On-vehicle control device, control method, and program

Abstract

To control a headlight of an own vehicle at a more appropriate timing.SOLUTION: An on-vehicle control device 20 comprises: a detection part 21 for detecting light of a direction irradiated by a headlight of an own vehicle; an other-vehicle light determination part 22 for determining whether or not the light detected by the detection part 21 is light of a headlight of another vehicle being a vehicle different from the own vehicle; and an irradiation control part 25 for radiating light by changing an irradiation range of the headlight of the own vehicle, when the other-vehicle light determination part 22 determines that it is light of the headlight of the other vehicle, and brightness of the light detected by the detection part 21 satisfies a prescribed condition.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an on-vehicle control device, a control method, and a program. [Background technology]

[0002] A technology has been disclosed for setting the headlight illumination range based on the position of the light source of another vehicle in a captured image so that exclusion areas that should not be included in the headlight illumination range are not included in the illumination range (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-244893 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the illumination range of the headlights is set based on the result of identifying the light source of the other vehicle from the captured image. Therefore, the direction of the optical axis of the headlights of the host vehicle is changed after the headlights become visible to the driver of the other vehicle. There may be a time when the driver of the other vehicle feels dazzled by the headlights of the host vehicle. Therefore, it is desired to more appropriately control the headlights of the host vehicle.

[0005] The present disclosure has been made in consideration of the above, and has an object to control the headlights of a host vehicle at more appropriate timing. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the objective, the on-board control device of the present disclosure includes a detection unit that detects light in the direction emitted by the headlights of the host vehicle, an other-vehicle light determination unit that determines whether the light detected by the detection unit is light from the headlights of another vehicle that is a vehicle different from the host vehicle, and an illumination control unit that changes the illumination range of the headlights of the host vehicle and illuminates light when the other-vehicle light determination unit determines that the light detected by the detection unit is light from the headlights of the other vehicle and the brightness of the light detected by the detection unit satisfies a predetermined condition.

[0007] The control method according to the present disclosure includes a detection step of detecting light in a direction emitted by the headlights of the host vehicle, an other vehicle light determination step of determining whether the light detected in the detection step is light from the headlights of another vehicle that is a vehicle different from the host vehicle, and an illumination control step of changing the illumination range of the headlights of the host vehicle to illuminate the light if the other vehicle light determination step determines that the light is light from the headlights of the other vehicle and the brightness of the light detected in the detection step satisfies a predetermined condition.

[0008] The program of the present disclosure is executed by a computer operating as an on-board control device, which includes a detection step of detecting light in the direction emitted by the headlights of the host vehicle, an other vehicle light determination step of determining whether the light detected in the detection step is light from the headlights of another vehicle that is a vehicle different from the host vehicle, and an illumination control step of changing the illumination range of the headlights of the host vehicle and emitting light if the other vehicle light determination step determines that the light is light from the headlights of the other vehicle and the brightness of the light detected in the detection step satisfies a predetermined condition. Effect of the Invention

[0009] According to the present disclosure, the headlights of the host vehicle can be controlled at more appropriate timing. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of an in-vehicle device according to the first embodiment. [Diagram 2]FIG. 2 is a diagram showing an example of detection of light from the headlights of another vehicle. [Diagram 3] FIG. 3 is a diagram showing an example of detection of light from headlamps of a host vehicle and another vehicle. [Figure 4] FIG. 4 is a diagram showing an example in which only the light components of the headlights of other vehicles are separated from the image shown in FIG. [Diagram 5] FIG. 5 is a diagram showing an example of light components of the headlights of the host vehicle. [Figure 6] FIG. 6 is a flowchart showing a flow of processing of the in-vehicle device according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of the light from the headlights of the host vehicle and the headlights of another vehicle. [Figure 8] FIG. 8 is a schematic diagram showing another example of the light from the headlights of the host vehicle and the headlights of the other vehicle. [Figure 9] FIG. 9 is a flowchart showing a flow of processing performed by the in-vehicle device according to the second embodiment. [Figure 10] FIG. 10 is a block diagram showing an example of the configuration of an in-vehicle device according to the third embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a light modulation pattern. [Figure 12] FIG. 12 is a diagram showing an example of a pattern of light modulation assigned to each direction. [Figure 13] FIG. 13 is a schematic diagram showing another example of the light from the headlights of the host vehicle and the headlights of the other vehicle. [Figure 14] FIG. 14 is a schematic diagram showing another example of the light from the headlights of the host vehicle and the headlights of the other vehicle. [Figure 15] FIG. 15 is a flowchart showing a flow of processing performed by the in-vehicle device according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of an on-vehicle control device, a control method, and a program according to the present invention will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the following embodiment. In this embodiment, the headlights of vehicles including the vehicle itself and other vehicles irradiate light on which information is superimposed. The headlights of the vehicles superimpose information by a pattern of flashing at a high speed that is unrecognizable to humans. When the headlights of the vehicle itself are on high beam, the on-vehicle device 1 changes the illumination range of the headlights upon recognizing the light of the headlights of other vehicles other than the vehicle itself.

[0012] [First embodiment] <In-vehicle equipment> 1 is a block diagram showing an example of the configuration of an in-vehicle device according to a first embodiment. The in-vehicle device 1 is a device mounted on a vehicle. The in-vehicle device 1 includes a headlamp 11, a light receiving unit 12, and a control unit 20.

