Still object information utilization device, storage medium, still object information utilization method, vehicle system, and still object information utilization system

Abstract

The present application is a stationary object information utilization device (300) mounted on a vehicle (2). The stationary object information utilization device (300) includes a stationary object information acquisition section (333) that acquires stationary object information (323) and photographing position information (324) that are associated with each other from a stationary object database (222) through wireless communication or wired communication, and a stationary object detection section (335) that detects a stationary object based on the stationary object information (323) and the photographing position information (324).

Description

Technical Field

[0001] This disclosure relates to devices for utilizing static object information, storage media, methods for utilizing static object information, vehicle systems, and systems for utilizing static object information.

[0002] In recent years, an ADB (Adaptive Driving Beam) technology has been proposed, which adjusts the light distribution based on the surrounding conditions of the vehicle, such as blocking or reducing light on vehicles in front and oncoming traffic, as well as on highly reflective objects like signs. For example, Patent Document 1 describes a method of detecting vehicles in front and controlling the light distribution in front of them.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2011-246023 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Generally, ADB (Adaptive Beam Detection) light distribution control is based on object information sent from the vehicle. Each object is detected using specific algorithms based on data acquired by sensors such as cameras. However, depending on the accuracy of the data or the detection accuracy of the algorithm, sometimes an object may be present but not detected (missed detection), or an object may not exist but be detected (false detection).

[0008] Incidentally, if there are bright stationary objects such as streetlights and signs on the road, these objects may sometimes be mistaken for vehicles ahead. Additionally, the headlights of vehicles ahead may also be mistaken for streetlights. Collecting information on stationary objects such as streetlights and signs on the road would be beneficial, as it could be used to flexibly reduce the likelihood of such misidentifications.

[0009] The purpose of this disclosure is to make appropriate and flexible use of static information from stationary objects such as streetlights and signs on roads.

[0010] means for solving problems

[0011] One aspect of this disclosure relates to a device for utilizing stationary object information, which includes:

[0012] A still object information acquisition unit acquires correlated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image of one or more still objects, such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0013] The stationary object detection unit detects the stationary object based on the stationary object information and the shooting position information.

[0014] One aspect of this disclosure relates to a program executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0015] The program causes the processor to perform the following steps:

[0016] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0017] A stationary object detection step is performed, in which the stationary object is detected based on the stationary object information and the shooting position information.

[0018] One aspect of this disclosure relates to a method for utilizing stationary object information, which is a method for utilizing stationary object information executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0019] The method for utilizing stationary object information includes causing the processor to perform the following steps:

[0020] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0021] A stationary object detection step is performed, in which the stationary object is detected based on the stationary object information and the shooting position information.

[0022] Another aspect of this disclosure relates to a device for utilizing stationary object information, which includes:

[0023] A still object information acquisition unit acquires correlated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image of one or more still objects, such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0024] The light distribution unit controls the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information.

[0025] Another aspect of this disclosure relates to a program that executes in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0026] The program causes the processor to perform the following steps:

[0027] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0028] The light distribution step involves controlling the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information.

[0029] Another aspect of this disclosure relates to a method for utilizing stationary object information, which is a method for utilizing stationary object information executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0030] The method for utilizing stationary object information includes causing the processor to perform the following steps:

[0031] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion of an image containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data, indicating the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0032] The light distribution step involves controlling the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information.

[0033] The vehicle system involved in one aspect of this disclosure has:

[0034] The still object information acquisition unit acquires interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0035] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0036] A stationary object region determination unit determines, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes a position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image in which the stationary object exists; and

[0037] The detection condition determination unit determines the detection conditions for the region of interest in the current image based on the stationary object region.

[0038] Another aspect of this disclosure relates to a program that executes in a vehicle information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0039] The program causes the processor to perform the following steps:

[0040] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0041] The image acquisition step acquires image data from images captured by a sensor unit mounted on the vehicle.

[0042] A stationary object region determination step, wherein, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes a position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image in which the stationary object exists is determined; and

[0043] The detection condition determination step determines the detection conditions for the region of interest in the current image based on the stationary object region.

[0044] Another aspect of this disclosure relates to a method for utilizing stationary object information, which is a method for utilizing stationary object information executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein...

[0045] The method for utilizing stationary object information includes causing the processor to perform the following steps:

[0046] The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured.

[0047] The image acquisition step acquires image data from images captured by a sensor unit mounted on the vehicle.

[0048] A stationary object region determination step, wherein, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes a position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image in which the stationary object exists is determined; and

[0049] The detection condition determination step determines the detection conditions for the region of interest in the current image based on the stationary object region.

[0050] Another aspect of this disclosure relates to a stationary object information utilization system comprising a stationary object information acquisition device mounted on a vehicle, and a stationary object information storage device capable of communicating with the stationary object information acquisition device, wherein...

[0051] The stationary object information acquisition device has the following features:

[0052] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0053] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0054] The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0055] The stationary object information storage device includes:

[0056] The first receiving unit receives the stationary object information and the vehicle position information sent from the first transmitting unit;

[0057] A stationary object recording unit records the stationary object information and the vehicle position information at the time the image corresponding to the image data that determined the stationary object information is captured in a stationary object database; and

[0058] The light distribution information recording unit, based on the stationary object information, generates light distribution information related to the light distribution pattern of the headlights when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and records the vehicle position information and the light distribution information in association.

[0059] Another aspect of this disclosure involves a program that executes in a stationary object information storage device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein...

[0060] The stationary object information acquisition device has the following features:

[0061] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0062] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0063] The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0064] The program causes the processor to perform the following steps:

[0065] In the first receiving step, the stationary object information and the vehicle location information are received from the first transmitting unit.

[0066] A stationary object recording step, in which the stationary object information and the vehicle position information at the time when the image corresponding to the image data that determined the stationary object information was captured are recorded in a stationary object database; and

[0067] The light distribution information recording step involves creating light distribution information related to the light distribution pattern of the headlights based on the stationary object information, when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and recording the vehicle position information and the light distribution information in association.

[0068] Another aspect of this disclosure relates to a method for utilizing stationary object information, which is a method for utilizing stationary object information executed in a stationary object information storage device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein...

[0069] The stationary object information acquisition device has the following features:

[0070] An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle.

[0071] The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof showing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object.

[0072] The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device.

[0073] The method for utilizing stationary object information includes causing the processor to perform the following steps:

[0074] In the first receiving step, the stationary object information and the vehicle location information are received from the first transmitting unit.

[0075] A stationary object recording step, in which the stationary object information and the vehicle position information at the time when the image corresponding to the image data that determined the stationary object information was captured are recorded in a stationary object database; and

[0076] The light distribution information recording step involves creating light distribution information related to the light distribution pattern of the headlights based on the stationary object information, when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and recording the vehicle position information and the light distribution information in association.

[0077] Invention Effects

[0078] According to this disclosure, it is possible to appropriately and flexibly utilize static information from stationary objects such as streetlights and signs on the road. Attached Figure Description

[0079] Figure 1 This is a schematic diagram illustrating an example of a system comprising a stationary object information utilization device according to the first embodiment of this disclosure.

[0080] Figure 2 This is a block diagram illustrating an example of a system including a stationary object information utilization device according to the first embodiment of this disclosure.

[0081] Figure 3 yes Figure 2 The image shows an example of a database of stationary objects.

[0082] Figure 4 yes Figure 2 The image shows an example of a database of stationary objects.

[0083] Figure 5 This is a flowchart illustrating an example of a method for utilizing stationary object information according to the first embodiment of this disclosure.

[0084] Figure 6 It indicates that it is used for the purpose of... Figure 2 This diagram illustrates the areas where the control unit acquires location information and the areas where it acquires stationary object information.

[0085] Figure 7 It is used for Figure 2 This diagram illustrates the position of the stationary object as indicated by the information about the stationary object.

[0086] Figure 8 It is used for Figure 5 The diagram illustrates the detection and processing of stationary objects in step S306.

[0087] Figure 9 It is used for Figure 5 The diagram illustrates the detection and processing of the moving body in step S308.

[0088] Figure 10 This is a schematic diagram illustrating an example of a system comprising a stationary object information utilization device according to a second embodiment of the present disclosure.

[0089] Figure 11 It means Figure 10 The diagram shows a block diagram of an example of the system.

[0090] Figure 12 This is a flowchart illustrating an example of a method for utilizing stationary object information according to the second embodiment of this disclosure.

[0091] Figure 13 It means Figure 12 A flowchart illustrating an example of the light distribution pattern generation process in step S414 is shown.

[0092] Figure 14 It means Figure 11 The diagram shows the position of a stationary object when the vehicle passes the first shooting position.

[0093] Figure 15 It means Figure 11 The diagram shows the position of a stationary object when the vehicle passes the second shooting position.

[0094] Figure 16 This is a schematic diagram illustrating an example of a system including a stationary object information utilization device according to the third embodiment of this disclosure.

[0095] Figure 17 It means Figure 16 The diagram shows a block diagram of an example of the system.

[0096] Figure 18 This is a flowchart illustrating an example of a method for utilizing stationary object information according to the third embodiment of this disclosure.

[0097] Figure 19 It is used for Figure 18 A schematic diagram illustrating an example of the process for determining the stationary region in step S50 is shown.

[0098] Figure 20 It is used for Figure 18 A schematic diagram illustrating an example of the detection conditions for the region of interest in step S60 is shown.

[0099] Figure 21 It is used for Figure 18 The diagram illustrates another example of the detection conditions for the region of interest in step S60.

[0100] Figure 22 This is a schematic diagram illustrating an example of a system including a stationary object information acquisition device according to the fourth embodiment of this disclosure.

[0101] Figure 23 It means Figure 22 The diagram shows a block diagram of an example of the system.

[0102] Figure 24 This is a flowchart illustrating an example of a method for utilizing stationary object information according to the fourth embodiment of this disclosure.

[0103] Figure 25 It means Figure 24 A flowchart illustrating an example of the process for determining stationary object information in step S130.

[0104] Figure 26 It is used to represent in Figure 25 The diagram illustrates the position information of the stationary object determined in step S134.

[0105] Figure 27 This is a flowchart illustrating another example of the method for utilizing stationary object information according to the fourth embodiment of this disclosure.

[0106] Figure 28 yes Figure 23 The image shows an example of a photometric information database.

[0107] Figure 29 It is used for based on Figure 23 The diagram illustrates the light distribution pattern shown.

[0108] Figure 30 It is used for Figure 29 A schematic diagram illustrating the correction of the light distribution pattern shown. Detailed Implementation

[0109] Hereinafter, the present invention will be described with reference to the accompanying drawings based on embodiments. Identical or equivalent constituent elements, components, and processes shown in the various drawings are labeled with the same reference numerals, and repeated descriptions are omitted where appropriate. Furthermore, the embodiments are not intended to limit the invention but are merely examples; all features or combinations thereof described in the embodiments may not represent the essential content of the invention.

[0110] [First Implementation Method]

[0111] (system)

[0112] First, use Figures 1 to 4 The system 1, which includes the stationary object information utilization device 300 according to the first embodiment of the present disclosure, will be described. Figure 1 This is a schematic diagram representing System 1. For example... Figure 1 As shown, system 1 includes a stationary object information storage device 200 and multiple vehicles 2, such as vehicle 2A and vehicle 2B, each equipped with a stationary object information utilization device 300. The stationary object information storage device 200 and each vehicle 2 can communicate with each other via wireless communication.

[0113] Vehicle 2 may also be equipped with a stationary object information acquisition device (not shown). The stationary object information acquisition device acquires stationary object information related to stationary objects and sends the stationary object information to the stationary object information storage device 200. The stationary object information storage device 200, for example, accumulates stationary object information received from each stationary object information acquisition device. Furthermore, the stationary object information storage device 200 may analyze the received stationary object information to improve the accuracy of the stationary object information, acquire more detailed information, or create a light distribution pattern based on the stationary object information. Additionally, the stationary object information storage device 200 may send this improved stationary object information to each vehicle 2 according to requests from each vehicle 2. In each vehicle 2, for example, by utilizing the improved stationary object information received from the stationary object information storage device 200 using the stationary object information utilization device 300, the accuracy and efficiency of object detection can be improved, or the light distribution of the headlights can be appropriately controlled. It should be noted that the stationary object information utilization device 300 may also be configured to function as a stationary object information acquisition device.

[0114] In this embodiment, "stationary object" refers to an object fixed to the road and with high brightness. Specifically, it includes one or more of the following: self-illuminating objects (e.g., streetlights, signals, etc.), signs, delineators, and guardrails. That is, the stationary object information acquisition device in this embodiment acquires stationary object information related to the various stationary objects listed as specific examples above. It should be noted that, as another embodiment, the stationary object information acquisition device may also be configured to identify objects not included in the specific examples above—that is, objects fixed to the road and with high brightness that can affect the detection of landmarks—as stationary objects.

[0115] Figure 2 This is a block diagram illustrating system 1 according to the first embodiment of this disclosure. Vehicle 2 includes a vehicle ECU (Electronic Control Unit) 10, a storage unit 20, a sensor unit 31, a location information acquisition unit 32, an illuminance sensor 33, a lighting ECU 40, and a stationary object information utilization device 300. Furthermore, vehicle 2 can communicate with the stationary object information storage device 200 via wireless communication through a communication network 3. The means of wireless communication is not particularly limited; for example, it can be a mobile communication system such as telematics for motor vehicles, collaboration with a smartphone, or flexible use of in-vehicle Wi-Fi.

