LIGHT CONTROL DEVICE AND LIGHT CONTROL METHOD

Abstract

Light control device (10), comprising: an obstacle detection unit (11) that detects obstacles (200) in the vicinity of a self-propelled vehicle (100), a driver recognition status assessment unit (12) that assesses whether a driver of the own vehicle (100) has detected an obstacle (200), and a light control unit (13) that controls an irradiation direction and an irradiation mode of light that a lighting device (20) of the vehicle produces, wherein the light control unit, upon detecting an obstacle, shines light onto the obstacle and controls an illumination mode of the light shone onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle, and wherein, upon detection of the obstacle, the light control unit sets the irradiation mode of the light directed at the obstacle to a first irradiation mode and begins to shine light at the obstacle, and when it is judged that the driver has recognized the obstacle, changes the irradiation mode of the light directed at the obstacle to a second irradiation mode, the second irradiation mode being closer to an irradiation mode of the light of the lighting device prior to detection of the obstacle than the first irradiation mode.

Description

Technical field

[0001] The present disclosure relates to a light control device that controls a lighting device of a vehicle. General state of the art

[0002] A light control device is proposed that assists driving by shining light in a bright (conspicuous) irradiation mode onto an obstacle detected in front of the vehicle, thus emphasizing its presence and alerting the driver to the presence of the obstacle (for example, patent document 1 below).

[0003] Furthermore, patent document 2 discloses a driver assistance system for controlling the light emission of a vehicle-side headlight device, and patent document 3 discloses a method for supporting a driver with regard to objects and motor vehicles relevant to a traffic situation. State-of-the-art documents, patent documents Patent Document 1: JP 2007-38878 A Patent document 2: DE 10 2016 001 692 A1 Patent document 3: DE 10 2019 208 663 A1 Brief description of the invention; Problem of the present invention

[0004] The light control device continues to illuminate the obstacle in a bright illumination mode even after the driver has detected it. However, this bright illumination can be distracting for a driver who has already seen the obstacle.

[0005] The invention was made to solve this problem, and its objective is to provide a light control device with which an obstacle can be illuminated with light in an irradiation mode appropriate to the driver's state with regard to the recognition of the obstacle. Means of solving the task

[0006] A light control device according to the present disclosure comprises an obstacle detection unit that detects obstacles in the vicinity of a self-propelled vehicle, a driver recognition status assessment unit that assesses whether a driver of the self-propelled vehicle has detected an obstacle, and a light control unit that controls an irradiation direction and an irradiation mode of light that is generated by a light device of the self-propelled vehicle, wherein, upon detection of an obstacle, the light control unit shines light onto the obstacle and controls an irradiation mode of the light shine onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle, and wherein, upon detection of the obstacle, the light control unit sets the irradiation mode of the light shine onto the obstacle to a first irradiation mode and begins to shine light onto the obstacle, and if it is judged that the driver has detected the obstacle,changes the irradiation mode of the light directed at the obstacle to a second irradiation mode, the second irradiation mode being closer to an irradiation mode of the light from the lighting device before the obstacle is detected than the first irradiation mode. Effect of the invention

[0007] According to the present disclosure, an obstacle can be irradiated in an irradiation mode that corresponds to a driver's recognition state with respect to an obstacle.

[0008] The tasks, features, aspects and benefits of the present revelation become clearer from the following detailed description and the accompanying figures. Brief description of the characters

[0009] They show: Fig. 1 a block diagram of a configuration of a lighting control system according to a first to third embodiment; Fig. 2 an example of a light irradiation mode of a lighting device before the detection of an obstacle; Fig. 3 an example of a first irradiation mode of an auxiliary irradiation light; Fig. 4 an example of a second irradiation mode of the auxiliary irradiation light; Fig. 5 a modified example of the first irradiation mode of the auxiliary irradiation light; Fig. 6 a modified example of the second irradiation mode of the auxiliary irradiation light; Fig. 7 a flowchart illustrating the operation of a light control device of the first embodiment; Fig. 8 an example of a third irradiation mode of the auxiliary irradiation light; Fig. 9 a modified example of the third irradiation mode of the auxiliary irradiation light; Fig. 10 a flowchart illustrating the operation of a light control device of a second embodiment; Fig. 11 a flowchart illustrating the operation of a light control device of a third embodiment; Fig. 12 an example of a hardware configuration of the light control device; and Fig. 13 an example of a hardware configuration of the light control device. Embodiments of the invention: First embodiment

[0010] Fig. Figure 1 is a block diagram of a configuration of a lighting control system according to a first embodiment. The lighting control system assists the driver by illuminating obstacles detected in front of the vehicle with light. Hereinafter, illuminating an obstacle with light to assist driving is referred to as "assistance illumination." It is also assumed that the lighting control system is installed in a vehicle, the vehicle in which the lighting control system is installed being referred to below as the "own vehicle."