[0013] The headlamp 11 is a so-called headlight of the vehicle. The headlamp 11 is arranged facing the traveling direction of the vehicle. The headlamp 11 is, for example, a light source of LED (Light Emitting Diode) light. The headlamp 11 is controlled to be turned on and off by a control signal from the irradiation control unit 25 of the control unit 20.

[0014] The illumination range of the headlamp 11 is changed by the illumination control unit 25 of the control unit 20. In other words, the headlamp 11 can be switched between high beam and low beam. If the headlamp 11 is capable of adaptive control (so-called adaptive headlight), for example if it uses multiple LEDs, it can change the illumination range to one that does not include the oncoming lane by changing the direction of the optical axis of each LED or by switching each LED on and off. For example, if a shade is provided in front of the headlamp, it can change the illumination range of the headlamp to one that does not include the oncoming lane by moving the shade.

[0015] The headlight 11 emits light on which information is superimposed. In this embodiment, the headlight 11 emits light on which information that allows the driver's vehicle to be distinguished from other vehicles is superimposed by modulating the blinking period between the driver's vehicle and other vehicles. In this embodiment, the headlight 11 emits light that blinks at a high speed that is unrecognizable to humans.

[0016] The blinking of the headlight 11 will now be described. The headlight 11 switches between ON and OFF at high speed, and is modulated in a predetermined pattern on the frequency axis or time axis. This clearly identifies the light as the vehicle's headlight 11. Some street lights and the like blink at high speed depending on the power supply frequency. Other street lights and the like blink at a constant frequency without modulation. To ensure distinction from street lights and the like, the headlight 11 is modulated on the frequency axis or time axis in addition to blinking at high speed.

[0017] The information that can distinguish between the host vehicle and the other vehicle only needs to be capable of distinguishing whether the vehicle is the host vehicle or not. The information that can distinguish between the host vehicle and the other vehicle does not need to be capable of distinguishing other vehicles other than the host vehicle individually. However, the information that can distinguish between the host vehicle and the other vehicle can determine whether the headlights of the other vehicle are not the headlights of the host vehicle or not, using a method described below.

[0018] The information that can distinguish the vehicle from other vehicles may be identification information that can uniquely identify the vehicle. The vehicle identification information is, for example, information that indicates characters shown on the license plate of the vehicle. In this case, the information is superimposed on the headlight light in the following order: the four-digit number on the license plate, hiragana or alphabet, place name, and classification number. The vehicle identification information may be, for example, a chassis number.

[0019] The modulation pattern of the headlights of the host vehicle is stored in a storage unit (not shown).

[0020] The light receiving unit 12 receives light in the direction irradiated by the headlights of the vehicle, in other words, at least in the traveling direction of the vehicle. The light receiving unit 12 is, for example, an illuminance sensor that receives light irradiated from the headlights 11 of the vehicle and other vehicles. The light receiving unit 12 also receives light from surrounding street lights and the like. The light receiving unit 12 can detect light from the headlights 11 that flash at high speed. For example, the light receiving unit 12 constantly receives light while the in-vehicle device 1 is running. The light receiving unit 12 outputs a light receiving signal, which is a signal of the received light, to the detection unit 21 of the control unit 20. The light receiving unit 12 is not limited to an illuminance sensor, and various light sensors that obtain an output value using an image sensor such as a CCD (Charge Coupled Device) or a phototransistor, etc., can be applied.

[0021] The light receiving unit 12 may be a camera arranged in the in-vehicle device 1. In this case, the light receiving unit 12 captures an image of light emitted from the headlights 11 of the vehicle and other vehicles. The light receiving unit 12 can capture the light of the headlights 11 that flashes at high speed.

[0022] <Control Unit> The control unit 20 is an arithmetic processing device (control device) constituted by, for example, a CPU (Central Processing Unit) and the like. The control unit 20 loads a stored program into memory and executes instructions contained in the program. The control unit 20 includes an internal memory (not shown) that is used for temporary storage of data in the control unit 20 and the like. The control unit 20 controls the in-vehicle device 1. The control unit 20 includes a detection unit 21, an other vehicle light determination unit 22, and an illumination control unit 25.

[0023] The detection unit 21 detects the direction in which the headlights of the host vehicle are irradiated, in other words, the light in the traveling direction of the host vehicle. In this embodiment, the detection unit 21 detects light irradiated by the light receiving unit 12 from the headlights 11 of the host vehicle and other vehicles.

[0024] In the present embodiment, the detection unit 21 may further detect information superimposed on the detected light. More specifically, the detection unit 21 may further detect information superimposed on the detected light that allows for distinguishing between the subject vehicle and another vehicle.

[0025] When the light receiving unit 12 is a sensor, the detection unit 21 detects light in the direction irradiated by the headlights of the vehicle as a light reception signal.

[0026] When the light receiving unit 12 is a camera, the detection unit 21 functions as an image acquisition unit that acquires a captured image. Furthermore, the detection unit 21 has a function of detecting a luminance value in the image and detecting a range having a luminance value equal to or higher than a predetermined value as light. Note that, other scales such as RGB values ​​may be used as a method of detecting light in addition to the luminance value.