[0116] The vehicle ECU 10 controls various actions of the vehicle 2, such as driving. The vehicle ECU 10 may include, for example, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a general-purpose CPU (Central Processing Unit). The storage unit 20 may include, for example, a ROM (Read Only Memory) storing various vehicle control programs and a RAM (Random Access Memory) temporarily storing various vehicle control data. The processor of the vehicle ECU 10 unfolds the data specified by the various vehicle control programs stored in the ROM onto the RAM, and controls various actions of the vehicle 2 in cooperation with the RAM.

[0117] The sensor unit 31 outputs image data of images captured from the exterior of the vehicle 2. The sensor unit 31 may include, for example, one or more sensors such as a visual camera, LiDAR, and millimeter-wave radar. The image data output by the LiDAR and millimeter-wave radar may be three-dimensional image data. The position information acquisition unit 32 outputs vehicle position information indicating the current position of the vehicle 2. The position information acquisition unit 32 may include, for example, a GPS (Global Positioning System) sensor. The illuminance sensor 33 detects and outputs the illuminance around the vehicle 2.

[0118] The stationary object information utilization device 300 includes a control unit 310 and a storage unit 320. The control unit 310 is configured, for example, as a processor such as a CPU. The control unit 310 may be configured as part of a lighting ECU 40, for example. Alternatively, the control unit 310 may also be configured as part of a vehicle ECU 10. The storage unit 320 is configured, for example, as a ROM or RAM. The storage unit 320 may also be configured as part of a storage unit 20 or a storage device provided for the lighting ECU 40.

[0119] The control unit 310 functions as a location information acquisition unit 331, a transmission and reception unit 332, a stationary object information acquisition unit 333, an image acquisition unit 334, a stationary object detection unit 335, and a moving object detection unit 336 by reading the program 321 stored in the storage unit 320. It should be noted that some of these functions can also be implemented by the vehicle ECU 10 or the lighting ECU 40. In this configuration, the vehicle ECU 10 or the lighting ECU 40 constitutes part of the stationary object information utilization device 300. The program 321 can be recorded in a non-transitory computer-readable medium.

[0120] The location information acquisition unit 331 acquires location information that determines at least one of the following locations: the current location information of the vehicle 2, the destination information, the planned route information, and the home location information of the user of the vehicle 2. The location information can be acquired, for example, from a navigation system (not shown) installed in the vehicle 2 or from the location information acquisition unit 32. Location information acquisition can also be performed via the vehicle's ECU.

[0121] The transmitting and receiving unit 332 receives, via wireless communication, interrelated still object information and shooting location information from the still object information storage device 200 equipped with a still object database 222. The still object database 222 records, in association, still object information 323 and shooting location information (vehicle position information at the time of shooting) 324. The still object information 323 includes at least one of still object image data corresponding to an image containing a still object or a portion thereof, and still object position information calculated based on the still object image data indicating the position of the still object. The shooting location information 324 indicates the shooting location where the still object image data was captured. Furthermore, the transmitting and receiving unit 332 transmits and receives other information with the vehicle ECU 10, the lighting ECU 40, and the still object information storage device 200 as needed. In other words, the transmitting and receiving unit 332 functions as both a transmitting unit and a receiving unit.

[0122] The still object information acquisition unit 333 acquires information recorded in the still object database 222, namely, the interrelated still object information 323 and shooting position information 324, via the transmission and reception unit 332. Among the still object information 323 acquired by the still object information acquisition unit 333, as detailed information about the still object, it preferably includes at least one of the following: the type and size of the still object.

[0123] Alternatively, the still object information acquisition unit 333 may also be configured to acquire reference image data recorded in the still object database 222. Here, reference image data refers to still object image data captured during the day. Specifically, reference image data is image data 122 captured at an illumination level of a predetermined value (e.g., 1000 lux) or higher.

[0124] In addition, the still object information acquisition unit 333 preferably acquires still object information 323 and shooting location information 324 corresponding to the location information acquired by the location information acquisition unit 331 or an area within a predetermined distance (e.g., within 1 km) from the location.

[0125] The image acquisition unit 334 acquires image data 322 of the current image (hereinafter also referred to as "current image") captured by the sensor unit 31 when the vehicle 2 passes the shooting position indicated by the shooting position information 324.

[0126] The still object detection unit 335 detects still objects at the shooting position indicated by the shooting position information 324, based on the still object information 323 and the shooting position information 324. Preferably, the still object detection unit 335 detects still objects in the current image based on the still object information 323, the shooting position information 324, and the current image acquired by the image acquisition unit 334. For example, the still object detection unit 335 may also detect still objects by determining whether there is a still object at the position in the current image corresponding to the still object position indicated by the still object information 323. The still object detection unit 335 may also detect still objects by comparing the reference image corresponding to the reference image data with the current image.

[0127] For example, the still object detection unit 335 can detect still objects by detecting light spots in an image or by performing pattern recognition processing on the image. Light spot detection can use conventionally known techniques, such as image brightness analysis. Pattern recognition methods can also use conventionally known methods; for example, machine learning models or clustering methods can be used to detect still objects.

[0128] Furthermore, if the location where a stationary object is presumed to exist based on the stationary object information 323 differs from the location presumed to exist based on the current image, the stationary object detection unit 335 detects the stationary object based on the current image. It should be noted that, in cases where the location where a stationary object is presumed to exist based on the stationary object information 323 differs from the location presumed to exist based on the current image, it is preferable that the transmitting and receiving unit 332 transmits the image data of the image to the stationary object information storage device 200, which has a stationary object database 222.

[0129] The moving object detection unit 336 detects moving objects based on the current image. For example, the moving object detection unit 336 may also detect moving objects in areas of the current image other than those corresponding to the position of the stationary object represented by the stationary object information 323, as well as in areas corresponding to the position of the stationary object but determined to be free of stationary objects. That is, if the stationary object detection unit 335 detects a stationary object at a position in the current image that is presumed to be occupied based on the stationary object information 323, the moving object detection unit 336 may determine the presence or absence of moving objects in areas of the current image other than the detected stationary object. The moving object detection unit 336 may also detect moving objects by performing spot detection and pattern recognition processing, similar to the stationary object detection unit 335. The moving object detection unit 336 may also use other known techniques to detect moving objects.

[0130] Alternatively, the control unit 310 can also function as a light distribution unit, which controls the light distribution of the headlights when the vehicle 2 passes the shooting position indicated by the shooting position information 324, based on the stationary object information 323 and the shooting position information 324. For example, the light distribution unit can generate a third light distribution pattern by adding a second light distribution pattern determined based on the position of a moving object detected by the moving object detection unit 336 to a first light distribution pattern determined based on the position of a stationary object detected by the stationary object detection unit 335, and control the light distribution based on the third light distribution pattern. It should be noted that the first light distribution pattern is, for example, a light distribution pattern created in a manner suitable for the position of a stationary object in the current image. The second light distribution pattern is, for example, a light distribution pattern that includes a light distribution indication for the position of a moving object in the current image. The third light distribution pattern is, for example, a light distribution pattern formed by adding the second light distribution pattern to the first light distribution pattern. More specifically, the third light distribution pattern can be a light distribution pattern formed by covering the first light distribution pattern with the second light distribution pattern in the area where the moving object is located.

[0131] It should be noted that when vehicle 2 is equipped with a stationary object acquisition device, the stationary object acquisition device acquires, for example, image data of an image captured by sensor unit 31. Furthermore, the stationary object acquisition device determines stationary object information based on the image data, which includes at least one of the following: stationary object image data corresponding to an image containing a stationary object or a portion thereof, and stationary object position information calculated based on the image data indicating the position of the stationary object. The determination of stationary object information is performed, for example, by detecting light spots in the image or by performing pattern recognition processing on the image. Light spot detection can use conventionally known techniques, such as image brightness analysis. Pattern recognition methods can use conventionally known methods, such as using machine learning models to detect stationary objects or using clustering methods. Additionally, the stationary object acquisition device sends, for example, the stationary object information and vehicle position information when the image with determined stationary object information was captured to the stationary object information storage device 200.

[0132] The stationary object information storage device 200 includes a control unit 210 and a storage unit 220. In this embodiment, the stationary object information storage device 200 is a computer device that collects and accumulates information sent from multiple vehicles 2, and is installed, for example, in a data center. The control unit 210 is configured, for example, a processor such as a CPU. The storage unit 220 is configured, for example, ROM, RAM, etc.

[0133] The control unit 210 functions as a transmission / reception unit 211 by reading the program 221 stored in the storage unit 220. It should be noted that the program 221 may also be recorded in a non-transitory computer-readable medium.

[0134] The transmitting and receiving unit 211 transmits and receives information between the vehicle ECU 10 and the stationary object information utilization device 300. That is, the transmitting and receiving unit 211 functions as both a transmitting and receiving unit. The transmitting and receiving unit 211 transmits stationary object information 323 (which may include reference image data) recorded in the stationary object database 222 and the shooting position information 324 associated with the stationary object information 323 to the stationary object information utilization device 300. It should be noted that when the vehicle 2 is equipped with a stationary object acquisition device, the transmitting and receiving unit 211 receives, for example, stationary object information and the shooting position information associated with the stationary object information from the stationary object information acquisition device. Furthermore, the control unit 210 can also function as a recording unit that records the information received from the stationary object information acquisition device in the stationary object database 222. Additionally, the control unit 210 can perform, for example, processing to determine the correctness of the stationary object information received from the stationary object information acquisition device and processing to determine detailed information.

[0135] In the still object database 222, shooting location information (vehicle location information) 324 and still object information 323 are recorded in association. For example, multiple still object image data can be recorded in the still object database 222 for a shooting location represented by the vehicle location information 324. Furthermore, in the still object database 222, still object image data with the same shooting location can be recorded in association with reference image data. In the still object database 222, detailed information such as the position, size, distance from the shooting location, orientation, and type of still object can be recorded in association with the shooting location.

[0136] Figure 3 as well as Figure 4 This is an example from the static object database 222. In Figure 3 In the example, the still object database 222 records multiple still object image data and reference image data associated with the shooting location. The shooting location includes the latitude and longitude of the shooting location and the orientation of the vehicle 2 at the time of shooting (e.g., the orientation of the view camera). The still object image data includes an ID for identification, time information, illumination information, and lighting information. The reference image data contains an ID for identification. The reference image data may also contain the same information as the still object image data. Alternatively, still object image data with an illumination level above a predetermined value as shown in the illumination information may also be processed as reference image data.

[0137] exist Figure 4In the example, the still object database 222 records multiple still object position information associated with the shooting location. This still object position information includes detailed information such as the still object's location, size, height, distance from the shooting location, direction, and type. It should be noted that if only one still object is identified at a given shooting location, the still object position information associated with that shooting location can be only one.

[0138] It should be noted that the position of the stationary object can be determined using any coordinate system set in the image. The position of the stationary object could be, for example, the position of its center point or the position of its outer edge. Furthermore, it is preferable that the position of the stationary object includes information related to its size determined using the aforementioned coordinate system.

[0139] Alternatively, the position of a stationary object can also represent the distance and direction from the image's shooting location to the stationary object. For example, if the image data includes depth information, this depth information can be used to calculate the distance and direction from the shooting location to the stationary object. Alternatively, it can be calculated by comparing it with other image data taken near that shooting location, or by using data acquired from millimeter-wave radar or LiDAR.

[0140] Figure 3 as well as Figure 4 An example of information recorded in the still object database 222 may be omitted, or it may include other information. From the viewpoint of improving the accuracy of the determination processing of the control unit 210 and enhancing the utilization value of the still object database 222, it is preferable that the still object database 222 includes both still object image data and still object position information.

[0141] The stationary object database 222 can also be managed as a separate database for each vehicle 2. In this case, the information accumulated in one database is based on the information sent from one vehicle 2. Alternatively, the stationary object database 222 can also be managed as a unified database for multiple vehicles 2. In this case, multiple pieces of information sent from multiple vehicles 2 are aggregated in one database.

[0142] Alternatively, the stationary object database 222 can also be managed as a database for each model of vehicle 2. In this case, multiple pieces of information sent from multiple vehicles 2 of the same model are collected in one database. When managed as a database for each model, the determination process performed by the control unit 210 can be performed with higher accuracy by taking into account factors such as the vehicle height and the position of the sensor unit 31. In addition, when providing services that utilize the stationary object database 222, it is easy to provide services optimized for that vehicle type. It should be noted that the stationary object information storage device 200 can also be configured to receive vehicle model information of vehicle 2 when receiving stationary object information from the stationary object acquisition device, and to record the vehicle model information in the stationary object database 222 in association with stationary object image data, etc.

[0143] It should be noted that, as another example of System 1 described above, the stationary object information storage device 200 can also be mounted on the vehicle 2. In this case, the control unit 210 and storage unit 220 can be provided separately from the vehicle ECU 10, control unit 310, storage unit 20, and storage unit 320. On the other hand, the control unit 210 can be configured as part of any one or more of the lighting ECU 40, vehicle ECU 10, and control unit 310. In addition, some of the functions listed as functions of the control unit 210 can also be implemented by the vehicle ECU 10 or the lighting ECU 40. In addition, the storage unit 220 can be configured as part of any one or more of the storage unit 20, storage unit 320, or a storage device provided for the lighting ECU 40. When the stationary object information storage device 200 is mounted on the vehicle 2, the stationary object information utilization device 300 and the stationary object information storage device 200 are configured to be connected via wireless or wired communication.

