LIGHT DISTRIBUTION CONTROL SYSTEM AND DETECTION SYSTEM

Abstract

Light distribution control system (10) comprising a detection system (50) that performs detection of an external environment of a vehicle (1A) and controls a light distribution of a front headlight (14) of the vehicle (1A), wherein the light distribution control system (10) comprises the following: a light intensity detection unit (203) that detects information about the light intensity in the vicinity of the vehicle (1A); an object recognition unit (103) that detects a distance from the vehicle (1A) to an object on a motion path (8) of the vehicle (1A); a position information acquisition unit (204) that acquires position information of the vehicle (1A); a writing device which writes the illuminance and distance or light distribution control area information obtained by determining, on the basis of the illuminance and distance, that an area requires light distribution control, together with the position information of the vehicle (1A) into a database device (30); a reading device that reads the light distribution control area information corresponding to the vehicle position information (1A) from the database device (30); and a light distribution control unit (205) which performs the light distribution control of the front headlight (14) or, based on the read light distribution control area information, communicates to a driver of the vehicle (1A) a recommendation to switch to a high beam of the front headlight (14) by means of a communication device (15), and wherein The reading device determines, based on the illuminance detected by the illuminance detection unit (203) and the distance from the vehicle (1A) to the object at the time when the object detection unit (103) first detects the object, whether the light distribution control area information should be read from the database device (30).

Description

Technical field

[0001] The present invention relates to a light distribution control system comprising a detection system that performs detection of an external environment of a vehicle and controls the light distribution of a front headlight of the vehicle, and the detection system. Technical background

[0002] Data exists indicating that approximately 80% of serious traffic accidents between vehicles and pedestrians occur at night in a particular area, and that 90% or more of the accidents occur when vehicles are driving with dipped headlights as one direction of front headlight illumination.

[0003] In order for a driver of a vehicle to be able to recognize a pedestrian, it is necessary that the pedestrian is illuminated by the light of a street lamp or a headlight, and the light of the headlight is particularly important on a road with few street lamps.

[0004] As a function for automatically switching a vehicle's headlights, there is a function called Automatic High Beam (AHB) which uses an external detection sensor, such as an in-vehicle camera, to detect an oncoming or preceding vehicle and automatically switches to low beam, and automatically switches to high beam after the oncoming or preceding vehicle has passed; and a function called Adaptive Driving Light (ADB) which shields a detected area of ​​an oncoming or preceding vehicle from light and illuminates an area outside the shielded area with high beam.

[0005] Additionally, a method exists for dividing an image captured by a camera into several blocks, estimating a change in brightness for each of the blocks, determining a light distribution control condition from the estimated change in brightness, and performing light distribution control to add a light distribution control function such as AHB and ADB and other features, and to further improve pedestrian perception.Additionally, there is a method for adjusting the brightness of a light illuminating an object, based on the upper brightness limit of the light, which is a permissible glare based on a relative distance between a carrier vehicle and the object, and the lower brightness limit at which the object can be detected from the brightness of the background, in order to achieve both prevention of glare when illuminating a pedestrian with a high beam and detection capability.

[0006] In addition to the method using the image processing described above, PTL 1 discloses a method for performing light distribution control in a defined control mode within a range predetermined by a driver, in order to implement control according to the driver's wishes on a road with heavy pedestrian traffic, a dark road, or the like. Furthermore, PTL 2 discloses a system for controlling vehicle headlights that uses a database to manage road sections suitable for high beams. Vehicles collect environmental and position data and transmit it to a server to create and update the database. When a vehicle enters a section stored as suitable for high beams, the high beam is controlled based on position, or a corresponding recommendation is given. PTL 3 describes a method and a device for controlling a vehicle's lighting system.Environmental data is collected using sensors and compared with stored, location-specific information from a database. Based on this comparison, the light distribution, especially the light-dark boundary, is adjusted depending on the situation, for example to reduce glare for other road users. List of prior art patent literature PTL 1: JP 2002-193027 A PTL 2: WO 2020 / 045 318 A1 PTL 3: DE 10 2017 126 885 A1 Summary of the invention: Technical problem

[0007] Although the light from a headlight is important for a driver to see a pedestrian at night, drivers sometimes forget to switch to high beams on a dark road where high beams are required, or forget to activate a light distribution control function, even if such a function, like AHB or ADB, is installed. In PTL 1, appropriate light distribution control can be implemented if the driver predefines an area where light distribution control is desired; however, this is not effective for a road surface being used for the first time.

[0008] The present invention was made in view of the circumstances described above and one of its objectives is to provide a light distribution control system that can improve the detection performance of an object such as a pedestrian by performing suitable light distribution control even on a roadway or the like that is being used for the first time, and a detection system that is suitable for use with the light distribution control system. Solution to the problem

[0009] The invention relates to a light distribution control system with the features of claims 1 and 7, and a detection system with the features of claim 8. Advantageous embodiments of the invention are the subject of the dependent claims. Advantageous effects of the invention

[0010] According to the present invention, data is collected after it has been determined whether the area requires the high beam for hazard prevention (the area has a risk of collision with the object and requires light distribution control) in such a way that information useful for switching to the high beam can be collected in a server.

[0011] Furthermore, since the information is collected on the server, it is possible to share experience information from multiple vehicles and to know the area that requires high beams to prevent danger, even on a road where the driver is driving for the first time.

[0012] Information about the area requiring high beams to prevent hazards is then collected by the server based on the position information, and the driver is advised to switch to high beams if the area is present on the path of travel, in such a way that it is possible to attract the driver's attention even in a vehicle that is not equipped with a headlight capable of light distribution control.

[0013] Furthermore, in a vehicle equipped with a light distribution control function such as AHB or ADB, it is possible to effectively attract the driver's attention only in the area where the high beam is required to prevent danger by automatically activating the light distribution control function.