[0011] As in Fig. As shown in Figure 1, a light control system of the first embodiment comprises a light control device 10, a light device 20, an environment detection device 31 and a driver condition detection device 32.

[0012] The environmental sensing device 31 is a sensor that detects the situation in the vicinity of the vehicle and provides environmental information, specifically the information relating to the detection results for the vehicle's surroundings, to the light control device 10. The environmental sensing device 31 is, for example, a time-of-flight (TOF) sensor, such as a radar or ultrasonic sensor, or a camera, or the like. The detection range of the environmental sensing device 31 includes at least the area in front of the vehicle.

[0013] The driver state detection device 32 is a sensor that detects the state of the driver of the vehicle and provides driver information, which consists of the information on the detection result for the driver's state, to the light control device 10. The driver state detection device 32 is, for example, designed by a camera or the like that records the driver. The driver state detection device 32 detects one or more aspects of the driver's gaze, facial orientation, facial expression, and behavior.

[0014] The light control device 10 has a function for controlling the operation of the light device 20 and comprises an obstacle detection unit 11, a driver recognition status assessment unit 12 and a light control unit 13.

[0015] The obstacle detection unit 11 detects obstacles in the vicinity of the vehicle based on the environmental information obtained from the environment detection device 31. More precisely, the obstacle detection unit 11 detects the position of an obstacle in the vicinity of the vehicle (its relative position to the vehicle) and determines, for example, the coordinates of the obstacle's position in an XY coordinate system, where the front-to-back direction of the vehicle is the X-axis and the vehicle width is the Y-axis.

[0016] The driver recognition status assessment unit 12 assesses, based on the driver information obtained from the driver status detection device 32—specifically, information from which it can be determined where the driver is looking, such as the driver's line of sight, facial orientation, etc.—and the position of the obstacle detected by the obstacle detection unit 11, whether the driver has recognized the obstacle. Whether the driver has recognized the obstacle can be assessed, for example, by whether the driver was looking in the direction of the obstacle.

[0017] The light control unit 13 controls the direction and mode of illumination of the light generated by the lighting device 20. In particular, if the obstacle detection unit 11 has detected an obstacle, the light control unit 13 controls the direction of illumination of the light generated by the lighting device 20 and performs auxiliary illumination by shining the light onto the obstacle. The light control unit 13 controls the mode of illumination of the light shining onto the obstacle according to the result of the assessment by the driver recognition status evaluation unit 12 as to whether the driver has detected the obstacle.The illumination mode of the light projected onto the obstacle is controlled by the light control unit 13, which controls at least one of the hue, illuminance, and light distribution of the light generated by the light device 20, a degree of dynamic change of the light, and a projected illumination object. The illumination object is a shape, a character, or the like. The shape can be flat or three-dimensional, with a three-dimensional shape drawing the driver's attention more effectively than a flat shape.

[0018] A dynamic irradiation mode is one that changes over time or with the distance to the obstacle or similar factor. An example of a dynamic irradiation mode is one in which the hue gradually changes over time. In contrast, a static irradiation mode is one that does not change over time or with the distance to the obstacle or similar factor.

[0019] In the event that the obstacle detection unit 11 has detected an obstacle, the light control unit 13, in the first embodiment, sets the illumination mode of the light emitted by the light device 20 onto the obstacle to a first illumination mode and begins auxiliary illumination of the obstacle. If the driver recognition status assessment unit 12 judges that the driver has detected the obstacle, the light control unit 13 changes the illumination mode of the light emitted by the light device 20 onto the obstacle during auxiliary illumination (hereinafter referred to as "auxiliary illumination light") to a second illumination mode. The second illumination mode is closer to the first illumination mode of the light emitted by the light device 20 before the obstacle was detected than the first illumination mode.