[0144] (Methods for utilizing information about stationary objects)

[0145] Next, the method for utilizing stationary object information in System 1 according to this embodiment will be described. The method for utilizing stationary object information according to this embodiment is executed, for example, by the control unit 310 of the stationary object information utilization device 300 which has read program 321, and the control unit 210 of the stationary object information storage device 200 which has read program 221. In the following description, we will use the case where the stationary object information utilization device 300 uses stationary object information 323 and a current image captured by a visual camera to detect stationary objects as an example, but this disclosure is not limited to this. For example, the stationary object information utilization device 300 may also use stationary object information 323 and a current image output by millimeter-wave radar or LiDAR to detect stationary objects.

[0146] Figure 5This is a flowchart illustrating an example of the method for utilizing stationary object information according to this embodiment. It should be noted that the order of each process constituting the flowcharts described in this specification may be executed in different orders and in parallel, provided that the processing content does not contradict or mismatch.

[0147] First, in step S301, the control unit 310 acquires at least one location information from the vehicle 2's current location information, destination information, planned route information, and the user's home location information. Next, in step S302, the control unit 310 requests the stationary object information storage device 200 to send stationary object information 323 and shooting location information 324 corresponding to the location included in the location information acquired in step S301, or an area within a predetermined distance range from that location.

[0148] Step S302 can be performed, for example, based on the user's operation of vehicle 2, or when vehicle 2 is at a predetermined time (e.g., when vehicle 2's engine is started, when vehicle 2's predetermined driving route is determined, when vehicle 2 is in a stopped or slow-moving state, when program 121 is updated, etc.).

[0149] Figure 6 This is a schematic diagram used to illustrate the area where location information acquired by the control unit 310 and stationary object information 323 are acquired. Figure 6 In the example, the map shows the current location (starting point) A1, the destination A2, the planned route R, and the area Q. The current location A1 represents the current position of vehicle 2. The destination A2 represents, for example, the destination entered into the navigation system by the user of vehicle 2. The planned route R represents, for example, the route calculated by the navigation system and selected by the user of vehicle 2, from the current location A1 towards the destination A2. Information related to these locations and routes can be obtained, for example, from the navigation system.

[0150] Region Q is a region within a predetermined distance range from the current location A1, destination A2, and the planned route R. This predetermined distance range can also be set by the user. Additionally, as location information, the home location information (not shown) of the user representing vehicle 2 can be obtained, and region Q can be included within a predetermined distance range from that home location. Furthermore, the predetermined distance ranges can be different for any one or more of the current location A1, destination A2, planned route R, and home location. For example, region Q can be set to have a distance range from home location greater than a distance range from the planned route R, etc.

[0151] By configuring the system to acquire stationary object information 323 and shooting location information 324 for locations included in the area Q as described above, it is possible to acquire stationary object information 323 for locations with high frequency of passage or high probability of passage. Furthermore, as a result, it is possible to suppress the increase in communication volume and the increase in the size of the storage unit 320.

[0152] Return to Figure 5 The following is an explanation. Upon receiving a request from the stationary object information utilization device 300, in step S303, the control unit 210 sends stationary object information 323 and shooting position information 324 associated with the stationary object information 323, indicating the shooting position, to the stationary object information utilization device 300. From the viewpoint of increasing the flexibility of the use of stationary object information 323 in the vehicle 2 or improving the detection accuracy of stationary objects, it is preferable to also send reference image data and detailed information of the stationary object at the shooting position in step S303.

[0153] Next, in step S303, the control unit 210 sends the stationary object information 323 and the shooting position information 324 associated with the stationary object information 323, indicating the shooting position, to the stationary object information utilization device 300. From the viewpoint of increasing the flexibility of the use of the stationary object information 323 in the vehicle 2 or improving the detection accuracy of stationary objects, it is preferable to also send the reference image data and detailed information of the stationary object at the shooting position in step S303.

[0154] Next, in step S304, the control unit 310 receives the information sent in step S303. Then, in step S305, the control unit 310 acquires the current image captured by the visual camera when the vehicle 2 passes the shooting position indicated by the shooting position information 324.

[0155] Next, in step S306, the control unit 310 detects stationary objects from the current image, for example, based on the stationary object information 323 and the current image. In step S306, for example, it determines whether a stationary object exists at the position shown by the stationary object information 323 (the position where a stationary object is presumed to exist based on the stationary object information 323) in the current image.

[0156] When a stationary object is detected at the location indicated by stationary object information 323 ("Yes" in step S306), the control unit 310 detects whether there is a moving object in the area other than the detected stationary object and then terminates the process. The location of the detected stationary object and the location of the moving object can be flexibly applied, for example, to headlight beam control and object detection in autonomous driving.

[0157] On the other hand, if no stationary object is detected at the location indicated by stationary object information 323 ("No" in step S306), the control unit 310 detects whether there is a moving object in the area containing the location indicated by stationary object information 323 where no stationary object is detected. Furthermore, in step S309, the control unit 310 sends the image data of the current image and the current image capture position information 324 to the stationary object information storage device 200. It should be noted that even if a stationary object is detected at a location other than the location indicated by stationary object information 323 in step S306, the processing after step S309 can still be performed.

[0158] In step S310, the control unit 210 receives the information sent in step S309. Next, in step S311, the control unit 210 updates the still object database 222 by including the information received in step S310 in the still object database 222 and then terminates the process. It should be noted that the control unit 210 can also determine the position of the still object in the current image data based on the current image data received in step S309 and the still object information 323 recorded in the still object database. In this case, it is preferable to use an algorithm different from the processing in step S306 and an algorithm with higher precision. If the determination result indicates that the still object information 323 recorded in the still object database 222 is correct and the detection result in step S306 is incorrect, the information sent in step S309 can also be deleted. By performing a series of processes after step S309, the accuracy of the still object information 323 recorded in the still object database 222 can be further improved.

[0159] Here, use Figures 7 to 9 The processing of steps S306 to S308 will be described in detail. Figure 7 It is used for Figure 2 This diagram illustrates the position of the stationary object represented by information 323. Figure 8 This is a schematic diagram illustrating the detection and processing of stationary objects in step S306. Figure 9 This is a schematic diagram illustrating the detection and processing of the moving body in step S308.

[0160] exist Figure 7 In the example, the stationary object information 323 obtained from the stationary object information storage device 200 includes information such as the existence of stationary objects in regions Z1 to Z4. It should be noted that in... Figure 7 In the example, as stationary object information 323, it contains information related to the position of the stationary object as defined by coordinates specified by the x-axis and y-axis.

[0161] Figure 8An example is an instance where regions Z1 to Z4 overlap on the current image CI1. In step S306, for example, methods such as light spot detection and pattern recognition processing are used to determine whether there are stationary objects in regions Z1 to Z4. Figure 8 In the example, stationary objects O1 to O4 are detected in regions Z1 to Z4 respectively. Therefore, in step S307, the detection processing of moving objects is performed on regions other than Z1 to Z4. By configuring it in this way, the area for detecting moving objects can be reduced, thus reducing the processing load of the control unit 310.

[0162] exist Figure 8 In the example, the result of the moving body detection process is that other vehicles C1 and C2 are detected as moving bodies. It should be noted that other vehicle C1 is detected, for example, based on light spots such as rear lights BL1 and BL2. Similarly, other vehicle C2 is detected, for example, based on light spots such as headlights HL1 and HL2.

[0163] It should be noted that there are no particular limitations on the detection of stationary objects. For example, from the viewpoint of reducing processing load, stationary object detection can also be performed based on whether a light spot presumed to be a stationary object is detected in each of regions Z1 to Z4. Furthermore, without utilizing the stationary object information 323, even if a light spot is detected, the load on the control unit 310 may increase or errors may occur due to the determination of whether the light spot is generated by a stationary object or a moving object. For example, if the distance between two stationary objects is similar to the distance between the left and right headlights of a vehicle, there is a possibility of incorrectly classifying the two stationary objects as moving objects. On the other hand, by utilizing the stationary object information 323, it is possible to presume that a light spot located at the position of the stationary object indicated by the stationary object information 323 is generated by the stationary object, thus reducing the load on the control unit 310 and improving the accuracy of stationary object detection.

[0164] Figure 9 An example is an instance where regions Z1 to Z4 overlap on a current image CI2 that is different from the current image CI1. Figure 9In the example, stationary objects O1 to O2 and O4 are detected in regions Z1-Z2 and Z4, respectively, but no stationary object is detected in region Z3. In this case, in step S308, moving object detection processing is performed on regions other than Z1-Z2 and Z4. That is, region Z3 becomes the object of moving object detection processing. In addition, the image data of the current image CI2 is sent to the stationary object information storage device 200. In the stationary object information storage device 200, for example, a different algorithm than that used in step S306 can be used to determine whether there is truly no stationary object in region Z3 of the current image CI2.

[0165] It should be noted that in the current images CI1 and CI2, the detection of stationary objects can be performed in areas other than regions Z1 to Z4, which can also be added to the object. When a stationary object is detected in a region other than regions Z1 to Z4, the control unit 310 determines that a stationary object exists in that other region. In this case, the current images CI1 and CI2 are also sent to the stationary object information storage device 200. In the stationary object information storage device 200, for example, a different algorithm than that used in step S306 can be used to determine whether a stationary object actually exists in other regions of the current images CI1 and CI2.

[0166] [Second Implementation]

[0167] Next, the stationary object information utilization device 301 according to the second embodiment of this disclosure will be described. Except for the configuration described below, each configuration of the stationary object information utilization device 301 is the same as that of the stationary object information utilization device 300 according to the first embodiment, and the same reference numerals are used.

[0168] Figure 10 This is a schematic diagram illustrating an example of a system 1 that includes the stationary object information utilization device 301 according to the second embodiment of this disclosure. Figure 10 As shown, the stationary object information utilization device 301 is mounted on the vehicle 2 included in the system 1.

[0169] Figure 11 It means Figure 10 The diagram shows an example of system 1. The vehicle 2 includes a vehicle ECU 10, a storage unit 20, a sensor unit 31, a position information acquisition unit 32, an illuminance sensor 33, a lighting ECU 40, and a stationary object information utilization device 301.

[0170] The stationary object information utilization device 301 includes a control unit 310 and a storage unit 320. The control unit 310 functions as a transmission / reception unit 332, a stationary object information acquisition unit 333, an image acquisition unit 334, a stationary object detection unit 335, a moving object detection unit 336, a light distribution unit 337, a regression analysis unit 338, and a vehicle information acquisition unit 339 by reading a program 321 stored in the storage unit 320. It should be noted that some of these functions can also be implemented by the vehicle ECU 10 or the lighting ECU 40.

[0171] The transmitting and receiving unit 332 functions as both a transmitting unit and a receiving unit. The still object information acquisition unit 333 acquires information recorded in the still object database 222, namely, the interrelated still object information 323 and shooting position information 324, via the transmitting and receiving unit 332. Among the still object information 323 acquired by the still object information acquisition unit 333, as detailed information about the still object, it preferably includes at least one of the following: information related to the type, size, and image intensity of the still object's position in the still object image data. Alternatively, the still object information acquisition unit 333 may also be configured to acquire reference image data recorded in the still object database 222.

[0172] The light distribution unit 337 controls the light distribution of the headlights when the vehicle 2 passes the shooting position indicated by the shooting position information 324, based on the stationary object information 323 and the shooting position information 324. The light distribution unit 337 may further control the light distribution based on detailed information including at least one of the information related to the type, size, and image intensity of the stationary object in the stationary object image data.

[0173] The light distribution unit 337 generates a third light distribution pattern by adding a second light distribution pattern determined based on the position of a moving object detected by the moving object detection unit 336 to a first light distribution pattern determined based on the position of a stationary object detected by the stationary object detection unit 335, and controls the light distribution based on the third light distribution pattern. The first light distribution pattern is, for example, a light distribution pattern created in a manner suitable for the position of a stationary object in the current image. The second light distribution pattern is, for example, a light distribution pattern that includes a light distribution indication for the position of a moving object in the current image. The third light distribution pattern is, for example, a light distribution pattern formed by adding the second light distribution pattern to the first light distribution pattern. More specifically, the third light distribution pattern may be a light distribution pattern formed by covering the first light distribution pattern with the second light distribution pattern in the area where the moving object is located.

[0174] Furthermore, when the vehicle 2 passes the first shooting position and the distance to the second shooting position that the vehicle is scheduled to pass next meets a predetermined condition (e.g., within 10m), the light distribution unit 337 can control the light distribution between the first and second shooting positions based on the position of the stationary object calculated by the regression analysis unit 338, according to the calculation results of the regression analysis unit 338. Additionally, the light distribution unit 337 can further control the light distribution based on vehicle information acquired by the vehicle information acquisition unit 339.

[0175] It should be noted that the light distribution unit 337 can control one or more of the light distribution for low beam and high beam. Furthermore, the light distribution unit 337 can also output light distribution information that defines the light distribution pattern to the lamp ECU. The light distribution information can be in any form; for example, it can include one or more information such as grayscale values, current values, and shading angles for multiple light sources included in the headlight, or it can be image data representing the light distribution pattern.