[0014] Further tasks, configurations and effects not described above will become apparent from embodiments that will be described below. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a schematic configuration diagram of the entire system of a control system 1 according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a detailed configuration diagram of the entire system of the control system 1 according to the first embodiment. [ Fig. 3] Fig. 3 is a flowchart during data collection in a light distribution control unit 205. [ Fig. 4] Fig. Figure 4 is a flowchart during data acquisition in the light distribution control unit 205. [ Fig. 5] Fig. Figure 5 is a diagram illustrating an example of a determination result of a scene requiring a high beam, of the light distribution control unit 205. [ Fig. 6] Fig. 6 is a schematic data flow diagram during data acquisition in Fig. 2. [ Fig. 7] Fig. Figure 7 is a schematic data flow diagram in Fig. 2 in an embodiment which is Fig. 6 different. [ Fig. 8] Fig. 8 is a schematic data flow diagram during data acquisition in Fig. 2. [ Fig. 9] Fig. 9 is an overhead view if area information is available that indicates a risk of collision on a movement path. [ Fig. 10] Fig. 10 is an overhead view if no area information is available that indicates a risk of collision on a movement path. [ Fig. 11] Fig. Figure 11 is a detailed configuration diagram of the entire system of a control system 2 according to a second embodiment. [ Fig. 12] Fig. Figure 12 is a detailed configuration diagram of the entire system of a control system 3 according to a third embodiment. Description of the embodiments

[0015] In the following, embodiments of the present invention are described with reference to the drawings. It should be noted that parts having the same functions are designated by the same reference numerals in the drawings, and their repeated description is omitted in some cases. [First embodiment]

[0016] A light distribution control system comprising a detection system according to a first embodiment of the present invention is described with reference to Fig. 1 to Fig. 10 described. <gesamtkonfiguration>

[0017] Fig. Figure 1 is a schematic configuration diagram of the entire system of a control system 1, which includes the light distribution control system, which includes the detection system, and a database device according to the first embodiment. Fig. Figure 2 illustrates a detailed configuration diagram of the entire system of the control system 1 according to the first embodiment.

[0018] The control system 1 of the present embodiment, which is in Fig. 1 and Fig. As illustrated in Figure 2, the detection system, which performs the detection of a vehicle's external environment, is divided into a light distribution control system 10, which controls the light distribution of a vehicle's headlight, and a database device 30. The light distribution control system 10, which includes the detection system, and the database device 30 can communicate with each other via a network 20.

[0019] The light distribution control system 10 of the present embodiment is provided in a vehicle 1A and includes the following: an external sensor 11 that detects information (sensor information) from the front or the surroundings of the vehicle 1A; a detection processing device 100 that detects an obstacle 5 (an object that is a moving body such as a vehicle).a pedestrian, a bicycle, or a motor vehicle (which may be an obstruction) detects and identifies light points (including a front headlight and a rear light of the vehicle, a street lamp 6, and the like) from information acquired by the external sensor 11; an illuminance sensor 12, which acquires information about the illuminance near the vehicle 1A; a position information sensor 13, which acquires information about the position of the vehicle 1A; and a light distribution processing device 200, which generates light distribution control information and controls a front headlight 14 of the vehicle 1A and communicates to a driver of the vehicle 1A a recommendation to switch the front headlight 14 to high beam by means of a communication device 15. The light distribution processing device 200 includes a communication unit 206, which communicates with the database device 30 via the network 20.

[0020] It should be noted that it is unnecessary to install all components of the light distribution control system 10 on the vehicle 1A and that some (sensors and the like) of the components of the light distribution control system 10 may be installed outside the vehicle 1A.

[0021] Additionally, the database device 30 of the present embodiment is installed outside the vehicle 1A and includes a communication unit 31, which communicates with (the communication unit 206 of the light distribution processing device 200 of) the light distribution control system 10 via the network 20, and a server 32, which writes or reads data sent and received by the communication unit 31 (see in particular Fig. 2). <lichtverteilungssteuerungssystem>

[0022] Next, each of the components of the light distribution control system 10 will be described. (Outdoor sensor)

[0023] The external sensor 11 is a sensor installed on the front of the vehicle 1A or the like, which acquires information (sensor information) from the front or the surroundings of the vehicle 1A. The external sensor 11 may use a stereo camera capable of capturing images of the front and surroundings of the vehicle 1A, a monocular camera, a millimeter-wave radar capable of detecting the distance and angle of the object, a light detection and distance measurement system (LiDAR) capable of capturing three-dimensional information about the object, or similar devices. (Illuminance sensor)

[0024] The illuminance sensor 12 is a sensor that can detect illuminance information near the vehicle 1A and is attached to a dashboard, windscreen or the like of the vehicle 1A. (Position information sensor)

[0025] The position information sensor 13 can use a GPS receiver that receives position information from the vehicle 1A or a global positioning system satellite (GPS satellite) installed in a navigation system installed in the vehicle 1A, or a method for acquiring position information by executing an algorithm for estimating a position in three-dimensional map data stored in the storage device 202 of the light distribution processing device 200, from three-dimensional information in the vicinity of the vehicle 1A that can be acquired by the external sensor 11 such as a stereo camera or a LiDAR. (Headlights)

[0026] The front headlight 14 can use a front headlight installed on the front of the vehicle 1A, which can switch between a high beam and a low beam based on an output result of the light distribution processing device 200, or a front headlight equipped with an actuator (e.g., multiple motors) that changes the optical axes of multiple front headlights and a shadowing mechanism that blocks part of the light from each front headlight and can change the direction and area of ​​illumination of the front headlight. (communication device)

[0027] The communication device 15 is installed in the vehicle 1A and informs the driver of the recommendation to switch to the high beam of the front headlight 14 based on the output result of the light distribution processing device 200. For example, the recommendation to switch to the high beam can be communicated on a measuring instrument panel by a sign, a symbol, an image, an animation or the like, or it can be communicated by sound. (Recognition processing device and light distribution processing device)

[0028] The recognition processing device 100 and the light distribution processing device 200 are computers and each contain, for example, input units, central processing units 101 and 201 (CPUs or MPUs), which are processors, read-only memory (ROM) and read / write memory (RAM), which are storage devices 102 and 202, and output units, as shown in Fig. Figure 2 illustrates this. Among these, the input units convert various types of information input to the detection processing device 100 and the light distribution processing device 200 so that the CPUs can perform a calculation. The ROM is a recording medium in which a control program, which appropriately executes a computation (to be described later), and various types of information required to perform the computation are stored. The CPU performs a predefined computation on signals read from the input unit, the ROM, and the RAM according to the control program stored in the ROM. The output unit outputs an instruction for controlling an output destination, information to be used by the output destination, and the like.It should be noted that the storage devices 102 and 202 are not limited to semiconductor memory such as the ROM and RAM described above, but can be replaced by magnetic storage devices such as a hard disk drive. (Recognition processing device)

[0029] The central processing device 101 of the recognition processing device 100 contains an obstacle detection unit (an object detection unit) 103 and a light point identification unit 104 as computational processing blocks. (Obstacle detection unit)

[0030] The obstacle detection unit 103 of the detection processing device 100 detects the obstacle 5 ( Fig. 1) in front of or near the vehicle 1A from the information acquired by the external sensor 11. For example, a method for detecting the obstacle in front of or near the vehicle 1A as a three-dimensional object is used using three-dimensional information acquired by a stereo camera, LiDAR or the like.

