Vehicle performing light control for improving object recognition

Abstract

The lamp control unit includes: an interface operably coupled to an electronic control unit of a vehicle; and a processor configured to receive control information of the headlamp from the electronic control unit through the interface. The processor may control the ADAS determination unit such that the ADAS determination unit determines an object in an image based on the image of the object acquired from a front camera; the processor may receive, from the electronic control unit, control information for illuminating a head lamp of the object; the processor may turn off the headlight or reduce a brightness of the headlight in correspondence with a frame in which an image of the object is acquired by the front camera based on the control information.

Description

Technical Field

[0001] This specification relates to vehicles that perform lighting control. More specifically, it relates to a vehicle that performs lighting control for improving object recognition. Background Technology

[0002] A vehicle is a device that moves its passengers in a desired direction. On the other hand, to make vehicles easier for users to use, there is a growing trend towards incorporating various sensors and electronic devices. In particular, research is actively underway on Advanced Driver Assistance Systems (ADAS) to facilitate driving. Furthermore, the development of autonomous vehicles is also progressing actively.

[0003] On the other hand, vehicles can detect objects in front of them using cameras. Relatedly, the vehicle's headlights can emit light towards these objects. In this regard, US Patent 10086832B2 proposes a method of illuminating the headlights towards an object in front of the vehicle to more clearly identify it when the Time to Collision (TTC) is less than a baseline value. Additionally, Korean Patent Publication 10-2013-0063566 provides an in-vehicle system with a camera device and headlights capable of direction switching. Relatedly, it proposes changing the headlight illumination direction to provide sufficient brightness to the area where the object is located when an object in front of the vehicle is identified by radar but not by the camera device.

[0004] Relatedly, when identifying an object in a vehicle's front camera, shining headlights on the object will illuminate it, making it easier to identify. However, in special circumstances, headlights may obstruct object identification. In such cases, it is necessary to adjust the brightness of the headlights appropriately according to the situation and use the adjusted headlight brightness to capture an image through the camera shutter. Summary of the Invention

[0005] The problem that the invention aims to solve

[0006] This manual is designed to allow you to adjust the brightness of your headlamp appropriately when it obstructs the identification of objects, and to use the adjusted brightness to capture images via a camera shutter.

[0007] This manual aims to improve the object recognition performance of the camera by adjusting specific frames of the headlamp.

[0008] In addition, this manual aims to optimize object recognition performance while maintaining the current headlight functionality.

[0009] Additionally, this manual aims to improve the vehicle's front camera's ability to recognize objects by turning off the headlights at appropriate times when the streetlights are on.

[0010] In addition, this manual is designed to improve the visibility of objects such as vehicles and pedestrians ahead by selectively adjusting the brightness of the headlights according to the brightness of the roadway and pedestrian walkway.

[0011] The subject matter of this invention is not limited to the subject matter mentioned above, and those skilled in the art can clearly understand other subject matters not mentioned from the following description.

[0012] Technical solutions to the problem

[0013] To achieve the aforementioned objectives, the lamp control unit of this specification includes: an interface operatively coupled to the vehicle's electronic control unit (ECU); and a processor configured to receive headlight control information from the ECU via the interface. The processor can control an ADAS (Advanced Driver Assistance System) determination unit to determine an object within an image acquired from a front-facing camera; the processor can receive headlight control information from the ECU for illuminating the object; and the processor can, based on the control information, corresponding to frames of the image of the object acquired by the front-facing camera, turn off the headlights or reduce the brightness of the headlights.

[0014] According to an embodiment, the ADAS judgment information of the object determined by the ADAS judgment unit can be transmitted to the vehicle's ECU. The headlight control information generated in the ECU based on the ADAS judgment information can be transmitted to the lamp control unit. The processor can control the headlights based on the control information to either turn them off or reduce their brightness during the frame.

[0015] According to an embodiment, the processor can set the brightness control interval of the headlamp to reduce the brightness of the headlamp during the frame interval. Furthermore, the processor can be configured such that the start point of the brightness control interval is earlier than the start point of the frame interval, and the end point of the brightness control interval is later than the end point of the frame interval.

[0016] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned off during the frame interval; the processor can control the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval.

[0017] According to an embodiment, the processor can form consecutive frames of the brightness control interval such that all of the plurality of light-emitting devices are turned off in a plurality of intervals including the frame interval.

[0018] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that adjacent light-emitting devices among the plurality of light-emitting devices are turned off during the frame interval; the processor can control the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval.

[0019] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that non-adjacent light-emitting devices among the plurality of light-emitting devices are turned off during the frame interval; the processor can control the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval.

[0020] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that all plurality of light-emitting devices are turned off during the frame interval; the processor can control the third frame of the brightness control interval to ensure that the brightness of the plurality of light-emitting devices is lower than the brightness of the on state during the second interval following the frame interval; the processor can control the fourth frame of the brightness control interval to ensure that all plurality of light-emitting devices are turned on during the third interval consecutively following the second interval.

[0021] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that one of the plurality of light-emitting devices is turned off during the frame interval; the processor can control the third frame of the brightness control interval to ensure that the brightness of one of the plurality of light-emitting devices is lower than the brightness of the turned-on state during the second interval following the frame interval. The processor can control the fourth frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the third interval following the second interval. One of the plurality of light-emitting devices can illuminate a specific sub-object of the vehicle in front of the vehicle.

[0022] According to an embodiment, the processor can control the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval; the processor can control the second frame of the brightness control interval to ensure that a portion of the plurality of light-emitting devices are in a first brightness state and the remaining portion are in a second brightness state during the frame interval; the processor can control the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval. A portion of the plurality of light-emitting devices may be disposed at the center of the headlamp, and the remaining portion of the plurality of light-emitting devices may be disposed at the periphery of the headlamp.

[0023] According to an embodiment, the processor can control the headlamp to be in a closed state during the frame interval if it is determined that external lighting exists; and to be in a closed state or to make the brightness of the headlamp lower than the brightness of the closed state during the frame interval if it is determined that the external lighting does not exist.

[0024] According to an embodiment, the processor can control the headlamp to be lower than the brightness of the on state during the frame interval if the brightness of the external lighting is lower than a critical brightness; and to be in an off state during the frame interval if the brightness of the external lighting is higher than the critical brightness.

[0025] According to an embodiment, the processor can be controlled to, during the frame interval, turn on a portion of the plurality of light-emitting devices corresponding to the first area where the sidewalk is located; and during the frame interval, turn off the remaining portion of the plurality of light-emitting devices corresponding to the second area where the roadway is located.

[0026] According to an embodiment, the processor can control the headlamp to be turned on in a first interval before the frame interval, with the central portion corresponding to the second area of ​​the roadway in the on state, to detect other vehicles in front of the vehicle; during the frame interval when the other vehicles are being photographed, the peripheral portion of the headlamp corresponding to the first area of ​​the sidewalk in the on state, to detect pedestrians; and during the frame interval, the central portion of the headlamp corresponding to the second area of ​​the roadway in the on state is turned off.

[0027] Specific details regarding other embodiments are included in the detailed description and accompanying drawings.

[0028] Invention Effects

[0029] The technical features of the vehicle for improving object recognition using light control, as described in this specification, can be summarized as follows.

[0030] According to this manual, the performance of the camera's object recognition can be improved by adjusting the camera's shutter speed and the timing of specific frames of the headlamp.

[0031] According to this manual, while maintaining the current headlamp function, the timing of the camera shutter and a specific frame of the headlamp are made consistent or the timing of the specific frame is advanced by a predetermined time, thereby optimizing the object recognition performance.

[0032] According to this manual, if the streetlights are on, the headlights can be turned off at an appropriate time before the shutter of the front camera opens to improve the vehicle's front camera's ability to recognize objects.

[0033] According to this manual, the brightness of multiple light-emitting devices of the headlamp can be selectively controlled according to the brightness status of the roadway and sidewalk in each area, thereby improving the object recognition performance of vehicles and sidewalks ahead.

[0034] According to this specification, by changing only the specific frames related to the brightness control of the headlights, it is possible to improve only the object recognition capability of the camera without affecting the automotive specifications of the headlights or the current headlight system familiar to the user.

[0035] The effects of this specification are not limited to those mentioned above, and those skilled in the art can more clearly understand other effects not mentioned through the appended claims. Attached Figure Description

[0036] Figure 1 This is a diagram showing the appearance of a vehicle according to an embodiment of this specification.

[0037] Figure 2 These are diagrams of the vehicle viewed from various external angles, representing embodiments of this specification.

[0038] Figure 3 and Figure 4 This is a diagram illustrating various objects related to the driving of the vehicle in the embodiments of this specification.

[0039] Figure 5 This is a block diagram illustrating the vehicle in the embodiments described in this specification.

[0040] Figure 6 This is a block diagram illustrating a vehicle for improving object recognition using light control as described in this specification.

[0041] Figure 7 This diagram shows the light emission pattern of the lamp control unit in this manual, the timing diagram of the shutter opening of the front camera, and the lamp pattern and object pattern at each time point.

[0042] Figure 8 This is a flowchart illustrating the light control method for improving object recognition in a vehicle, as described in this specification.

[0043] Figure 9 This specification describes a lamp control method that uses an image acquired by a front-facing camera to drive a lamp control unit.

[0044] Figure 10 Patterns related to brightness control and pattern control are represented in a plurality of embodiments.

[0045] Figure 11 It is a diagram comparing the presence of streetlights in several embodiments and images taken based on changes in headlight brightness.

[0046] Figure 12a and Figure 12b This refers to multiple embodiments of setting object recognition regions in images containing a roadway and a background.

[0047] Figure 13 Indicates and Figure 6 Timing diagram related to the on / off state of the light control unit and the front camera.

[0048] Figure 14a It is a timing diagram that shows the brightness control range of the lamp implemented in a discontinuous frame control mode, and a diagram showing the light emission patterns of multiple light-emitting devices.