[0020] The lighting device 20 comprises a front headlight 21 and an auxiliary headlight 22 with a supplementary headlight or the like, and can implement various illumination modes according to commands from the light control device 10. For the sake of simplicity, in the present embodiment, the front headlight 21 performs a general front illumination, in which, regardless of the detection result of the obstacle, the area in front of the vehicle is illuminated according to the activation of a light switch (not shown) by the driver, whereas the auxiliary headlight 22 provides auxiliary illumination of the obstacle. The illumination mode of the auxiliary light is thus determined by the light generated at the auxiliary headlight 22.

[0021] If at least one of the following functions of the headlight 21 is controllable: the hue, illuminance, and light distribution of the light produced by the lighting device 20, the degree of dynamic change of the light, and the projected irradiation object, then the auxiliary illuminance function can also be performed partially or completely by the headlight 21. For example, if the illuminance of the auxiliary illuminance is increased, instead of increasing the illuminance of the light that the auxiliary illuminance headlight 22 shines onto the obstacle, the illuminance of the light emitted by the headlight 21 towards the obstacle can be increased. If all functions of the auxiliary illuminance can be performed by the headlight 21, the auxiliary illuminance headlight 22 can also be omitted.

[0022] The following is a description of a specific example of the operation of the light control device 10. For example, in a state in which there is no obstacle in front of the vehicle 100, the light device 20, due to the control of the light control device 10, performs exclusively front illumination using the front illumination light 101 generated at the front headlight 21, while the auxiliary illumination headlight 22 is switched off.

[0023] It is assumed that now, as in Fig. As shown in Figure 3, an obstacle 200 appears in front of the vehicle 100. At the time of Fig. 3. The driver has not yet detected the obstacle 200. If the obstacle 200 is detected by the obstacle detection unit 11, the lighting control unit 13 operates the auxiliary illuminator 22 and begins auxiliary illumination, in which the auxiliary illuminator 102 generated by the auxiliary illuminator 22 is directed towards the obstacle 200. The driver recognition status evaluation unit 12 then judges that the driver has not detected the obstacle, which is why the lighting control unit 13 sets the illumination mode of the auxiliary illuminator 102 to the first illumination mode. Consequently, the auxiliary illumination, with which light is directed onto the obstacle 200, is carried out in the first illumination mode. The first illumination mode can be a bright (conspicuous) illumination mode, which strongly draws the driver's attention to the obstacle.

[0024] When the driver then detects the obstacle 200, the driver detection status assessment unit 12 judges that the driver has detected the obstacle 200, so that the light control unit 13, as in Fig. Figure 4 shows the irradiation mode of the auxiliary irradiation light 102 changing from the first irradiation mode to the second irradiation mode. The second irradiation mode is closer to the first irradiation mode of the light from the lighting device 20 before the detection of the obstacle 200 at the time of Fig. 2 as the first irradiation mode. Since the auxiliary irradiation spotlight 22 was in operation at the time of Fig. 2 was switched off, the second irradiation mode can be brought closer to the irradiation mode before the detection of the obstacle 200 than the first irradiation mode by reducing the illuminance of the auxiliary irradiation light 102 in the second irradiation mode compared to the illuminance of the auxiliary irradiation light 102 in the first irradiation mode.

[0025] By ensuring that the illumination mode of the auxiliary illumination light after the driver detects the obstacle (second illumination mode) is closer to the illumination mode of the light device 20 before the obstacle is detected than the illumination mode of the auxiliary illumination light before the driver detects the obstacle (first illumination mode), it is possible to prevent the driver from perceiving the auxiliary illumination light as disturbing after the obstacle has been detected.

[0026] In this way, according to the light control system of the first embodiment, the obstacle can be illuminated in an irradiation mode that is more appropriate for the driver's perception of an obstacle.

[0027] If, even before the light is directed at the obstacle, it is determined that the driver has recognized the obstacle, the light control unit 13 can refrain from executing the auxiliary illumination in the first illumination mode and set the illumination mode of the auxiliary illumination light to the second illumination mode from the beginning and begin with the auxiliary illumination.

[0028] The illumination mode of the auxiliary illumination light 102 can be changed by modifying at least one of its hue, illuminance, and light distribution, the degree of dynamic change of the light, and the projected illumination object. For example, if the illumination mode of the auxiliary illumination light 102 is changed based on its hue, and the color of the front illumination light 101 emitted by the front headlight 21 is white, the color of the auxiliary illumination light 102 can be red in the first illumination mode and yellow in the second illumination mode, or the like.