[0031] Alternatively, a technique for recognizing a recognition target by calculating features such as edges and colors in advance from images of the recognition target and objects other than the recognition target, to train a classifier such as a support vector machine (SVM) or AdaBoost using the images captured by a stereo camera or a monocular camera, and calculating a feature such as an edge or color from an image captured during use to be identified by the learned classifier, or by performing pre-training a network for identification using deep learning such as a convolutional neural network (CNN) from images of the recognition target and objects other than the recognition target, and performing identification with the learned network during use.

[0032] Additionally, the obstacle detection unit 103 calculates and detects a distance of 4 ( Fig. 1) to the detected obstacle and sends detection information to the light distribution control unit 205 of the light distribution processing device 200. (Light point identification unit)

[0033] The light point identification unit 104 of the detection processing device 100 detects a light point in front of or near the vehicle 1A from the information acquired by the external sensor 11. For example, a light point area is set using an image captured by a stereo camera or a monocular camera to detect a pixel where the luminance of the image is a certain value or greater, and integrating adjacent areas. In addition, the type of light point is identified using luminance information of a light point, a relative distance from the vehicle 1A, information about a relative position from the vehicle 1A, and the like, to identify whether it is a light point of a headlight or a taillight of the vehicle or another light point (e.g., a street lamp 6). Fig. 1)) is. Alternatively, it is also possible to use a method for carrying out vehicle identification using three-dimensional information acquired by a stereo camera, LiDAR or the like, object information acquired by a millimeter-wave radar and three-dimensional object information acquired by a stereo camera and a monocular camera in combination, and to identify whether it is a light point from a front headlight or a rear light of the vehicle or another light point.

[0034] The light point identification information (the light point type) of the light point identification unit 104 is sent to the light distribution control unit 205 of the light distribution processing device 200. (Light distribution processing device)

[0035] Meanwhile, the central processing device 201 of the light distribution processing device 200 contains an illuminance detection unit 203, a position information detection unit 204 and a light distribution control unit 205 as calculation processing blocks. (Illuminance detection unit)

[0036] The illuminance detection unit 203 of the light distribution processing device 200 detects illuminance information near the vehicle 1A from the illuminance sensor 12, which is mounted on the vehicle 1A. The detected illuminance information is sent to the light distribution control unit 205. (Position information acquisition unit)

[0037] Additionally, the position information acquisition unit 204 of the light distribution processing device 200 acquires position information of the vehicle 1A from the position information sensor 13. The acquired position information is sent to the light distribution control unit 205. (Light distribution control unit)

[0038] The light distribution control unit 205 of the light distribution processing device 200 classifies whether an area requires light distribution control of the front headlight 14 to prevent hazards (an area 7 has a risk of collision with an obstacle and requires light distribution control ( Fig. 1)), for each scene, information about the distance to the obstacle detected by the obstacle detection unit 103 of the detection processing device 100, and the illuminance information near the vehicle 1A, acquired by the illuminance detection unit 203. Then the communication unit 206 sends data to the database device 30 via the network 20 as area information (area information obtained by determining that the area has a risk of collision with the obstacle and requires light distribution control) together with the position information acquired by the position information acquisition unit 204.This means that here, the light distribution control unit 205 and the communication unit 206 of the light distribution processing device 200 operate as a writing device, which writes (collects) light distribution control area information, obtained by determining (classifying) based on the illuminance information near the vehicle 1A and the information about the distance to the obstacle, that the area requires light distribution control, together with (in conjunction with) the position information of the vehicle 1A, into (the server 32 of) the database device 30. Fig. Figure 3 illustrates a flowchart for determining whether an area requires the front headlight 14 light distribution control for hazard prevention (in other words, a flowchart during data collection in the light distribution control unit 205) in the light distribution control system 10. (Hazard prevention area determination processing: Data collection processing)

[0039] The detection processing device 100 and the light distribution processing device 200 of the light distribution control system 10 execute the sequence of Fig. 3 is repeated in a given control cycle.

[0040] When processing is started, in step S101 the detection processing device 100 and the light distribution processing device 200 acquire sensor information from the external sensor 11, the illuminance sensor 12, and the position information sensor 13. In step S102, a day or night determination is performed from the sensor information acquired by the sensors (e.g., using information such as the illuminance and brightness of an image), and the processing of step S104 is only executed if night is determined in step S103. In step S104, the obstacle detection unit 103 of the detection processing device 100 detects an obstacle (specifically, an obstacle on a movement path of the vehicle 1A) in front of or near the vehicle 1A. In step S105, a risk of collision with the carrier vehicle (e.g.,The processing of step S107 is determined if, in step S106, it is determined that there is a risk of a warning or automatic braking for the obstacle detected in step S104. The processing of step S107 is only performed if, in step S106, it is determined that there is a risk of collision with the obstacle. As a result, it is possible to determine whether an area requires high beams for hazard prevention only in an area that has a risk of collision with the obstacle in the subsequent steps, and to upload information to server 32 of the database device 30. In step S107, the illuminance sensing unit 203 of the light distribution processing device 200 acquires illuminance information near vehicle 1A from illuminance sensor 12.

[0041] In a case where the illuminance detected in step S107 is less than a threshold in step S108 and the distance (which is a detection start distance and a distance from the vehicle to the obstacle at the time when the obstacle detection unit 103 first detects the obstacle) to the obstacle identified in step S104 is less than a threshold in step S109, the light distribution control unit 205 of the light distribution processing device 200 determines in step S110 that the scene (area) requires the high beam for hazard prevention.

[0042] Additionally, if in step S108 the illuminance is equal to or greater than the threshold or in step S109 the distance is equal to or greater than the threshold, there is a risk of collision with the obstacle, however the area around the vehicle is bright 1A and the obstacle itself can be detected at a distance, although the area presents such a risk of collision that it is determined in step S111 as the area that presents a risk of collision, for which it is recommended to drive with the high beams on.

[0043] That is, the light distribution control unit 205 of the light distribution processing device 200 determines, on the basis of the illuminance detected by the illuminance detection unit 203 and the distance from the vehicle to the obstacle at the time when the obstacle detection unit 103 first detects the obstacle, whether the light distribution control area information obtained by determining that the area requires light distribution control should be written to the database device 30.

