, the BCM100 determines whether there is an external notification from the control device 30, namely an execution instruction for the overtaking flashing lights (step S51). If there is an execution instruction for the external notification (step S51; yes), the BCM100 causes the headlights 91 to perform the external notification (step S52) and ends the process. Figure 12 The series of processes shown.

[0147] That is, compared to controlling the headlights 91 via automatic illumination switching control as exemplified by the processes described in steps S53 to S57 (described later), the BCM100 prioritizes controlling the headlights 91 via external notification. Therefore, by prioritizing the control of the headlights 91 via external notification compared to controlling the headlights 91 via automatic illumination switching control, the safety of the vehicle 1 can be improved.

[0148] If there is no external notification of the execution instruction (step S51; no), the BCM100 determines whether the automatic high beam is on, i.e., whether the automatic illumination switching control is in progress (step S53). If the automatic high beam is off (step S53; no), i.e., the automatic illumination switching control is not in progress (not in progress), the BCM100 terminates. Figure 12 The series of processes shown.

[0149] When automatic high beam is on, i.e., when automatic illumination switching control is in progress (step S53; Yes), BCM100 determines whether other vehicles are detected in front of the vehicle based on the surrounding information obtained via control device 30 (step S54). If no other vehicles are detected (step S54; No), BCM100 switches the headlight 91 to high beam (step S55) and ends the operation. Figure 12 The series of processes shown.

[0150] If another vehicle is detected in front of the vehicle (step S54; Yes), the BCM100 determines, based on the surrounding information obtained via the control device 30, whether the distance between the vehicle and the other vehicle is less than a predetermined distance d0 (step S56). If the distance between the vehicle and the other vehicle is greater than the predetermined distance d0 (step S56; No), the BCM100 switches the headlights 91 to high beam (step S55) and ends the operation. Figure 12 The series of processes shown.

[0151] If the distance between this vehicle and other vehicles is less than or equal to the specified distance d0 (step S56; Yes), BCM100 switches the headlight 91 to low beam (step S57) and ends the process. Figure 12 The series of processes shown.

[0152] As explained above, in other embodiments, the control device 30, which is composed of the ADAS ECU, mainly performs processing related to external vehicle notification, while processing related to automatic illumination switching control is performed on the BCM100 side. In this way, by cooperating with the BCM100, the control device 30 composed of the ADAS ECU can achieve the same functions as the control device 30 in the aforementioned embodiments and obtain the same effects as the aforementioned embodiments.

[0153] The above describes the methods for implementing the present invention using embodiments, but the present invention is not limited to such embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention.

[0154] This specification describes at least the following items. It should be noted that the components corresponding to the foregoing embodiments are shown in parentheses, but the present invention is not limited thereto.

[0155] (1) A control device (control device 30) that controls a vehicle equipped with an external sensor (sensor group 10) for acquiring information about the surroundings of the vehicle (vehicle 1) and a headlight (headlight unit 90) illuminating the front of the vehicle, wherein,

[0156] The control device has a processing unit (processing unit 32) that is capable of performing:

[0157] The automatic illumination switching control switches the headlights to the second state when no other vehicle is detected in front of the vehicle based on ambient information obtained from the external sensors, and switches them to the first state when other vehicles are detected in front of the vehicle based on the ambient information.

[0158] The external alarm system, upon detecting other vehicles that may collide with the vehicle in front of it based on the surrounding information, switches the first and second states of the headlights at a predetermined cycle.

[0159] The processing unit executes the automatic illumination switching control according to the user's request for the vehicle.

[0160] In either the case where the automatic illumination switching control is set to be executed or the case where the automatic illumination switching control is not executed, the processing unit executes the external vehicle notification.

[0161] According to (1), in either the case where the automatic illumination switching control is set to be executed or the case where the automatic illumination switching control is not executed, if another vehicle that may collide with the vehicle is detected in front of the vehicle, an external notification is executed, which can prompt the drivers of other vehicles to take evasive action and improve the safety of the vehicle.

[0162] (2) The control device according to (1), wherein,

[0163] When the processing unit detects another vehicle in front of the vehicle whose direction of travel is opposite to that of the vehicle and at least part of which has entered the vehicle's driving lane, it performs the external notification.

[0164] According to (2), it is possible to use headlights to give intuitive and easy-to-understand external notification to the drivers of other vehicles whose direction of travel is opposite to that of the vehicle and which at least part of their vehicles have entered the vehicle's driving lane.

[0165] (3) The control device according to (2), wherein,

[0166] When the processing unit detects other vehicles, it executes the external vehicle notification based on the distance between the vehicle and the other vehicles.