[0029] If the irradiation mode of the auxiliary irradiation light 102 is changed based on the degree of dynamic change, and the front irradiation light 101 is static without a change in irradiation mode, the first irradiation mode can, for example, be dynamic by changing the irradiation area of ​​the auxiliary irradiation light 102 as shown in Fig. 5 fluctuates, and the second irradiation mode is static, with the irradiation area of ​​the auxiliary irradiation light 102 as in Fig. 6 remains fixed. If both the first and second irradiation modes are dynamic, the degree of dynamic change in the second irradiation mode can be less than the degree of dynamic change in the first irradiation mode. The mode of dynamic change of the light can be any type of fluctuation, flashing, hue change, and the like.

[0030] If the illumination mode of the auxiliary illumination light 102 is changed by altering the light distribution, in the first illumination mode a beam of the auxiliary illumination light 102 can illuminate the obstacle while narrowing the illumination area, and in the second illumination mode the illumination area can be expanded. Alternatively, in the first illumination mode the outline of the auxiliary illumination light 102 can be sharp, and in the second illumination mode the outline of the auxiliary illumination light 102 can be blurred. If the illumination area of ​​the auxiliary illumination light 102 is expanded or made more blurred, the auxiliary illumination light 102 becomes less conspicuous (less distinct), which is why, in this case as well, it can be said that the second illumination mode is closer to the illumination mode before the obstacle was detected than the first illumination mode.

[0031] If the irradiation mode of the auxiliary irradiation light 102 is changed based on the irradiation object, in the first irradiation mode a conspicuous irradiation object (for example, a three-dimensional shape or a three-dimensional character) can be projected with the auxiliary irradiation light 102, and in the second irradiation mode a less conspicuous irradiation object (for example, a flat shape or a flat character) can be projected with the auxiliary irradiation light 102.

[0032] In this way, various methods for changing the irradiation mode of the auxiliary irradiation light 102 are conceivable, and the methods are not limited to those mentioned above. For example, several methods can be combined by changing both the hue of the auxiliary irradiation light 102 and the light distribution.

[0033] The second illumination mode can also be the same as the illumination mode of the light device before the obstacle is detected. In this case, the driver's detection of the obstacle is practically equivalent to the end of the auxiliary illumination, so the driver is not disturbed by the auxiliary illumination at all.

[0034] In the present embodiment, it has been specified by way of example that the front headlight 21 of the lighting device 20 is in the state before the detection of the obstacle ( Fig. 2) is switched on, but the front headlight 21 can also be switched off. The illumination mode of the light of the lighting device 20 before the detection of the obstacle thus also includes the possibility that the lighting device 20 is switched off.

[0035] Fig. Figure 7 is a flowchart illustrating the operation of the light control device 10 of the first embodiment. The following section uses the flowchart to explain... Fig. 7 the operation of the light control device 10 is described.

[0036] When the vehicle starts moving, the light control device 10 begins its operation, whereupon the obstacle detection unit 11 obtains environmental information for the vehicle from the environment detection device 31 (step S101). Additionally, the driver recognition status assessment unit 12 obtains driver information from the driver status detection device 32 (step S102).

[0037] The obstacle detection unit 11 assesses, based on the environmental information for the vehicle, whether an obstacle is detected in the vicinity of the vehicle (step S103). If no obstacle is detected (NO in step S103), the light control unit 13 checks whether the auxiliary illumination is currently being performed (step S104). If the auxiliary illumination is being performed (YES in step S104), the light control unit 13 ends the auxiliary illumination (step S105) and then checks whether the vehicle's journey has ended (step S106). If the vehicle is still moving (NO in step S106), the process returns to step S101, and if the vehicle's journey has ended (YES in step S106), the operation of the light control device 10 ends.

[0038] However, if in step S103 the obstacle detection unit 11 detects an obstacle in the vicinity of the vehicle (YES in step S103), the light control unit 13 checks whether a predetermined auxiliary illumination execution condition is met (step S107). The auxiliary illumination execution condition is a basis for determining whether a condition exists in which auxiliary illumination is to be performed. In the present embodiment, the auxiliary illumination execution condition is that an obstacle is located within the illumination range of the headlight 21. Therefore, in step S107, it is assessed whether the position of the obstacle detected by the obstacle detection unit 11 lies within the illumination range of the headlight 21. However, the auxiliary illumination execution condition is not limited to this example and can be any condition.