[0044] Fig. Figure 6 illustrates a data flow diagram when the light distribution control unit 205 of the light distribution processing device 200 determines whether an area requires the light distribution control of the front headlight 14 for hazard prevention and sends data to the server 32 of the database device 30. Based on information D103 about the distance to the obstacle detected by the obstacle detection unit 103 and illuminance information D203 acquired by the illuminance sensing unit 203, the light distribution control unit 205 stores a result of a determination as to whether the area requires the light distribution control of the front headlight 14 for hazard prevention (i.e., a result of a scene classification) in a determination result D205.In addition, position information D204, which was acquired by the position information acquisition unit 204, is stored in position information of D205, sent via the network 20 to the database device 30 and stored as data D32 in the server 32 of the database device 30.

[0045] Here, outside of the vehicle 1A, with the exception of the light distribution control system 10, it can be determined, for example, by the server 32 of the database device 30, whether a scene requires the light distribution control of the front headlight 14, which is carried out by the light distribution control system 10, to prevent hazards.There is not only a method in which the side of vehicle 1A determines the area that has a risk of collision with the obstacle from the position information, the information about the distance to the obstacle and the illuminance information and writes the area information that has a risk of collision with the obstacle in this way to server 32 of the database device 30, but also a method in which the position information, the information about the distance to the obstacle and the illuminance information are written to server 32 of the database device 30 and the side of server 32 of the database device 30 determines and stores the area that has a risk of collision with the obstacle from the written position information, information about the distance to the obstacle and illuminance information.

[0046] Fig. Figure 7 illustrates a data flow diagram when the server 32 of the database device 30 determines whether a scene requires the light distribution control of the headlight 14 for hazard prevention. The light distribution control unit 205 of the light distribution processing device 200 defines the information D103 about the distance to the obstacle detected by the obstacle detection unit 103, the illuminance information D203 acquired by the illuminance detection unit 203, and the position information D204 acquired by the position information acquisition unit 204 as the transmit information D205 and transmits the transmit information D205 via network 20 to the database device 30. The server 32 of the database device 30 determines whether the area requires the light distribution control of the headlight 14 for hazard prevention and collects data as D32.That is, in this case, the server 32 of the database device 30, which is provided outside the vehicle 1A, operates as a computing device that creates the light distribution control area information obtained by determining that the area requires light distribution control, based on the information about the distance to the obstacle and the information about the illuminance, which are written together with the position information.

[0047] Additionally, for example, using information about a light point detected by the light point identification unit 104, in addition to the information about the illuminance measured in step S107, it can be determined whether a scene is bright with many vehicles or the scene is bright with many street lamps 6 ( Fig. 1), and a scene can further be classified as described in Tables 4 and 5 of the Conditions and Control Contents for each scene in Fig. 5 is shown.

[0048] Here, the illuminance threshold is set at 3 [Ix] for a residential area on a roadway with lower traffic volume and 5 [Ix] for a roadway with higher traffic volume as the reference illuminance based on the standard for pedestrian roadway lighting (JIS Z9111-1988), and, for example, the illuminance of 5 [Ix] can be used as the illuminance threshold in step S108 in Fig. 3 can be used.

[0049] Additionally, Public Notice Article 29 (Headlights and the like), a safety standard for headlights, specifies the necessary elements for organizing the application relationship of rules in Chapters 2 and 3 of the described "Safety Standards for Road Transportation Vehicles." It states that a passing headlight (low beam) must have a capability to allow confirmation of an obstacle in traffic at a distance of 40 m and that the low beam can illuminate an obstacle at a distance of up to 40 m. Therefore, if the distance at which detection of an obstacle begins (detection start distance) is 40 m or less, the high beam is required in the scene to detect an obstacle at a greater distance than that. Therefore, for example, 40 m is used as the distance threshold in step S109 in Fig. 3 is used. However, the distance threshold can be changed depending on the performance of the low beam of the front headlight and can be a threshold other than 40 [m].

[0050] For example, even when data is collected and stored at a traffic accident level, traffic accidents occur at almost every location on major roads and the like, making it difficult to extract effective information. Therefore, it is also necessary to select the data to be collected. In the present embodiment, as described above, data (area information obtained by determining that the area has a risk of collision with the obstacle and requires light distribution control) are collected in the server 32 of the database device 30 after it has been determined (classified for each scene) whether the area requires the light distribution control of the front headlight 14 to prevent hazards.

[0051] (Light distribution control processing using hazard prevention area determination information: data acquisition processing)

[0052] Next, a process is described in which information actually obtained through the determination in steps S110 and S111 and collected in server 32 of the database device 30 is retrieved from the database device 30 by the light distribution control system 10 via network 20 and used for the light distribution control of the headlight 14 by the light distribution control unit 205 of the light distribution processing device 200 of the light distribution control system 10. It should be noted that the information collected in server 32 of the database device 30 by network 20 by the light distribution control system 10, which is provided in vehicle 1A, is retrieved from the database device 30 by the light distribution control system 10, which is provided in vehicle 1A in the illustrated example, via network 20.A vehicle that collects data in the database device 30 and a vehicle that retrieves data from the database device 30 are described as the same vehicle, however, it is obvious that the vehicle that collects data in the database device 30 and the vehicle that retrieves data from the database device 30 may be different vehicles.

[0053] If the information actually obtained through the determination in steps S110 and S111 is acquired by the light distribution control system 10 via the network 20 from the database device 30, the light distribution control unit 205 of the light distribution processing device 200 of the light distribution control system 10 performs, for example, a control as shown in Fig. 5 is illustrated.

[0054] In step S110 of Fig. 3. Since the illuminance is less than the threshold and the detection starting distance of the obstacle is less than the threshold, it can be determined that there is a risk of collision with the obstacle, such as a pedestrian, with the dipped beam of the headlight 14, and the scene requires switching to the high beam to prevent the hazard. Therefore, if a headlight is fitted that can change the direction or area of ​​illumination by automatically activating a light distribution control function or recommend (warn) the driver to switch to the high beam, the light distribution control, with a focus on the surroundings, is carried out by controlling the direction of the headlight so that it is laterally wide (Table No. 1 in Fig. 5).

[0055] Then, in step S111 of Fig. 3. Since the illuminance is equal to or greater than the threshold and the detection start distance of the obstacle is equal to or greater than the threshold, the scene presents a risk of collision with the obstacle, such as a pedestrian. However, the obstacle is simply detected, and a message is issued to the driver that the area posing a risk of collision with the obstacle is present on the path of travel, in order to attract attention by recommending (warning) the driver to switch to high beam (Table No. 2 in Fig. 5).