[0027] The other vehicle light determination unit 22 determines whether the light detected by the detection unit 21 is light from the headlights of another vehicle that is a vehicle different from the host vehicle. The other vehicle light determination unit 22 does not need to acquire information about the other vehicle so that the other vehicle can be identified. The other vehicle light determination unit 22 only needs to be able to determine that the detected light is light from the headlights of a vehicle and not light from the headlights of the host vehicle.

[0028] In this embodiment, the other vehicle light determination unit 22 determines whether or not the detected light is light from the headlights of a vehicle other than the host vehicle, based on the information detected by the detection unit 21. The other vehicle light determination unit 22 makes the determination by decoding information from the light from the headlights of the other vehicle.

[0029] The other vehicle light determination unit 22 separates the light components of the headlights of the other vehicle from the light detected by the detection unit 21 and determines whether or not it is light from the headlights of a vehicle other than the vehicle itself. Assuming that the amount of light from surrounding street lights, etc. is constant, the illuminance or brightness of the light detected by the detection unit 21 changes in a predetermined cycle only by the amount of the illuminance or brightness of the headlights of the vehicle itself and the other vehicle. Here, a method of separating the light components of the headlights of the vehicle itself and the other vehicle will be described.

[0030] 2 to 5, a method for detecting the light components of the headlights of another vehicle by the other vehicle light determination unit 22 by subtracting the light components of the headlights of the own vehicle from the light receiving signal of the light receiving unit 12 will be described. Figs. 2 to 5 show the change over time in the intensity of the light receiving signal received by the light receiving unit 12 when the light receiving unit 12 is an optical sensor, or the change over time in the average brightness when the light receiving unit 12 is a camera. The modulation pattern of the headlights of the own vehicle is stored in the memory unit.

[0031] Method example 1 will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of detection of the light of the headlights of another vehicle. In method example 1, the light reception signal during the time when the headlights of the host vehicle are ON is masked, and the headlights of the other vehicle are detected from the light reception signal during the time when the headlights of the host vehicle are OFF. Since the intensity of the light reception signal varies depending on the manner in which the headlights of the host vehicle and the other vehicle are reflected, it is difficult to detect the headlights of the host vehicle and the other vehicle based only on the intensity of the light reception signal. The light components of the headlights of the other vehicle are detected by detecting ON / OFF modulation from the light reception signal during the time when the headlights of the host vehicle are OFF.

[0032] Method example 2 will be described with reference to Figs. 3 to 5. Fig. 3 is a diagram showing an example of detection of the light of the headlights of the subject vehicle and the other vehicle. Fig. 4 is a diagram showing an example of separation of the light components of the headlights of the other vehicle from Fig. 3. Fig. 5 is a diagram showing an example of the light components of the headlights of the subject vehicle. The intensity of the received light signal when the headlights of the subject vehicle are received by the light receiving unit 12 is stored in the storage unit together with the modulation pattern of the headlights of the subject vehicle. In method example 2, an edge generated by switching the headlights ON and OFF is detected. The edge of the subject vehicle is detected by subtracting the edge of the subject vehicle, and the modulation of the headlights of the other vehicle is detected by switching the headlights ON and OFF. In other words, the intensity of the received light signal of the headlights of the subject vehicle is subtracted from the intensity of the received light signal of the headlights of the subject vehicle and the other vehicle based on the timing of the edge of the subject vehicle to separate the light components of the headlights of the other vehicle. Compared to method example 1, the ON and OFF of the headlights of the other vehicle can be detected even when the headlights of the subject vehicle are ON, so that detection can be performed at a higher speed.

[0033] The light from street lamps or the like included in the received light signal flashes at a certain frequency and is clearly different from the light from the headlights of a vehicle. For this reason, the light from the headlights of a vehicle can be detected by the method example 1 or the method example 2.

[0034] The other vehicle light determination unit 22 may determine that the light is from the headlight of a vehicle other than the vehicle itself as follows. The other vehicle light determination unit 22 determines a four-digit number, which is the information superimposed first, among the information superimposed on the detected light. If the other vehicle light determination unit 22 cannot determine the light from only the four-digit number, it further determines the light by including hiragana or alphabet, which is the information superimposed after the four-digit number. If the other vehicle light determination unit 22 cannot determine the light even if it includes hiragana or alphabet, it further determines the light by including the place name, which is the information superimposed after the place name. If the other vehicle light determination unit 22 cannot determine the light by including the place name, it further determines the light by including the classification number, which is the information superimposed after the place name. In this way, the other vehicle light determination unit 22 determines that the light is from the information superimposed on the detected light, which is the information of a license plate different from the vehicle itself. If the other vehicle light determination unit 22 determines that the light is from a license plate different from the vehicle itself, for example, from a four-digit number, it may determine that the light is from another vehicle, and not perform the subsequent determination process such as hiragana. Although license plate information is used here, other information capable of uniquely identifying a vehicle, such as a vehicle identification number, may be used instead of license plate information.

[0035] When a lighting operation to turn on the headlights 11 is detected, the illumination control unit 25 outputs a control signal to illuminate the headlights 11. In this embodiment, the illumination control unit 25 modulates the blinking cycles of the vehicle and the other vehicle to illuminate light on which information capable of distinguishing the vehicle from the other vehicle is superimposed. The illumination control unit 25 illuminates light that blinks at a high speed that is unrecognizable to humans. The illumination control unit 25 illuminates light modulated in a predetermined pattern on the frequency axis or time axis.

