VEHICLE CONTROL SYSTEM

Abstract

A vehicle control system S comprises an illuminance sensor 120 that detects the brightness around a vehicle, an imaging unit 110 that generates a captured image obtained by capturing an image ahead in the direction of travel of the vehicle, a detection unit 221 that detects an object ahead in the direction of travel based on the captured image, an identification unit 222 that identifies a relative position of the vehicle with respect to a tunnel according to the brightness around the vehicle when the tunnel is detected as the object, and a control decision unit 223 that, according to the identified relative position, decides on at least one of a parameter of the detection processing to detect the object in the captured image and a state of a headlight 130 of the vehicle.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a vehicle control system for controlling a multitude of functions of a vehicle. STATE OF THE ART

[0002] Vehicles with a variety of functions are known. JP 2017-094965 A discloses a vehicle that has i) an imaging device which adjusts an exposure level at the time of image capture based on a luminance value of a captured image when an object is detected in a captured image, and ii) an automatic lighting device which automatically switches on the vehicle's headlights when it becomes dark outside the vehicle. Brief description of the invention; problem to be solved by the invention

[0003] Each of the many functions installed in the vehicle is controlled individually, and therefore the point at which the control switches varies from one function to another. In particular, when the vehicle enters or exits a tunnel, the lighting level is sometimes adjusted to match a bright exit while the vehicle is near the tunnel exit, or the headlights are only switched on after the vehicle has entered the tunnel.

[0004] The present disclosure focuses on this point, and one of its objectives is to i) the processing for detecting an object in a recorded image and ii) to appropriately control the headlights when the vehicle enters or exits a tunnel. MEANS TO SOLVENT THE PROBLEM

[0005] One aspect of the present disclosure provides a vehicle control system comprising an illuminance sensor that detects the brightness around a vehicle, an imaging unit that generates a captured image obtained by capturing an image ahead in the direction of travel of the vehicle, a detection unit that detects an object ahead in the direction of travel based on the captured image, an identification unit that identifies a relative position of the vehicle with respect to a tunnel according to the brightness around the vehicle when the detection unit detects the tunnel as the object, and a control decision unit that, according to the identified relative position, decides on at least one of a parameter of the detection processing to detect the object in the captured image and a state of a headlight of the vehicle.

[0006] The illuminance sensor can detect the brightness above the vehicle, and when the detection unit detects the tunnel as the object, the identification unit can identify the relative position in accordance with whether the brightness above the vehicle is equal to or greater than a predetermined value, in order to determine whether the vehicle is outside the tunnel or not.

[0007] The identification unit can identify the relative position as a position before entering the tunnel if the detection unit detects the tunnel as the object and the brightness above the vehicle is equal to or greater than the predetermined value, and can identify the relative position as a position inside the tunnel if the detection unit detects the tunnel as the object and the brightness above the vehicle is lower than the predetermined value.

[0008] After identifying that the relative position is a position inside the tunnel, the identification unit can continue to identify the relative position as a position inside the tunnel even when the brightness above the vehicle is lower than the predetermined value, after the detection unit has stopped detecting the tunnel.

[0009] After identifying that the relative position is a position inside the tunnel, the identification unit can identify that the relative position is a position after exiting the tunnel if the detection unit no longer detects the tunnel and the brightness above the vehicle is equal to or greater than the predetermined value.

[0010] The control decision unit can switch on the headlight if the relative position is identified as a position before entering the tunnel.

[0011] The control decision unit can turn off the headlight if the relative position is identified as a position after exiting the tunnel.

[0012] The detection unit can perform the detection processing to detect another vehicle in the captured image based on pixels with luminance values ​​within a threshold range to detect the other vehicle as the object in the captured image, and the control decision unit can set a second threshold range, which is the threshold range in a case where the relative position is a position inside the tunnel, wider than a first threshold range, which is the threshold range in a case where the relative position is a position before entering the tunnel.