[0039] If the obstacle's position is within the illumination range of the front headlight 21, the auxiliary illumination execution condition is determined to be met (YES in step S107), and the driver recognition status assessment unit 12 evaluates, based on the driver information, whether the driver has detected the obstacle (step S108). If the driver has not detected the obstacle (NO in step S108), the lighting control unit 13 sets the illumination mode of the auxiliary illumination light generated at the auxiliary illumination headlight 22 to the first illumination mode and executes the auxiliary illumination (step S109). If the driver has detected the obstacle (YES in step S108), the lighting control unit 13 sets the illumination mode of the auxiliary illumination light generated at the auxiliary illumination headlight 22 to the second illumination mode and executes the auxiliary illumination (step S110). Then, the process proceeds to step S106.

[0040] If, in step S107, the obstacle's position is not within the illumination range of the headlight 21, the system determines that the auxiliary illumination execution condition is not met (NO in step S107), and the process proceeds to step S104. If the auxiliary illumination is being executed at this time (YES in step S104), the lighting control unit 13 terminates the auxiliary illumination (step S105). Even if an obstacle is detected within the illumination range of the headlight 21 and the auxiliary illumination is initiated, the auxiliary illumination is terminated if the obstacle subsequently leaves the illumination range of the headlight 21. The condition for terminating the auxiliary illumination is therefore that the auxiliary illumination execution condition is no longer met, since the obstacle has left the illumination range of the headlight 21. Second embodiment

[0041] In the light control device 10 of the first embodiment, if the driver detects the obstacle after the start of the auxiliary irradiation in the first irradiation mode, the irradiation mode of the auxiliary irradiation is changed from the first irradiation mode to the less conspicuous second irradiation mode, thus preventing a disturbance to the driver.

[0042] In a second embodiment, a third illumination mode, which is more conspicuous than the first illumination mode, and a light control device 10 are also proposed. In this device, if the auxiliary illumination is started in the first illumination mode but the driver does not detect the obstacle within a certain time period, the illumination mode of the auxiliary illumination is changed to the third illumination mode to draw the driver's attention to the obstacle. If the driver detects the obstacle after the auxiliary illumination has been started in the first illumination mode or in the third illumination mode, the light control device 10 of the second embodiment, as in the first embodiment, changes the illumination mode of the auxiliary illumination to the second illumination mode. The configuration of the light control system according to the second embodiment is identical to that of the first embodiment. Fig. 1).

[0043] For example, it is assumed that the light control device 10 is as described in Fig. 3 sets the illumination mode of the auxiliary illumination light 102 to the first illumination mode and starts the auxiliary illumination, in which the auxiliary illumination light 102 is directed onto the obstacle 200. If subsequently the driver recognition status assessment unit 12 judges that the driver has not recognized the obstacle even after a certain time has elapsed, the light control unit 13 changes as described in Fig. 8 the irradiation mode of the auxiliary irradiation light 102 directed onto the obstacle 200 to the third irradiation mode.

[0044] The third irradiation mode deviates more from the irradiation mode of the light from the lighting device 20 before the obstacle is detected at the time of Fig. 2 from as the first irradiation mode. Since the auxiliary irradiation spotlight 22 was at the time of Fig. If 2 was switched off, the third irradiation mode can be located further away from the irradiation mode before the detection of the obstacle 200 than the first irradiation mode by increasing the illuminance of the auxiliary irradiation light 102 in the third irradiation mode compared to the illuminance of the auxiliary irradiation light 102 in the first irradiation mode.

[0045] If the driver does not recognize the obstacle, the illumination mode of the auxiliary illumination light changes to the third illumination mode, which differs more from the illumination mode of the light device 20 before the obstacle is detected than the illumination mode of the auxiliary illumination light before the obstacle is recognized by the driver (first illumination mode), so that the driver's attention is drawn to the obstacle and he is encouraged to recognize the obstacle.

[0046] In this way, according to the light control system of the second embodiment, if the driver detects the obstacle with a delay, the obstacle can be illuminated in an irradiation mode that is appropriate for the driver's state of recognition with regard to the obstacle.