[0036] The illumination control unit 25 can change the illumination range of the headlamp 11. The illumination control unit 25 can switch between high beam and low beam of the headlamp 11. The illumination control unit 25 can change the illumination range by controlling the LEDs and shades.

[0037] When the other vehicle light determination unit 22 determines that the light is from the headlights of another vehicle and the brightness of the light detected by the detection unit 21 satisfies a predetermined condition, the illumination control unit 25 controls the headlights 11 of the vehicle to change the illumination range. The predetermined brightness condition will be explained separately for the case where the light receiving unit 12 is a sensor and the case where it is a camera.

[0038] A case will be described where the light receiving unit 12 is a sensor. When the other vehicle light determination unit 22 determines that the light is from the headlights of another vehicle and the illuminance of the light detected by the detection unit 21 is equal to or greater than the illuminance threshold, the illumination control unit 25 changes the illumination range of the headlights 11 of the host vehicle and irradiates the light.

[0039] The illuminance threshold is, for example, 100 lux. Since the value output by the light receiving unit 12 varies depending on the position or mounting conditions of the light receiving unit 12, it is desirable to set the illuminance threshold appropriately by conducting an experiment in advance.

[0040] A case will be described where the light receiving unit 12 is a camera. When the other vehicle light determination unit 22 determines that the light is from the headlights of another vehicle and the luminance of the light detected by the detection unit 21 is equal to or greater than a luminance threshold (for example, equal to or greater than 200 in the case of 8 bits), the illumination control unit 25 may change the illumination range of the headlights 11 of the host vehicle and illuminate the light.

[0041] If the change condition is no longer satisfied after the change of the illumination range of the headlight 11 of the vehicle, the illumination control unit 25 returns the illumination range of the headlight 11 to the original state. More specifically, if the other vehicle light determination unit 22 no longer determines that the headlight 11 is a headlight of another vehicle after the headlight 11 is changed to a low beam, or if the brightness of the light detected by the detection unit 21 no longer satisfies the predetermined condition, the illumination control unit 25 returns the headlight 11 to a high beam. Alternatively, if the other vehicle light determination unit 22 no longer determines that the headlight 11 is a headlight of another vehicle after the change of the illumination range of the headlight 11 so as not to include the oncoming lane, or if the brightness of the light detected by the detection unit 21 no longer satisfies the predetermined condition, the illumination control unit 25 returns the illumination range of the headlight 11 to the original state.

[0042] <Information processing in vehicle-mounted devices> Next, information processing in the in-vehicle device 1 will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the flow of processing in the in-vehicle device according to the first embodiment. When the in-vehicle device 1 is started and the headlights 11 are turned on in high beam, the processing of the flowchart shown in Fig. 6 is executed.

[0043] The control unit 20 starts detecting light in the direction of the headlights of the host vehicle (step S101). More specifically, the control unit 20 starts detecting light in the direction of the headlights of the host vehicle, including light emitted from the headlights 11 of the host vehicle and other vehicles, by the light receiving unit 12. The control unit 20 proceeds to step S102.

[0044] The control unit 20 determines whether or not the headlights of another vehicle have been detected (step S102). More specifically, the control unit 20 determines whether or not the light detected by the detection unit 21 is the light of the headlights of another vehicle that is a vehicle different from the host vehicle, using the other vehicle light determination unit 22. If the control unit 20 determines that the headlights of another vehicle have been detected using the other vehicle light determination unit 22 (Yes in step S102), the control unit 20 proceeds to step S103. If the control unit 20 does not determine that the headlights of another vehicle have been detected using the other vehicle light determination unit 22 (No in step S102), the control unit 20 ends this process.

[0045] When it is determined that the headlights of the other vehicle have been detected (Yes in step S102), the control unit 20 determines whether or not the control unit 20 has detected light whose brightness from the headlights of the other vehicle satisfies a predetermined condition (step S103). More specifically, when the light receiving unit 12 is a sensor, the control unit 20 determines that the brightness satisfies the predetermined condition when it determines that the illuminance of the light detected by the detection unit 21 is equal to or greater than a threshold. When the light receiving unit 12 is a camera, the control unit 20 determines that the brightness satisfies the predetermined condition when it determines that the luminance of the light detected by the detection unit 21 is equal to or greater than a threshold. When the control unit 20 determines that the control unit 20 has detected light whose brightness satisfies the predetermined condition (Yes in step S103), the control unit 20 proceeds to step S104. When the control unit 20 does not determine that the control unit 20 has detected light whose brightness satisfies the predetermined condition (No in step S103), the control unit 20 ends this process.

[0046] When it is determined that light whose brightness satisfies the predetermined condition has been detected (Yes in step S103), the control unit 20 changes the illumination range of the headlights (step S104). More specifically, the control unit 20 changes the direction of the optical axis of the headlights 11 of the vehicle to a low beam by the illumination control unit 25, or illuminates light so as not to include the oncoming lane.

[0047] In this way, when the other vehicle light determination unit 22 determines that the light is from the headlights of another vehicle and the detection unit 21 detects light that satisfies a predetermined brightness condition, the high beam of the headlights of the host vehicle is switched to low beam.