[0013] The detection unit can perform the detection processing to detect another vehicle in the captured image based on pixels with luminance values ​​within a threshold range to detect the other vehicle as the object in the captured image, and the control decision unit can set a second threshold range, which is the threshold range in a case where the relative position corresponds to a position inside the tunnel, wider than a first threshold range, which is the threshold range in a case where the relative position is a position after exiting the tunnel.

[0014] The detection unit can perform the detection processing to detect the object in the captured image based on pixels with luminance values ​​within a threshold range for detecting a pedestrian as the object in the captured image, and the control decision unit can set a lower limit of a third threshold range, which is the threshold range for detecting a pedestrian inside the tunnel in the captured image, lower than a lower limit of a fourth threshold range, which is the threshold range for detecting a pedestrian outside in the captured image.

[0015] The identification unit can identify the relative position of the vehicle in relation to the tunnel if the vehicle is moving forward and the brightness ahead in the direction of travel, as detected by the illuminance sensor, is equal to or greater than a threshold for determining whether the vehicle is traveling during the day, and cannot identify the relative position of the vehicle in relation to the tunnel if the vehicle is not moving forward or if the brightness ahead in the direction of travel is lower than the threshold. IMPACT OF THE INVENTION

[0016] According to the present disclosure, it is possible to i) the processing for detecting an object in a recorded image and ii) appropriately control the headlights when the vehicle enters or exits a tunnel. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 shows the structure of a vehicle control system. Fig. Figure 2 schematically shows a state in which a vehicle is approaching a tunnel. Fig. Figure 3 shows a data table that shows conditions for identifying a relative position. Fig. Figure 4 schematically shows a state in which the vehicle is driving in a tunnel. Fig. Figure 5 schematically shows a state in which the vehicle is traveling near the tunnel exit. Fig. Figure 6 schematically shows a state in which the vehicle leaves the tunnel. Fig. Figure 7 shows an example of a data table in which a relative position and a control are linked. Fig. Figure 8 shows a flowchart illustrating an example of identification processing. DESCRIPTION OF EXECUTION FORMS< Structure of a vehicle control system S>

[0017] Fig. Figure 1 illustrates the structure of a vehicle control system S. The vehicle control system S is a system mounted in a vehicle that controls a variety of devices mounted in the vehicle. The vehicle control system S includes an imaging unit 110, an illuminance sensor 120, headlights 130, and a control decision device 200.

[0018] The imaging unit 110 is a camera that generates a captured image obtained by taking a picture ahead in the direction of travel of the vehicle. The imaging unit 110 is, for example, located at a position within the vehicle capable of capturing a picture ahead in the direction of travel. Specifically, the imaging unit 110 is located at a predetermined distance from the upper edge of the vehicle's windshield or at a predetermined distance from the lower edge of the vehicle's windshield. The predetermined distance is, for example, 150 millimeters, but is not limited to this.

[0019] The illuminance sensor 120 detects the brightness around the vehicle. For example, the illuminance sensor 120 detects illuminance as the brightness around the vehicle. Illuminance is a physical quantity that represents the brightness of light illuminating the surface of an object, and its unit is lux. The illuminance sensor 120 comprises a first illuminance sensor and a second illuminance sensor. The first illuminance sensor is positioned to detect the illuminance above the vehicle. This first sensor is located at the bottom of the windshield or on the vehicle's dashboard.The second illuminance sensor is located in a position capable of detecting the illuminance ahead in the direction of travel. The second illuminance sensor is located on the front fairing of the vehicle. Specifically, it is positioned between the two headlights 130 mounted on the front fairing.

[0020] The headlights 130 are mounted on the front of the vehicle. The headlights 130 are lights that illuminate an area ahead in the direction of travel. The headlights 130 are switched on or off by the control decision device 200.