[0176] When vehicle 2 passes the first shooting position and the distance to the second shooting position that vehicle 2 is scheduled to pass next meets a predetermined condition, the regression analysis unit 338 calculates the position of the stationary object between the first and second shooting positions through regression analysis based on the first stationary object information 323 corresponding to the first shooting position and the second stationary object information 323 corresponding to the second shooting position. The regression analysis method is not particularly limited and conventionally known methods can be used. Linear interpolation can be cited as an example of regression analysis. Furthermore, the regression analysis unit 338 can also calculate the position of the stationary object between the first and second shooting positions based on the position of the road at each shooting position and the direction in which the road extends. Additionally, the regression analysis unit 338 can calculate the position of the stationary object between each shooting position based on the stationary object information 323 at three or more shooting positions where the distance between the shooting positions meets the predetermined condition.

[0177] The vehicle information acquisition unit 339 acquires vehicle information including at least one of the following: the direction in which the vehicle 2 is facing and its position in the width direction within the driving lane. The position in the width direction within the driving lane can be calculated, for example, based on the position of the driving lane in the current image. The direction in which the vehicle 2 is facing can be calculated, for example, based on the shift of the vehicle position information output by the position information acquisition unit 32. The vehicle information acquisition unit 339 may also acquire information related to the steering angle of the steering wheel, which can be obtained from the vehicle ECU 10.

[0178] The still object information storage device 200 includes a control unit 210 and a storage unit 220. The control unit 210 functions as a transmission and reception unit 211 by reading a program 221 stored in the storage unit 220. In the still object database 222, shooting location information (vehicle location information) 324 and still object information 323 are recorded in association. In the still object database 222, for example, multiple still object image data can be recorded for a shooting location represented by the vehicle location information 324. Furthermore, in the still object database 222, still object image data with the same shooting location can be recorded in association with reference image data. In the still object database 222, detailed information such as the position of the still object, its size, distance and direction from the shooting location, type of still object, and image intensity related to the location of the still object in the still object image can be recorded in association with the shooting location.

[0179] Refer again Figure 3 as well as Figure 4 ,exist Figure 3 In the example, the still object database 222 records multiple still object image data and reference image data associated with the shooting location. The shooting location includes the latitude and longitude of the shooting location and the orientation of the vehicle 2 at the time of shooting (e.g., the orientation of the view camera). The still object image data includes an ID for identification, time information, illumination information, and lighting information. The reference image data contains an ID for identification. The reference image data may also contain the same information as the still object image data. Alternatively, still object image data with an illumination level of a predetermined value or higher, as indicated by the illumination information, may also be processed as reference image data.

[0180] exist Figure 4 In the example, the still object database 222 records multiple still object position information associated with the shooting location. This still object position information includes detailed information such as the still object's location, size, height, distance from the shooting location, direction, type of still object, and image intensity of the still object's location in the still object image. It should be noted that if only one still object is identified at a given shooting location, the still object position information associated with that shooting location can be only one.

[0181] (Methods for utilizing information about stationary objects)

[0182] Next, the method for utilizing still object information in System 1 according to this embodiment will be described. The method for utilizing still object information according to this embodiment is executed, for example, by the control unit 310 of the still object information utilization device 301 that has read program 321, and the control unit 210 of the still object information storage device 200 that has read program 221. In the following description, the case where the still object information utilization device 301 uses still object information 323 and a current image captured by a visual camera to control the light distribution will be described as an example, but this disclosure is not limited to this. For example, the still object information utilization device 301 may also use still object information 323 and a current image output by millimeter-wave radar or LiDAR to control the light distribution.

[0183] Figure 12 This is a flowchart illustrating an example of the method for utilizing stationary object information according to this embodiment. It should be noted that the order of each process constituting the flowcharts described in this specification may be executed in different orders and in parallel, provided that the processing content does not contradict or mismatch.

[0184] First, in step S411, the control unit 310 requests the stationary object information storage device 200 to send stationary object information 323 at the predetermined shooting location. Step S411 can be executed, for example, based on the operation of the user of vehicle 2, or when vehicle 2 is at a predetermined time (e.g., when vehicle 2's engine is started, when vehicle 2's predetermined driving route is determined, when vehicle 2 is in a stopped or slow-moving state, when program 121 is updated, etc.). Furthermore, the predetermined shooting location is not particularly limited; for example, from the viewpoint of high usefulness to the user of vehicle 2, a location within a predetermined distance range of vehicle 2's current location, destination, predetermined driving route, and the user's home is preferred.

[0185] Upon receiving a request from the still object information utilization device 301, in step S412, the control unit 210 sends still object information 323 and shooting position information 324 associated with the still object information 323, indicating the shooting position, to the still object information utilization device 301. From the viewpoint of achieving more suitable light distribution, in step S412, it is preferable to also send reference image data and detailed information of the still object at the shooting position.

[0186] Next, in step S413, the control unit 310 receives the information sent in step S412. Then, in step S414, the control unit 310 generates a light distribution pattern for the headlight at the shooting position shown in the shooting position information 324 associated with the stationary object information 323, based on the stationary object information 323, and then terminates the process.

[0187] Figure 13 It means Figure 12The flowchart shows an example of the light distribution pattern generation process in step S414. First, in step S421, the control unit 310 acquires the current image captured by the visual camera when the vehicle 2 passes the shooting position shown in the shooting position information 324.

[0188] Next, in step S422, the control unit 310 acquires vehicle information. This vehicle information may be the direction the vehicle 2 is facing, its position in the width direction of its driving lane, or both. In step S422, information related to the steering wheel angle may also be acquired.

[0189] Next, in step S423, the control unit 310 corrects the stationary object information 323 based on the vehicle information obtained in step S422. The stationary object information 323 is information that identifies stationary objects based on an image captured at that shooting position. Therefore, depending on the direction the vehicle 2 is facing and its position in the vehicle width direction, the position of the stationary object shown in the stationary object information 323 may sometimes deviate from the position of the stationary object in the current image. Therefore, by performing the processing in step S423, the aforementioned deviation can be eliminated, improving the accuracy of detecting stationary objects in the current image as described below. It should be noted that if the deviation is small, the processing in step S423 may not be performed.

[0190] It should be noted that in cases where a so-called emergency steering operation is judged based on factors such as the steering wheel angle to have resulted in a sharp change in the vehicle 2's orientation, the stationary object information 323 may not be used in the generation of the light distribution pattern. This is because, in the case of an emergency steering operation, the deviation between the position of the stationary object in the current image and the position of the stationary object shown in the stationary object information 323 becomes larger, and sometimes the improvement in stationary object detection accuracy brought about by using the stationary object information 323 cannot be expected.

[0191] Next, in step S424, the control unit 310 detects stationary objects from the current image based on the stationary object information 323 corrected in step S423. Then, in step S425, the control unit 310 generates a first light distribution pattern based on the position of the stationary object detected in step S424. It should be noted that the light distribution information defining the first light distribution pattern can also be pre-stored in the storage unit 320, and the first light distribution pattern can be reused the next time the location is passed.

[0192] Preferably, the first light distribution pattern is created based on, for example, the position of the stationary object, and also on one or more detailed information related to the size of the stationary object, the type of stationary object, and the image intensity of the position of the stationary object in the stationary object image data. The first light distribution pattern is obtained, for example, by reducing the light intensity at the position of the stationary object based on a typical light distribution pattern used for low beam or high beam. In particular, if high-brightness reflective objects or stationary objects of a predetermined size or larger are light-distributed as usual, the user of vehicle 2 may sometimes experience glare due to reflected light from the stationary objects; therefore, it is preferable to reduce the light intensity at the positions of these stationary objects. It should be noted that for stationary objects where reflected light is not a problem, light distribution can also be performed as usual. Furthermore, whether an object is a high-brightness reflective object can be determined based on information related to the type of stationary object and the image intensity of the position of the stationary object in the stationary object image. Here, the information related to image intensity can be, for example, the grayscale value of the image. For example, in an 8-bit image, if the grayscale value of the position of the stationary object is around 255, the stationary object can also be identified as a high-brightness reflective object. Additionally, for example, if the location of a stationary object in a still image appears white, the stationary object can be identified as a high-brightness reflective object.

[0193] Furthermore, in step S426, the control unit 310 detects a moving object from the current image. Next, in step S427, the control unit 310 generates a second light distribution pattern based on the position of the moving object detected in step S426. Then, in step S428, the control unit 310 generates a third light distribution pattern based on the first and second light distribution patterns. By outputting light distribution information specifying the third light distribution pattern to the headlight or lamp ECU 40, etc., by the control unit 310, the headlight is controlled to distribute light based on the third light distribution pattern.

[0194] Here, use again Figure 8 as well as Figure 9 The processes in steps S424 to S428 are described in detail. Figure 8 as well as Figure 9 In the example, the stationary object information 323 obtained from the stationary object information storage device 200 includes information such as the existence of stationary objects in regions Z1 to Z4.

[0195] exist Figure 8 In the example, in the current image CI1, stationary objects O1 to O4 are detected in regions Z1 to Z4, respectively. No stationary objects are detected in other regions. In this case, the first light distribution pattern is, for example, a light distribution pattern formed by applying light reduction to regions Z1 to Z4 to a normal light distribution pattern. It should be noted that when no stationary objects are detected in regions Z1 to Z4, no light reduction is applied to the regions where no stationary objects are detected.

[0196] exist Figure 9 In the example, from Figure 8 The state shown further detects other vehicles C1 and C2 in regions Z5 and Z6, respectively. The detection and processing of moving objects targets areas other than Z1 to Z4. Figure 9 In the example, the second light distribution pattern is, for instance, a light distribution pattern that reduces or blocks light in regions Z5 and Z6. Furthermore, the third light distribution pattern is a light distribution pattern formed by applying light reduction to regions Z1 to Z4 and light reduction or blocking to regions Z5 to Z6 in addition to a normal light distribution pattern. It should be noted that when the regions of a stationary object and a moving object overlap, light reduction or blocking of the moving object's region can be prioritized.

[0197] It should be noted that other vehicle C1 is detected based on light spots such as rear lights BL1 and BL2. Similarly, other vehicle C2 is detected based on light spots such as headlights HL1 and HL2. Figure 8 as well as Figure 9 As in the example, by using the pre-acquired stationary object information 323 to detect stationary and moving objects, the detection accuracy of stationary and moving objects can be improved, or the time and load required for detection processing can be reduced.

[0198] Next, use Figure 14 as well as Figure 15 The method for calculating the position of a stationary object between the first and second shooting positions using regression analysis is explained. Figure 14 This is a schematic diagram showing the position of a stationary object when vehicle 2 passes the first shooting position. Figure 15 This is a schematic diagram showing the position of a stationary object when vehicle 2 passes the second shooting position. The second shooting position is, for example, within 10 meters of the first shooting position. Furthermore, the second shooting position is, for example, the position of vehicle 2 after it has moved forward without changing its direction of travel from the first shooting position. It should be noted that... Figure 14 as well as Figure 15 In the example, as stationary object information 323, it contains information related to the position of the stationary object as defined by coordinates specified by the x-axis and y-axis.

[0199] Figure 14 The example shows that at the first shooting position, stationary objects O11 and O12 exist at the positions shown in the figure. Additionally, Figure 15 The example shows that as vehicle 2 moves forward, the relative positions of stationary objects O11 and O12 with respect to vehicle 2 change, and they exist at the positions shown as stationary objects O11' and O12'.

[0200] In this case, it is assumed that the stationary object O11 appears to be connected in a straight line between the first shooting position and the second shooting position. Figure 15 The stationary objects O11 and O11' extend within the region Z11 shown. Therefore, between the first shooting position and the second shooting position, the control unit 310 calculates the position of the stationary object O11 as if it appears to be moving within the region Z11, and performs each of the processes in steps S424 to S428 based on the calculation result. It should be noted that, similarly, after passing the second shooting position, the position of the stationary object O11 can also be calculated as if it appears to be moving within the region Z11. Similarly, for the stationary objects O12 and O12', it is assumed that the stationary objects O12 and O12' appear to be moving within the region Z12 that connects the stationary objects O12 and O12'.

[0201] By conducting Figure 14 as well as Figure 15 Such processing allows for appropriate light distribution between shooting positions. Furthermore, when the interval between the shooting positions associated with the acquired still object information 323 is short (e.g., less than 1m), the amount of still object information 323 acquired increases, leading to higher communication and storage requirements. However, by performing... Figure 13 as well as Figure 14 Such processing can suppress the increase in communication volume and storage capacity.

[0202] [Third Implementation Method]

[0203] Next, the stationary object information utilization device 302 according to the third embodiment of this disclosure will be described. Except for the configuration described below, each configuration of the stationary object information utilization device 302 is the same as that of the stationary object information utilization device 300 according to the first embodiment, and the same reference numerals are used.

[0204] Figure 16 This is a schematic diagram illustrating an example of a system 1 that includes the stationary object information utilization device 302 according to the third embodiment of this disclosure. For example... Figure 16 As shown, the stationary object information utilization device 302 is mounted on the vehicle 2 included in the system 1.

[0205] Figure 17 It means Figure 16 The diagram shows an example block diagram of system 1. Vehicle 2 includes vehicle ECU 10, storage unit 20, sensor unit 31, position information acquisition unit 32, illuminance sensor 33, lighting ECU 40, and stationary object information utilization device 302.