[0048] FIG. 7 is a schematic diagram showing an example of the light of the headlights of the host vehicle and the light of the headlights of the other vehicle. When the host vehicle V faces the other vehicle V1 on a straight road as shown in FIG. 7, the light of the headlights 11 of the other vehicle V1 is detected by the detection unit 21 even if the other vehicle V1 is far away. When the other vehicle V1 is far away, even if the headlights 11 of the host vehicle V are in high beam, the driver of the other vehicle V1 is unlikely to feel dazzled. Therefore, it is preferable to switch the headlights 11 of the host vehicle V from high beam to low beam after the other vehicle V1 becomes close, that is, after the brightness of the light meets a predetermined condition. When the other vehicle light determination unit 22 determines that the light is the light of the headlights of the other vehicle V1 and the detection unit 21 detects light that meets the predetermined brightness condition, the illumination control unit 25 switches the high beam of the headlights 11 of the host vehicle V to low beam.

[0049] When the straight road in FIG. 7 has a slope, the headlights of the other vehicle V1 may not be visible from the host vehicle V. The detection unit 21 detects indirect light including light of the headlights 11 of the other vehicle V1 reflected by the road surface or surrounding objects. When the other vehicle light determination unit 22 determines that the light is from the headlights 11 of the other vehicle V1 and the indirect light that satisfies a predetermined brightness condition is detected, the illumination control unit 25 switches the high beam of the headlights 11 of the host vehicle V to a low beam. In this way, even when the headlights 11 of the other vehicle V1 cannot be seen, it is possible to determine whether to switch the headlights 11 using the indirect light.

[0050] FIG. 8 is a schematic diagram showing another example of the light of the headlights of the host vehicle and the headlights of the other vehicle. When the host vehicle V and the other vehicle V1 are approaching a curve P1 as shown in FIG. 8, if the other vehicle V1 is away from the curve P1, the indirect light is received. When the other vehicle V1 turns the curve P1, the headlights 11 of the host vehicle V may face the other vehicle V1 and irradiate direct light, which may dazzle the driver of the other vehicle V1. Therefore, when the other vehicle light determination unit 22 determines that the light is the light of the headlights 11 of the other vehicle V1 and detects light that satisfies a predetermined brightness condition, the high beam of the headlights 11 of the host vehicle V is switched to a low beam. This makes it possible to appropriately switch the headlights 11 of the host vehicle V even when the vehicle is on a curve.

[0051] <Effects> As described above, in this embodiment, when light is determined to be from the headlights of another vehicle and light that satisfies a predetermined brightness condition is detected, the illumination range of the headlights 11 of the host vehicle is changed and the light is emitted. According to this embodiment, the approach of another vehicle is determined based on the illuminance or luminance that defines the brightness of the light, and the illumination range of the headlights 11 of the host vehicle can be appropriately switched.

[0052] According to this embodiment, the high beam can be stopped and switched to the low beam when the headlight light of the other vehicle is detected. This embodiment can prevent the driver of the other vehicle from being dazzled and being unable to confirm the direction of travel, thereby contributing to traffic safety.

[0053] In this embodiment, even if the headlights of another vehicle cannot be directly seen from the own vehicle, indirect light can be detected to determine whether to switch the headlights 11 of the own vehicle. According to this embodiment, the headlights 11 of the own vehicle can be switched earlier than in the conventional method in which the headlights, which are the light sources of the other vehicle, are recognized from a captured image and the illumination range of the headlights 11 of the own vehicle is switched.

[0054] In this embodiment, the light of the headlights of another vehicle can be reliably detected even in indirect light by modulating the headlights of the vehicle at high speed. According to this embodiment, the light of the headlights 11 of another vehicle can be detected while suppressing the influence of light other than the headlights, such as street lights. According to this embodiment, the decision to switch the illumination range of the headlights 11 of the host vehicle can be made more appropriately. This embodiment can quickly detect the light of the headlights of another vehicle and realize smooth switching of the illumination range of the headlights 11 of the host vehicle.

[0055] In contrast, in the conventional method of recognizing the headlights of other vehicles from a captured image and switching the headlight illumination range, the headlights of the headlights of the other vehicle V1 are not captured until the moment the vehicle turns. Therefore, if the headlights are switched after recognizing the headlights of the other vehicle from a captured image, a time lag occurs and the high beam light momentarily enters the field of view of the driver of the other vehicle.

[0056] [Second embodiment] The in-vehicle device 1 according to this embodiment will be described with reference to FIG. 9. FIG. 9 is a flowchart showing the flow of processing of the in-vehicle device according to the second embodiment. The in-vehicle device 1 according to the second embodiment has a basic configuration similar to that of the in-vehicle device 1 according to the first embodiment. In the following description, the same or corresponding reference numerals are used for components similar to those of the in-vehicle device 1 according to the first embodiment, and detailed description thereof will be omitted. The in-vehicle device 1 differs from the first embodiment in the processing in the detection unit 21 and the other vehicle light determination unit 22.

[0057] The detection unit 21 further detects the movement of the light as information contained in the detected light.

[0058] The other vehicle light determination unit 22 determines whether or not the detected light is light from the headlights of a vehicle other than the host vehicle, based on information indicating the movement of the light detected by the detection unit 21. More specifically, when the detection unit 21 detects light with a predetermined or greater movement, the other vehicle light determination unit 22 determines that the light is light from the headlights of the other vehicle, for example.