[0021] The control decision device 200 decides on the vehicle's steering when the vehicle enters and exits the tunnel. The control decision device 200 switches on the headlights 130 when a tunnel is detected in a captured image. Furthermore, when the vehicle enters the tunnel, the control decision device 200 changes a detection processing parameter used to detect an object ahead in the direction of travel in a captured image to a parameter used when the vehicle is inside the tunnel. The control decision device 200 switches off the headlights 130 after the vehicle has exited the tunnel. After the vehicle has exited the tunnel, the control decision device 200 changes the detection processing parameter to a parameter used when the vehicle is outside the tunnel.As described above, when the vehicle enters and exits the tunnel, the control decision device 200 controls i) the switching on and off of the headlights 130 and ii) changes the parameter of the detection processing to detect an object ahead in the direction of travel. A specific configuration of the control decision device 200 is described below. [Detailed design of the control decision device 200]

[0022] The control decision device 200 comprises a memory 210 and a control unit 220. The memory 210 is a storage medium that includes read-only memory (ROM), random-access memory (RAM), a hard disk, and the like. The memory 210 stores a program that is executed by the control unit 220.

[0023] The control unit 220 is a computing resource that includes a processor such as a central processing unit (CPU). The control unit 220 implements the functions of a detection unit 221, an identification unit 222, and a control decision unit 223 by executing the program stored in memory 210.

[0024] The detection unit 221 performs the detection processing to detect an object ahead in the direction of travel based on a captured image obtained by taking a picture ahead in the direction of travel of the vehicle. For example, the detection unit 221 detects an object ahead in the direction of travel based on luminance values ​​of pixels contained in a captured image. Specifically, the detection unit 221 detects an object in a captured image based on pixels with luminance values ​​within a threshold range for object detection in the captured image. More precisely, if a shape defined by a multitude of pixels with luminance values ​​within the threshold range corresponding to an object type substantially matches a shape of the object of that type, the detection unit 221 detects the object of that type that is ahead in the direction of travel.The object type includes, but is not limited to, a tunnel, a vehicle, and a pedestrian. Furthermore, the detection unit 221 is not limited to the above and can detect an object using other known techniques.

[0025] As the vehicle approaches the tunnel, the detection unit 221 detects the tunnel as the object ahead in the direction of travel in the captured image. Fig. Figure 2 schematically shows a state in which a vehicle V is approaching a tunnel T. Fig. 2. The vehicle V is in a state before entering tunnel T. If pixels with luminance values ​​within a threshold range corresponding to tunnel T are included in the captured image, the detection unit 221 detects tunnel T, which is located ahead in the direction of travel. In particular, if the shape of an area defined by a plurality of pixels with luminance values ​​within the threshold range corresponding to tunnel T substantially matches the shape of an entrance to tunnel T, the detection unit detects tunnel T as the object ahead in the direction of travel. The threshold range corresponding to tunnel T can be suitably set based on an experiment or the like and is, for example, from at least a minimum luminance value (in particular 0) included in the captured image to no more than 20% of a maximum luminance value.

[0026] When tunnel T is detected as the object in the captured image, the identification unit 222 identifies a relative position of vehicle V with respect to the detected tunnel T. Situations are described here in which identifying the relative position of vehicle V with respect to tunnel T is not required. For example, if vehicle V is not moving forward, it does not enter tunnel T, and therefore the control decision device 200 does not need to make any control decisions that would be required when entering or exiting tunnel T. Furthermore, if it is night, it is darker outside than inside tunnel T, and the state of vehicle V's headlights 130 and the parameters of the detection processing are controlled to correspond to the nighttime conditions outside, which are darker than those inside tunnel T.Therefore, when it is night, the control decision device 200 does not need to change the state of the headlights 130 or the detection processing parameter at the time the vehicle V enters or exits the tunnel T. Therefore, when the vehicle V is moving forward and it is daytime, the identification unit 222, upon detecting the tunnel T as the object in the captured image, performs processing to identify the relative position of the vehicle V with respect to the tunnel T. Hereinafter, the processing to identify the relative position of the vehicle V with respect to the tunnel T is referred to as the identification processing.