[0206] The stationary object information utilization device 302 includes a control unit 310 and a storage unit 320. The control unit 310 functions as a transmission / reception unit 311, a stationary object information acquisition unit 312, an image acquisition unit 313, a stationary object area determination unit 314, a detection condition determination unit 315, and a region of interest determination unit 316 by reading a program 321 stored in the storage unit 320. It should be noted that some of these functions can also be implemented by the vehicle ECU 10 or the lighting ECU 40.

[0207] The transmitting and receiving unit 311 functions as both a transmitting unit and a receiving unit. The still object information acquisition unit 312 acquires information recorded in the still object database 222, namely, the interrelated still object information 323 and shooting position information 324, via the transmitting and receiving unit 311. Among the still object information 323 acquired by the still object information acquisition unit 312, as detailed information about the still object, it preferably includes at least one type and size of the still object. Alternatively, the still object information acquisition unit 312 may also be configured to acquire reference image data recorded in the still object database 222.

[0208] The stationary object region determination unit 314 determines a stationary object region in the current image where a stationary object exists, based on the stationary object information 323 and the current image captured by the sensor unit 31 when the vehicle 2 passes the position indicated by the shooting position information 324 associated with the stationary object information 323. For example, the stationary object region determination unit 314 may also detect a stationary object region by determining whether a stationary object exists in the region in the current image corresponding to the position of the stationary object indicated by the stationary object information 323. Alternatively, the stationary object region determination unit 314 may detect a stationary object region based on a comparison between a reference image corresponding to reference image data and the current image.

[0209] The stationary object region determination unit 314 can detect stationary objects, for example, by detecting light spots from an image or performing pattern recognition processing on the image, thereby determining the stationary object region.

[0210] Furthermore, if the location where a stationary object is presumed to exist based on the stationary object information 323 differs from the location presumed to exist based on the current image, the stationary object region determination unit 314 detects the stationary object based on the current image and determines the stationary object region. It should be noted that if the location where a stationary object is presumed to exist based on the stationary object information 323 differs from the location presumed to exist based on the current image, the transmitting / receiving unit 311 preferably transmits the image data of the image to the stationary object information storage device 200, which has a stationary object database 222.

[0211] The detection condition determination unit 315 determines the detection conditions of the region of interest in the current image based on the stationary object region determined by the stationary object region determination unit 314. The region of interest is not particularly limited, and may be, for example, a region that is being looked at in ADAS (Advanced Driver-Assistance Systems) or AD (Autonomous Driving) and where there are other moving objects such as vehicles or pedestrians.

[0212] For example, if multiple stationary regions are identified within the current image, the detection condition determination unit 315 determines the detection range of the region of interest as the area below the line connecting the multiple stationary regions in the current image. Alternatively, the detection condition determination unit 315 may determine the number of detection processes for the region of interest as follows: the number of detection processes for the region of interest in the current image is greater than the number of detection processes for the region of interest in the area below the line connecting the multiple stationary regions, compared to the number of detection processes for the region of interest in the area above the line connecting the multiple stationary regions.

[0213] Furthermore, the detection condition determination unit 315 may, for example, determine the masked image obtained by masking a region of stationary objects in the current image as the detection target of the region of interest. Additionally, when the stationary object information 323 includes information related to the type of stationary object, and the multiple stationary objects included in the current image are of the same type, the detection condition determination unit 315 may also determine the masked image obtained by masking a region formed in a manner containing multiple stationary objects of the same type as the detection target of the region of interest. Furthermore, the range of the masking process is preferably a range that includes a predetermined margin for the stationary object region.

[0214] The region of interest determination unit 316 determines the region of interest in the current image based on the detection conditions determined by the detection condition determination unit 315. There are no particular limitations on the method for determining the region of interest, and conventionally known techniques can be used. The region of interest determination unit 316 can also determine the region of interest by detecting light spots in the current image or by performing pattern recognition processing on the current image, similar to the stationary object region determination unit 314.

[0215] (Methods for utilizing information about stationary objects)

[0216] Next, the method for utilizing stationary object information in System 1 according to this embodiment will be described. The method for utilizing stationary object information according to this embodiment is executed, for example, by the control unit 310 of the stationary object information utilization device 302 loaded with program 321, and the control unit 210 of the stationary object information storage device 200 loaded with program 221. In the following description, the case where the stationary object information utilization device 302 included in System 1 uses stationary object information 323 and a current image captured by a visual camera to determine the area of ​​interest will be described as an example, but this disclosure is not limited to this. For example, the stationary object information utilization device 302 may also use stationary object information 323 and a current image output by millimeter-wave radar or LiDAR to determine the area of ​​interest.

[0217] Figure 18 This is a flowchart illustrating an example of the method for utilizing stationary object information according to this embodiment. It should be noted that the order of each process constituting the flowcharts described in this specification may be executed in different orders and in parallel, provided that the processing content does not contradict or mismatch.

[0218] First, in step S10, the control unit 310 requests the stationary object information storage device 200 to send stationary object information 323 at the predetermined shooting location. Step S10 can be executed, for example, based on the operation of the user of vehicle 2, or when vehicle 2 is at a predetermined time (e.g., when vehicle 2's engine is started, when vehicle 2's predetermined driving route is determined, when vehicle 2 is in a stopped or slow-moving state, when program 121 is updated, etc.). Furthermore, the predetermined shooting location is not particularly limited; for example, from the viewpoint of high usefulness to the user of vehicle 2, a location within a predetermined distance range of vehicle 2's current location, destination, predetermined driving route, and the user's home is preferred.

[0219] Upon receiving a request from the still object information utilization device 302, in step S20, the control unit 210 sends still object information 323 and shooting position information 324 associated with the still object information 323, indicating the shooting position, to the still object information utilization device 302. From the viewpoint of further improving the accuracy of determining the area of ​​interest, in step S20, it is preferable to also send detailed information related to the reference image data at the shooting position, the type and size of the still object.

[0220] Next, in step S30, the control unit 310 receives the information sent in step S20. Then, in step S40, the control unit 310 acquires the current image captured by the visual camera when the vehicle 2 passes the shooting position indicated by the shooting position information 324.

[0221] Next, in step S50, the control unit 310 determines the stationary object region in the current image based on the stationary object information 323 and the current image. Next, in step S60, the control unit 310 determines the detection conditions for the region of interest in the current image based on the stationary object region determined in step S50, the stationary object information 323, and the current image. Next, in step S70, the control unit 310 determines the region of interest in the current image based on the detection conditions determined in step S60 and the process ends.

[0222] Here, use Figures 19 to 21 The processing steps S50 to S80 are described in detail. Figure 19 This is a schematic diagram illustrating an example of the process for determining the stationary area in step S50.

[0223] Figure 20 This is a schematic diagram illustrating an example of the detection conditions for the region of interest in step S60.

[0224] Figure 21 This is a schematic diagram illustrating another example of the detection conditions for the region of interest in step S60.

[0225] exist Figure 19 In the example, the stationary object information 323 obtained from the stationary object information storage device 200 includes information that stationary objects exist in regions Z1 to Z3. Figure 19 In the example, regions Z1 to Z3 overlap on the current image CI3. Additionally, in... Figure 19 In the example, other vehicles C1 and C2 are captured within the current image CI3.

[0226] In step S50, for example, methods such as light spot detection and pattern recognition processing are used to determine whether there are stationary objects in regions Z1 to Z3. Figure 19 In the example, stationary objects O1 to O3 were detected in regions Z1 to Z3, respectively. Therefore, in step S50, regions Z1 to Z3 are determined as stationary object regions. Furthermore, in step S50, detailed information such as the type and size of the stationary objects can be used to determine the type and size of the stationary objects present in each stationary object region.

[0227] It should be noted that there are no particular limitations on the method for detecting stationary objects. For example, from the viewpoint of reducing processing load, it can also be based on whether light spots presumed to be stationary objects are detected in regions Z1 to Z3 respectively. Furthermore, without utilizing the stationary object information 323, even if a light spot is detected, the load on the control unit 310 may increase or errors may occur due to the determination of whether the light spot is generated by a stationary object or a moving object. For example, if the distance between two stationary objects is similar to the distance between the left and right headlights of a vehicle, there is a possibility of incorrectly classifying the two stationary objects as moving objects. On the other hand, by utilizing the stationary object information 323, it is possible to presume that light spots located at the positions of the stationary objects indicated by the stationary object information 323 are generated by stationary objects, thus reducing the load on the control unit 310 and improving the accuracy of stationary object determination.

[0228] exist Figure 20 In the example, a straight line L connecting regions Z1 to Z3, which will be identified as stationary areas, is shown. Line L can also be an approximate straight line based on the center point or centroid of regions Z1 to Z3. In step S60, for example, the detection conditions are determined as follows: the lower region Ar1, located below line L, is determined as the detection range of the region of interest, while the upper region Ar2, located above line L, is not considered as the detection range of the region of interest.

[0229] Pedestrians, other vehicles, and other moving objects exist on the road. Furthermore, the road is assumed to exist in region Ar1, which is below the straight line L connecting regions Z1 to Z3, which will be identified as stationary areas. On the other hand, the region Ar2, above the straight line L, is assumed not to contain the road. Therefore, by not detecting the upper region Ar2 as the region of interest (moving object), and only detecting the lower region Ar1, where the road exists, as the region of interest, the load on the control unit 310 can be reduced without significantly decreasing the detection accuracy of the region of interest.

[0230] Furthermore, for the same reason, the number of detection processes for the region of interest in the lower region Ar1 can be greater than the number of detection processes for the region of interest in the upper region Ar2. It should be noted that the straight line L is preferably a straight line connecting regions of stationary objects containing the same type of stationary object. This is because if the stationary objects are of the same type, their actual heights are also the same, increasing the likelihood that a road will be included in the lower region Ar1. Additionally, the straight line L is preferably a straight line connecting regions of stationary objects located on the same side relative to the road (e.g., stationary objects on the right side of the road, or stationary objects on the left side of the road). In this case, the likelihood of a road being included in the lower region Ar1 also increases.

[0231] Figure 21The diagram shows the state after masking regions Z1 to Z3, which were identified as stationary objects. Masking is a process used to remove masked regions from the detected objects in the region of interest. For example, masking can be performed by setting the grayscale value of the region's brightness to the minimum. Figure 21 In this example, the areas other than the masked regions Z1 to Z3 become the detection targets of the region of interest. In this case, the load on the control unit 310 can be reduced without compromising the detection accuracy of the region of interest.

[0232] The masking area is preferably a range larger than regions Z1 to Z3, which are considered stationary objects, by adding a predetermined margin. This configuration allows for accurate masking of stationary objects even if the position of the stationary object indicated by the stationary object information 323 does not perfectly match the position of the stationary object in the current image. It should be noted that the predetermined margin is preferably a size that prevents people from being completely hidden. This configuration suppresses the possibility of pedestrians being obscured by the margin and thus undetectable.

[0233] Furthermore, if the multiple stationary objects contained in the current image are of the same type, masking can also be performed on the area formed by concentrating multiple stationary objects of the same type. That is, by grouping stationary objects of the same type, masking can be performed on a larger area, thereby further reducing the load on the control unit 310.

[0234] By performing the aforementioned treatment, in Figure 20 as well as Figure 21 In the example, the area where other vehicles C1 and C2 are present can be identified as the area of ​​interest.

[0235] [Fourth Implementation Method]

[0236] Next, the stationary object information acquisition device 100 according to the fourth embodiment of this disclosure will be described. Figure 22 This is a schematic diagram illustrating an example of a system 1 including the stationary object information acquisition device 100 according to the fourth embodiment of this disclosure. System 1 includes a stationary object information storage device 201 and multiple vehicles 2, such as vehicle 2A and vehicle 2B, each equipped with the stationary object information acquisition device 100. The stationary object information storage device 201 and each vehicle 2 can communicate with each other via wireless communication. It should be noted that system 1 is an example of a stationary object information utilization system according to this disclosure.

[0237] The stationary object information acquisition device 100 acquires stationary object information related to the stationary object and sends the stationary object information to the stationary object information storage device 201. Except for the configuration described below, the stationary object information storage device 201 is the same as the stationary object information storage device 200 according to the first embodiment.

[0238] Figure 23 It means Figure 22 The diagram shows an example of system 1. The vehicle 2 includes a vehicle ECU 10, a storage unit 20, a sensor unit 31, a position information acquisition unit 32, an illuminance sensor 33, a lighting ECU 40, and a stationary object information acquisition device 100.

[0239] The stationary object information acquisition device 100 includes a control unit 110 and a storage unit 120. The control unit 110 is configured, for example, as a processor such as a CPU. The control unit 110 may be configured as part of a lighting ECU 40 that controls the operation of lighting devices such as headlights in the vehicle 2. Alternatively, the control unit 110 may also be configured as part of a vehicle ECU 10. The storage unit 120 is configured, for example, as a ROM or RAM. The storage unit 120 may also be configured as part of a storage unit 20 or a storage device provided for the lighting ECU 40.

[0240] The control unit 110 functions as an image acquisition unit 111, a determination unit 112, a transmission and reception unit 113, a detection unit 114, and a light distribution unit 115 by reading the program 121 stored in the storage unit 120. It should be noted that some of these functions can also be implemented by the vehicle ECU 10 or the lighting ECU 40. In this configuration, the vehicle ECU 10 or the lighting ECU 40 constitutes part of the stationary object information acquisition device 100. Furthermore, the program 121 can also be recorded in a non-transitory computer-readable medium.