[0167] If the distance is below a first threshold and above a second threshold that is smaller than the first threshold, the processing unit executes the external vehicle notification.

[0168] If the distance is less than the second threshold, the processing unit either does not perform the external vehicle notification, or performs the external vehicle notification with reduced notification strength compared to the case where the distance is below the first threshold and above the second threshold.

[0169] According to (3), when other vehicles traveling in the opposite direction to the vehicle's direction of travel and potentially colliding with the vehicle are detected in front of the vehicle, and the distance between the vehicle and other vehicles is below a first threshold and above a second threshold, an external warning using headlights can be used to prompt the drivers of other vehicles to take evasive action. On the other hand, if an external warning using headlights is also given when the distance between the vehicle and other vehicles is less than the second threshold, it may cause glare to the drivers of other vehicles, potentially hindering their evasive action. In contrast, according to (3), when the distance between the vehicle and other vehicles is less than the second threshold, an external warning is not given or the intensity of the external warning is reduced, thereby suppressing the glare caused by the external warning from hindering the drivers of other vehicles from taking evasive action. Therefore, according to (3), an external warning that improves vehicle safety can be implemented.

[0170] (4) The control device according to (3), wherein,

[0171] The first threshold changes depending on whether the automatic irradiation switching control is executed or not.

[0172] The first threshold set when the automatic irradiation switching control is not executed is less than the first threshold set when the automatic irradiation switching control is executed.

[0173] Users who do not want automatic headlight switching control tend not to want the headlights to be in the second state. According to (4), the first threshold when automatic headlight switching control is not performed is less than the first threshold when automatic headlight switching control is performed, so it is possible to suppress the external notification of temporarily setting the headlights to the second state against the user's wishes when the possibility of collision between the vehicle and other vehicles is relatively low.

[0174] (5) The control device according to (3) or (4), wherein,

[0175] The automatic illumination switching control sets the headlights to the second state when no other vehicle is detected within a predetermined distance in front of the vehicle, and sets them to the first state when other vehicles are detected within the predetermined distance.

[0176] The specified distance is greater than the first threshold.

[0177] According to (5), it is possible to perform automatic illumination switching control that can appropriately control the state of the headlights based on the distance between the vehicle and other vehicles in front of it.

[0178] (6) The control device according to any one of (1) to (5), wherein,

[0179] Rather than controlling the headlights via the automatic illumination switching control, the processing unit (processing unit 32, BCM100) prioritizes controlling the headlights via the external notification.

[0180] According to (6), compared with controlling the headlights by automatic switching of illumination, prioritizing the control of the headlights by external notification can improve vehicle safety.

Claims

1. A control device that controls a vehicle equipped with external sensors for acquiring information about the vehicle's surroundings and headlights illuminating the front of the vehicle, wherein, The headlight is configured to switch between a first state and a second state that can illuminate a farther distance compared to the first state. The control device has a processing unit that is capable of performing: The automatic illumination switching control sets the headlights to the second state when no other vehicle is detected in front of the vehicle based on the surrounding information obtained by the external sensors, and sets the headlights to the first state when other vehicles are detected in front of the vehicle based on the surrounding information. as well as The external alarm system, upon detecting other vehicles that may collide with the vehicle in front of it based on the surrounding information, switches the first and second states of the headlights at a predetermined cycle. The processing unit executes the automatic illumination switching control according to the user's request for the vehicle. In either the case where the automatic illumination switching control is set to be executed or the case where the automatic illumination switching control is not executed, the processing unit executes the external vehicle notification. When the processing unit detects another vehicle ahead of the vehicle whose direction of travel is opposite to that of the vehicle and which has at least partially entered the vehicle's driving lane, it executes the external notification based on the distance between the vehicle and the other vehicle. If the distance is below a first threshold and above a second threshold that is smaller than the first threshold, the processing unit executes the external vehicle notification. If the distance is less than the second threshold, the processing unit either does not perform the vehicle exterior notification, or performs a vehicle exterior notification with reduced notification strength compared to the case where the distance is below the first threshold and above the second threshold. The first threshold changes depending on whether the automatic irradiation switching control is executed or not. The first threshold set when the automatic irradiation switching control is not executed is less than the first threshold set when the automatic irradiation switching control is executed.

2. The control device according to claim 1, wherein, The automatic illumination switching control sets the headlights to the second state when no other vehicle is detected within a predetermined distance in front of the vehicle, and sets them to the first state when other vehicles are detected within the predetermined distance. The specified distance is greater than the first threshold.

3. The control device according to claim 1 or 2, wherein, Rather than controlling the headlights via the automatic illumination switching control, the processing unit prioritizes controlling the headlights via external notification.

Images