[0027] First, the identification unit 222 determines whether the vehicle V is moving forward or not. If the vehicle V's speed is greater than zero and the vehicle V's gear selector is in Drive (D), the identification unit 222 determines that the vehicle V is moving forward. The identification unit 222 determines that the vehicle V is not moving forward when the vehicle V is stationary or in reverse. If the vehicle V's speed is zero or less, the identification unit 222 determines that the vehicle V is not moving forward. Furthermore, if the gear selector is not in Drive (D), in other words, if the gear selector is in at least one of Neutral (N), Reverse (R), or Park (P), the identification unit 222 determines that the vehicle V is not moving forward.

[0028] Next, the identification unit 222 determines whether it is daytime or not, based on a reading from the illuminance sensor 120. If the illuminance ahead in the direction of travel V, as detected by the illuminance sensor 120, is equal to or greater than a threshold value, the identification unit 222 determines that it is daytime. The threshold value is a value used to determine whether it is daytime or not and is, in particular, but not limited to, 20,000 lux. Specifically, the identification unit 222 determines that it is daytime if the second illuminance sensor of the two sensors contained in the illuminance sensor 120, which detects the illuminance ahead in the direction of travel, measures an illuminance due to sunlight band light contained in the detected light that is equal to or greater than the threshold value.If the illuminance ahead in the direction of travel is lower than the threshold, the identification unit 222 determines that it is night.

[0029] If vehicle V is stationary, reversing, or if it is night, the identification unit 222 determines that a condition for executing the identification processing is not met and does not execute the identification processing. If vehicle V is moving forward and it is daytime, the identification unit 222 determines that the condition for executing the identification processing is met and executes the identification processing. The following describes the identification processing performed by the identification unit 222 to identify the relative position with reference to Fig. 3 specifically described. Fig. 3 is a data table that shows conditions for identifying the relative position.

[0030] During the identification process, the identification unit 222 determines whether the illuminance above the vehicle V is equal to or greater than the threshold value. In a state where the tunnel T is detected in the captured image (tunnel [present]), if the illuminance above the vehicle V detected by the illuminance sensor 120 is equal to or greater than the predetermined value, the identification unit 222 identifies the relative position as a position prior to entering tunnel T. Specifically, the identification unit 222 refers to the data table and identifies the relative position as [prior to entry], which is associated with the tunnel [present] and the illuminance above the vehicle V [equal to or greater than the predetermined value].This is because, if tunnel T is detected as the object in the captured image and an area above vehicle V is bright, it can be said that vehicle V is located at a position prior to entering tunnel T. The predetermined value is a value used to determine whether vehicle V is outside tunnel T or not. For example, the predetermined value is a value used to determine that it is daytime outside in clear weather and is specifically 20,000 lux, but is not limited to this. As long as tunnel T is detected in the captured image and the illuminance detected by the illuminance sensor 120 above vehicle V is equal to or greater than the predetermined value, the identification unit 222 continues to identify the relative position as prior to entering tunnel T.

[0031] Vehicle V continues driving and enters tunnel T. Fig. Figure 4 schematically shows a state in which the vehicle V is traveling inside tunnel T. When the vehicle V enters tunnel T, the detection unit 221 detects the presence of tunnel T by recognizing a wall of tunnel T in the captured image as the object ahead in the direction of travel. Specifically, if the shape of an area formed by a plurality of pixels with luminance values ​​within a threshold range corresponding to the wall of tunnel T substantially matches the shape of the wall of tunnel T, the detection unit 221 recognizes tunnel T as the object ahead in the direction of travel. Conversely, when the vehicle V enters tunnel T, an area above the vehicle V becomes dark, and thus the illuminance above the vehicle V, detected by the illuminance sensor 120, becomes lower than the predetermined value.

[0032] The illuminance above the vehicle V in tunnel T is equal to or lower than a setpoint value that is lower than the predetermined value, and equal to or greater than the minimum illuminance specified for tunnel T. The setpoint value is set to 500 lux, which is lower than, but not limited to, the outdoor daylight illuminance in rainy conditions (approximately 5,000 lux), which is lower than, but not limited to, the outdoor daylight illuminance in clear conditions (approximately 20,000 lux). The minimum illuminance is, for example, 10 lux, but is not limited to.