[0049] Figure 14b It is a timing diagram that shows the brightness control range of the lamp implemented in a discontinuous frame control mode, and a diagram showing the light emission patterns of multiple light-emitting devices.

[0050] Figure 15a It is a timing diagram showing only a portion of adjacent light-emitting devices being turned off, and a diagram showing the light emission pattern of multiple light-emitting devices.

[0051] Figure 15b It is a timing diagram showing only a portion of the light-emitting devices being turned off, and a diagram showing the light-emitting patterns of multiple light-emitting devices.

[0052] Figure 16a It is a timing diagram showing the execution of dimming control to reduce the brightness of a plurality of light-emitting devices and a diagram showing the light emission pattern of the plurality of light-emitting devices.

[0053] Figure 16b It is a timing diagram that shows the execution of dimming control to reduce the brightness of only a portion of the light-emitting devices and the light emission patterns of multiple light-emitting devices.

[0054] Figure 17 It is a timing diagram showing the gradual control performed by setting the brightness of the center and periphery of the headlamp at different levels, and a diagram showing the light emission pattern of multiple light-emitting devices.

[0055] Figure 18 This is a concept diagram illustrating the different lighting controls implemented by the vehicle's headlights based on the roadway and sidewalk.

[0056] Figure 19 This represents multiple images taken in various scenes and multiple beam patterns of headlights.

[0057] Figure 20 A block diagram illustrating the vehicle described in this specification, capable of detecting the distance to an object in front.

[0058] Figure 21 This describes a lamp control method that drives the lamp control unit after acquiring images from a front-facing camera, an IR camera, and a TOF camera. Detailed Implementation

[0059] The embodiments disclosed in this specification will now be described in detail with reference to the accompanying drawings. Unless otherwise specified in the drawing numbers, the same or similar constituent elements will be assigned the same reference numerals, and repeated descriptions thereof will be omitted. The suffixes "module" and "part" used in the following description are merely for ease of writing and do not inherently distinguish one from another. Furthermore, when describing the embodiments disclosed in this specification, detailed descriptions of related well-known technologies will be omitted if it is determined that such detailed descriptions might obscure the main idea of ​​the embodiments disclosed in this specification. It should also be understood that the drawings are only for facilitating understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited to the drawings, including all modifications, equivalents, and substitutions made within the spirit and scope of the invention.

[0060] Terms containing ordinal numbers such as "first" and "second" may be used to describe a variety of constituent elements, but the constituent elements are not limited by the terms. The terms are used only for the purpose of distinguishing one constituent element from other constituent elements.

[0061] When a constituent element is referred to as "connected" or "linked" to another constituent element, it should be understood that it may be directly connected to or linked to that other constituent element, but there may also be other constituent elements between them. Conversely, if a constituent element is referred to as "directly connected" or "directly linked" to another constituent element, it should be understood that there are no other constituent elements between them.

[0062] Unless the context clearly indicates otherwise, singular expressions include plural expressions.

[0063] In this application, terms such as "comprising" or "having" are used only to specify the presence of features, numbers, steps, actions, constituent elements, components or combinations thereof described in the specification, and are not intended to exclude the possibility of the presence or addition of one or more other features or numbers, steps, actions, constituent elements, components or combinations thereof.

[0064] The vehicles described in this manual can include automobiles and motorcycles. The following description will primarily focus on automobiles.

[0065] The vehicles described in this specification may include concepts such as internal combustion engine vehicles with an engine as a power source, hybrid vehicles with an engine and an electric motor as power sources, and electric vehicles with an electric motor as a power source.

[0066] In the following description, the left side of the vehicle refers to the left side of the vehicle's direction of travel, and the right side of the vehicle refers to the right side of the vehicle's direction of travel.

[0067] Figure 1 This is a diagram showing the appearance of a vehicle according to an embodiment of this specification.

[0068] Figure 2 These are diagrams of the vehicle viewed from various external angles, representing embodiments of this specification.

[0069] Figure 3 and Figure 4 This is a diagram illustrating various objects related to the driving of the vehicle in the embodiments of this specification.

[0070] Figure 5 This is a block diagram illustrating the vehicle in the embodiments described in this specification.

[0071] Reference Figures 1 to 5 The vehicle 100 may include wheels that rotate via a power source and a steering input device 510 for adjusting the direction of travel of the vehicle 100.

[0072] Vehicle 100 can be an autonomous vehicle.

[0073] Vehicle 100 can switch to autonomous driving mode or manual mode based on user input.

[0074] For example, vehicle 100 can switch from manual mode to automatic mode or vice versa based on user input received through user interface device 200.

[0075] Vehicle 100 can switch to automatic driving mode or manual mode based on driving condition information. The driving condition information can be generated based on object information provided by object detection device 300.

[0076] For example, vehicle 100 can switch from manual mode to automatic mode or vice versa based on driving condition information generated in object detection device 300.

[0077] For example, vehicle 100 can switch from manual mode to automatic mode or vice versa based on driving status information received through communication device 400.

[0078] Vehicle 100 can switch from manual mode to autonomous driving mode or vice versa based on information, data and signals provided by external devices.

[0079] When the vehicle 100 is operating in autonomous driving mode, the autonomous vehicle 100 can operate based on the operating system 700.

[0080] For example, the autonomous vehicle 100 can operate based on information, data or signals generated in the driving system 710, the vehicle dispatch system 740, and the parking system 750.

[0081] When the vehicle 100 is operating in manual mode, the autonomous vehicle 100 can receive user input for driving via the driving control device 500. Based on the user input received via the driving control device 500, the vehicle 100 can operate.

[0082] Overall length refers to the length from the front to the rear of vehicle 100, overall width refers to the width of vehicle 100, and overall height refers to the length from the bottom of the wheels to the roof. In the following description, the overall length direction L can refer to the direction used as the reference for measuring the overall length of vehicle 100, the overall width direction W can refer to the direction used as the reference for measuring the overall width of vehicle 100, and the overall height direction H can refer to the direction used as the reference for measuring the overall height of vehicle 100.

[0083] like Figure 5 As shown, the vehicle 100 may include a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle drive device 600, a running system 700, a navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190.

[0084] According to the embodiments, the vehicle 100 may include other constituent elements in addition to those described in this specification, or may exclude some of the constituent elements described.

[0085] User interface device 200 is a means for communication between vehicle 100 and user. User interface device 200 receives user input and can provide information generated in vehicle 100 to the user. Vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through user interface device 200.

[0086] The user interface device 200 may include an input unit 210, an internal camera 220, a biosensor 230, an output unit 250, and a processor 270.

[0087] According to the embodiments, the user interface device 200 may include other components in addition to the components described, or may exclude some of the components described.

[0088] The input unit 200 is used to receive information from the user. The data collected in the input unit 210 is analyzed by the processor 270 and can be processed into user control commands.

[0089] The input unit 200 can be configured inside the vehicle. For example, the input unit 200 can be configured in an area of ​​the steering wheel, an area of ​​the instrument panel, an area of ​​the seat, an area of ​​each pillar, an area of ​​the door, an area of ​​the center console, an area of ​​the head lining, an area of ​​the sun visor, an area of ​​the windshield, or an area of ​​the window, etc.

[0090] The input unit 200 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

[0091] The voice input unit 211 can convert the user's voice input into an electrical signal. The converted electrical signal can be provided to the processor 270 or the control unit 170. The control unit 170 can control the overall operation of various units within the vehicle 1. The control unit 170 can be named an ECU (Electronic Control Unit). The processor 270 can determine an object by detecting objects within an image. The processor 270 can be named an ADAS determination unit.

[0092] The voice input unit 211 may include one or more microphones.

[0093] The gesture input unit 212 can convert the user's gesture input into an electrical signal. The converted electrical signal can be provided to the processor 270 or the control unit 170.

[0094] The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for sensing the user's gesture input.

[0095] According to an embodiment, the gesture input unit 212 can sense the user's three-dimensional gesture input. For this purpose, the gesture input unit 212 may include a light output unit that outputs a plurality of infrared lights or a plurality of image sensors.

[0096] The gesture input unit 212 can sense the user's three-dimensional gesture input through TOF (Time of Flight), structured light, or disparity methods.

[0097] The touch input unit 213 can convert the user's touch input into electrical signals. The converted electrical signals can be provided to the processor 270 or the control unit 170.

[0098] The touch input unit 213 may include a touch sensor for sensing the user's touch input.

[0099] According to an embodiment, the touch input unit 213 and the display unit 251 are integrally formed, thereby realizing a touch screen. This touch screen can provide both an input interface and an output interface between the vehicle 100 and the user.

[0100] The mechanical input unit 214 may include at least one of a button, a dome switch, a dial, and a DIP switch. The electrical signal generated by the mechanical input unit 214 may be provided to the processor 270 or the control unit 170.

[0101] The mechanical input unit 214 can be configured in the steering wheel, central instrument panel, center console, cockpit module, door, etc.

[0102] The interior camera 220 can acquire images of the vehicle's interior. The processor 270 can sense the user's state based on the images of the vehicle's interior. The processor 270 can acquire the user's gaze information from the images of the vehicle's interior. The processor 270 can sense the user's gestures from the images of the vehicle's interior.

[0103] The biometric sensing unit 230 can acquire a user's biometric information. The biometric sensing unit 230 includes a sensor capable of acquiring a user's biometric information, such as fingerprint information and heart rate information. This biometric information can be used for user authentication.

[0104] The output unit 250 is used to generate outputs related to vision, hearing, or touch.

[0105] The output unit 250 may include at least one of the display unit 251, the sound output unit 252, and the tactile output unit 253.

[0106] Display unit 251 can display graphic objects corresponding to various information.

[0107] The display unit 251 may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a 3D display, and an e-ink display.

[0108] The display unit 251 and the touch input unit 213 are formed in a layered structure or integrally formed, thereby realizing a touch screen.