[0056] Additionally, if there is no risk of collision with the obstacle, such as a pedestrian, even if the illuminance is less than the threshold, driving will continue without changing driver settings at that time (Table No. 3 in Fig. 5).

[0057] In particular, the light distribution control unit 205 of the light distribution processing device 200 sends the position information acquired by the position information acquisition unit 204 via the network 20 from the communication unit 206 to the database device 30 and reads the area information, which indicates the risk of collision with the obstacle and is stored in the server 32, based on the position information from the database device 30 (which will be described later).The communication unit 206 of the light distribution processing device 200 receives the area information indicating the risk of collision with the obstacle, which was sent by the communication unit 31 via the network 20, and the light distribution control unit 205 creates the light distribution control information and performs the light distribution control of the front headlight 14 of the vehicle 1A, or the communication device 15 informs the driver of the vehicle 1A of the recommendation to switch to high beam.This means that here, the light distribution control unit 205 and the communication unit 206 of the light distribution processing device 200 operate as a reading device that reads (captures) the light distribution control area information obtained from (the server 32) of the database device 32 by determining (classifying) the area requiring light distribution control and corresponding to the position information of the vehicle 1A. This is illustrated here. Fig. 4 a sequence plan (in other words, a sequence plan during data acquisition in the light distribution control unit 205), wherein the light distribution control system 10 acquires the area information which has the risk of collision with the obstacle from the database device 30 and controls the front headlight 14 and communicates the recommendation to switch to high beam to the driver by means of the communication device 15.

[0058] The light distribution processing device 200 of the light distribution control system 10 executes the sequence of Fig. 4 is repeated in a given control cycle.

[0059] When processing is started, in step S201 the illuminance detection unit 203 acquires illuminance information from the illuminance sensor 12. In step S202, if the illuminance acquired in step S201 is less than the threshold, the processing from step S203 is carried out. In step S203, the position information acquisition unit 204 acquires position information from the position information sensor 13. In step S204, the position information acquired in step S203 is sent via network 20 by the communication unit 206 to the database device 30, and area information indicating a risk of collision with an obstacle, stored in server 32 (which will be described later), is read from the database device 30 based on the position information.The communication unit 206 of the light distribution processing device 200 receives the area information indicating the risk of collision with the obstacle, which was transmitted by the communication unit 31 via the network 20, and the light distribution control unit 205 acquires the received area information indicating the risk of collision with the obstacle. In step S205, for example, movement path information of the carrier vehicle is acquired by estimating the movement path information of the carrier vehicle from the position information or by acquiring route information of the carrier vehicle from the navigation system.In step S206, it is determined whether the area information indicating the risk of collision with the obstacle, which was recorded in step S204, is present on the movement path of the carrier vehicle, which was recorded in step S205, and the processing of step S207 is only carried out if the area information indicating the risk of collision with the obstacle is present on the movement path of the carrier vehicle.

[0060] It should be noted that the light distribution control unit 205 of the light distribution processing device 200 can determine, based on a distance from the vehicle to the obstacle at a time when the obstacle detection unit 103 first detects the obstacle, in addition to the illuminance detected by the illuminance detection unit 203, whether light distribution control area information obtained by determining that the area requires light distribution control should be read from the database device 30.

[0061] In step S207, if a scene requires the high beam of the headlight 14 for hazard prevention based on the area information indicating the risk of collision with the obstacle, which was detected in step S204, the processing of step S208 is performed. In step S208, if the vehicle is equipped with a light distribution control function such as AHB or ADB, the processing of step S209 is performed. In step S209, the light distribution control function such as AHB or ADB is activated. Additionally, in step S210, if a scene other than the one requiring the high beam of the headlight 14 for hazard prevention is determined in step S207, and the vehicle is determined in step S208 to be not equipped with a light distribution control function, the communication device 15 informs the driver of the vehicle that switching to the high beam of the headlight 14 is recommended.

[0062] Fig. Figure 8 illustrates a data flow diagram between the data acquisition of the light distribution control unit 205 of the light distribution processing device 200 from the database device 30 and the execution of the light distribution control. As in the flowchart of Fig. As illustrated in Figure 4, if the illuminance information D203, acquired by the illuminance sensing unit 203, is less than the threshold, information (area information obtained by determining that the area has a risk of collision with the obstacle and requires light distribution control) is acquired from the database device 30 using the position information D204 acquired by the position information sensing unit 204. In the database device 30, the server 32 acquires area information indicating a risk of collision within a specific threshold range, as indicated by the reference traffic sign 9 in Figure 4. Fig. 9 and Fig. 10 is indicated, near the position information D204 and the communication unit 31 sends the data via the network 20 to the light distribution processing device 200.

[0063] The light distribution control unit 205 of the light distribution processing device 200 activates the light distribution control function or issues a message recommending switching to high beam if the area (information) 7 that presents a risk of collision is present on a movement path 8 of the carrier vehicle, as shown in Fig. Figure 9 illustrates this based on the area information D205, which indicates the risk of collision and was received by the communication unit 206, and the movement path information D207 of the carrier vehicle. Here, it is as shown in Fig. Figure 10 illustrates that if the area (information) 7 indicating the risk of collision is not present on the movement path 8 of the carrier vehicle, it is also possible not to activate the light distribution control function and not to issue a message recommending switching to high beam. Additionally, at present, light point identification information D104, acquired by the light point identification unit 104, can also be used.

[0064] In the present embodiment, as described above, the light distribution control area information obtained by determining that the area corresponding to the position information of vehicle 1A requires light distribution control is read from (the server 32 of) the database device 32, and the control is carried out according to the light distribution control area information obtained by determining that the area requires light distribution control, after it has been determined whether the area is present on the movement path of vehicle 1A. <Operative Wirkung>

[0065] As described above, the light distribution control system 10 of the first embodiment is a light distribution control system that includes a detection system which performs detection of an external environment of a vehicle and controls a light distribution of a front headlight of the vehicle and includes the following: the illuminance detection unit 203, which detects information about the illuminance near the vehicle; the obstacle detection unit (the object detection unit) 103, which detects a distance from the vehicle to an object on a movement path of the vehicle; the position information detection unit 204, which detects position information of the vehicle;the writing device, which writes the illuminance and distance or light distribution control area information, obtained by determining, based on the illuminance and distance, that an area requires light distribution control, together with the vehicle's position information, into the database device 30; the reading device, which reads the light distribution control area information corresponding to the vehicle's position information from the database device 30; and the light distribution control unit 205, which performs the light distribution control of the headlight or communicates to a driver of the vehicle a recommendation to switch to high beam of the headlight by means of the communication device based on the read light distribution control area information.