[0033] When tunnel T is captured in the image (tunnel [present]) and the illuminance above vehicle V becomes lower than the predetermined value, the identification unit 222 identifies the relative position as being inside tunnel T due to vehicle V entering tunnel T. Specifically, the identification unit 222 refers to the data table and identifies the relative position as being inside the tunnel, which is associated with the tunnel [present] and the illuminance above vehicle V being lower than the predetermined value.

[0034] Once the relative position has been identified as being inside tunnel T, vehicle V approaches an exit from tunnel T while continuing to travel inside tunnel T. Fig. Figure 5 schematically depicts a state in which vehicle V is traveling near the exit of tunnel T. As vehicle V approaches the exit of tunnel T, the detection unit 221 no longer detects the wall of tunnel T and therefore no longer identifies tunnel T as the object ahead in the direction of travel. On the other hand, while vehicle V is traveling inside tunnel T, the illuminance above vehicle V is lower than the predetermined value. Even though the detection unit 221 no longer detects tunnel T in the captured image, the identification unit 222 continues to identify the relative position as being inside tunnel T, while the illuminance above vehicle V is lower than the predetermined value.In particular, while the tunnel is [absent] and the illuminance above the vehicle V is [lower than the predetermined value], the identification unit 222 continues to identify the relative position as [in the tunnel], which is associated with the tunnel [absent] and the illuminance above the vehicle V [lower than the predetermined value] of the data table.

[0035] Vehicle V continues driving and thus leaves tunnel T through the exit. Fig. Figure 6 schematically shows a state in which the vehicle V exits tunnel T. When the vehicle V exits tunnel T, the area above the vehicle V becomes brighter, and thus the illuminance above the vehicle V, detected by the illuminance sensor 120, becomes equal to or greater than the predetermined value. When tunnel T is no longer detected and the illuminance above the vehicle V becomes equal to or greater than the predetermined value, the identification unit 222 identifies the relative position as a position after exiting tunnel T, since the vehicle V has left tunnel T.If the tunnel is [absent] and the illuminance above the vehicle V is equal to or greater than the predetermined value, the identification unit 222 refers to the data table and identifies the relative position as [post-exit] associated with the tunnel [absent] and the illuminance above the vehicle V [equal to or greater than the predetermined value]. The identification unit 222 continues to identify the relative position as [post-exit] until another tunnel T is detected as the object ahead in the direction of travel.

[0036] In this way, the identification unit 222 can adequately identify the relative position of the vehicle V passing through tunnel T with respect to tunnel T according to i) whether tunnel T is captured in the image and ii) the illuminance above the vehicle V. The identification unit 222 notifies the control decision unit 223 of the identified relative position.

[0037] The control decision unit 223 decides the steering of the vehicle V based on the identified relative position. For example, the control decision unit 223 refers to a data table in which the relative position and the steering are linked, and decides the steering according to the relative position. Fig. Figure 7 is an example of the data table in which the relative position and the control are linked.

[0038] The control decision unit 223 decides the state of the headlights 130 according to the identified relative position. Specifically, if the relative position is identified as being before entering tunnel T, the control decision unit 223 switches on the headlights 130. More precisely, when the relative position becomes [before entering], the control decision unit 223 sets the state of the headlights 130 to an [ON] state corresponding to the relative position [before entering]. Accordingly, the control decision unit 223 can switch on the headlights 130 before the vehicle V enters tunnel T.

[0039] When the relative position is identified as being inside tunnel T, the control decision unit 223 switches on the headlights 130. If the relative position changes from [before entering] to [inside the tunnel], the control decision unit 223 keeps the headlights 130 in the [ON] state, which i) corresponds to the relative position [inside the tunnel] and ii) is the same as for [before entering]. Accordingly, the control decision unit 223 can keep the headlights 130 switched on while the vehicle V is traveling inside tunnel T.

[0040] If the relative position is identified as being after exiting the tunnel, the control decision unit 223 causes the headlights 130 to be switched off. If the relative position changes from [in the tunnel] to [after exiting], the control decision unit 223 changes the headlights 130 to the [OFF] state corresponding to the relative position [after exiting]. Accordingly, the control decision unit 223 can switch off the headlights 130 after the vehicle V has left the tunnel T.