[0109] The display unit 251 can be implemented as a HUD (Head-up Display), CID (Center Information Display), cluster, and / or RSE (Rear Seat Entertainment). When the display unit 251 is implemented as a HUD, it has a projection module that can output information via an image projected onto the windshield or window.

[0110] The display unit 251 may include a transparent display. The transparent display may be attached to a windshield or window.

[0111] A transparent display has a specified level of transparency and can display a specified image. To achieve transparency, a transparent display can include at least one of the following: transparent TFEL (Thin Film Electroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, and transparent LED (Light Emitting Diode) display. The transparency of a transparent display can be adjusted.

[0112] The sound output unit 252 converts the electrical signals provided by the processor 270 or the control unit 170 into audio signals and outputs them. For this purpose, the sound output unit 252 may include more than one speaker.

[0113] The tactile output unit 253 generates tactile output. For example, the tactile output unit 253 can make the user recognize the output by causing the steering wheel, seat belt, seat 110FL, 110FR, 110RL, 110RR to vibrate.

[0114] The processor 270 can control the overall operation of each unit of the user interface device 200.

[0115] According to an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include processors 270.

[0116] If the user interface device 200 does not include the processor 270, the user interface device 200 can operate according to the control of the processor or control unit 170 of other devices in the vehicle 100.

[0117] On the other hand, the user interface device 200 can be named a vehicle display device.

[0118] The user interface device 200 can operate according to the control of the control unit 170.

[0119] The object detection device 300 is a device for detecting objects located outside the vehicle 100. The objects can be various objects related to the operation of the vehicle 100. (See reference...) Figure 3 and Figure 4 Object O can include lane OB10, other vehicles OB11, pedestrians OB12, two-wheeled vehicles OB13, traffic signals OB14 and OB15, light, roads, structures, speed bumps, terrain features, animals, etc.

[0120] Lane OB10 can be a driving lane, a lane adjacent to a driving lane, or a lane for oncoming vehicles. Lane OB10 can also include the concept of the left and right side lines that form the lane.

[0121] Other vehicles OB11 can be vehicles traveling around vehicle 100. Other vehicles can be vehicles located within a specified distance from vehicle 100. For example, other vehicles OB11 can be vehicles traveling in front of or behind vehicle 100.

[0122] Pedestrian OB12 can be a person located around vehicle 100. Pedestrian OB12 can be a person located within a specified distance from vehicle 100. For example, pedestrian OB12 can be a person located on a sidewalk or driveway.

[0123] Two-wheeled vehicle OB12 can refer to a vehicle that is located around vehicle 100 and moves using two wheels. Two-wheeled vehicle OB12 can also be a two-wheeled vehicle located within a specified distance from vehicle 100. For example, two-wheeled vehicle OB13 can be a motorcycle or bicycle located on a sidewalk or driveway.

[0124] Traffic signals may include traffic lights OB15, traffic signs OB14, and patterns or text drawn on the road surface.

[0125] Light can be generated by lights installed on other vehicles. Light can be generated by streetlights. Light can be sunlight.

[0126] Roads can include road surfaces, curves, uphill slopes, downhill slopes, and other gradients.

[0127] Structures can be objects located around a road and fixed to the ground. For example, structures can include streetlights, roadside trees, buildings, utility poles, traffic lights, and bridges.

[0128] Topographic features can include mountains, hills, etc.

[0129] On the other hand, objects can be classified into moving objects and stationary objects. For example, moving objects can include concepts such as other vehicles and pedestrians. Stationary objects can include concepts such as traffic signals, roads, and structures.

[0130] The object detection device 300 may include a camera 310, a radar 320, a lidar 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

[0131] According to an embodiment, the object detection device 300 may also include other components besides those described, or may exclude some of the described components.

[0132] To acquire images of the vehicle's exterior, camera 310 can be located at an appropriate position outside the vehicle. Camera 310 can be a monocular camera, a tri-lens camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360-degree camera.

[0133] For example, to acquire an image of the area in front of the vehicle, camera 310 can be configured to be located inside the vehicle near the windshield. Alternatively, camera 310 can be positioned around the front bumper or radiator grille.

[0134] For example, to acquire an image of the area behind the vehicle, camera 310 can be configured to be positioned inside the vehicle near the rear window. Alternatively, camera 310 can be positioned around the rear bumper, trunk, or tailgate.

[0135] For example, to acquire images of the sides of the vehicle, camera 310 can be configured to be located near at least one side window inside the vehicle's interior. Alternatively, camera 310 can be positioned around a side mirror, fender, or door. Camera 310 can provide the acquired images to processor 370.

[0136] The communication device 400 is a device for performing communication with external devices. Here, the external device may be another vehicle, a mobile terminal, or a server.

[0137] The optical communication unit 440 is a unit for communicating with external devices using light as a medium. The optical communication unit 440 may include: an optical transmitting unit that converts electrical signals into optical signals and transmits them externally; and an optical receiving unit that converts received optical signals into electrical signals. According to an embodiment, the optical transmitting unit may be integrally formed with a lamp included in the vehicle 100.

[0138] The vehicle drive unit 600 is a device that drives various devices within the electrically controlled vehicle 100. The vehicle drive unit 600 may include a power transmission drive unit 610, a chassis drive unit 620, a door / window drive unit 630, a safety device drive unit 640, headlights 650, and a lamp control unit 660. The lamp control unit 660 can perform electronic control of various lamp apparatuses within the vehicle 100. According to embodiments, the vehicle drive unit 600 may also include other components besides those described, or may exclude some of the described components. Alternatively, the vehicle drive unit 600 may include a processor. Each unit of the vehicle drive unit 600 may each include a separate processor.

[0139] The following describes the implementation of this manual for a vehicle using light control to improve object recognition. Relatedly, Figure 6This block diagram illustrates a vehicle for improving object recognition using light control, as described in this specification. (See also...) Figure 6 Vehicle 1 captures an image of an object in front of it using the front camera 311 and obtains an image of the object including an object pattern OP. Vehicle 1 controls the headlights 650 to form a light pattern LP using the light control unit 660.

[0140] Figure 7 This diagram illustrates the light emission pattern of the lamp control unit in this specification, the timing of the shutter opening of the front camera, and the lamp and object patterns at various time points. (See reference...) Figure 6 and Figure 7 (a) The light emission pattern of the headlamp 650 based on the lamp control unit 660 can be implemented using pulse width modulation (PWM). If the pulse width modulation value is high, the headlamp 650 is in the off state; if the pulse width modulation value is low, the headlamp 650 is in the on state.

[0141] Regarding the contrast of an object based on the luminous pattern of a headlamp 650, the luminance difference can be defined as the following mathematical formula 1.

[0142]

Mathematical Formula 1

[0143] In mathematical formula 1, ΔL th The contrast of an object is defined for recognizing objects in the eye. It can be viewed as ΔL th The larger the absolute value of ΔL, the clearer the object identification. th A value less than 0 can be called negative contrast, in ΔL th A value greater than 0 can be considered normal contrast (positive contrast). ΔL actual / ΔL th The ratio is defined as the visibility level (VL). On the other hand, ΔL actual Defined as L t -L b L t For target luminance, L b This refers to background luminance.

[0144] In mathematical formula 1, k represents the detection probability factor, α represents the target size, t represents the observation time, FCP represents the contrast polarity factor, and AF represents the age factor. On the other hand, Let α and β represent the luminous flux function and the luminance function, respectively, and let a (α, Lu) represent the Blondel-Rey constant.

[0145] In theory, a VL of 1 is sufficient to identify an obstacle on a nighttime road. However, drivers on actual nighttime roads need to perform various driving tasks, so the critical VL value for identifying an obstacle is always larger than the value derived from laboratory-based experimental results. The field factor, expressed as the ratio of the VL required under laboratory conditions to that required under actual nighttime road conditions, has a value ranging from approximately 1 to 20.

[0146] On the other hand, the brightness adjustment of the headlight 650 can achieve luminance control across multiple frames to form an optimal luminance difference for background recognition, including the recognition of objects such as vehicles and pedestrians ahead. The method to achieve the optimal luminance difference can be realized not only through experimental measurements but also through data from the road environment.

[0147] The on and off intervals in the light emission pattern of the headlamp 650 based on the lamp control unit 660 can be repeatedly implemented. The waveform of the headlamp 650 can repeat the on and off intervals at a frequency of 120Hz. A brightness control interval CI can be formed to turn off the headlamp 650 or reduce the brightness of the headlamp 650.

[0148] Reference Figure 6 and Figure 7 (b) The opening and closing intervals of the shutter of the front camera 311 can be repeatedly implemented. The shutter of the front camera 311 can be opened to form a frame interval FI for acquiring an image of the object. The frame interval FI when the shutter of the front camera 311 is open can be set to 30fps. The waveform of the headlamp 650 repeats at a frequency of 120Hz, so the first cycle of the frame interval FI is formed to be four times longer than the second cycle of the brightness control interval CI of the headlamp 650. Therefore, during the interval when the shutter of the front camera 311 is closed, the brightness control interval CI of the headlamp 650 can be repeated three more times.

[0149] The starting point of the brightness control interval CI can be formed such that the headlamp 650 is turned off or the brightness of the headlamp is reduced before an object such as a vehicle ahead is recognized in the frame interval FI of the front camera 311. The ending point of the brightness control interval CI can be formed such that the object is recognized until the ending point of the frame interval FI of the front camera 311. In this regard, this specification can be implemented to make the shutter of the front camera 311 or other cameras coincide with the timing of a specific frame of the headlamp 650 or to advance the timing of the specific frame by a predetermined time.