[0066] This means that area information indicating a risk of collision with an obstacle, for which it has been determined on the basis of information about the distance from the vehicle to the obstacle and information about the illuminance near the vehicle whether an area requires the high beam to prevent danger, is written to the database device 30, and the user interface reads the area information indicating the risk of collision with the obstacle and the position information of the vehicle, such that it is possible to attract the attention of a driver in the area by controlling the headlight in advance before entering the area requiring the high beam to prevent danger, based on the area information indicating the risk of collision with the obstacle, or by communicating to the driver the recommendation to switch the headlights.in which high beams are required to prevent a hazard.

[0067] According to the first embodiment, data is collected after it has been determined whether the area requires the high beam for hazard prevention (the area has a risk of collision with the object and requires light distribution control), such that the information useful for switching to the high beam can be collected in the server.

[0068] Additionally, since the information is collected on the server, it is possible to share experience information from multiple vehicles and to know the area that requires high beams to prevent danger, even on a road the driver is driving on for the first time.

[0069] Information about the area requiring high beams to prevent hazards is then collected by the server based on the position information, and the driver is advised to switch to high beams if the area is present on the path of travel, in such a way that it is possible to attract the driver's attention even in a vehicle that is not equipped with a headlight capable of light distribution control.

[0070] Furthermore, in a vehicle equipped with a light distribution control function such as AHB or ADB, it is possible to effectively attract the driver's attention only in the area where the high beam is required to prevent danger by automatically activating the light distribution control function.

[0071] In addition, the light distribution control system 10 of the first embodiment includes the calculation device, which is provided outside the vehicle, and creates the light distribution control area information based on the illuminance and distance, which were written together with the position information of the vehicle.

[0072] There is not only a method in which the vehicle side determines the area that poses a risk of collision with the obstacle from the position information, the information about the distance to the obstacle and the illuminance information and writes the area information that poses a risk of collision with the obstacle to the database device 30 in this way, but also a method in which, for example, the position information, the information about the distance to the obstacle and the illuminance information are written to the database device 30 and the side of the database device 30 determines the area that poses a risk of collision with the obstacle from the written position information, information about the distance to the obstacle and illuminance information.

[0073] In addition, according to the first embodiment, the light distribution control system 10 can select information to be written from the vehicle to the database device 30 using a write necessity determination means to determine whether the light distribution control area information should be written to the database device 30, based on the illuminance detected by the illuminance detection unit 203 and the distance from the vehicle to the object at a time when the obstacle detection unit (the object detection unit) 103 first detects the object.

[0074] In addition, according to the first embodiment, the light distribution control system 10 can use a read necessity determination means to determine whether the light distribution control area information should be read from the database device 30, based on the illuminance detected by the illuminance detection unit 203 and the distance from the vehicle to the object at the time when the obstacle detection unit (the object detection unit) 103 first detects the object, to determine whether a read is necessary when reading from the database device 30 to the vehicle, and only perform the read to the vehicle if the read is necessary. [Second embodiment]

[0075] Next, a light distribution control system according to a second embodiment of the present invention is described with reference to Fig. 11 described.

[0076] Fig. Figure 11 is a detailed configuration diagram of the entire system of a control system 2, which includes a light distribution control system and a database device, according to the second embodiment.

[0077] As in Fig. As illustrated in Figure 11, a light distribution control system 40 of the control system 2 according to the second embodiment includes the external sensor 11 and the detection processing device 100 (i.e., sections corresponding to a detection system that performs detection of an external environment of a vehicle) in Fig. 2 not.

[0078] The light distribution processing device 200 of the light distribution control system 40, which is in Fig. Figure 11 illustrates the process flow, which is shown in Fig. As illustrated in 4, this occurs repeatedly in a given control cycle.

[0079] When processing is started, in step S201 the illuminance detection unit 203 acquires illuminance information from the illuminance sensor 12. In step S202, if the illuminance acquired in step S201 is less than the threshold, the processing from step S203 is carried out. In step S203, the position information acquisition unit 204 acquires position information from the position information sensor 13. In step S204, the position information acquired in step S203 is sent via network 20 by the communication unit 206 to the database device 30, and area information indicating a risk of collision with an obstacle, stored in server 32, is read from the database device 30 based on the position information.The communication unit 206 of the light distribution processing device 200 receives the area information indicating the risk of collision with the obstacle, which was transmitted by the communication unit 31 via the network 20, and the light distribution control unit 205 acquires the received area information indicating the risk of collision with the obstacle. In step S205, for example, movement path information of the carrier vehicle is acquired by estimating the movement path information of the carrier vehicle from the position information or by acquiring route information of the carrier vehicle from the navigation system.In step S206, it is determined whether the area information indicating the risk of collision with the obstacle, which was recorded in step S204, is present on the movement path of the carrier vehicle, which was recorded in step S205, and the processing of step S207 is only carried out if the area information indicating the risk of collision with the obstacle is present on the movement path of the carrier vehicle.

[0080] It should be noted that the light distribution control unit 205 of the light distribution processing device 200 can determine, based on a distance from the vehicle to the obstacle at a time when the obstacle detection unit 103 first detects the obstacle, in addition to the illuminance detected by the illuminance detection unit 203, whether light distribution control area information obtained by determining that the area requires light distribution control should be read from the database device 30.

[0081] In step S207, if a scene requires the high beam of the headlight 14 for hazard prevention based on the area information indicating the risk of collision with the obstacle, which was detected in step S204, the processing of step S208 is performed. In step S208, if the vehicle is equipped with a light distribution control function such as AHB or ADB, the processing of step S209 is performed. In step S209, the light distribution control function such as AHB or ADB is activated. Additionally, in step S210, if a scene other than the one requiring the high beam of the headlight 14 for hazard prevention is determined in step S207, and the vehicle is determined in step S208 to be not equipped with a light distribution control function, the communication device 15 informs the driver of the vehicle that switching to the high beam of the headlight 14 is recommended.