[0041] The control decision unit 223 decides a parameter of the detection processing for detecting the object ahead in the direction of travel of the vehicle V according to the relative position. For example, the control decision unit 223 decides the parameter of the detection processing performed by the detection unit 221 according to the identified relative position. If the relative position is identified as [before entry] and [after exit], the control decision unit 223 sets the parameter of the detection processing to a parameter corresponding to [outside]. If the relative position is identified as [in the tunnel], the control decision unit 223 sets the parameter of the detection processing to a parameter corresponding to [in the tunnel].The detection processing parameter is, for example, a threshold range for detecting a different vehicle ahead in the direction of travel than the object in the captured image during detection processing. As a specific example, if the relative position is identified as [before entry] and [after exit], the control decision unit 223 sets the detection processing threshold range to a first threshold range corresponding to [outside]. If the relative position is identified as [in the tunnel], the control decision unit 223 sets the detection processing threshold range to a second threshold range corresponding to [in the tunnel].

[0042] If the other vehicle, traveling ahead in the direction of travel of vehicle V, which is traveling inside tunnel T, has its taillights switched on, the luminance values ​​of pixels within an area of ​​the captured image where the other vehicle's taillights appear are higher than the luminance values ​​of pixels within an area where areas other than the taillights are captured. Therefore, the control decision unit 223 makes the second threshold range wider than the first threshold range. Specifically, the control decision unit 223 makes the second threshold range wider than the first threshold range by setting an upper limit of the second threshold range higher than an upper limit of the first threshold range.Accordingly, the detection unit 221 can easily detect a pixel with a high luminance value among a multitude of pixels in a captured image taken while the vehicle V is driving inside the tunnel T as a taillight and can therefore easily detect the other vehicle as the object ahead in the direction of travel.

[0043] It should be noted that the control decision unit 223 can decide not only the threshold range for detecting the other vehicle as the object in the captured image during acquisition processing, but also the threshold range for detecting a pedestrian as the object in the captured image during acquisition processing. The luminance values ​​of pixels in an area of ​​the captured image where a pedestrian is detected inside tunnel T are lower than the luminance values ​​of pixels in an area where a pedestrian is detected outside. Therefore, the control decision unit 223 sets a third threshold range for detecting a pedestrian inside tunnel T in the captured image wider than a fourth threshold range for detecting a pedestrian outside in the captured image.More precisely, the control decision unit 223 sets a lower limit for the third threshold range than a lower limit for the fourth threshold range. Accordingly, the detection unit 221 can easily detect a pedestrian inside tunnel T, which is recorded under darker conditions than outside. [Identification processing to identify the relative position]

[0044] Fig. Figure 8 is a flowchart showing an example of identification processing. The identification processing is performed at predetermined intervals while the vehicle V is driving during the day. The predetermined interval is, for example, 100 milliseconds, but is not limited to this. Furthermore, the illuminance sensor 120 appropriately measures the illuminance above the vehicle V.

[0045] The detection unit 221 captures the image generated by the imaging unit 110 (step S1). The detection unit 221 detects the object ahead in the direction of travel in the captured image.

[0046] The identification unit 222 determines whether the detection unit 221 has detected tunnel T as the object ahead in the direction of travel (step S2). If the detection unit 221 does not detect tunnel T as the object ahead in the direction of travel (No in step S2), the identification unit 222 waits until the detection unit 221 detects tunnel T as the object ahead in the direction of travel.

[0047] If the detection unit 221 detects tunnel T as the object ahead in the direction of travel (Yes in step S2), the identification unit 222 determines whether the illuminance above the vehicle V, detected by the illuminance sensor 120, is equal to or greater than the predetermined value (step S3). If the illuminance above the vehicle V is equal to or greater than the predetermined value (Yes in step S3), the identification unit 222 identifies the relative position of the vehicle V with respect to tunnel T as a position before entering tunnel T (step S4). As long as the illuminance above the vehicle V is equal to or greater than the predetermined value, the identification unit 222 repeatedly performs steps S3 and S4 and continues to identify the relative position as a position before entering tunnel T.

