Headlamp control device, headlamp control method, and program

Abstract

To provide a headlamp control device, a headlamp control method, and a program capable of controlling whether to set a headlamp of an own vehicle into a high-beam lit state, a shielded high-beam lit state, or a low-beam lit state, as appropriate, by using learning results.SOLUTION: A headlamp control device 18 acquires a result of learning of recognition sensitivity of a forward vehicle during lighting of a lamp included in a forward camera image of a probe vehicle suitable for each traveling position of the probe vehicle performed using the traveling position of the probe vehicle and the forward camera image of the probe vehicle when a driver of the probe vehicle performs an operation to turn OFF a function of switching a light distribution of a headlamp of the probe vehicle from a lighting state of a high beam to a lighting state of a light shielding high beam, and adjusts the recognition sensitivity of the forward vehicle during lighting of a lamp included in a forward camera image of an own vehicle 1 at each traveling position of the own vehicle 1 based on the obtained result of the learning.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a headlamp control device, a headlamp control method, and a program.

Background Art

[0002] Patent Document 1 describes that when a driver sets the lighting / extinguishing state of a lighting lamp in manual mode overriding the automatic lighting control during automatic lighting control in auto mode, a camera image at that time and the lighting / extinguishing state of the lighting lamp at that time are used as learning data. Further, Patent Document 1 describes that the learning process of the discriminator using the learning data is performed on the server. Furthermore, Patent Document 1 describes that the discriminator that determines the lighting / extinguishing state of the lighting lamp for an image obtained during driving of the vehicle is updated by learning. A system (AHS (Adaptive High Beam System)) in which the light distribution switching control of the headlamp of the host vehicle from the high beam lighting state to the shaded high beam lighting state is automatically performed when a preceding vehicle with a lit lamp included in the front camera image of the host vehicle is recognized, and a system (AHB (Automatic High Beam)) in which the light distribution switching control of the headlamp of the host vehicle from the high beam lighting state to the low beam lighting state is automatically performed when a preceding vehicle with a lit lamp included in the front camera image of the host vehicle is recognized are known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] There is a phenomenon where a driver of a host vehicle who dislikes the malfunction and misoperation of AHS / AHB manually turns off the function of AHS / AHB. When a preceding vehicle with its lamp lit included in the front camera image of the host vehicle is not recognized despite its existence, AHS / AHB becomes inoperative. When a preceding vehicle with its lamp lit included in the front camera image of the host vehicle is misrecognized as existing despite its non-existence, AHS / AHB malfunctions. For such a phenomenon, simply applying the learning described in Patent Document 1, for example, there is a risk that the system may turn off the function of AHS / AHB on its own even though the driver wants to keep the function of AHS / AHB on. If inappropriate learning is performed based on the driver's operation of continuing the high beam lighting state when a preceding vehicle with its lamp lit included in the front camera image of the host vehicle exists, based on the learning result, there is a risk that the system may control the headlamp of the host vehicle to be in the high beam lighting state even though a preceding vehicle with its lamp lit included in the front camera image of the host vehicle exists. That is, if whether to turn on the headlamp of the host vehicle in the high beam lighting state, the shaded high beam lighting state, or the low beam lighting state is directly controlled using the learning result, there is a risk of inappropriate control.

[0005] In view of the above points, an object of the present disclosure is to provide a headlamp control device, a headlamp control method, and a program that can appropriately control whether to turn on the headlamp of a host vehicle in the high beam lighting state, the shaded high beam lighting state, or the low beam lighting state using a learning result.

Means for Solving the Problem

[0006] (1) One aspect of the present disclosure includes a vehicle recognition unit that recognizes a preceding vehicle with its lamps on included in a front camera image of the host vehicle, and when a preceding vehicle with its lamps on included in the front camera image of the host vehicle is recognized by the vehicle recognition unit, the control unit performs light distribution switching control of the headlamp of the host vehicle from the high beam on state to the light distribution of the shading high beam that shades the preceding vehicle with its lamps on included in the front camera image of the host vehicle and its surroundings, or performs light distribution switching control of the headlamp of the host vehicle from the high beam on state to the low beam on state, and when the driver of the probe vehicle performs an operation to turn off the function of light distribution switching control of the headlamp of the probe vehicle from the high beam on state to the light distribution of the shading high beam that shades the preceding vehicle with its lamps on included in the front camera image of the probe vehicle and its surroundings, or performs an operation to turn off the function of light distribution switching control of the headlamp of the probe vehicle from the high beam on state to the low beam on state, an acquisition unit that acquires the result of learning the recognition sensitivity of the preceding vehicle with its lamps on included in the front camera image of the probe vehicle suitable for each traveling position of the probe vehicle using the traveling position of the probe vehicle and the front camera image of the probe vehicle at that time, and based on the learning result acquired by the acquisition unit, a vehicle recognition sensitivity adjustment unit that adjusts the recognition sensitivity of the preceding vehicle with its lamps on included in the front camera image of the host vehicle at each traveling position of the host vehicle.

[0007] (2) In the headlamp control device of (1), the acquisition unit acquires the detection result of the steering angle sensor of the host vehicle, and when the steering angle detected by the steering angle sensor is greater than or equal to the steering angle threshold value, the vehicle recognition sensitivity adjustment unit may set the recognition sensitivity of the preceding vehicle with its lamps on included in the front camera image of the host vehicle to the default value.