[0150] Refer to Figure 6 and Figure 7 In (c) of, the headlamp 650 can be implemented by an LED lamp. Therefore, the light pattern based on the headlamp 650 can be referred to as an LED light pattern. The first light pattern LP1 and the fifth light pattern LP5 in the interval where the shutter of the front camera 311 is open are formed to be brighter than the second light pattern LP2, the third light pattern LP3, and the fourth light pattern LP4 in the interval where the shutter of the front camera 311 is closed. Refer to Figure 6 and Figure 7 In (d) of, it shows the change in the contrast of an object based on the brightness change of the headlamp 65(

[0151] On the other hand, a lamp control method for improving object recognition of a vehicle in this specification will be described. In this regard, Figure 8 It shows a flowchart of the lamp control method for improving object recognition of a vehicle in this specification.

[0152] Refer to Figures 6 to 8 , the lamp control method can include a first driving process (S110) for driving the lamp control unit, an output / pattern control process (S140) for controlling the output and pattern of the headlamp, and a second driving process (S210) for driving the front camera. In the output / pattern control process (S140), according to conditions such as the surrounding situation and the position of the object, the output and pattern of the headlamp 650 can be controlled to control only the frame for obtaining the camera image while maintaining the current pattern.

[0153] The lamp control method can further include an output process (S120) for outputting light through the headlamp, and a projection process (S130) for projecting the output light onto the object. In the projection process (S130), the brightness control and pattern of the headlamp can be formed as follows according to the application. Figures 13 to 17 The lamp control method can further include an image acquisition process (S220) for acquiring an image through the front camera. In the image acquisition process (S220), an image for object recognition can be acquired through a specific light emission pattern of the headlamp.

[0154] On the other hand, the shutter is opened in the second driving process (S210) of driving the front camera, so that the output / pattern control process (S140) can be repeatedly executed before the image acquisition process (S220) is executed.

[0155] Through the output / pattern control process (S140), the headlamp 650 can be turned on / off, its brightness controlled, and its light emission pattern controlled. Related to the light emission pattern control, gradient pattern control, checkerboard pattern control, and / or diagonal line pattern control can be implemented.

[0156] The light control method may further include an object recognition process (S230) for identifying objects within an image and an identification information utilization process (S240) using the object recognition information. In the object recognition process (S230), the object recognition algorithm may use YOLO (You Only Look Once) v8, but is not limited to it and may be changed depending on the application. The YOLO model uses a one-stage detector approach that only looks at the image once, and is a deep learning-based object recognition algorithm that infers the type and location of objects based on this. Therefore, the object recognition method of this specification can utilize AI learning to identify objects in multiple images acquired to find the optimal value for object recognition.

[0157] On the other hand, the small target visibility model can be used to determine the brightness state of the roadway and sidewalk, thereby quantifying the accuracy of object recognition based on brightness state. Furthermore, based on the brightness state of the roadway and sidewalk, the accuracy of recognizing vehicles and pedestrians ahead can be improved, and corresponding vehicle driving control and driving performance evaluation can be achieved.

[0158] The YOLO model uses a single neural network structure, making it simple and fast to construct. Furthermore, the YOLO model even learns surrounding information, thus processing the entire image and resulting in low background error. When the YOLO model receives an input file, it uses a convolutional network to calculate the x, y, w, and h changes of the bounding box (the object being searched for) within the image, simultaneously calculating the class probability of the bounding box. In the process of utilizing the identified information (S240), the information obtained through object recognition can be used in vehicle information display windows or for controlling various mechanical and electronic devices of the vehicle that utilize the corresponding information.

[0159] On the other hand, the lamp control method of this specification can be configured such that the lamp control unit 660 is driven after an image is acquired by the front camera 311. Relatedly, Figure 9 This specification describes a lamp control method that uses an image acquired by a front-facing camera to drive a lamp control unit.

[0160] Reference Figures 6 to 9 The light control method may include a driving process for driving the front camera (S10), a brightness measurement process for measuring the brightness of the entire background (S30), and a control process for controlling the output of the headlight and the output / pattern control process (S140).

[0161] During the driving process of the front camera (S10), the shutter can be opened to execute the image acquisition process (S20), and a brightness measurement process (S30) can be performed to measure the brightness of the entire background in the acquired image. Relatedly, Figure 10 Patterns related to brightness control and pattern control are represented in a plurality of embodiments.

[0162] Figure 10 (a) to Figure 10 (c) indicates the result of controlling the headlight output to perform brightness control. (See reference...) Figure 10 (a) to Figure 10 (c) allows for brightness control to increase the brightness of a specific area. Relatedly, brightness control of a specific area can be achieved using a simple brightness adjustment pattern. Alternatively, brightness control can be performed by forming a brightness adjustment pattern based on the amount of light in the surrounding background.

[0163] Figure 10 In (d), the brightness of the carriageway and pedestrian walkway portions in the acquired image is differentiated. Consequently, the carriageway portion contains a large amount of light from streetlights and multiple vehicle lights, thus creating a dark luminous pattern without the need for headlights. Conversely, the pedestrian walkway portion diffuses light, allowing for better handling of unexpected situations involving pedestrians and animals.

[0164] Figure 10 (e) represents the gradient pattern used to identify the central area of ​​the carriageway section. Figure 10 (f) and Figure 10 The diagonal and checkerboard patterns of (g) can be used as template data for object identification. Figure 10 The diagonal pattern of (f) is a template pattern used to identify vehicles moving in a specific direction, such as along the diagonal direction. For example, vehicles traveling on a roadway formed along a specific direction can be identified. Relatedly, vehicles turning left on a left-turn lane formed along a specific direction or turning right at an intersection can be identified. Figure 10The checkerboard pattern of (g) is a template pattern used to identify objects of a constant size or smaller in a specific area. For example, to identify a black vehicle number on a license plate against a white background of a vehicle in front, the license plate can be identified using a checkerboard pattern of a size corresponding to the size of the vehicle number. Similarly, specific parts of a person or an object can be identified using a checkerboard pattern of a constant size or smaller than the size of the pedestrian crossing in front of a vehicle, or by using a checkerboard pattern of a size corresponding to the size of the object.

[0165] Reference Figures 6 to 10 The lamp control method may further include an image acquisition process (S20) that acquires an image via a front camera and a first driving process (S110) that drives the lamp control unit. The lamp control method may further include a beam pattern output process (S150) that outputs a beam pattern of the headlamp and an output process (S120) that outputs light through the headlamp.

[0166] The lamp control method may include a first driving process (S110) for driving the lamp control unit, an output / pattern control process for controlling the output of the headlamp and the pattern (S140), and a second driving process (S210) for driving the front camera. In the output / pattern control process (S140), the output and pattern of the headlamp 650 may be controlled according to conditions such as the surrounding environment and the position of the object, so as to control only the frames used to acquire the camera image while maintaining the current pattern.

[0167] During the output / pattern control process (S140), the following can be executed: Figure 10 The output control controls the brightness of the carriageway section and the pedestrian section differently. In the output / pattern control process (S140), in order to identify objects in the central area of ​​the carriageway section, the output control can use... Figure 10 The gradient pattern of (e). During the output / pattern control process (S140), the following can be used: Figure 10 The diagonal pattern of (f) is used to identify vehicles traveling in a carriageway formed along a specific direction or vehicles turning left in a left-turn lane formed along a specific direction or turning right at an intersection. In the output / pattern control process (S140), to identify the black vehicle number against the white background of the license plate of the vehicle in front, a checkerboard pattern of a size corresponding to the vehicle number can be used. In the output / pattern control process (S140), a checkerboard pattern of a corresponding size can be used to identify specific parts of people or objects of a constant size on the sidewalk in front of the vehicle.

[0168] Figure 11 It is a diagram comparing the presence of streetlights in several embodiments and images taken based on changes in headlight brightness. Figure 11 (a) represents the first image with the headlights off in the absence of streetlights. Figure 11(b) represents the second image where the headlights are on when there are streetlights. Figure 11 (c) represents the first image with the headlights off when there are streetlights. Figure 11 (d) represents the second image with the headlights on when there are streetlights.

[0169] Reference Figure 11 (a) and Figure 11 In (b), when there are no streetlights and the headlights are off, the image contrast is improved. (See reference...) Figure 11 (c) and Figure 11 (d) When there are streetlights and the headlights are on, the contrast of the image is improved.

[0170] Figure 12a and Figure 12b This describes multiple embodiments of setting object recognition regions in images containing a roadway and a background. (See also...) Figure 11 (d) and Figure 12a (a) Acquires the background image with the headlights on, under streetlight conditions. (See reference) Figure 12a (b) The headlight beam pattern is shaped such that the headlights are only switched off in the roadway section. (See reference...) Figure 12a (a) to Figure 12a (c) represents the final image obtained from the light pattern obtained by synthesizing a background image with the headlights on, such that the headlights are only off in the carriageway section. Therefore, it can improve the recognition performance of objects such as vehicles ahead that are not on the pedestrian walkway.

[0171] Reference Figure 11 (b) Figure 11 (c) and Figure 12b (a) acquires images of objects such as vehicles ahead and the background in the carriageway section. (Refer to...) Figure 12b (b) The headlight beam pattern is formed such that it only changes in gradient on the portion of the vehicle in front. (See reference...) Figure 12b (a) to Figure 12b (c) represents the final image obtained by synthesizing the images of objects such as vehicles ahead and the background in the carriageway section, forming a gradient headlight beam pattern only in the area of ​​the vehicles ahead. Therefore, the object recognition performance in the area where the vehicles ahead are located in the carriageway section can be further improved.

[0172] on the other hand, Figure 13 Indicates and Figure 6 The timing diagram related to the on / off state of the light control unit and the front camera. (Refer to...) Figure 13The headlamp 650 can be controlled to emit a pattern of light from the first frame F1 to the fourth frame F4. To detect and identify objects only in the second frame F2 of the first frame F1 to the fourth frame F4, an image can be acquired. Relatedly, the brightness adjustment of the headlamp 650 can achieve light emission control across multiple frames to form an optimal luminance difference for object recognition. Achieving this optimal luminance difference can be achieved not only through experimental measurements but also through data from the road environment.