[0048] If the illuminance detected by the illuminance sensor 120 above the vehicle V falls below the predetermined value (No in step S3), the identification unit 222 identifies the relative position of the vehicle V with respect to the tunnel T as a position inside the tunnel T (step S5). When the relative position is identified as a position inside the tunnel T, the detection unit 221 captures the image generated by the imaging unit 110 inside the tunnel T (step S6). The detection unit 221 then detects the object ahead in the direction of travel in the captured image.

[0049] If the relative position of vehicle V is identified as being within tunnel T, the identification unit 222 determines whether the detection unit 221 has detected tunnel T as the object ahead in the direction of travel (step S7). If the detection unit 221 detects tunnel T as the object ahead in the direction of travel (yes in step S7), the identification unit 222 returns to step S5 and identifies the relative position as being within tunnel T.

[0050] If the detection unit 221 no longer detects the tunnel T as the object ahead in the direction of travel (No in step S7), the identification unit 222 determines whether the illuminance detected by the illuminance sensor 120 above the vehicle V is equal to or greater than the predetermined value (step S8). If the illuminance detected by the illuminance sensor 120 above the vehicle V is lower than the predetermined value (No in step S8), the identification unit 222 returns to step S5 and identifies the relative position as a position inside the tunnel T. If the illuminance detected by the illuminance sensor 120 above the vehicle V is equal to or greater than the predetermined value (Yes in step S8), the identification unit 222 identifies the relative position of the vehicle V with respect to the tunnel T as a position after exiting the tunnel T (step S9). [Effects of the vehicle control system S]

[0051] As described above, when the tunnel T is detected as the object ahead in the direction of travel of the vehicle V, based on the captured image obtained by taking a picture ahead in the direction of travel of the vehicle V, the vehicle control system S identifies the relative position of the vehicle V passing through the tunnel T with respect to the tunnel T according to the brightness around the vehicle V. Then, based on the identified relative position, the vehicle control system S decides at least one of a) the parameter of the detection processing for detecting the object in the captured image and b) the state of the headlights 130 of the vehicle V.

[0052] Accordingly, the vehicle control system S can, for example, turn on the headlights 130 of vehicle V before vehicle V enters tunnel T and turn them off after vehicle V has left tunnel T. Furthermore, when vehicle V enters tunnel T, the vehicle control system S can set the object acquisition processing parameter to a parameter corresponding to the interior of tunnel T, and when vehicle V leaves tunnel T, it can set the object acquisition processing parameter to a parameter corresponding to the exterior. As described above, the vehicle control system S can appropriately control the object acquisition processing and the headlights 130 when vehicle V enters or exits tunnel T.

[0053] The present disclosure is explained on the basis of the exemplary embodiments. The technical scope of the present disclosure is not limited to that explained in the embodiments above, and it is possible to make various changes and modifications within the scope of the disclosure. For example, the device can be configured wholly or partially with any unit that is functionally or physically distributed or integrated. Furthermore, new exemplary embodiments generated by any combination thereof are included in the exemplary embodiments of the present disclosure. Moreover, the effects of the new exemplary embodiments produced by the combinations also have the effects of the original exemplary embodiments. [List of reference symbols] S vehicle control system V vehicle 110 Imaging Unit 120 illuminance sensor 130 headlights 200 Control decision device 210 storage 220 control unit 221 recording unit 222 Identification unit 223 Control Decision Unit QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2017-094965 A

[0002]