[0082] In the present embodiment, as described above, the light distribution control area information obtained by determining that the area corresponding to the position information of vehicle 1A requires light distribution control is read from (the server 32) of the database device 32, and the control is carried out according to the light distribution control area information obtained by determining that the area requires light distribution control, after it has been determined whether the area is present on the movement path of vehicle 1A. <Operative Wirkung>

[0083] As described above, the light distribution control system 40 of the second embodiment is a light distribution control system that controls the light distribution of a vehicle's headlight and includes the following: the illuminance detection unit 203, which detects information about the illuminance near the vehicle; the position information detection unit 204, which detects position information of the vehicle; a reading device that reads light distribution control area information corresponding to the vehicle's position information from the database device 30, writing the light distribution control area information obtained by determining that an area requires light distribution control;and the light distribution control unit 205, which performs the light distribution control of the front headlight or, based on the read light distribution control area information, communicates a recommendation to the driver of the vehicle to switch to a high beam of the front headlight by means of a communication device.

[0084] According to the second embodiment, information about the area requiring high beams to prevent hazards is captured by the server based on position information, and the driver is advised to switch to high beams when the area is present on the path of travel, in such a way that it is possible to attract the driver's attention even in a vehicle not equipped with a headlight capable of light distribution control.

[0085] Furthermore, in a vehicle equipped with a light distribution control function such as AHB or ADB, it is possible to effectively attract the driver's attention only in the area where the high beam is required to prevent danger by automatically activating the light distribution control function. [Third embodiment]

[0086] Next, a detection system according to a third embodiment of the present invention, which can be suitably used in a light distribution control system, is described with reference to Fig. 12 described.

[0087] Fig. Figure 12 is a detailed configuration diagram of the entire system of a control system 3, which includes the acquisition system according to the third embodiment, and a database device.

[0088] A detection system 50 according to the third embodiment of the control system 3 performs detection of a vehicle's external environment in order to control the light distribution of a headlight of the vehicle, and does not include the headlight 14, which performs the light distribution control, or the communication device 15 in the first embodiment. Additionally, an information integration processing device 300 is provided instead of the light distribution processing device 200, and an information integration processing unit 301 is provided instead of the light distribution control unit 205. The information integration processing device 300 and the information integration processing unit 301 are equivalent to the light distribution processing device 200 and 205, respectively.the light distribution control unit 205, which is described in the first embodiment, with the exception that the light distribution control of the front headlight 14 is not carried out.

[0089] The recognition processing device 100 and the information integration processing device 300 of the detection system 50, which is in Fig. Figure 12 illustrates the process flow, which is shown in Fig. As illustrated in 3, this occurs repeatedly in a given control cycle.

[0090] When processing is started in step S101, the detection processing device 100 and the information integration processing device 300 acquire sensor information from the external sensor 11, the illuminance sensor 12, and the position information sensor 13. In step S102, a day or night determination is performed from the sensor information acquired by the sensors (e.g., using information such as illuminance and the brightness of an image), and the processing of step S104 is only executed if night is determined in step S103. In step S104, the obstacle detection unit 103 of the detection processing device 100 detects an obstacle (specifically, an obstacle on a movement path of the vehicle 1A) in front of or near the vehicle 1A. In step S105, a risk of collision with the carrier vehicle (e.g.,The processing of step S107 is determined if, in step S106, it is determined that there is a risk of a warning or automatic braking for the obstacle detected in step S104. The processing of step S107 is executed only if, in step S106, it is determined that there is a risk of collision with the obstacle. As a result, it is possible to determine whether an area requires high beams for hazard prevention only in an area that has a risk of collision with the obstacle in the subsequent steps, and to upload information to server 32 of the database device 30. In step S107, the illuminance detection unit 203 of the information integration processing device 300 acquires illuminance information near vehicle 1A from illuminance sensor 12.

[0091] In a case where the illuminance detected in step S107 is less than a threshold in step S108 and the distance (which is a detection start distance and a distance from the vehicle to the obstacle at the time when the obstacle detection unit 103 first detects the obstacle) to the obstacle identified in step S104 is less than a threshold in step S109, the information integration processing unit 301 of the information integration processing device 300 determines in step S110 that the scene (area) requires the high beam for hazard prevention.

[0092] Additionally, if in step S108 the illuminance is equal to or greater than the threshold or in step S109 the distance is equal to or greater than the threshold, there is a risk of collision with the obstacle, however the area around the vehicle is bright 1A and the obstacle itself can be detected at a distance, although the area presents such a risk of collision that it is determined in step S111 as the area that presents a risk of collision, for which it is recommended to drive with the high beams on.

[0093] Then the generated area information (the experience information) indicating the risk of collision with the obstacle is sent by the communication unit 206 30 via the network 20 to the database device, such that the area information (the experience information) indicating the risk of collision with the obstacle is collected in the database device 30 and shared with another vehicle.

[0094] For example, even when data is collected and stored at a traffic accident level, traffic accidents occur at almost every location on major roads and the like, making it difficult to extract effective information. Therefore, it is also necessary to select the data to be collected. In the present embodiment, as described above, data (area information obtained by determining that the area has a risk of collision with the obstacle and requires light distribution control) are collected in the server 32 of the database device 30 after it has been determined (classified for each scene) whether the area requires the light distribution control of the front headlight 14 to prevent hazards. <Operative Wirkung>

[0095] As described above, the detection system 50 of the third embodiment is a detection system that performs detection of an external environment of a vehicle in order to control the light distribution of a front headlight of the vehicle, and includes the following: the illuminance detection unit 203, which detects information about the illuminance near the vehicle; the obstacle detection unit (the object detection unit) 103, which detects a distance from the vehicle to an object on a movement path of the vehicle; the position information detection unit 204, which detects position information of the vehicle;and a writing device that writes the illuminance and distance or light distribution control area information obtained by determining, on the basis of the illuminance and distance, that an area requires light distribution control, together with the position information of the vehicle, into the database device 30.

[0096] According to the third embodiment, data is collected after it has been determined whether the area requires the high beam for hazard prevention (the area has a risk of collision with the obstacle and requires light distribution control), such that the information useful for switching to the high beam can be collected in the server.

[0097] Additionally, since the information is collected on the server, it is possible to share experience information from multiple vehicles, and it is possible to know the area that requires high beams to prevent danger, even on a road the driver is driving on for the first time.

[0098] It should be noted that the present invention is not limited to the embodiments described above, but includes various modifications. For example, the embodiments described above have been described in detail to present the invention in an easily understandable manner and are not necessarily limited to those that incorporate the entire configuration described above.