[0173] Reference Figures 6 to 13 During the frame interval FI in which the image of the object is acquired by the front camera 311, a plurality of light-emitting devices of the headlamp 650 can be turned off. It can be controlled such that the plurality of light-emitting devices of the headlamp 650 are turned off in the second frame F2, which is related to the timing of the shutter opening of the front camera 311. The headlamp 650 may have a plurality of light-emitting devices arranged adjacently along the horizontal and vertical axes. The plurality of light-emitting devices of the headlamp 650 is shown as 6x6 LEDs, but is not limited to this and can be changed depending on the application.

[0174] On the other hand, the first frame F1 of the brightness control interval CI can be configured such that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval FI. The second frame F2 of the brightness control interval CI can be configured such that all of the plurality of light-emitting devices are turned off during the frame interval FI. The third frame F3 of the brightness control interval CI can be configured such that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval FI. The fourth frame F4 of the brightness control interval CI can be configured such that all of the plurality of light-emitting devices are turned on during the third interval following the second interval. Therefore, objects such as vehicles in front of the roadway can be identified by turning off the plurality of light-emitting devices of the headlight 650 during the frame interval FI when the shutter of the front camera 311 is open.

[0175] On the other hand, the brightness control of the plurality of light-emitting devices of the headlight 650 used for identifying objects such as vehicles ahead is not limited to the shutter cycle or shutter action time of the front camera 311. Relatedly, in addition to the shutter of cameras such as the front camera 311, a depth sensor and / or optical sensing device can be used. Therefore, object recognition can be achieved by controlling the brightness of the plurality of light-emitting devices of the headlight 650 in conjunction with the action cycle and time of the depth sensor and / or optical sensing device.

[0176] Reference Figures 6 to 13This specification describes a lamp control unit 660 for improving object recognition and a vehicle 1 having therein. Relatedly, the vehicle 1 may include a front camera 311, headlights 650, and the lamp control unit 660. The front camera 311 may be configured to acquire images of objects in front of the vehicle. The headlights 650 may be arranged adjacent to the front camera 311. The headlights 650 may have a plurality of light-emitting devices arranged adjacently along the horizontal and vertical axes.

[0177] The lamp control unit 660 can be configured to control the headlights 650. The lamp control unit 660 can be operatively coupled to the electronic control unit (ECU) 170 and the ADAS (Advanced Driver Assistance System) decision unit 270. The lamp control unit 660 may include an interface 661 and a processor 662. The interface 661 can be operatively coupled to the electronic control unit (ECU) 170 of the vehicle 1. The processor 662 can be configured to receive control information for the headlights 650 from the ECU 170 via the interface 661.

[0178] The processor 662 can control the ADAS judgment unit 270 to determine the object in the image based on the image of the object acquired from the front camera 311. The processor 662 can receive control information from the ECU 170 for illuminating the object using the headlight 650. Based on the control information for the headlight 650, the processor 662 can turn off the headlight 650 or reduce its brightness in accordance with the frames of the image of the object acquired by the front camera 311.

[0179] The ADAS judgment information of the object determined by the ADAS judgment unit 270 can be transmitted to the vehicle's ECU 170. Based on the ADAS judgment information, the control information of the headlight 650 generated in the ECU 170 can be transmitted to the headlight control unit 660. The processor 662 can control the headlight 650 to turn it off or reduce its brightness during a frame based on the control information of the headlight 650.

[0180] The processor 662 can set the brightness control interval CI of the headlamp 650 to turn off the headlamp 650 during the frame interval FI in which the image of the object is acquired by the front camera 311. Alternatively, the processor 662 can set the brightness control interval CI of the headlamp 650 to reduce the brightness of the headlamp 650 during the frame interval FI in which the image of the object is acquired by the front camera 311.

[0181] The starting point of the brightness control interval CI can be set earlier than the starting point of the frame interval FI. The ending point of the brightness control interval CI can be set later than the ending point of the frame interval FI. Therefore, the frame interval FI of the image of the object acquired by the front camera 311 can be included within the brightness control interval CI of the headlamp 650.

[0182] On the other hand, in the vehicle 1 for improving object recognition using lamp control as described in this specification, the brightness control range of the lamp can be dynamically controlled considering the shutter cycle. The brightness control range of the lamp in vehicle 1 can be executed in a discontinuous frame control manner. Relatedly, Figure 14a This is a timing diagram showing the brightness control range of the lamp implemented in a discontinuous frame control mode, and the light emission patterns of multiple light-emitting devices.

[0183] Reference Figures 6 to 12b and Figure 14a The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on during the first interval preceding the frame interval FI. The processor 662 can control the second frame F2 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned off during the frame interval FI. The processor 662 can control the third frame F3 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on during the second interval following the frame interval FI. The processor 662 can control the fourth frame F4 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned off during the third interval following the second interval. Thus, the multiple light-emitting devices repeatedly switch between on and off states according to each interval, thereby enabling the detection of objects such as vehicles ahead in a shorter cycle.

[0184] On the other hand, in the vehicle 1 for improving object recognition using the lamp control described in this specification, the lamp control method can be executed in a continuous frame control mode. Relatedly, Figure 14b This is a timing diagram showing the brightness control range of the lamp implemented in a continuous frame control manner, and a diagram showing the light emission patterns of multiple light-emitting devices. (Refer to...) Figures 6 to 12b and Figure 14b The processor 662 of the lamp control unit 660 can form consecutive frames of brightness control interval CI, so as to turn off all of the plurality of light-emitting devices in a plurality of intervals including frame interval FI.

[0185] Specifically, processor 662 can control the first frame F1 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on during the first interval preceding frame interval FI. Processor 662 can control the second frame F2 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned off during frame interval FI. Processor 662 can control the third frame F3 of the brightness control interval CI to keep all multiple light-emitting devices off during the second interval following frame interval FI. Processor 662 can control the fourth frame F4 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on during the third interval following the second interval. In consecutive frames between the second frame F2 and the third frame F3, the multiple light-emitting devices can remain off. Therefore, the detection cycle for objects such as vehicles ahead increases, but sensitivity to timing errors based on image acquisition time delay is reduced.

[0186] On the other hand, the vehicle 1, which implements the lighting control method described in this specification to improve object recognition, can be controlled such that only a portion of adjacent light-emitting devices are turned off. Relatedly, Figure 15a A timing diagram showing only a subset of adjacent light-emitting devices being turned off, and a diagram showing the light emission patterns of multiple light-emitting devices.

[0187] Reference Figures 6 to 12b and Figure 15a The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval CI to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval FI. Then, the processor 662 can control the second frame F2 of the brightness control interval CI to turn off adjacent light-emitting devices during the frame interval FI. The processor 662 can control the third frame F3 of the brightness control interval CI to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval FI.

[0188] Therefore, by turning off or reducing the brightness of only adjacent light-emitting devices among a plurality of light-emitting devices, the brightness of the area where a specific sub-object such as a vehicle in front is located can be selectively adjusted. Thus, vehicle 1 can improve the recognition rate of a specific sub-object by more effectively identifying specific sub-objects at specific locations of vehicles such as vehicles in front.

[0189] On the other hand, the vehicle 1, which implements the lamp control for improving object recognition as described in this specification, can be controlled to turn off spaced-apart, non-adjacent light-emitting devices. Relatedly, Figure 15b It is a timing diagram showing only a portion of the light-emitting devices being turned off, and a diagram showing the light-emitting patterns of multiple light-emitting devices.

[0190] Reference Figures 6 to 12b and Figure 15b The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval CI to ensure that all a plurality of light-emitting devices are turned on during the first interval preceding the frame interval FI. Then, the processor 662 can control the second frame F2 of the brightness control interval CI to turn off non-adjacent light-emitting devices during the frame interval FI. Relatedly, the second frame F2 can be controlled to turn off a plurality of light-emitting devices spaced at a constant interval according to a regular pattern. Alternatively, the second frame F2 can be controlled to turn off a plurality of light-emitting devices spaced randomly. The processor 662 can also control the second frame F2 of the brightness control interval CI to ensure that all a plurality of light-emitting devices are turned on during the second interval following the frame interval FI.

[0191] Therefore, by turning off or reducing the brightness of a plurality of light-emitting devices that are spaced at a constant interval or more, the brightness of the area where a plurality of specific sub-objects of an object such as a vehicle in front are arranged can be selectively adjusted. Thus, vehicle 1 can improve the recognition rate of specific sub-objects by more effectively identifying specific sub-objects at specific locations of an object such as a vehicle in front.

[0192] On the other hand, the vehicle 1, which implements the lighting control for improving object recognition as described in this specification, can perform dimming control to reduce the brightness of a plurality of light-emitting devices. Relatedly, Figure 16a A timing diagram showing the dimming control performed to reduce the brightness of a plurality of light-emitting devices and a diagram showing the light emission patterns of the plurality of light-emitting devices.

[0193] Reference Figures 6 to 12b and Figure 16a The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on in the first interval preceding the frame interval FI. The processor 662 can control the second frame F2 of the brightness control interval CI to turn off all multiple light-emitting devices. The processor 662 can control the third frame F3 of the brightness control interval CI to ensure that the brightness of the multiple light-emitting devices is lower than their on-state brightness in the second interval following the frame interval FI. The processor 662 can control the fourth frame F4 of the brightness control interval CI to ensure that all multiple light-emitting devices are turned on in the second interval following the frame interval FI.

[0194] Therefore, headlight dimming control can be applied after detecting objects such as vehicles ahead, thereby reducing timing errors due to image acquisition time delays and preventing safety degradation caused by headlights being turned off. Furthermore, dimming control can be implemented by selectively adjusting the brightness of only specific areas containing sub-objects such as vehicles ahead. Relatedly, Figure 16b This represents a timing diagram showing the dimming control performed by reducing the brightness of only a portion of the light-emitting devices, and the light emission patterns of multiple light-emitting devices.