[0241] The image acquisition unit 111 acquires image data 122 of the image captured by the sensor unit 31. The acquired image data 122 is stored in the storage unit 120. Additionally, the image acquisition unit 111 acquires vehicle position information 124 (i.e., shooting position information indicating the shooting position of the image) from the position information acquisition unit 32 at the time the image corresponding to the acquired image data 122 was captured. Preferably, the vehicle position information 124 includes information indicating the orientation of the vehicle 2 at the time the image was captured. Furthermore, the vehicle position information 124 may also include information indicating the vehicle's position in the vehicle width direction. The vehicle's position in the vehicle width direction can be calculated, for example, by detecting the driving lane and using that driving lane as a reference. The acquired vehicle position information 124 is stored in the storage unit 120. The vehicle position information 124 is stored in the storage unit 120 in association with the corresponding image data 122, for example.

[0242] The image acquisition unit 111 can also acquire time information indicating the time when the image was captured. The time information may include the year, month, and day the image was captured. Additionally, the image acquisition unit 111 can also acquire illumination information related to whether the headlights of the vehicle 2 were illuminated when the image was captured. The time information and illumination information are stored in the storage unit 120, for example, in association with the corresponding image data 122.

[0243] Furthermore, the image acquisition unit 111 can acquire image data 122 captured when the illuminance sensor 33 outputs a signal indicating an illuminance of a predetermined value (e.g., 1000 lux) or higher, as reference image data. Here, illuminance of a predetermined value or higher is, for example, illuminance determined to be daytime or higher. That is, the image acquisition unit 111 can save the image data 122 of the daytime captured image as reference image data in the storage unit 120. Alternatively, the image acquisition unit 111 can also acquire illuminance information from the illuminance sensor 33 indicating the illuminance around the vehicle 2 at the time the image was captured, and save the image data 122 in association with the illuminance information in the storage unit 120. In this case, the image data 122 whose associated illuminance information indicates an illuminance of a predetermined value or higher can be used as reference image data.

[0244] The determination unit 112 determines stationary object information 123 based on image data 122. The stationary object information 123 determined by the determination unit 112 is stored in the storage unit 120. Here, "stationary object information" includes at least one of the following: stationary object image data corresponding to an image containing a stationary object or a part of such an image, and stationary object position information representing the position of the stationary object calculated based on the image data 122.

[0245] The determination unit 112 detects stationary objects in the image, for example, through image analysis, and includes the image data 122 of the image where the stationary object was detected as stationary object image data in the stationary object information 123. Additionally, the determination unit 112 determines the region containing the stationary object in the image where the stationary object was detected as a stationary object region, and includes the data corresponding to the stationary object region, which is part of the image, as stationary object image data in the stationary object information 123. Furthermore, the determination unit 112 calculates the position of the stationary object based on the image where the stationary object was detected, and includes stationary object position information indicating the position of the stationary object in the stationary object information 123. The stationary object position information may be, for example, information indicating the position of the stationary object in the image (e.g., the coordinates and size of the stationary object in the image), or information indicating the distance and direction from the image's shooting position to the stationary object. Additionally, the determination unit 112 may also determine the type of stationary object and include information indicating the type in the stationary object information 123.

[0246] The transmitting and receiving unit 113 transmits and receives information between itself and the vehicle ECU 10 and the stationary object information storage device 201. That is, the transmitting and receiving unit 113 functions as both a transmitting and receiving unit. The transmitting and receiving unit 113 transmits stationary object information 123 and vehicle position information 124 corresponding to the stationary object information 123 (when an image corresponding to the image data 122 that determines the stationary object information 123 is captured) to the stationary object information storage device 201 equipped with the storage unit 220. Additionally, the transmitting and receiving unit 113 can transmit reference image data to the stationary object information storage device 201. Furthermore, the transmitting and receiving unit 113 can transmit and receive other information with the stationary object information storage device 201 as needed. Additionally, the transmitting and receiving unit 113 receives light distribution information 125 transmitted by the transmitting and receiving unit 211 of the stationary object information storage device 201, as well as vehicle position information (hereinafter also referred to as "object position information") associated with the light distribution information.

[0247] The detection unit 114 detects the positions of stationary objects and moving objects in the current image captured by the sensor unit 31 when the vehicle 2 passes the position indicated by the object position information associated with the light distribution information 125 (hereinafter also referred to as the "object position"). If the stationary object information 123 corresponding to the object position is stored in the storage unit 120, the detection of the positions of stationary objects and moving objects can also be performed using the stationary object information 123. Specifically, stationary objects can be detected by determining whether a stationary object exists at the position in the current image corresponding to the stationary object position indicated by the stationary object information 123. Alternatively, moving objects can be detected by including areas in the current image other than the position corresponding to the stationary object position indicated by the stationary object information 123, as well as areas at the position corresponding to the stationary object position that are determined to be free of stationary objects.

[0248] The light distribution unit 115 controls the light distribution of the headlights when the vehicle 2 passes an object position based on the light distribution information 125. Furthermore, the light distribution unit 115 can use the detection results from the detection unit 114 to correct the light distribution pattern generated based on the light distribution information 125, and use the obtained corrected light distribution pattern to control the light distribution. For example, the light distribution unit 115 generates a third light distribution pattern based on a first light distribution pattern generated based on the light distribution information 125 and a second light distribution pattern determined based on the position of the moving object, and controls the light distribution based on the third light distribution pattern.

[0249] The first light distribution pattern is, for example, a light distribution pattern created in a manner suitable for the position of a stationary object at the object location. The second light distribution pattern is, for example, a light distribution pattern that includes a light distribution indication for the position of a moving object or the like detected by the detection unit 114. The third light distribution pattern is, for example, a light distribution pattern formed by adding the second light distribution pattern to the first light distribution pattern. More specifically, the third light distribution pattern may be a light distribution pattern formed by covering the first light distribution pattern with the second light distribution pattern in the area where the moving object is located.

[0250] The stationary object information storage device 201 includes a control unit 210 and a storage unit 220. The control unit 210 functions as a transmission and reception unit 211, a recording unit 212, and a detailed information determination unit 213 by reading the program 221 stored in the storage unit 220. It should be noted that the program 221 may also be recorded in a non-transitory computer-readable medium.

[0251] The transmitting and receiving unit 211 transmits and receives information between itself and the vehicle ECU 10 and the stationary object information acquisition device 100. That is, the transmitting and receiving unit 211 functions as both a transmitting and receiving unit. The transmitting and receiving unit 211 receives stationary object information 123 and corresponding vehicle position information 124 from the transmitting and receiving unit 113. Additionally, the transmitting and receiving unit 211 can receive reference image data from the stationary object information acquisition device 100. Furthermore, the transmitting and receiving unit 211 can transmit and receive other information between itself and the vehicle ECU 10 and the stationary object information acquisition device 100 as needed. Furthermore, the transmitting and receiving unit 211 transmits the light distribution information 125 generated by the light distribution information recording unit 212B (described later) and the object position information associated with this light distribution information to the stationary object information acquisition device 100.

[0252] The recording unit 212 includes a stationary object recording unit 212A and a light distribution information recording unit 212B. The stationary object recording unit 212A records the stationary object information 123 received by the transmitting and receiving unit 211 and the vehicle position information 124 corresponding to the stationary object information 123 in the stationary object database 222. The vehicle position information 124 and the stationary object information 123 are recorded in association in the stationary object database 222.

[0253] The light distribution information recording unit 212B generates light distribution information 125 related to the light distribution pattern of the headlights based on the stationary object information 123, when the vehicle 2 passes through the position (object position) indicated by the vehicle position information 124 (object position information) corresponding to the stationary object information 123, and records the object position information and the light distribution information 125 in association. The light distribution information 125 and the object position information are recorded, for example, in the light distribution information database 223. When generating the light distribution information 125, detailed information determined by the detailed information determination unit 213 may be referenced, for example.

[0254] The light distribution information 125 can be any information that defines the light distribution pattern of the headlight. For example, the light distribution information 125 may include information related to one or more of the following: grayscale values, current values, and shading angles of the multiple light sources included in the headlight. Alternatively, the light distribution information 125 may be image data representing the light distribution pattern. Furthermore, the light distribution information 125 may include information related to the light distribution pattern for low beams and information related to the light distribution pattern for high beams.

[0255] The detailed information determination unit 213 determines one or more of the following as detailed information about the stationary object: its position, height, size, and type, based on the stationary object information 123. The detailed information determined by the detailed information determination unit 213 can be recorded in the stationary object database 222.

[0256] The detailed information determination unit 213 may, for example, use an image corresponding to the still object image data to determine detailed information such as the position and size of the still object in the image, the distance and direction from the image shooting position to the still object, the type of the still object, and the image intensity related to the position of the still object in the still object image data.

[0257] It should be noted that the determination of detailed information can also be performed in the static object information acquisition device 100. In this configuration, the static object information storage device 201 may not include the detailed information determination unit 213. On the other hand, from the viewpoint of improving the accuracy of the detailed information, the static object information storage device 201 may also include the detailed information determination unit 213, in which the accuracy of the detailed information is determined or more detailed information is determined. It should be noted that the algorithm for determining detailed information in the static object information acquisition device 100 is preferably different from the algorithm for determining detailed information in the static object information storage device 201; preferably, the algorithm for determining detailed information in the static object information storage device 201 is an algorithm with higher determination accuracy.

[0258] It should be noted that the control unit 210 may also be configured to function as a determination unit in order to improve the information accuracy of the still object database 222, and to use a different and more accurate algorithm than the one used by the determination unit 112 to determine whether there is a still object in the image data 122 in which the still object information 123 has been determined by the determination unit 112.

[0259] It should be noted that, as another example of System 1 described above, the stationary object information storage device 201 can also be mounted in the vehicle 2. In this case, the control unit 210 and storage unit 220 can be separately provided from the vehicle ECU 10, control unit 110, storage unit 20, and storage unit 120. On the other hand, the control unit 210 can be configured as part of any one or more of the lighting ECU 40, vehicle ECU 10, and control unit 110. In addition, some of the functions listed as functions of the control unit 210 can also be implemented by the vehicle ECU 10 or the lighting ECU 40. In addition, the storage unit 220 can be configured as part of any one or more of the storage unit 20, storage unit 120, or a storage device provided for the lighting ECU 40. When the stationary object information storage device 201 is mounted in the vehicle 2, the stationary object information acquisition device 100 and the stationary object information storage device 201 are configured to be connected via wireless or wired communication.

[0260] (Methods for utilizing information about stationary objects)

[0261] Next, the method for utilizing stationary object information in System 1 according to this embodiment will be described. The method for utilizing stationary object information according to this embodiment is executed, for example, by the control unit 110 of the stationary object information acquisition device 100, which has read program 121, and the control unit 210 of the stationary object information storage device 201, which has read program 221. In the following description, the case where the stationary object information acquisition device 100 uses an image captured by a visual camera to determine stationary object information 123 will be used as an example, but this disclosure is not limited to this. The stationary object information acquisition device 100 may also use images output by millimeter-wave radar or LiDAR to determine stationary object information 123, for example.

[0262] Figure 24 This is a flowchart illustrating an example of the method for utilizing stationary object information according to this embodiment. It should be noted that the order of each process constituting the flowcharts described in this specification may be executed in different orders and in parallel, provided that the processing content does not contradict or mismatch.

[0263] First, in step S110, the control unit 110 acquires image data, etc. Specifically, the control unit 110 acquires image data of an image captured by a visual camera. Additionally, the control unit 110 acquires vehicle position information 124 corresponding to this image data.

[0264] Furthermore, in step S110, the preferred control unit 110 also acquires one or more of the following: time information indicating the time when the image was captured, illumination information related to whether the headlights of vehicle 2 were illuminated when the image was captured, and illuminance information indicating the illuminance around vehicle 2 when the image was captured. By acquiring this information, each image can be appropriately compared, resulting in improved accuracy in detecting stationary objects.

[0265] Here, the visual camera is controlled by the vehicle ECU 10 to capture images of the exterior of the vehicle 2 at predetermined time intervals. The control unit 110 preferably acquires the image data 122 of the images captured at predetermined time intervals by discarding images at intervals longer than the time interval of capture (e.g., 0.1 to 1 second) or at predetermined distance intervals from the capture position (e.g., 1 to 10 meters). By discarding the image data 122, the large capacity of the storage unit 120 can be suppressed. Furthermore, the number of objects to be determined in step S130 (described later) can be reduced, thus helping to alleviate the burden on the control unit 110. It should be noted that the control unit 110 may also acquire all the image data 122 of the images captured at predetermined time intervals and temporarily store them in the storage unit 120, discarding the image data 122 at a predetermined time before the determination process in step S130.

[0266] Furthermore, the image acquisition unit 111 can also exclude image data 122 based on whether the image was taken at a location where the vehicle 2 frequently travels. Specifically, the image acquisition unit 111 can also exclude image data 122 taken on roads where the number of trips within a predetermined period is less than a predetermined number (e.g., less than once a month in the past). This is because identifying stationary objects even in locations where the vehicle 2 does not usually travel is not very beneficial to the user of the vehicle 2. In particular, when the stationary object information storage device 201 is mounted on the vehicle 2, it is preferable to exclude image data 122 based on the number of trips at the shooting location within a predetermined period.

[0267] Next, if the vehicle 2 is in the first state ("Yes" in step S120), the control unit 110 performs the determination process of stationary object information 123 in step S130. On the other hand, if the vehicle 2 is not in the first state ("No" in step S120), the control unit 110 waits to perform the determination process of step S130 until the vehicle 2 changes to the first state.