[0047] If the driver detects the obstacle after the auxiliary illumination has started, the illumination mode of the auxiliary illumination light changes to the second illumination mode, just as in the first embodiment. This second illumination mode is closer to the illumination mode of the light device 20 before the obstacle is detected than the illumination mode of the auxiliary illumination light before the obstacle is detected by the driver (first illumination mode), which is why the same effect is achieved as in the first embodiment.

[0048] In the second embodiment, the irradiation mode of the auxiliary irradiation light 102 can also be changed by changing at least one of the hue, illuminance and light distribution of the auxiliary irradiation light 102, the degree of dynamic change of the light and the projected irradiation object.

[0049] If the irradiation mode of the auxiliary irradiation light 102 is changed based on the degree of dynamic change, the irradiation area of ​​the auxiliary irradiation light 102 can be adjusted in the first irradiation mode as shown in Fig. 5 fluctuate, while the irradiation area of ​​the auxiliary irradiation light 102 in the third irradiation mode as in Fig. 9 may fluctuate with a higher amplitude than in the first irradiation mode.

[0050] Fig. Figure 10 is a flowchart illustrating the operation of the light control device 10 of the second embodiment. The flowchart of Fig. 10 were included in the flowchart of Fig. 7. Steps S111 and S112 were added. Since steps S101 to S110 with Fig. Since 7 are identical, their description is omitted.

[0051] If it is determined that the driver did not recognize the detected obstacle (NO in step S108), step S111 is executed. In step S111, it is assessed whether a certain amount of time has elapsed since the start of the auxiliary radiation.

[0052] Step S112 is executed if it is determined that the driver did not recognize the detected obstacle and that a certain amount of time has elapsed since the start of the auxiliary illumination (if YES in step S111). In step S112, the light control unit 13 sets the illumination mode of the auxiliary illumination light generated at the auxiliary illumination headlight 22 to the third illumination mode and executes the auxiliary illumination.

[0053] If, in step S111, the specified time since the start of the auxiliary irradiation has not yet elapsed (NO in step S111), a transition to step S109 takes place and the light control unit 13 sets the irradiation mode of the auxiliary irradiation light generated at the auxiliary irradiation spotlight 22 to the first irradiation mode and carries out the auxiliary irradiation. Third embodiment

[0054] In the second embodiment, when the driver detects an obstacle after the auxiliary irradiation has started, the same procedure as in the first embodiment is described, namely, that the irradiation mode of the auxiliary irradiation is changed to the less noticeable second irradiation mode. However, it is not absolutely necessary to perform the exact same procedure as in the first embodiment. That is, the technology of the second embodiment can also be implemented without combining it with the technology of the first embodiment.

[0055] A third embodiment provides an example in which the technology of the second embodiment is implemented independently. The configuration of the light control system according to the third embodiment is identical to that of the first embodiment ( Fig. 1).

[0056] In the third embodiment, for the purposes of simplified description, the “third irradiation mode” of the second embodiment, i.e., the irradiation mode which differs more from the irradiation mode of the light of the light device 20 before the detection of the obstacle than the first irradiation mode, is referred to as the “second irradiation mode”.

[0057] Fig. Figure 11 is a flowchart illustrating the operation of the light control device 10 of the third embodiment. The flowchart of Fig. 10 were included in the flowchart of Fig. 7. Steps S108 to S110 are replaced by steps S201 to S204. Since steps S101 to S107 with Fig. Since 7 are identical, their description is omitted.

[0058] In the third embodiment, if an obstacle is detected and it is determined that the auxiliary illumination execution condition is met (YES in step S107), the driver recognition status evaluation unit 12 assesses, based on the driver information, whether the driver has detected the obstacle (step S201). If the driver has detected the obstacle (YES in step S201), the light control unit 13 sets the illumination mode of the auxiliary illumination light generated at the auxiliary illumination headlamp 22 to the first illumination mode and executes the auxiliary illumination (step S202). Even if the driver has not detected the obstacle (NO in step S201), the light control unit 13 proceeds to step S202 and executes the auxiliary illumination in the first illumination mode as long as the specified time interval since the start of the auxiliary illumination has not yet elapsed (NO in step S203).