[0195] Reference Figures 6 to 12b and Figure 16b The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval CI to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval FI. The processor 662 can control the second frame F2 of the brightness control interval CI to turn off one of the plurality of light-emitting devices. The processor 662 can control the third frame F3 of the brightness control interval CI to ensure that the brightness of one of the plurality of light-emitting devices is lower than the brightness of the turned-on state in the second interval following the frame interval FI. The processor 662 can control the fourth frame F4 of the brightness control interval CI to ensure that all of the plurality of light-emitting devices are turned on in the second interval following the frame interval FI. One of the plurality of light-emitting devices can be configured to illuminate a specific sub-object of the vehicle in front of it.

[0196] On the other hand, the vehicle 1, which implements this specification for improving object recognition lighting control, can achieve gradual control by differentiating the brightness of the center and periphery of the headlights 650. Relatedly, Figure 17 It is a timing diagram showing the gradual control performed by setting the brightness of the center and periphery of the headlamp at different levels, and a diagram showing the light emission pattern of multiple light-emitting devices.

[0197] Reference Figures 6 to 12b and Figure 17The processor 662 of the lamp control unit 660 can control the first frame F1 of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on during the first interval preceding the frame interval FI. The processor 662 can control the second frame F2 of the brightness control interval CI to ensure that a portion of the plurality of light-emitting devices are in a first brightness state and the remainder are in a second brightness state during the frame interval FI. A portion of the plurality of light-emitting devices can be positioned at the center CP of the headlamp 650, and the remaining portion can be positioned at the periphery PP of the headlamp 650. The processor 662 can control the third frame F3 of the brightness control interval CI to ensure that all of the plurality of light-emitting devices are turned on during the second interval following the frame interval FI. The processor 662 can control the fourth frame F4 of the brightness control interval CI to keep all of the plurality of light-emitting devices in a fully turned-on state during the third interval following the second interval.

[0198] Therefore, corresponding to the roadway of the vehicle ahead, including the central portion of the image, a portion of the plurality of light-emitting devices disposed in the central portion CP of the headlight 650 can be turned off or controlled to emit light at a low brightness. On the other hand, corresponding to the sidewalk, the remaining portions of the plurality of light-emitting devices disposed in the peripheral portion PP of the headlight 650 can be controlled to emit light at a higher brightness.

[0199] By turning off or reducing the brightness of a plurality of light-emitting devices that are spaced apart by a constant interval or more, the brightness of the area where a plurality of specific sub-objects of an object such as a vehicle ahead are located can be selectively adjusted. Therefore, vehicle 1 can improve the recognition rate of specific sub-objects by more effectively recognizing specific sub-objects at specific locations of an object such as a vehicle ahead.

[0200] On the other hand, the vehicle 1, which implements the lighting control for improving object recognition as described in this specification, can perform control based on the presence or absence of external lighting such as streetlights. (See reference...) Figures 6 to 12b The processor 662 of the lamp control unit 660 can control the headlamp to be in a turned-off state during the frame interval FI if it is determined that external lighting exists. The processor 662 can also control the headlamp to be in a turned-on state or to make the brightness of the headlamp lower than the brightness of the turned-on state during the frame interval FI if it is determined that external lighting does not exist.

[0201] On the other hand, processor 662 can control the headlamp to be lower than its on state brightness during frame interval FI if the brightness of the external lighting is lower than a critical brightness. Processor 662 can also control the headlamp to be off during frame interval FI if the brightness of the external lighting is higher than or equal to the critical brightness. Lamp control unit 660 can control the headlamp to be on during frame interval FI if it is determined that there is no external lighting.

[0202] On the other hand, the vehicle 1, which implements the lighting control for improving object recognition as described in this specification, can achieve lighting control based on the roadway and sidewalk. Relatedly, Figure 18 This is a concept diagram illustrating how vehicle headlights implement different lighting controls based on the roadway and sidewalk. (See reference) Figure 18 Vehicle 1 can detect vehicles ahead in the roadway, including OB11. Vehicle 1 can detect vehicles traveling in the opposite direction in the roadway, including OB2. Vehicle 1 can detect pedestrians on the sidewalk, including OB12 and OB12'.

[0203] Figure 19 This represents multiple images taken in various scenes and multiple beam patterns of headlights. (See reference...) Figure 18 and Figure 19 (a) Vehicle 1 can detect other vehicles, such as vehicles ahead (OB11). (Refer to...) Figure 6 , Figure 7 , Figure 17 , Figure 18 , Figure 19 (a) and Figure 19 (b) can enable the central part CP of the headlight 650 corresponding to the second area R2 of the roadway to be turned on in order to detect other vehicles OB11.

[0204] Reference Figure 18 and Figure 19 (c) Vehicle 1 can detect pedestrian OB12 on the sidewalk. (See reference...) Figure 6 , Figure 7 , Figure 17 , Figure 18 , Figure 19 (c) and Figure 19 (d) can turn on the peripheral portion PP of the headlamp 650 corresponding to the first areas R1a and R1b of the pedestrian walkway to detect pedestrian OB12. During the frame interval FI of capturing other vehicles OB11, the central portion CP of the headlamp 650 can be turned off.

[0205] Reference Figure 18 and Figure 19 (e) Vehicle 1 can detect vehicle OB2 traveling in the opposite direction of the roadway. (Refer to...) Figure 6 , Figure 7 , Figure 17 , Figure 18 , Figure 19 (e) and Figure 19 (f) When a vehicle OB2 approaches from the opposite direction, illumination control can be performed accordingly. This can be controlled to turn off a portion of the plurality of light-emitting devices of the headlight 650 corresponding to the third region R3 where the vehicle OB2 is located.

[0206] Reference Figures 6 to 12b , Figures 17 to 19 The following describes the illumination control based on the carriageway and sidewalk. The processor 662 of the lamp control unit 660 can control, during frame interval FI, a portion of the plurality of light-emitting devices corresponding to the first regions R1a and R1b where the sidewalk is located to be in an on state. The processor 662 can also control, during frame interval FI, another region of the plurality of light-emitting devices corresponding to the second region R2 where the carriageway is located to be in a off state.

[0207] A plurality of first light-emitting devices, representing a portion of a plurality of light-emitting devices, can be arranged on a curved surface at a predetermined angle, pointing in a first direction in which the pedestrian walkway is located. Thus, the plurality of first light-emitting devices can detect pedestrians on the pedestrian walkway when illuminated. A plurality of second light-emitting devices, representing the remaining portion of the plurality of light-emitting devices, can be arranged on a curved surface at a predetermined angle or on a flat surface pointing forward, pointing in a second direction in which the roadway is located. Thus, the plurality of second light-emitting devices can detect other vehicles in the roadway by the front camera 110 when in the dark.

[0208] The light control unit 660 can be pressed Figure 18 and Figure 19 The first to third regions, R1a, R1b, R2, and R3, perform light emission control. (Refer to...) Figures 6 to 12b , Figures 17 to 19 The illumination control of the lamp control unit 660 by each area will be described. The processor 662 of the lamp control unit 660 can be controlled to turn on the center part CP of the headlight 650 corresponding to the second area of ​​the roadway, so as to detect other vehicles OB11 in front of vehicle 1 in the first interval of frame interval FI.

[0209] The processor 662 can control the peripheral portion PP of the headlamp 650 corresponding to the first areas R1a and R1b of the sidewalk to be turned on, so as to detect pedestrians OB12 and OB12' during the frame interval FI of capturing other vehicles OB11. The processor 662 can also control the center portion CP of the headlamp 650 corresponding to the second area R2 of the roadway to be turned off during the frame interval FI of capturing other vehicles OB11.

[0210] The processor 662 can control, during frame interval FI, to turn off a portion of the plurality of light-emitting devices of the headlight 650 corresponding to the third region R3 where the opposite vehicle OB2 is located. Alternatively, the processor 662 can control, during frame interval FI, to reduce the brightness of a portion of the plurality of light-emitting devices of the headlight 650 corresponding to the third region R3 where the opposite vehicle OB2 is located to a level lower than the brightness of the on state.

[0211] Therefore, if a vehicle approaching from the opposite direction in the roadway, safety control can be performed by detecting the movement of the vehicle OB2 in the opposite direction. Additionally, if a vehicle OB2 approaching from the opposite direction in the roadway, its movement can be detected, and the corresponding part of the headlight 650 can be turned off or its brightness reduced to avoid obstructing the driving of the vehicle OB2 in the opposite direction.

[0212] On the other hand, as mentioned above, the lamp control unit 660, which improves object recognition through the execution of this specification, can form various patterns according to the situation, thereby improving the accuracy of object recognition. (See also...) Figures 6 to 19 The lamp control unit 660, which performs lamp control to improve the accuracy of object recognition by forming various patterns according to the situation, will be described.

[0213] If light is output through the headlamp 650 and the shutter of the front camera 311 is opened, the processor 662 of the lamp control unit 660 can perform on / off control, brightness control, and light emission pattern control of the headlamp 650. The processor 662 can form a gradient pattern with brightness gradually increasing from the center point of the central area along the horizontal axis to identify objects in the central area of ​​the roadway. The gradient pattern can be formed only in the second area R2 of the roadway. The brightness of the second area R2 of the sidewalk can be made brighter than the first areas R1a and R1b of the roadway.

[0214] The processor 662 of the lamp control unit 660 can control the headlights 650 to form a diagonal pattern consisting of a dark pattern and a bright pattern along a diagonal direction. The processor 662 can form a diagonal pattern having a third region and a fourth region along a specific direction, wherein the third region has a first brightness, and the fourth region is formed on both sides of the third region with a second brightness that is dimmer than the first brightness. The processor 662 can identify vehicles turning left in a left-turn lane formed along the specific direction or turning right at an intersection through the fourth region of the diagonal pattern.