[0268] Here, "first state" refers to a state where the processing burden on the vehicle ECU 10 or the lighting ECU 40 is considered low. "First state" includes, for example, a stopped state or a slow-moving state (e.g., driving at a speed below 10 km / h). When the control unit 110 is configured as part of the vehicle ECU 10 or the lighting ECU 40, by configuring it to perform the determination process of step S130 when the vehicle 2 is in the first state, it helps to reduce the burden on the vehicle ECU 10 or the lighting ECU 40. It should be noted that when the control unit 110 is configured independently of the vehicle ECU 10 and the lighting ECU 40, the determination process of step S120 may not be performed.

[0269] In step S130, the control unit 110 performs a determination process to determine the stationary object information 123 based on the image data 122.

[0270] Here, use Figure 25 The process of determining the stationary object information 123 in step S130 is described in detail. Figure 25 This is a flowchart illustrating an example of the process for determining stationary object information 123. In step S131, the control unit 110 detects light spots in the image. The detection of light spots can be performed using conventionally known techniques, such as image brightness analysis.

[0271] In addition, in step S132, the control unit 110 performs pattern recognition processing on the image. The pattern recognition method can be any conventionally known method, such as using a machine learning model to detect stationary objects, or using a clustering method to detect stationary objects.

[0272] Next, in step S133, the control unit 110 determines whether there is a stationary object in the image based on the results of the processing in steps S131 and / or S132. If it is determined that there is no stationary object in the image ("No" in step S133), in step S135, the control unit 110 deletes the image data 122 corresponding to the image from the storage unit 120 and ends.

[0273] If it is determined that a stationary object exists in the image ("Yes" in step S133), in step S134, the control unit 110 determines the stationary object region or the position of the stationary object in the image. By determining the stationary object region and setting the data of the portion of the image containing the stationary object region as stationary object image data, the data volume when sending to the stationary object information storage device 201 can be reduced. In this case, it is preferable to also determine information indicating the position of the stationary object region in the original image and include it in the stationary object information 123. Alternatively, data that has undergone processing to reduce the data volume of regions other than the stationary object region can also be used as stationary object image data.

[0274] The position of a stationary object is, for example, the position of a stationary object in an image. The position of a stationary object can be determined using any coordinate system set in the image. For example, the position of the stationary object could represent the center point of the object or the position of its outer edge. Furthermore, it is preferable that the position of the stationary object includes information related to its size determined using the aforementioned coordinate system.

[0275] Figure 26 It is used for in Figure 25 This diagram illustrates the position information of the stationary object determined in step S134. Figure 26 In the image shown, marker O1 and streetlights O2 through O4 are identified as stationary objects. In this case, for example, the positions of regions Z1 through Z4, which respectively contain marker O1 and streetlights O2 through O4, can be defined using coordinates defined by the x-axis and y-axis as the stationary object position information. It should be noted that the method of setting the coordinates is not particularly limited; for example, the center of the image can be used as the origin. Furthermore, in... Figure 26 In the example, the support parts of sign O1 and street lamps O2 to O4 are not included in areas Z1 to Z4, but the areas that include these support parts can also be set as stationary positions.

[0276] Alternatively, the position of the stationary object determined in step S134 can also represent the distance and direction from the image capture position to the stationary object. For example, if the image data 122 contains depth information, the depth information can be used to calculate the distance and direction from the capture position to the stationary object. Alternatively, it can be calculated by comparing it with other image data 122 captured near the capture position, or by using data acquired from millimeter-wave radar or LiDAR.

[0277] Once the position of the stationary object is determined, image data 122 can be deleted from storage unit 120, or it can be included in stationary object information 123 in association with the stationary object position information. After step S134, proceed to... Figure 24 Step S140.

[0278] If the operation is based on image data 122 taken during the day when the illuminance is above a predetermined value... Figure 24 The determination process shown makes it easy to grasp the outline of the structure in the image and to obtain the color information of the structure from the image, thus improving the detection accuracy of stationary objects based on pattern recognition processing.

[0279] The process of determining the stationary object information 123 can also be performed by comparing multiple image data 122 taken at the same location or at locations close to each other. Additionally, in step S134, the control unit 110 can determine the type of stationary object based on the results of steps S131 and / or S132, and include this type information in the stationary object information 123. It should be noted that when determining the detailed information of the stationary object in the determination process of step S130, for example, the same method as the various examples of the process in step S180 described later can be used. However, even if the method used is the same, it is preferable that the algorithm involved in determining the detailed information of the stationary object in step S130 is different from the algorithm involved in the process in step S180.

[0280] Return to Figure 24 The control unit 110, when the vehicle 2 is in the second state ("Yes" in step S140), sends the stationary object information 123 and the vehicle position information 124 corresponding to the stationary object information 123 to the stationary object information storage device 201 equipped with the storage unit 220 in step S150. Additionally, in step S150, time information, illumination information, illuminance information, etc., may also be sent along with this information. On the other hand, when the vehicle 2 is not in the second state ("No" in step S140), the control unit 110 waits to execute the sending process of step S150 until the vehicle 2 enters the second state.

[0281] Here, "second state" refers to a state where the processing burden on the vehicle ECU 10 or the lighting ECU 40 is considered low. "Second state" includes, for example, a stopped state or a slow-moving state (e.g., driving at a speed below 10 km / h). When the control unit 110 is configured as part of the vehicle ECU 10 or the lighting ECU 40, by configuring it to perform the transmission processing of step S150 when the vehicle 2 is in the second state, it helps to reduce the burden on the vehicle ECU 10 or the lighting ECU 40. It should be noted that when the control unit 110 is configured independently of the vehicle ECU 10 and the lighting ECU 40, the determination in step S140 may not be performed.

[0282] The stationary object information 123 transmitted in step S150 may be stationary object image data of an image where a stationary object is determined to exist, stationary object position information calculated based on the image, or both. When the transmitted stationary object information 123 includes stationary object image data, the stationary object image data can be further refined in the stationary object information storage device 201 to obtain more accurate information. On the other hand, when the transmitted stationary object information 123 does not include stationary object image data, it is advantageous to reduce the size of the transmitted data.

[0283] Next, in step S160, the control unit 210 receives various information sent in step S150. Then, in step S170, the control unit 210 records the stationary object information 123 received in step S160 and the vehicle position information 124 corresponding to that stationary object information 123 in the stationary object database 222.

[0284] Next, in step S180, the control unit 210 determines detailed information about the stationary object based on the stationary object information 123 and then ends the process. The determined detailed information is recorded in the stationary object database 222. In step S180, for example, image data 122 with the stationary object information 123 determined is used to determine the detailed information. It should be noted that in step S180, as part of the processing, a method for detecting light spots and pattern recognition processing as described in the description of step S130 can also be used. Furthermore, the determination of detailed information is preferably performed by performing pattern recognition processing on image data 122 taken during the day when the illuminance is above a predetermined value. In this case, it is easy to grasp the outline of the structure in the image and easy to obtain the color information of the structure from the image, thus improving the accuracy of the detailed information.

[0285] Furthermore, whether a stationary object present in the image corresponding to image data 122 is a self-luminous body can be determined, for example, based on the image data 122 of at least two images taken before and after the switching timing of the headlights mounted on the vehicle 2 being turned on and off. For example, among the light spots identified as stationary objects, light spots detected both when the headlights are on and off can be identified as light spots generated by a self-luminous body. On the other hand, among the light spots identified as stationary objects, light spots detected when the headlights are on but not detected when they are off can be identified as light spots generated by other types of stationary objects that are not self-luminous bodies.

[0286] Refer again Figure 3 as well as Figure 4 ,exist Figure 3In the example, the still object database 222 records multiple still object image data and reference image data associated with the shooting location. The shooting location includes the latitude and longitude of the shooting location and the orientation of vehicle 2 (the orientation of the visible camera) at the time of shooting. The still object image data includes an ID for identification, time information, illumination information, and lighting information. The reference image data contains the ID for identification. The reference image data may also contain the same information as the still object image data. Alternatively, still object image data with an illumination level of a predetermined value or higher, as indicated by the illumination information, may also be processed as reference image data.

[0287] exist Figure 4 In the example, the still object database 222 records multiple still object position information associated with the shooting location. This still object position information includes detailed information such as the still object's position, size, height, distance from the shooting location, direction, type, and image intensity related to the still object's position in the still object image data. The still object position information is determined through the determination process in step S130 or the process in step S180. It should be noted that if only one still object is determined at a certain shooting location, the still object position information associated with that shooting location can be only one.

[0288] Figure 3 as well as Figure 4 An example of information recorded in the still object database 222 may be omitted, or it may include other information. From the viewpoint of improving the accuracy of the determination process in step S180 and enhancing the utilization value of the still object database 222, the still object database 222 preferably includes both still object image data and still object position information.

[0289] The stationary object database 222 can also be managed as a separate database for each vehicle 2. In this case, the information accumulated in one database is based on the information sent from one vehicle 2. Alternatively, the stationary object database 222 can also be managed as a unified database for multiple vehicles 2. In this case, multiple pieces of information sent from multiple vehicles 2 are aggregated in one database.

[0290] Alternatively, the stationary object database 222 can also be managed as a database for each model of vehicle 2. In this case, multiple pieces of information sent from multiple vehicles 2 of the same model are collected in one database. When managed as a database for each model, the determination process in step S180 can be performed with higher accuracy by taking into account factors such as the vehicle height and the position of the sensor unit 31. In addition, when providing services that utilize the stationary object database 222, it is easy to provide services optimized for that model. It should be noted that the stationary object information storage device 201 can also be configured to receive vehicle model information of vehicle 2 when receiving stationary object information 123, and to record the model information in the stationary object database 222 in association with stationary object image data, etc.

[0291] Next, the light distribution control of vehicle 2, which uses stationary object information, will be explained. Figure 27 This is a flowchart illustrating another example of a method for utilizing stationary object information according to an embodiment of this disclosure. Specifically, Figure 27 This is a flowchart related to the light distribution control of vehicle 2, which uses stationary object information.

[0292] First, in step S111, the control unit 210 obtains still object information 123 and shooting position information associated with the still object information 123 from the still object database 222. The still object information 123 obtained in step S111 preferably includes detailed information about the still object. By obtaining this detailed information, a more suitable light distribution pattern can be generated in the subsequent step S112.

[0293] Next, in step S112, the control unit 210 generates light distribution information 125 based on the stationary object information 123, which specifies the light distribution pattern at the object location indicated by the shooting position information associated with the stationary object information 123. The light distribution information 125 is preferably generated based on one or more detailed information, such as the position, height, size, and type of the stationary object. The light distribution pattern at the object location is obtained, for example, by reducing the light at the position of the stationary object based on a typical light distribution pattern used for low beam or high beam. In particular, if high-brightness reflective objects or stationary objects of a predetermined size or larger are lighted in the usual way, the user of the vehicle 2 may sometimes experience glare from reflected light from the stationary objects; therefore, it is preferable to reduce the light at the position of these stationary objects. It should be noted that for stationary objects where reflected light is not a problem, light distribution can also be performed in the usual way. Furthermore, whether an object is a high-brightness reflective object can be determined based on information related to the type of stationary object and the image intensity of the location of the stationary object in the image. Here, the information related to image intensity may be, for example, the grayscale value of the image. For example, in an 8-bit image, if the grayscale value of the location of a stationary object is around 255, the stationary object can be identified as a high-brightness reflective object. Alternatively, if the location of a stationary object in a still image appears washed out, the stationary object can also be identified as a high-brightness reflective object.

[0294] Next, in step S113, the control unit 210 records the light distribution information 125 generated in step S112 and the object position corresponding to the light distribution information 125 in the light distribution information database 223.

[0295] Figure 28 yes Figure 23 The example shown is from the photometric information database 223. Figure 28 In the example, the light distribution information database 223 records light distribution information 125 in association with the object's location. The object's location includes its latitude, longitude, and orientation. That is, even at the same location, the light distribution information 125 used differs depending on the orientation of the vehicle 2. The light distribution information includes the light source ID for each light source used to identify the headlights, the current value for each light source, the grayscale value, and the shading angle. The light distribution information database 223 can also be managed, for example, as a database for each vehicle model of the vehicle 2. By configuring it in this way, light distribution more suitable for each vehicle model can be achieved. It should be noted that... Figure 28 An example of information recorded in the photometric information database 223 is shown. Some information may not be recorded, while other information may also be included.

[0296] Return to Figure 27The following is an explanation. In step S114, the control unit 110 requests the stationary object information storage device 201 to send the light distribution information 125 at the predetermined object location. Step S114 can be executed, for example, based on the operation of the user of vehicle 2, or when vehicle 2 is at a predetermined time (e.g., when the engine of vehicle 2 is started, when the predetermined route of vehicle 2 is determined, when vehicle 2 is in a parked or slow-moving state, when program 121 is updated, etc.). In addition, there is no particular limitation on the predetermined object location. For example, from the viewpoint of high usefulness to the user of vehicle 2, it is preferable to be a location within a predetermined distance range of vehicle 2's current location, destination, predetermined route, and the user's home.

[0297] Upon receiving a request from the still object information acquisition device 100, in step S115, the control unit 210 sends the light distribution information 125 and object position information indicating the object position associated with the light distribution information 125 to the still object information acquisition device 100. Next, in step S116, the control unit 110 receives the information sent in step S115. Thus, by sending and receiving the light distribution information 125, the communication load can be reduced compared to sending and receiving still object image data. Furthermore, by sending and receiving the light distribution information 125, the workload when creating light distribution patterns in the still object information acquisition device 100 can be reduced.