[0059] However, if the condition that the driver does not recognize the obstacle (judgment “NO” in step S201) persists even after the specified time period has elapsed since the start of the auxiliary irradiation, a judgment of “YES” is made in step S203, and the light control unit 13 performs the auxiliary irradiation in the second irradiation mode (i.e., the irradiation mode that differs more from the irradiation mode of the light of the lighting device 20 before the obstacle was detected than the first irradiation mode) (step S204).

[0060] If the driver does not recognize the obstacle, the illumination mode of the auxiliary illumination light changes to the second illumination mode, which differs more from the illumination mode of the light device 20 before the obstacle is detected than from the illumination mode of the auxiliary illumination light before the obstacle is recognized by the driver (first illumination mode), so that the driver's attention is drawn to the obstacle and he is encouraged to recognize the obstacle.

[0061] According to the light control system of the third embodiment, if the driver detects the obstacle with a delay, the obstacle can be illuminated in an irradiation mode appropriate to the driver's state of awareness of the obstacle. Examples of hardware configuration

[0062] Fig. 12 and Fig. Figures 13 each show an example of the hardware configuration of the light control device 10. The functions of the configuration elements of the light control device 10 are, for example, represented by a Fig. The processing circuit 50 shown in Figure 12 is implemented. The light control device 10 thus comprises the processing circuit 50, which detects obstacles in the vicinity of the vehicle, assesses whether the driver of the vehicle has detected the obstacle, and controls the direction and mode of illumination of the vehicle's lighting device. When an obstacle is detected, the processing circuit 50 shines light onto the obstacle and controls the mode of illumination of the light shining onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle. The processing circuit 50 can be dedicated hardware, or it can be implemented using a processor (also referred to as a central processing unit (CPU), processing device, computing device, microprocessor, microcomputer, or DSP (digital signal processor)) that executes a program stored in memory.

[0063] If the processing circuit 50 is dedicated hardware, then the processing circuit 50 is a single circuit, a plurality of circuits, a programmed processor, a parallel programmed processor, an ASIC (application-specific integrated circuit), an FPGA (field-programmable gate array), or a combination thereof. The functions of the configuration elements of the light control device 10 can be implemented by separate processing circuits, or their functions can be combined and implemented by a single processing circuit.

[0064] Fig.Figure 13 shows an example of the hardware configuration of the light control device 10 for the case where the processing circuit 50 is configured using a processor for executing programs. In this case, the functions of the configuration elements of the light control device 10 are implemented by software, etc. (software, firmware, or a combination of software and firmware). The software, etc., is recorded as a program and stored in memory 52. ​​By reading and executing the programs stored in memory 52, the processor 51 performs the functions of the individual units.The light control device 10 thus comprises the memory 52 for storing the program, which ultimately performs processing for detecting obstacles in the vicinity of the vehicle, processing for assessing whether the driver of the vehicle has detected an obstacle, and processing for controlling the direction and mode of illumination of the light generated by the vehicle's lighting device. The processor 51, which executes the program, shines light onto the obstacle upon detection and controls the mode of illumination of the light shining onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle. In other words, the program causes the sequences of operations and procedures of the configuration elements of the light control device 10 to be executed on a computer.

[0065] The memory 52 could be, for example, RAM (direct access memory), ROM (read-only memory), flash memory, EPROM (erasable programmable read-only memory), EEPPROM (electrically erasable programmable read-only memory), or another non-volatile or volatile semiconductor memory, or a magnetic disk, a floppy disk, an optical disk, a minidisk, a DVD (Digital Versatile Disc), or a storage medium used in the future.

[0066] The functions of the configuration elements of the lighting control device 10 were described above as a configuration implemented by hardware and software, etc. However, there is no limitation to this, and a configuration is also possible in which some of the configuration elements of the lighting control device 10 are implemented by dedicated hardware and others by software, etc. For example, the functions of some of the configuration elements can be implemented by the processing circuit 50 as dedicated hardware, while the remaining configuration elements can be implemented by the processing circuit 50, acting as the processor 51, reading and executing a program stored in memory 52.

[0067] In this way, the light control device 10 can implement the above functions through hardware, software, etc., or a combination thereof.

[0068] The individual embodiments can be freely combined, and individual embodiments can be modified or omitted as needed.