[0215] The processor 662 can control the headlights 650 to form a checkerboard pattern in which dark and light patterns alternately appear along the horizontal and vertical axes. The checkerboard pattern can be formed as a structure in which light and dark areas are alternately arranged along the horizontal and vertical axes in a two-dimensional area. The checkerboard pattern allows determination of whether a portion of an object in front is more prominent on a plane relative to other areas. Relatedly, the area displaying the vehicle number or status information of the vehicle in front can be formed to be more prominent than other areas.

[0216] The processor 662 of the light control unit 660 can form a checkerboard pattern to identify whether a portion of an object in front is more prominent on a plane relative to other areas. The processor 662 can form a checkerboard pattern with alternating bright and dark patterns along a horizontal and vertical axis to identify the vehicle number or status information of the vehicle in front. The processor 662 can identify the vehicle number or status information of the vehicle in front through the dark patterns of the checkerboard pattern. The vehicle number or status information of the vehicle in front can be displayed more prominently than the background area (e.g., license plate, rear window displaying status information) within a specific area of ​​the vehicle in front. For example, the first plane of the indicator displaying the status information of the vehicle in front can be formed to be more prominent than the second plane formed by the rear window of the vehicle.

[0217] The status information of the vehicle ahead can be related to its braking status or abnormal status. The braking status of the vehicle ahead can be detected based on the distance to the vehicle ahead or based on the on / off status of the brakes, etc. The abnormal status of the vehicle ahead can be an image detected by the front camera 311 or information displayed on the vehicle ahead through the rear window or on the instrument panel inside and outside the vehicle.

[0218] The processor 662 of the light control unit 660 can control the headlights 650 to detect different objects using dark and bright patterns. The processor 662 can identify the vehicle number or status information of the vehicle ahead using the dark pattern, while simultaneously identifying specific parts or objects of pedestrians on the crosswalk using the bright pattern. Thus, the vehicle can monitor the status of pedestrians crossing the crosswalk while simultaneously monitoring the status of the vehicle ahead.

[0219] The processor 662 of the lamp control unit 660 can perform on / off control, brightness control, and illumination pattern control of the headlight 650 after measuring the brightness of the entire background, including the roadway and sidewalk. Relatedly, the processor 662 can use images acquired by the front camera 311 to measure the brightness of the entire background, including the roadway and sidewalk. The processor 662 can perform on / off control, brightness control, and illumination pattern control of the headlight 650 based on a first brightness of the roadway and a second brightness of the sidewalk. In nighttime conditions with streetlights on, the first brightness of the roadway can be set to be at least a threshold brighter than the second brightness of the sidewalk.

[0220] The processor 662 of the lamp control unit 660 can synthesize a beam pattern of the headlight 650 where a specific area corresponding to the roadway is off and the remaining area is on. The processor 662 can detect vehicles ahead in the roadway and pedestrians on the sidewalk based on the beam pattern. If the vehicle ahead transmits status information related to braking or an abnormal state, the processor 662 can form a checkerboard pattern of light emission. The checkerboard pattern of light emission can be formed by alternating bright and dark patterns along the horizontal and vertical directions to identify the vehicle number or status information of the vehicle ahead.

[0221] The processor 662 of the light control unit 660 can identify the vehicle number or status information of vehicles ahead through dark patterns in a checkerboard pattern, and identify specific parts or objects of pedestrians on the crosswalk through bright patterns. Additionally, the processor 662 can also detect vehicles turning left in a left-turn lane or right at an intersection based on a diagonal line pattern in a specific direction. Relatedly, it can be determined first whether the carriageway is a left-turn lane or intersection formed along a specific direction.

[0222] On the other hand, the vehicle 1, which uses light control to improve object recognition as described in this specification, can utilize a plurality of cameras to detect the distance to objects in front of the vehicle. Relatedly, Figure 20 This is a block diagram illustrating a vehicle capable of detecting the distance to an object in front of it, as described in this specification. (See also...) Figure 20 Vehicle 1 may also include an infrared (IR) camera 312, a time-of-flight (TOF) camera 313, and a sensor fusion control unit 370. Therefore, vehicle 1 may include a camera 310, a sensor fusion control unit 370, a headlight 650, and a light control unit 660. Camera 310 may include a front camera 311, an IR camera 312, and a TOF camera 313.

[0223] Reference Figures 1 to 20This specification describes a lamp control unit 660 for improving object recognition and a vehicle 1 having therein. The IR camera 312 can be configured to acquire a second image using infrared signals and detect the distance to an object in front of the vehicle. The TOF camera 313 can be configured to acquire a third image using a pulse-modulated infrared beam and detect the distance to an object in front of the vehicle.

[0224] The sensor fusion control unit 370 can utilize the image detected by the front camera 110, the second image detected by the IR camera 312, and the third image detected by the TOF camera 313. The sensor fusion control unit 370 can detect other vehicles OB11 in front of vehicles on the roadway and pedestrians OB12 and OB12' on the sidewalk through a plurality of images.

[0225] The lamp control unit 660 may include an interface 661 and a processor 662. The processor 662 of the lamp control unit 660 can control the sensor fusion control unit 370 to detect other vehicles in front of the vehicle in the roadway and pedestrians on the sidewalk using images from the front camera 110, the second image from the IR camera 312, and the third image from the TOF camera 313. The processor 662 can control the start and end points of the brightness control interval CI of the headlamp 650 based on a first distance from the second vehicle detected by the IR camera 312 and the TOF camera 313. The processor 662 can also control the start and end points of the brightness control interval CI such that the frame interval FI is included in the brightness control interval CI, based on the first distance from the second vehicle detected by the IR camera 312 and the TOF camera 313. The IR camera 312 may be configured to acquire a second image using infrared signals to detect the distance to an object in front of the vehicle. The TOF camera 313 may be configured to acquire a third image using a pulse-modulated infrared beam to detect the distance to an object in front of the vehicle.

[0226] On the other hand, the lamp control unit 660 can control the headlight 650 to simultaneously detect pedestrians on the sidewalk and vehicles on the roadway. The processor 662 of the lamp control unit 660 can detect a second distance and position from the pedestrian via the front camera 311, the IR camera 312, and the TOF camera 313. The processor 662 can control, based on the pedestrian's position detected by the sensor fusion control unit 370, to turn on a portion of the plurality of light-emitting devices corresponding to the first area where the sidewalk is located during the frame interval FI. The processor 662 can also control, during the frame interval FI, to turn off the remaining areas of the plurality of light-emitting devices corresponding to the second area where the roadway is located.

[0227] A plurality of first light-emitting devices, representing a portion of a plurality of light-emitting devices, can be arranged on a curved surface at a predetermined angle, pointing towards a first direction in which pedestrians are located on the sidewalk. Thus, the plurality of first light-emitting devices can detect pedestrians on the sidewalk in a lit state. A plurality of second light-emitting devices, representing the remaining portion of the plurality of light-emitting devices, can be arranged on a curved surface at a predetermined angle or on a flat surface pointing towards a second direction in which the roadway is located. Thus, the plurality of second light-emitting devices can detect other vehicles in the roadway by the front camera 110 in a dark state. Additionally, the distance and direction to other vehicles can be detected by the IR camera 312 and the TOF camera 313.

[0228] On the other hand, the light control method in this specification can be implemented based on images acquired by a plurality of cameras. Relatedly, Figure 21 This describes a lamp control method that drives the lamp control unit after acquiring images from a front-facing camera, an IR camera, and a TOF camera.

[0229] Reference Figure 20 and Figure 21 The light control method may include a driving process for driving a plurality of cameras (S10, S10b, S10c), a sensor mixing control process for driving the sensor fusion control unit (S15), a brightness measurement process for measuring the brightness of the entire background (S30), and a control process for controlling the output of the headlamp and the output / pattern control process (S140).

[0230] In the driving process (S10) of the front camera 311, the shutter can be opened to perform the image acquisition process (S20). In the driving process (S10b) of the IR camera 312, an infrared signal can be transmitted to the object and the image acquisition process is performed (S20). In the driving process (S10c) of the TOF camera 313, a pulse-modulated infrared beam can be transmitted to the object, thereby performing the image acquisition process (S20).

[0231] In the sensor hybrid control process (S15), the transmission range of signals and beams from each camera can be controlled to detect images based on the front camera 311, IR camera 312, and TOF camera 313. In the image acquisition process (S20), an image of the shutter opening based on the front camera 311, a second image based on the infrared signal from the IR camera 312, and a third image based on the pulse-modulated infrared beam from the TOF camera 313 can be acquired.

[0232] A second image can be acquired using infrared signals to detect the distance to an object in front of the vehicle. During the driving process (S10c) of the TOF camera 313, a third image can be acquired using pulse-modulated infrared beams to detect the distance to an object in front of the vehicle.

[0233] Reference Figures 18 to 21 The process following the brightness measurement process (S30) will be explained. The brightness measurement process (S30) can be used to measure the brightness of the entire background image, including the carriageway and the sidewalk. The lamp control method may also include a first driving process (S110) for driving the lamp control unit 660. The lamp control method may also include a beam pattern output process (S150) for outputting the beam pattern of the headlamp and an output process (S120) for outputting light through the headlamp.

[0234] In the output / pattern control process (S140), the output and pattern of the headlamp 650 can be controlled such that, based on surrounding conditions, the position of the object, etc., while maintaining the current pattern, only the frames used to acquire camera images are controlled. In the beam pattern output process (S150), a beam pattern of the headlamp 650 can be formed to have different brightness or different patterns in the roadway and pedestrian walkway sections. In the output process (S120), the headlamp 650 can output light signals with beam patterns exhibiting different brightness or patterns.

[0235] Reference Figure 8 , Figures 18 to 21 In the image acquisition process (S220), images detected by the front camera 110, IR camera 312, and TOF camera 313 can be formed. Through the object recognition process (S230), other vehicles OB11 in front of the vehicle in the roadway and pedestrians OB12 and OB12' on the sidewalk can be detected. Then, in the information utilization process (S240), the information obtained through object recognition can be used for vehicle information display windows or for the control of various mechanical and electronic devices of the vehicle using the corresponding information.