[0059] When the traveling directions of the other vehicle and the own vehicle do not face each other but intersect, the position of the light of the headlight of the other vehicle as seen from the own vehicle moves. When the light receiving unit 12 is a camera, the position where the light of the headlight of the other vehicle is detected in the image moves. For example, when the detection unit 21 detects a movement of the light by a threshold value or more, the other vehicle light determination unit 22 determines that the light is the light of the headlight of the other vehicle. For example, assuming that the resolution is 1920 x 1080 pixels, when the detection unit 21 detects that the light moves by 100 pixels or more per second, the other vehicle light determination unit 22 determines that the light is the light of the headlight of the other vehicle. Also, when the own vehicle is traveling, when there is light moving in a direction different from the direction in which the scenery moves, it may be determined that the light is the light of the headlight of the other vehicle. That is, the scenery on the left side of the traveling direction moves leftward in the image, and at this time, if there is light moving, for example, to the right, it is determined that the light is the light of the headlight of the other vehicle.

[0060] When the light detected by the detection unit 21 is moving light and satisfies a predetermined brightness condition, the illumination control unit 25 changes the illumination range of the headlights 11 of the host vehicle and illuminates the light.

[0061] Next, the information processing in the in-car device 1 will be described with reference to Fig. 9. The processing in steps S111, S113, and S114 is similar to the processing in steps S101, S103, and S104 in the flowchart shown in Fig. 6.

[0062] The control unit 20 determines whether or not moving light has been detected (step S112). More specifically, if the light detected by the detection unit 21 is moving light, the control unit 20 determines whether or not it is light from the headlights of another vehicle, using the other vehicle light determination unit 22. If the control unit 20 determines that moving light has been detected by the other vehicle light determination unit 22 (Yes in step S112), the control unit 20 proceeds to step S113. If the control unit 20 does not determine that moving light has been detected by the other vehicle light determination unit 22 (No in step S112), the control unit 20 ends this process.

[0063] <Effects> As described above, in this embodiment, when light is determined to be moving and light whose brightness satisfies a predetermined condition is detected, the illumination range of the headlights 11 of the vehicle is changed and the light is illuminated. According to this embodiment, it is possible to determine that another vehicle that may be an oncoming vehicle is approaching based on the movement of the detected light, and to appropriately switch the illumination range of the headlights 11 of the vehicle.

[0064] [Third embodiment] With reference to Figs. 10 to 15, the in-vehicle device 1A according to this embodiment will be described. Fig. 10 is a block diagram showing an example of the configuration of the in-vehicle device according to the third embodiment. Fig. 11 is a diagram showing an example of a pattern of light modulation. Fig. 12 is a diagram showing an example of a pattern of light modulation assigned to each direction. Fig. 13 is a schematic diagram showing another example of the light of the headlight of the host vehicle and the light of the headlight of the other vehicle. Fig. 14 is a schematic diagram showing another example of the light of the headlight of the host vehicle and the light of the headlight of the other vehicle. Fig. 15 is a flowchart showing the flow of processing of the in-vehicle device according to the third embodiment. The in-vehicle device 1A according to the third embodiment has a basic configuration similar to that of the in-vehicle device 1 according to the first embodiment. In this embodiment, the headlight of the vehicle irradiates light on which information indicating the planned traveling direction is superimposed. The in-vehicle device 1A is different from the first embodiment in that it includes a host vehicle direction acquisition unit 23A and in the processing in the detection unit 21A, the other vehicle light determination unit 22A, and the irradiation control unit 25A.

[0065] The headlights 11 emit light onto which information indicating the planned traveling direction of the vehicle is superimposed.

[0066] The planned traveling direction is the direction in which the host vehicle will travel and is indicated as one of eight directions, for example, north, northeast, east, southeast, south, southwest, west, and northwest.

[0067] The information indicating the intended traveling direction, which is superimposed on the light of the headlights, will be described with reference to Figs. 11 and 12. Fig. 11 shows an example of eight types of modulation patterns, from pattern 01 to pattern 08. For example, pattern 01 is a simple modulation pattern in which a pattern in which the headlights are ON for a longer period than a reference is set to 1, and other patterns are set to 0. This is an example of a simple 11-bit code, with 11 as the start code and the final 0 as the end code. By searching for and reading 11, eight patterns of codes can be detected. This makes it possible to detect the intended traveling direction of other vehicles.

[0068] Figure 12 shows an example of allocating modulation patterns according to the planned traveling direction. Eight patterns are created for the modulation of the headlights of the vehicle in accordance with the eight directions as shown in Figure 11. The eight patterns are allocated according to the planned traveling direction of the vehicle.

[0069] The vehicle direction acquisition unit 23A acquires the planned traveling direction of the vehicle. More specifically, the vehicle direction acquisition unit 23A acquires information indicating the planned traveling direction of the vehicle via a CAN (Controller Area Network). The vehicle direction acquisition unit 23A acquires, for example, vehicle travel information, route information of a navigation system, or blinker operation information, to acquire the planned traveling direction of the vehicle.

[0070] The detector 21A further detects information indicating the planned traveling direction of the other vehicle, which is included in the detected light.