[0099] Additionally, some or all of the configurations, functions, processing units, processing means, and the like described above can be implemented, for example, in hardware by designing them with an integrated circuit or similar device. Furthermore, each of the configurations, functions, and the like described above can also be implemented in software by causing a processor to interpret and execute a program to implement each function. Information such as programs, tables, and files that implement the respective functions can be stored in a storage device such as main memory, a hard disk drive, a solid-state drive (SSD), or a recording medium such as an IC card, an SD card, or a DVD.

[0100] Additionally, only one control line and one data line deemed necessary for the description were illustrated; not all control and data lines required for a product are shown. It can be assumed that most configurations are practically interconnected. Reference symbol list 1 Control system of the light distribution control system, which includes the detection system and the database device 2 Control system of the light distribution control system and the database device 3 Control system of the acquisition system and the database device 4. Distance from vehicle to obstacle 5. Obstacle (object that may be an obstruction, containing a moving body such as a pedestrian) 6 street lamp 7 Area that presents a risk of collision with the obstacle 8 Movement path 9. Area for capturing information from the server 10 Light distribution control system 11 External sensor 12 illuminance sensors 13 position information sensor 14 headlights 15 Notification device 20 network 30 Database device 31 Communication unit 32 servers 40 Light distribution control system 50 recording system 100 Recognition processing device 101 Central processing unit 102 Storage device 103 Obstacle detection unit (object detection unit) 104 Light point identification unit 200 Light distribution processing device 201 Central processing unit 202 Storage device 203 Illuminance detection unit 204 Position Information Acquisition Unit 205 Light distribution control unit 206 Communication unit 300 Information Integration Processing Device 301 Information Integration Processing Unit< / lichtverteilungssteuerungssystem> < / gesamtkonfiguration>

Claims

[1] Light distribution control system (10) comprising a detection system (50) that performs detection of an external environment of a vehicle (1A) and controls a light distribution of a front headlight (14) of the vehicle (1A), wherein the light distribution control system (10) comprises: a light intensity detection unit (203) that detects information about the light intensity in the vicinity of the vehicle (1A); an object recognition unit (103) that detects a distance from the vehicle (1A) to an object on a motion path (8) of the vehicle (1A); a position information acquisition unit (204) that acquires position information of the vehicle (1A); a writing device which writes the illuminance and distance or light distribution control area information obtained by determining, on the basis of the illuminance and distance, that an area requires light distribution control, together with the position information of the vehicle (1A) into a database device (30); a reading device that reads the light distribution control area information corresponding to the vehicle position information (1A) from the database device (30); and a light distribution control unit (205) which performs the light distribution control of the front headlight (14) or, based on the read light distribution control area information, communicates to a driver of the vehicle (1A) a recommendation to switch to a high beam of the front headlight (14) by means of a communication device (15), and wherein The reading device determines, based on the illuminance detected by the illuminance detection unit (203) and the distance from the vehicle (1A) to the object at the time when the object detection unit (103) first detects the object, whether the light distribution control area information should be read from the database device (30). [2] Light distribution control system (10) according to claim 1, further comprising a calculation device provided outside the vehicle (1A) which generates the light distribution control area information based on the illuminance and distance written together with the position information of the vehicle (1A). [3] Light distribution control system (10) according to claim 1, wherein the writing device determines, on the basis of the illuminance detected by the illuminance detection unit (203) and the distance from the vehicle (1A) to the object at a time when the object recognition unit (103) first detects the object, whether the light distribution control area information should be written to the database device (30). [4] Light distribution control system (10) according to claim 1, wherein the writing device performs a write to the database device (30) by determining that an area requires the high beam to prevent a risk of collision with the object when the illuminance is less than a first threshold and the distance is less than a second threshold, and by determining that an area has a risk of collision with the object for which driving with the high beam is recommended when the illuminance is equal to or greater than the first threshold or the distance is equal to or greater than the second threshold. [5] Light distribution control system (10) according to claim 1, wherein the reading device reads the light distribution control area information in a certain threshold range in the vicinity of the position information of the vehicle (1A). [6] Light distribution control system (10) according to claim 1, wherein the light distribution control unit (205) only performs the light distribution control of the front headlight (14) or communicates to the driver of the vehicle (1A) the recommendation to switch to the high beam of the front headlight (14) by means of the communication device (15) when the read light distribution control area information is available on the movement path (8) of the vehicle (1A). [7] Light distribution control system (10) controlling a light distribution of a front headlight (14) of a vehicle (1A), wherein the light distribution control system (10) comprises: a light intensity detection unit (203) that detects information about the light intensity in the vicinity of the vehicle (1A); a position information acquisition unit (204) that acquires position information of the vehicle (1A); a reading device that reads light distribution control area information corresponding to the position information of the vehicle (1A) from a database device (30) into which the light distribution control area information obtained by determining that an area requires light distribution control has been written; and a light distribution control unit (205) which performs the light distribution control of the front headlight (14) or, based on the read light distribution control area information, communicates to a driver of the vehicle (1A) a recommendation to switch to a high beam of the front headlight (14) by means of a communication device (15), and wherein The reading device determines, based on the illuminance detected by the illuminance detection unit (203) and the distance from the vehicle (1A) to the object at the time when the object detection unit (103) first detects the object, whether the light distribution control area information should be read from the database device (30). [8] Detection system (50) that performs detection of an external environment of a vehicle (1A) in order to control the light distribution of a front headlight (14) of the vehicle (1A), wherein the detection system (50) comprises: a light intensity detection unit (203) that detects information about the light intensity in the vicinity of the vehicle (1A); an object recognition unit (103) that detects a distance from the vehicle (1A) to an object on a motion path (8) of the vehicle (1A); a position information acquisition unit (204) that acquires position information of the vehicle (1A); and a writing device which writes the illuminance and distance or light distribution control area information obtained by determining, on the basis of the illuminance and distance, that an area requires light distribution control, together with the position information of the vehicle (1A) into a database device (30); a reading device that reads the light distribution control area information corresponding to the vehicle position information (1A) from the database device (30); and a light distribution control unit (205) which performs the light distribution control of the front headlight (14) or, based on the read light distribution control area information, communicates to a driver of the vehicle (1A) a recommendation to switch to a high beam of the front headlight (14) by means of a communication device (15), and wherein The reading device determines, based on the illuminance detected by the illuminance detection unit (203) and the distance from the vehicle (1A) to the object at the time when the object detection unit (103) first detects the object, whether the light distribution control area information should be read from the database device (30).

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