[0298] Next, in step S117, the control unit 110 acquires vehicle position information 124 indicating the current position of vehicle 2 and image data of the current image captured by the camera at the current position, and detects the positions of stationary and moving objects in the current image. Next, in step S118, the control unit 110 corrects the light distribution pattern based on the detection results of stationary and moving objects in step S117, outputs light distribution information specifying the corrected light distribution pattern, and ends the process. The light distribution information 125 specifying the corrected light distribution pattern is output to the lighting ECU, for example.

[0299] The following uses Figure 29 as well as Figure 30 ,right Figure 27 The processes shown in steps S117 and S118 will be described in detail. Figure 29 It is used for based on Figure 23 A schematic diagram illustrating the light distribution pattern of the light distribution information 125 shown. Figure 30 It is used for Figure 29 A schematic diagram illustrating the correction of the light distribution pattern shown. Figure 29 as well as Figure 30In the example, the light distribution information 125 obtained from the stationary object information storage device 201 is light distribution information that defines a light distribution pattern obtained by applying light reduction to regions Z1 to Z4 on a normal light distribution pattern. That is, it is light distribution information 125 generated based on stationary object information 123, such as the presence of stationary objects in regions Z1 to Z4.

[0300] exist Figure 29 In the example, in the current image CI4, stationary objects O1 to O4 are detected in regions Z1 to Z4, respectively. Furthermore, no stationary objects or moving objects are detected in other regions. In this case, the light distribution information 125 obtained from the stationary object information storage device 201 can be directly output to the luminaire ECU. It should be noted that when no stationary object is detected in regions Z1 to Z4, the light distribution information 125 can be corrected to prevent light reduction in the regions where no stationary object is detected.

[0301] exist Figure 30 In the example, in the current image CI5, stationary objects O1 to O4 are detected in regions Z1 to Z4, respectively. Additionally, other vehicles C1 and C2 are detected in regions Z5 and Z6, respectively. In this case, the light distribution information 125 obtained from the stationary object information storage device 201 is corrected, for example, by reducing or blocking light in regions Z5 and Z6, and then output to the lighting ECU. It should be noted that other vehicle C1 is detected, for example, based on light spots such as rear lights BL1 and BL2. Similarly, other vehicle C2 is detected, for example, based on light spots such as headlights HL1 and HL2. Figure 29 as well as Figure 30 As in the example, by modifying the pre-made light distribution pattern based on the current image, a light distribution that is more suitable for the current situation can be achieved.

[0302] It should be noted that the present invention is not limited to the above-described embodiments, and can be appropriately modified and improved. Furthermore, the material, shape, size, value, form, quantity, and arrangement of the constituent elements in the above embodiments are arbitrary and not limited, as long as they enable the realization of the present invention.

[0303] This application incorporates, by reference, the contents of Japanese Patent Application Nos. 2021-117825, 2021-117826, 2021-117827, and 2021-117829, all filed on July 16, 2021.

Claims

1. A device for utilizing stationary object information, wherein the device is mounted on a vehicle, The stationary object information utilization device includes: The still object information acquisition unit acquires interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. The light distribution unit controls the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information. as well as The regression analysis unit, when the vehicle passes the first shooting position and the distance to the second shooting position that the vehicle is scheduled to pass next meets a predetermined condition, calculates the position of the stationary object between the first shooting position and the second shooting position through regression analysis based on first stationary object information corresponding to the first shooting position and second stationary object information corresponding to the second shooting position. The light distribution unit controls the light distribution between the first shooting position and the second shooting position based on the position of the stationary object calculated by the regression analysis unit.

2. The device for utilizing stationary object information according to claim 1, wherein, The still object information also includes detailed information, which includes at least one of the following: information related to the type of the still object, the size of the still object, and the image intensity of the position of the still object in the still object image data. The light distribution unit further controls the light distribution based on the detailed information provided.

3. The device for utilizing stationary object information according to claim 1, wherein, The stationary object information utilization device further includes a stationary object detection unit, which detects the stationary object in the image based on the stationary object information, the shooting position information, and an image captured by a sensor unit mounted on the vehicle when the vehicle passes the shooting position indicated by the shooting position information. The light distribution unit controls the light distribution based on the position of the stationary object detected by the stationary object detection unit.

4. The device for utilizing stationary object information according to claim 3, wherein, The still object information includes the still object image data. The still image data includes reference image data, which is still image data taken during the day. The stationary object detection unit is capable of detecting the stationary object based on a comparison between the reference image data and the image.

5. The device for utilizing stationary object information according to claim 3, wherein, The still object information utilization device also includes a moving object detection unit, which detects moving objects based on the image. The light distribution unit generates a third light distribution pattern by adding a second light distribution pattern determined by the position of the moving body detected by the moving body detection unit to a first light distribution pattern determined by the position of the stationary object detected by the stationary object detection unit, and controls the light distribution based on the third light distribution pattern.

6. The device for utilizing stationary object information according to claim 1, wherein, The stationary object information utilization device further includes a vehicle information acquisition unit, which acquires vehicle information including at least one of the following: the direction the vehicle is facing and its position in the width direction of the driving lane. The light distribution unit further controls the light distribution based on the vehicle information.

7. A storage medium storing a program that executes in a stationary information utilization device equipped with a processor and mounted on a vehicle, wherein, The program causes the processor to perform the following steps: The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. The light distribution step involves controlling the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information. as well as The regression analysis step involves calculating, based on first stationary object information corresponding to the first shooting position and second stationary object information corresponding to the second shooting position, the positions of the stationary objects between the first and second shooting positions, assuming the vehicle has passed the first shooting position and the distance to the second shooting position meets a predetermined condition. In the light distribution step, between the first shooting position and the second shooting position, the light distribution is controlled based on the position of the stationary object calculated by the regression analysis step.

8. A method for utilizing stationary object information, which is executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein... The method for utilizing stationary object information includes causing the processor to perform the following steps: The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. The light distribution step involves controlling the light distribution of the vehicle's headlights based on the stationary object information and the shooting position information. as well as The regression analysis step involves calculating, based on first stationary object information corresponding to the first shooting position and second stationary object information corresponding to the second shooting position, the positions of the stationary objects between the first and second shooting positions, assuming the vehicle has passed the first shooting position and the distance to the second shooting position meets a predetermined condition. In the light distribution step, between the first shooting position and the second shooting position, the light distribution is controlled based on the position of the stationary object calculated by the regression analysis step.

9. A vehicle system, said vehicle system being mounted on a vehicle, wherein, The vehicle system includes: The still object information acquisition unit acquires interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The stationary object region determination unit determines, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes a position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image where the stationary object exists; as well as The detection condition determination unit determines the detection conditions for the region of interest in the current image based on the stationary object region. When multiple stationary regions are identified within the current image, the detection condition determination unit determines the detection range of the region of interest as the area below the line connecting the multiple stationary regions in the current image.

10. The vehicle system according to claim 9, wherein, When multiple stationary regions are identified within the current image, the detection condition determination unit determines the number of detection processes for the region of interest in such a way that the number of detection processes for the region of interest in the upper region above the line connecting the multiple stationary regions in the current image is greater than the number of detection processes for the region of interest in the lower region below the line.

11. The vehicle system according to claim 9, wherein, The detection condition determination unit determines the masked image obtained by masking the stationary object region in the current image as the detection object of the region of interest.

12. The vehicle system according to claim 11, wherein, The area for which the masking process is performed is a range that includes a predetermined margin for the stationary object area.

13. The vehicle system according to claim 11, wherein, The information about stationary objects includes information related to the type of stationary object. When the current image contains multiple stationary objects of the same type, the detection condition determination unit determines the masked image obtained by masking the region formed in a manner that contains the multiple stationary objects of the same type as the detection object of the region of interest.

14. The vehicle system according to claim 9, wherein, The vehicle system further includes a region of interest determination unit, which determines the region of interest in the current image based on the detection conditions determined by the detection condition determination unit.

15. A storage medium storing a program that executes in a stationary information utilization device equipped with a processor and mounted on a vehicle, wherein, The program causes the processor to perform the following steps: The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. The image acquisition step acquires image data from images captured by a sensor unit mounted on the vehicle. A stationary object region determination step, wherein, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes the position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image in which the stationary object exists is determined; as well as The detection condition determination step determines the detection conditions for the region of interest in the current image based on the stationary object region. When multiple stationary regions are identified within the current image, in the detection condition determination step, the region below the line connecting the multiple stationary regions in the current image is determined as the detection range of the region of interest.

16. A method for utilizing stationary object information, wherein the method is executed in a stationary object information utilization device equipped with a processor and mounted in a vehicle, wherein... The method for utilizing stationary object information includes causing the processor to perform the following steps: The still object information acquisition step involves acquiring interrelated still object information and shooting location information from a still object database via wireless or wired communication. The still object database records the still object information and the shooting location information in association. The still object information includes at least one of the following: still object image data corresponding to an image or a portion thereof containing one or more still objects such as self-illuminating objects, signs, delineators, and guardrails; and still object location information calculated based on the still object image data to indicate the location of the still object. The shooting location information indicates the shooting location where the still object image data was captured. The image acquisition step acquires image data from images captured by a sensor unit mounted on the vehicle. A stationary object region determination step, wherein, based on the stationary object information and a current image captured by the sensor unit when the vehicle passes the position indicated by the shooting position information associated with the stationary object information, a stationary object region in the current image in which the stationary object exists is determined; as well as The detection condition determination step determines the detection conditions for the region of interest in the current image based on the stationary object region. When multiple stationary regions are identified within the current image, in the detection condition determination step, the region below the line connecting the multiple stationary regions in the current image is determined as the detection range of the region of interest.

17. A system for utilizing stationary object information, the system comprising a stationary object information acquisition device mounted on a vehicle, and a stationary object information storage device capable of communicating with the stationary object information acquisition device, wherein, The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The stationary object information storage device includes: The first receiving unit receives the stationary object information and the vehicle position information sent from the first transmitting unit; A stationary object recording unit records the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information is captured in a stationary object database; as well as The light distribution information recording unit, based on the stationary object information, generates light distribution information related to the light distribution pattern of the headlights when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and records the vehicle position information and the light distribution information in association.

18. The system for utilizing stationary object information according to claim 17, wherein, The stationary object information storage device further includes a detailed information determination unit, which determines one or more of the following as the stationary object's detailed information based on the stationary object information: its position, height, size, and type. The light distribution information recording unit generates the light distribution information based on the detailed information.

19. The system for utilizing stationary object information according to claim 17, wherein, The light distribution information includes one or more of the following: grayscale value, current value, and shading angle for the multiple light sources included in the headlight.

20. The system for utilizing stationary object information according to claim 17, wherein, The stationary object information storage device further includes a second transmitting unit, which transmits the interrelated light distribution information and vehicle location information to the stationary object information acquisition device. The stationary object information acquisition device also includes: The second receiving unit receives the light distribution information and the vehicle location information transmitted from the second transmitting unit; and The light distribution unit controls the light distribution of the headlights when the vehicle passes the position indicated by the vehicle position information, based on the light distribution information.

21. The system for utilizing stationary object information according to claim 20, wherein, The stationary object information storage device further includes a detection unit, which detects the positions of the stationary objects and moving objects in the current image based on a current image captured by the sensor unit when the vehicle passes the position indicated by the vehicle position information. The light distribution unit controls the light distribution by using a corrected light distribution pattern obtained by correcting the light distribution pattern made based on the light distribution information using the detection results of the detection unit.

22. A storage medium storing a program executable in a stationary object information storage device having a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The program causes the processor to perform the following steps: In the first receiving step, the stationary object information and the vehicle location information are received from the first transmitting unit. A stationary object recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as The light distribution information recording step involves creating light distribution information related to the light distribution pattern of the headlights based on the stationary object information, when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and recording the vehicle position information and the light distribution information in association.

23. A method for utilizing stationary object information, which is executed in a stationary object information storage device equipped with a processor and capable of communicating with a stationary object information acquisition device mounted on a vehicle, wherein... The stationary object information acquisition device has the following features: An image acquisition unit acquires image data from images captured by sensors mounted on the vehicle. The determining unit determines stationary object information based on the image data. The stationary object information includes at least one of the following: stationary object image data corresponding to an image or a portion thereof containing one or more stationary objects, such as self-illuminating objects, signs, delineators, and guardrails; and stationary object position information calculated based on the image data indicating the position of the stationary object. as well as The first transmitting unit transmits the stationary object information and the vehicle position information of the vehicle obtained from the position information acquisition unit mounted on the vehicle, i.e., the vehicle position information when an image corresponding to the image data that determines the stationary object information is captured, to the stationary object information storage device. The method for utilizing stationary object information includes causing the processor to perform the following steps: In the first receiving step, the stationary object information and the vehicle location information are received from the first transmitting unit. A stationary object recording step, in which the stationary object information and the vehicle position information when the image corresponding to the image data that determined the stationary object information are captured are recorded in a stationary object database in association; as well as The light distribution information recording step involves creating light distribution information related to the light distribution pattern of the headlights based on the stationary object information, when the vehicle passes through a position indicated by the vehicle position information associated with the stationary object information, and recording the vehicle position information and the light distribution information in association.

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