[0071] The other vehicle light determination unit 22A determines whether the planned traveling direction of the other vehicle is a direction facing the host vehicle based on the information detected by the detection unit 21A. As in the first embodiment, the other vehicle light determination unit 22A separates only the light components of the headlights of the other vehicle from the light detected by the detection unit 21. Then, the other vehicle light determination unit 22A specifies a modulation pattern from the separated light components of the headlights of the other vehicle to determine the planned traveling direction of the other vehicle.

[0072] The illumination control unit 25A irradiates light on which information indicating the planned traveling direction of the vehicle is superimposed. The illumination control unit 25A modulates the blinking of light with a predetermined pattern, thereby irradiating light on which information indicating the planned traveling direction of the vehicle is superimposed from the headlamp 11. The illumination control unit 25A irradiates light on which information indicating the planned traveling direction of the vehicle acquired by the vehicle direction acquisition unit 23A is superimposed. For example, when the planned traveling direction of the vehicle acquired by the vehicle direction acquisition unit 23A is north, the illumination control unit 25A irradiates light modulated with pattern 01. For example, when the planned traveling direction of the vehicle acquired by the vehicle direction acquisition unit 23A is east, the illumination control unit 25A irradiates light modulated with pattern 03.

[0073] When the vehicle changes the planned traveling direction by turning right or left, the illumination control unit 25A irradiates light on which information indicating the planned traveling direction is superimposed before the vehicle reaches a right or left turning point. More specifically, when, for example, route information of a navigation system or blinker operation information indicates that the vehicle will change the planned traveling direction by turning right or left, the illumination control unit 25A irradiates light on which information indicating the planned traveling direction is superimposed.

[0074] When the planned travel direction of the other vehicle is a direction facing the own vehicle and the detection unit 21A detects light that satisfies a predetermined brightness condition, the illumination control unit 25A changes the illumination range of the headlights of the own vehicle and irradiates light. In other words, when the planned travel path of the other vehicle is the same as that of the own vehicle, the planned travel direction of the other vehicle is a direction facing the own vehicle, and the detection unit 21A detects light that satisfies a predetermined brightness condition, the illumination control unit 25A changes the illumination range of the headlights of the own vehicle and irradiates light.

[0075] In this case, the illuminance threshold, which is an example of the predetermined condition of brightness, may be, for example, 50 lux. Since the light in this case is indirect light, the illuminance threshold may be set to a lower value than that of direct light.

[0076] The illumination control unit 25A may change the illumination range of the headlights of the host vehicle by combining a plurality of the above-mentioned conditions.

[0077] 13 is a schematic diagram showing another example of the light from the headlights of the host vehicle and the other vehicle. At an intersection P2, the host vehicle V travels straight in the planned traveling direction A, and the other vehicle V1 travels straight in the planned traveling direction A1. The other vehicle V1 does not face the planned traveling direction A of the host vehicle V. As a result, the headlights 11 of the host vehicle V are not changed from the high beam, and the high beam continues to be emitted.

[0078] 13, when the vehicle V and another vehicle V1 are approaching an intersection P2, the planned travel direction A1 of the other vehicle V1 does not face the planned travel direction A of the vehicle V. As a result, the headlights 11 of the vehicle V are not changed from the high beam, and the high beam continues to be irradiated.

[0079] In addition, when another vehicle is traveling in the same direction as your vehicle, the headlights of the other vehicle are traveling in the same direction, so there is no need to switch the headlights from high beam to low beam. In this case, when the other vehicle moves away from your vehicle in the traveling direction, the headlights may be switched from high beam to low beam upon detection of the taillights of the other vehicle.

[0080] 14, when the other vehicle V1 turns left before the curve P1, the planned traveling direction A1 of the other vehicle V1 does not face the planned traveling direction A of the host vehicle V. In this case, the other vehicle V1 turns left before approaching the curve P1, so the headlights 11 of the host vehicle V do not change from the high beam and continue to emit the high beam.

[0081] In the example shown in Fig. 14, the illumination control unit 25A of the in-vehicle device 1A of the other vehicle V1 may change the direction of the optical axis of the headlight to low beam, for example, about 10 m before the left turn point. This prevents the light of the headlight of the other vehicle V1 from reaching beyond the left turn point. This prevents the light of the headlight of the other vehicle V1 detected by the detection unit 12 from being determined to satisfy the predetermined brightness condition.

[0082] 14, the in-vehicle device 1A of the host vehicle V may further include a planned route acquisition unit that acquires information indicating a planned driving route of the other vehicle V1. The planned route acquisition unit may acquire the planned driving route of the other vehicle V1, for example, from information superimposed on the detected light. The planned route acquisition unit may further acquire information indicating the planned driving route from a navigation system of the other vehicle V1, and identify which road the other vehicle V1 will travel on.

[0083] Next, information processing in the in-car device 1A will be described with reference to Fig. 15. The processing in steps S121, S125, and S126 is similar to the processing in steps S101, S103, and S104 in the flowchart shown in Fig. 6.

[0084] The control unit 20A acquires information indicating the planned traveling direction of the other vehicle (step S122). More specifically, the control unit 20A detects information indicating the planned traveling direction of the other vehicle contained in the detected light by the detection unit 21A. The control unit 20A proceeds to step S123.