[0236] The above describes a vehicle with light control for improving object recognition, implemented according to this specification. The technical effects of this vehicle with light control for improving object recognition can be summarized as follows, but are not limited thereto.

[0237] The technical features of the vehicle for improving object recognition using light control, as described in this specification, can be summarized as follows.

[0238] According to this manual, the performance of the camera's object recognition can be improved by adjusting the camera's shutter speed and the timing of specific frames of the headlamp.

[0239] According to this manual, while maintaining the current headlamp function, the timing of the camera shutter and a specific frame of the headlamp are made consistent or the timing of the specific frame is advanced by a predetermined time, thereby optimizing the object recognition performance.

[0240] According to this manual, if the streetlights are on, the headlights can be turned off at an appropriate time before the shutter of the front camera opens to improve the vehicle's front camera's ability to recognize objects.

[0241] According to this manual, the brightness of multiple light-emitting devices of the headlamp can be selectively controlled according to the brightness status of the roadway and sidewalk in each area, thereby improving the object recognition performance of vehicles and sidewalks ahead.

[0242] According to this specification, by changing only the specific frames related to the brightness control of the headlights, it is possible to improve only the object recognition capability of the camera without affecting the automotive specifications of the headlights or the current headlight system familiar to the user.

[0243] The effects of this specification are not limited to those mentioned above, and those skilled in the art can more clearly understand other effects not mentioned through the appended claims.

[0244] The aforementioned invention can be implemented by computer-readable code stored in a medium. Computer-readable media include all types of storage devices that store data readable by a computer system. Examples of computer-readable media include HDDs (Hard Disk Drives), SSDs (Solid State Disks), SDDs (Silicon Disk Drives), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc. Furthermore, the computer may include a processor or a control unit. Therefore, the detailed description above should not be construed as limiting in all respects, but rather as exemplary. The scope of the invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the invention fall within its scope.

Claims

1. A lamp control unit, wherein, include: An interface that can be operatively integrated with the vehicle's electronic control unit; as well as The processor is configured to receive headlamp control information from the electronic control unit via the interface; The processor controls the ADAS judgment unit to judge the object in the image based on the image of the object obtained from the front camera. The processor receives control information from the electronic control unit for the headlights to illuminate the object; Based on the control information, the processor turns off the headlamp or reduces its brightness in accordance with the frames of images of the object acquired by the front camera.

2. The lamp control unit according to claim 1, wherein, The ADAS judgment information of the object determined by the ADAS judgment unit is transmitted to the electronic control unit of the vehicle; Based on the ADAS judgment information, the headlight control information generated in the electronic control unit is transmitted to the lamp control unit; Based on the control information, the processor controls the headlamp to either turn it off or reduce its brightness during the frame.

3. The lamp control unit according to claim 1, wherein, Based on the control information, the processor sets the brightness control range of the headlamp to turn off or reduce the brightness of the headlamp during the frame interval of the image of the object acquired by the camera. The processor is configured such that the starting point of the brightness control interval is earlier than the starting point of the frame interval; The processor is configured such that the end point of the brightness control interval is later than the end point of the frame interval.

4. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to turn off all of the plurality of light-emitting devices during the frame interval. The processor controls the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the second interval, which is the interval following the frame interval.

5. The lamp control unit according to claim 3, wherein, The processor forms consecutive frames of the brightness control interval such that all of the plurality of light-emitting devices are turned off in a plurality of intervals including the frame interval.

6. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to turn off adjacent light-emitting devices among the plurality of light-emitting devices during the frame interval; The processor controls the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the second interval, which is the interval following the frame interval.

7. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to turn off non-adjacent light-emitting devices among the plurality of light-emitting devices during the frame interval; The processor controls the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the second interval, which is the interval following the frame interval.

8. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to turn off all of the plurality of light-emitting devices during the frame interval. The processor controls the third frame of the brightness control interval to make the brightness of the plurality of light-emitting devices lower than the brightness of the on state in the second interval, which is the interval after the frame interval; The processor controls the fourth frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the third interval that follows the second interval.

9. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to turn off one of the plurality of light-emitting devices during the frame interval. The processor controls the third frame of the brightness control interval to make the brightness of one of the plurality of light-emitting devices lower than the brightness of the on state in the second interval, which is the interval after the frame interval; The processor controls the fourth frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the third interval that follows the second interval. One of the plurality of light-emitting devices illuminates a specific sub-object of the vehicle in front of the vehicle.

10. The lamp control unit according to claim 3, wherein, The processor controls the first frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the first interval preceding the frame interval. The processor controls the second frame of the brightness control interval to such that during the frame interval, a portion of the plurality of light-emitting devices are in a first brightness state and the remaining portion are in a second brightness state. The processor controls the third frame of the brightness control interval to ensure that all of the plurality of light-emitting devices are turned on in the second interval, which is the interval following the frame interval. A portion of the plurality of light-emitting devices is disposed at the center of the headlamp, and the remaining portion of the plurality of light-emitting devices is disposed at the periphery of the headlamp.

11. The lamp control unit according to claim 3, wherein, The processor is controlled as follows: If it is determined that there is external lighting, the headlamp is turned off during the frame interval; If it is determined that there is no external lighting, then during the frame interval, the headlamp is turned on or the brightness of the headlamp is lower than the brightness of the turned-on state.

12. The lamp control unit according to claim 11, wherein, The processor is controlled as follows: If the brightness of the external lighting is lower than the critical brightness, then during the frame interval, the brightness of the headlamp is reduced to a level lower than that of the on state. If the brightness of the external lighting is above the critical brightness, the headlamp is turned off during the frame interval.

13. The lamp control unit according to claim 3, wherein, The processor is controlled as follows: During the frame interval, a portion of the plurality of light-emitting devices corresponding to the first area where the sidewalk is located is turned on; During the frame interval, the remaining regions of the plurality of light-emitting devices corresponding to the second region where the roadway is located are turned off.

14. The lamp control unit according to claim 3, wherein, The processor is controlled as follows: In the first interval before the frame interval, the center portion of the headlight corresponding to the second area of ​​the roadway is turned on to detect other vehicles in front of the vehicle. During the frame interval of the other vehicles, the peripheral portion of the headlamp corresponding to the first area of ​​the sidewalk is turned on to detect pedestrians; During the frame interval, the central portion of the headlamp corresponding to the second region of the roadway is kept off; In the event of a vehicle approaching from the opposite direction of the roadway, during the frame interval, a portion of the plurality of light-emitting devices of the headlight corresponding to the third area where the vehicle from the opposite direction is located is turned off or the brightness of said portion is reduced to a level lower than that of the on state.

15. The lamp control unit according to claim 14, wherein, The processor controls the sensor fusion control unit to detect other vehicles in front of the vehicle in the carriageway and pedestrians on the sidewalk using the images from the front camera, the second image from the IR camera, and the third image from the TOF camera. The processor controls the start and end points of the brightness control interval based on the first distance from the other vehicle detected by the IR camera and the TOF camera, such that the frame interval is contained within the brightness control interval; The IR camera is configured to acquire the second image through infrared signals and detect the distance to an object in front of the vehicle; The TOF camera is configured to acquire the third image using a pulse-modulated infrared beam and detect the distance to an object in front of the vehicle.

16. The lamp control unit according to claim 15, wherein, The processor controls the sensor fusion control unit to detect the second distance and position of the pedestrian through the front camera, the IR camera and the TOF camera; The processor controls the process to, based on the pedestrian's position, during the frame interval, turn on a portion of the plurality of light-emitting devices corresponding to the first area where the sidewalk is located. The processor controls the remaining regions of the plurality of light-emitting devices corresponding to the second region where the roadway is located to be turned off during the frame interval.

17. The lamp control unit according to claim 13, wherein, If light is output through the headlamp and the shutter of the front camera is opened, the processor executes the control of turning the headlamp on or off, the control of brightness, and the control of the light emission pattern. The processor forms a gradient pattern with brightness gradually increasing from the center point of the central area of ​​the carriageway along the horizontal axis to identify objects in the central area. The gradient pattern is formed only in the first area of ​​the roadway, and the brightness of the second area of ​​the sidewalk is brighter than that of the first area.

18. The lamp control unit according to claim 13, wherein, The processor forms a diagonal pattern having a third region and a fourth region along a specific direction, the third region having a first brightness, and the fourth region being formed on both sides of the third region with a second brightness that is dimmer than the first brightness; The processor identifies vehicles turning left on a left-turn lane formed along the specific direction through the fourth region of the diagonal pattern.

19. The lamp control unit according to claim 13, wherein, The processor forms a checkerboard pattern with alternating bright and dark patterns along the horizontal and vertical axes to identify the vehicle number or status information of the vehicle ahead. The processor identifies the vehicle number or status information of the vehicle in front of it that is more prominent than the background area in a specific area of ​​the vehicle in front of it through the dark pattern. The processor identifies the status of pedestrians on the sidewalk through the bright pattern.

20. The lamp control unit according to claim 13, wherein, The processor uses images acquired through the front-facing camera to measure the brightness of the entire background, including the roadway and the sidewalk. The processor performs on / off control, brightness control, and luminous pattern control of the headlights based on a first brightness of the roadway and a second brightness of the sidewalk. The processor synthesizes a beam pattern of the headlight in which a specific area corresponding to the roadway is in a closed state and the remaining area is in an open state. The processor detects vehicles ahead of the carriageway and pedestrians on the sidewalk based on the beam pattern; If the vehicle ahead transmits status information related to braking or abnormal status, the processor forms a checkerboard pattern with alternating bright and dark patterns along the horizontal and vertical axes to identify the vehicle number or status information of the vehicle ahead. The processor identifies the vehicle number or status information of the vehicle ahead through the dark pattern; If the carriageway is a left-turn lane formed along a specific direction, the processor detects vehicles turning left in the left-turn lane by means of a diagonal line pattern based on the specific direction.

Images