[0069] The above description is exemplary in all aspects, and it goes without saying that countless variations not shown here are conceivable. Explanation of reference symbols 10 Light control device 11 Obstacle detection unit 12 Driver Recognition Condition Assessment Unit 13 Light control unit 20 Lighting device 21 Headlights 22 auxiliary irradiation spotlights 31 Environmental sensing device 32 Driver condition monitoring device 50 processing circuits 51 processor 52 storage 100 own vehicle 101 Front illumination light 102 Auxiliary irradiation light 200 obstacle

Claims

[1] Light control device (10), comprising: an obstacle detection unit (11) that detects obstacles (200) in the vicinity of a self-propelled vehicle (100), a driver recognition status assessment unit (12) that assesses whether a driver of the own vehicle (100) has detected an obstacle (200), and a light control unit (13) that controls an irradiation direction and an irradiation mode of light that a lighting device (20) of the vehicle produces, wherein the light control unit, upon detecting an obstacle, shines light onto the obstacle and controls an illumination mode of the light shone onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle, and wherein, upon detection of the obstacle, the light control unit sets the irradiation mode of the light directed at the obstacle to a first irradiation mode and begins to shine light at the obstacle, and when it is judged that the driver has recognized the obstacle, changes the irradiation mode of the light directed at the obstacle to a second irradiation mode, the second irradiation mode being closer to an irradiation mode of the light of the lighting device prior to detection of the obstacle than the first irradiation mode. [2] Light control device (10) according to claim 1, wherein the light control unit, in the event that it is judged that the driver has recognized the obstacle before light has been emitted onto the obstacle, sets the irradiation mode of the light emitted onto the obstacle to the second irradiation mode and begins to emit light onto the obstacle. [3] Light control device (10) according to claim 1, wherein the light control unit, in the event that a predetermined time has elapsed since the light was directed at the obstacle in the first irradiation mode, but it is judged that the driver has not recognized the obstacle, changes the irradiation mode of the light directed at the obstacle to a third irradiation mode, wherein the third irradiation mode differs more from an irradiation mode of the light of the light device before the obstacle was detected than the first irradiation mode. [4] Light control device (10) according to claim 1, wherein, upon detection of the obstacle, the light control unit sets the irradiation mode of the light directed at the obstacle to a first irradiation mode and begins to shine light at the obstacle, and if a predetermined time has elapsed since shining light at the obstacle in the first irradiation mode, but it is judged that the driver has not detected the obstacle, changes the irradiation mode of the light directed at the obstacle to a second irradiation mode, wherein the second irradiation mode differs more from an irradiation mode of the light of the light device prior to detection of the obstacle than the first irradiation mode. [5] Light control device (10) according to claim 1, wherein the light control unit stops emitting light onto the obstacle when the obstacle moves away from an illumination area of ​​a front headlight (21) of the vehicle. [6] Light control device (10) according to claim 1, wherein the light control unit controls the irradiation mode of the light radiated onto the obstacle by controlling at least one of the hue, illuminance and light distribution of the light, a degree of dynamic change of the light and a projected irradiation object. [7] Light control device (10) according to claim 6, wherein the irradiation object is a shape or a character. [8] Light control device (10) according to claim 1, wherein the first irradiation mode is an irradiation mode with dynamic change and the second irradiation mode is a static irradiation mode. [9] Light control device (10) according to claim 1, wherein the second irradiation mode is the same as an irradiation mode of the light of the light device before the detection of the obstacle. [10] Light control method, wherein an obstacle detection unit (11) of a light control device (10) detects obstacles (200) in the vicinity of a self-propelled vehicle (100), wherein a driver recognition status assessment unit (12) of the light control device assesses whether a driver of the own vehicle has detected an obstacle, wherein a light control unit (13) of the light control device controls an irradiation direction and an irradiation mode of light generated by a light device (20) of the vehicle, wherein the light control unit, upon detecting an obstacle, shines light onto the obstacle and controls an illumination mode of the light shone onto the obstacle according to the result of the assessment of whether the driver has detected the obstacle, and wherein, upon detection of the obstacle, the light control unit sets the irradiation mode of the light directed at the obstacle to a first irradiation mode and begins to shine light at the obstacle, and when it is judged that the driver has recognized the obstacle, changes the irradiation mode of the light directed at the obstacle to a second irradiation mode, the second irradiation mode being closer to an irradiation mode of the light of the lighting device prior to detection of the obstacle than the first irradiation mode.

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