[0085] The control unit 20A acquires the planned traveling direction of the host vehicle (step S123). More specifically, the control unit 20A acquires the planned traveling direction of the host vehicle by the host vehicle direction acquisition unit 23A. The control unit 20A proceeds to step S124.

[0086] The control unit 20A determines whether or not the light is a headlight of another vehicle scheduled to face the host vehicle (step S124). More specifically, the control unit 20A determines whether or not the planned traveling direction of the other vehicle is a direction opposite to the planned traveling direction of the host vehicle, using the other vehicle light determination unit 22A, based on the information detected by the detection unit 21A. When the control unit 20A determines that the planned traveling direction of the other vehicle is a direction opposite to the planned traveling direction of the host vehicle, the control unit 20A determines that the light is a headlight of another vehicle scheduled to face the host vehicle. When the control unit 20A determines that the light is a headlight of another vehicle scheduled to face the host vehicle using the other vehicle light determination unit 22A (Yes in step S124), the control unit 20A proceeds to step S125. When the control unit 20A does not determine that the light is a headlight of another vehicle scheduled to face the host vehicle using the other vehicle light determination unit 22A (No in step S124), the control unit 20A ends this process.

[0087] <Effects> As described above, in this embodiment, the planned traveling direction of the other vehicle can be recognized. In this embodiment, it is determined whether the planned traveling direction of the other vehicle is a direction facing the host vehicle based on the information superimposed on the detected light. According to this embodiment, the headlights 11 of the host vehicle can be switched without delay.

[0088] According to this embodiment, it is possible to reliably determine that the light is from the headlights of another vehicle and the planned traveling direction of the other vehicle.

[0089] In this embodiment, for example, even if the host vehicle and another vehicle are approaching an intersection, if the host vehicle and the other vehicle are not facing each other, the headlights of the host vehicle are not switched to low beam. If the headlights of the host vehicle do not dazzle the driver of the other vehicle, unnecessary switching of the headlights 11 of the host vehicle from high beam to low beam can be suppressed.

[0090] Each component of the illustrated in-vehicle device is a functional concept, and does not necessarily have to be physically configured as illustrated. In other words, the specific form of each device is not limited to that shown in the figure, and all or part of the device may be functionally or physically distributed or integrated in any unit depending on the processing load and usage status of each device.

[0091] The configuration of the in-vehicle device is realized, for example, as software by a program loaded into a memory. In the above embodiment, the functional blocks are described as being realized by the cooperation of these hardware and software. In other words, these functional blocks can be realized in various forms by only hardware, only software, or a combination of both.

[0092] The components described above include those that a person skilled in the art can easily imagine and those that are substantially the same. Furthermore, the configurations described above can be appropriately combined. Furthermore, various omissions, substitutions, or modifications of the configurations are possible without departing from the gist of the present invention. [Explanation of symbols]

[0093] 1 On-vehicle device 11 Headlights 12 Light receiving part 20 Control unit (vehicle control device) 21 Detection unit 22 Other vehicle light detection unit 25 Irradiation control unit V Vehicle V1 Other vehicles

Claims

1. A detection unit that detects light emitted from a headlight of the vehicle; an other vehicle light determination unit that determines whether the light detected by the detection unit is light from a headlight of another vehicle that is a vehicle different from the host vehicle; an illumination control unit that changes an illumination range of the headlights of the host vehicle and illuminates the light when the other vehicle light determination unit determines that the light is from the headlights of the other vehicle and the brightness of the light detected by the detection unit satisfies a predetermined condition; and An on-board control device comprising:

2. The detection unit further detects information contained in the detected light, The other vehicle light determination unit determines whether or not the detected light is light from a headlight of the other vehicle other than the host vehicle, based on the information detected by the detection unit. The vehicle-mounted control device according to claim 1 .

3. a host vehicle direction acquisition unit that acquires a planned traveling direction of the host vehicle; Further equipped with The detection unit further detects information indicating a planned traveling direction of the other vehicle, which is included in the detected light, The other vehicle light determination unit determines whether or not a planned traveling direction of the other vehicle is a direction facing the host vehicle based on the information detected by the detection unit, The illumination control unit changes an illumination range of a headlight of the host vehicle and illuminates the headlight with light when the planned traveling direction of the other vehicle is a direction facing the host vehicle and the brightness of the light detected by the detection unit satisfies a predetermined condition. The on-vehicle control device according to claim 1 or 2.

4. A detection step of detecting light in a direction irradiated by a headlight of the host vehicle; an other vehicle light determination step of determining whether or not the light detected in the detection step is light from a headlight of another vehicle that is a vehicle different from the host vehicle; an illumination control step of changing an illumination range of the headlights of the host vehicle and illuminating the light when the other vehicle light determination step determines that the light is light from the headlights of the other vehicle and the brightness of the light detected in the detection step satisfies a predetermined condition; A control method comprising:

5. A detection step of detecting light in a direction irradiated by a headlight of the host vehicle; an other vehicle light determination step of determining whether or not the light detected in the detection step is light from a headlight of another vehicle that is a vehicle different from the host vehicle; an illumination control step of changing an illumination range of the headlights of the host vehicle and illuminating the light when the other vehicle light determination step determines that the light is light from the headlights of the other vehicle and the brightness of the light detected in the detection step satisfies a predetermined condition; A program executed by a computer operating as an on-board control device.

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