Claims

[1] Vehicle control system (S), comprising: an illuminance sensor (120) that detects the brightness around a vehicle (V); an imaging unit (110) that generates a captured image obtained by capturing an image ahead in the direction of travel of the vehicle (V); a detection unit (221) that detects an object ahead in the direction of travel based on the captured image; an identification unit (222) that identifies a relative position of the vehicle (V) in relation to a tunnel (T) according to the brightness around the vehicle (V) when the detection unit (221) detects the tunnel (T) as the object; and a control decision unit (223) which, according to the identified relative position, decides on at least one of a parameter of the acquisition processing for acquiring the object in the recorded image and a state of a headlight (130) of the vehicle (V). [2] Vehicle control system (S) according to claim 1, wherein the illuminance sensor (120) detects the brightness above the vehicle (V), and when the detection unit (221) detects the tunnel (T) as the object, the identification unit (222) identifies the relative position in accordance with whether the brightness above the vehicle (V) is equal to or greater than a predetermined value to determine whether the vehicle (V) is outside the tunnel (T) or not. [3] Vehicle control system (S) according to claim 2, wherein the identification unit (222) identifies the relative position as a position prior to entering the tunnel (T) when the detection unit (221) detects the tunnel (T) as the object and the brightness above the vehicle (V) is equal to or greater than the predetermined value, and The relative position is identified as a position inside the tunnel (T) when the detection unit (221) detects the tunnel (T) as the object and the brightness above the vehicle (V) is lower than the predetermined value. [4] Vehicle control system (S) according to claim 3, wherein, after identifying that the relative position is a position inside the tunnel (T), the identification unit (222) continues to identify the relative position as a position inside the tunnel (T) while the brightness above the vehicle (V) is lower than the predetermined value after the detection unit (221) no longer detects the tunnel (T). [5] Vehicle control system (S) according to claim 3 or 4, wherein, after identifying that the relative position is a position inside the tunnel (T), the identification unit (222) identifies that the relative position is a position after exiting the tunnel (T) when the detection unit (221) no longer detects the tunnel (T) and the brightness above the vehicle (V) is equal to or greater than the predetermined value. [6] Vehicle control system (S) according to any one of claims 3 to 5, wherein the control decision unit (223) switches on the headlight (130) when the relative position is identified as a position before entering the tunnel (T). [7] Vehicle control system (S) according to claim 5, wherein the control decision unit (223) switches off the headlight (130) when the relative position is identified as a position after exiting the tunnel (T). [8] Vehicle control system (S) according to any one of claims 3 to 7, wherein the detection unit (221) performs the detection processing to detect another vehicle in the captured image based on pixels with luminance values ​​within a threshold range to detect the other vehicle as the object in the captured image, and the control decision unit (223) sets a second threshold range, which is the threshold range in a case where the relative position is a position inside the tunnel (T), wider than a first threshold range, which is the threshold range in a case where the relative position is a position before entering the tunnel (T). [9] Vehicle control system (S) according to claim 5 or 7, wherein the detection unit (221) performs the detection processing for detecting another vehicle in the captured image based on pixels with luminance values ​​within a threshold range for detecting the other vehicle as the object in the captured image, and the control decision unit (223) sets a second threshold range, which is the threshold range in a case where the relative position corresponds to a position inside the tunnel (T), wider than a first threshold range, which is the threshold range in a case where the relative position is a position after exiting the tunnel (T). [10] Vehicle control system (S) according to claim 1, wherein the detection unit (221) performs the detection processing to detect the object in the captured image based on pixels with luminance values ​​within a threshold range to detect a pedestrian as the object in the captured image, and the control decision unit (223) sets a lower limit of a third threshold range, which is the threshold range for detecting a pedestrian inside the tunnel (T) in the recorded image, lower than a lower limit of a fourth threshold range, which is the threshold range for detecting a pedestrian outside in the recorded image. [11] Vehicle control system (S) according to claim 1, wherein the identification unit (222) identifies the relative position of the vehicle (V) in relation to the tunnel (T) when the vehicle (V) is moving forward and the brightness detected by the illuminance sensor (120) ahead in the direction of travel of the vehicle (V) is equal to or greater than a threshold value for determining whether the vehicle (V) is traveling during the day, and The relative position of the vehicle (V) in relation to the tunnel (T) is not identified if the vehicle (V) is not moving forward or if the brightness ahead in the direction of travel is lower than the threshold.

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