[0008] (3) In the headlamp control device of (1), the acquisition unit acquires the detection result of the vehicle speed sensor of the host vehicle, and when the vehicle speed detected by the vehicle speed sensor is greater than or equal to the vehicle speed threshold value, the vehicle recognition sensitivity adjustment unit may set the recognition sensitivity of the preceding vehicle with its lamps on included in the front camera image of the host vehicle to the default value.

[0009] (4) One aspect of the present disclosure includes a vehicle recognition step in which a headlight control device recognizes a preceding vehicle with its lamps lit in a front camera image of the host vehicle, and when a preceding vehicle with its lamps lit in the front camera image of the host vehicle is recognized in the vehicle recognition step, the headlight control device switches the light distribution of the headlight of the host vehicle from the high beam on state to a light distribution switching control of the headlight of the host vehicle to a shaded high beam state that shades the preceding vehicle with its lamps lit in the front camera image of the host vehicle and its surroundings, or a light distribution switching control of the headlight of the host vehicle from the high beam on state to the low beam on state, and the headlight control device uses the driving position of the probe vehicle and the front camera image of the probe vehicle when the driver of the probe vehicle performs an operation to turn off the function of switching the light distribution of the headlight of the probe vehicle from the high beam on state to the shaded high beam on state, or an operation to turn off the function of switching the light distribution of the headlight of the probe vehicle from the high beam on state to the low beam on state, and obtains the result of learning the recognition sensitivity of the preceding vehicle with its lamps lit in the front camera image of the probe vehicle suitable for each driving position of the probe vehicle, and the headlight control device executes an adjustment of the recognition sensitivity of the preceding vehicle with its lamps lit in the front camera image of the host vehicle at each driving position of the host vehicle based on the learning result obtained in the obtaining step. This is a headlight control method.

[0010] (5) One aspect of the present disclosure is to cause a processor to perform a vehicle recognition step of recognizing a preceding vehicle with its lamp lit in a front camera image of the host vehicle, and when a preceding vehicle with its lamp lit in the front camera image of the host vehicle is recognized in the vehicle recognition step, to perform a light distribution switching control of the headlamp of the host vehicle from the high beam lighting state to the lighting state of a shaded high beam that shields the preceding vehicle with its lamp lit in the front camera image of the host vehicle and its surroundings, or a light distribution switching control of the headlamp of the host vehicle from the high beam lighting state to the low beam lighting state, and an operation to turn off the function of the light distribution switching control of the headlamp of the probe vehicle from the high beam lighting state to the shaded high beam lighting state, or an operation to turn off the function of the light distribution switching control of the headlamp of the probe vehicle from the high beam lighting state to the low beam lighting state, and an acquisition step of acquiring the result of learning the recognition sensitivity of a preceding vehicle with its lamp lit in the front camera image of the probe vehicle suitable for each traveling position of the probe vehicle using the traveling position of the probe vehicle and the front camera image of the probe vehicle when the operation is performed, and a vehicle recognition sensitivity adjustment step of adjusting the recognition sensitivity of a preceding vehicle with its lamp lit in the front camera image of the host vehicle at each traveling position of the host vehicle based on the learning result obtained in the acquisition step. The program is for causing the above to be executed.

Effect of the Invention

[0011] According to the present disclosure, whether to turn on the high beam, the shaded high beam, or the low beam of the headlamp of the host vehicle can be appropriately controlled using the learning result.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of a headlamp control device, a headlamp control method, and a program according to the present disclosure will be described with reference to the drawings.

[0014] <First Embodiment> FIG. 1 is a diagram showing an example of a host vehicle 1 to which the headlamp control device 18 according to the first embodiment is applied. FIG. 2 is a diagram showing an example of a vehicle recognition sensitivity adjustment system SY including the host vehicle 1 shown in FIG. 1. In the examples shown in FIGS. 1 and 2, the host vehicle 1 includes a headlamp 11, a front camera 12, an HMI (Human Machine Interface) 13, a position information acquisition device 14, a vehicle speed sensor 15, a steering angle sensor 16, a communication device 17, and a headlamp control device 18. The headlamp 11 has a function of turning on the high beam, a function of turning on a shaded high beam that shields the front vehicle in which the lamp included in the front camera image described later is lit and its surroundings, and a function of turning on the low beam. The front camera 12 captures an image of the front of the host vehicle 1 and transmits a front camera image to the headlamp control device 18. The HMI 13 has a function of receiving various operations of the driver of the host vehicle 1, and transmits a signal indicating the operation of the driver of the host vehicle 1 to the headlamp control device 18. The operations of the driver of the host vehicle 1 include, for example, an operation of turning off the function of controlling the light distribution switching of the headlamp 11 from the lit state of the high beam to the lit state of the shaded high beam.

[0015] The position information acquisition device 14 acquires information indicating the traveling position of the host vehicle 1 (for example, latitude, longitude, azimuth (that is, the direction of the host vehicle 1), etc.). The position information acquisition device 14 includes, for example, a GPS (Global Positioning System) device that measures the latitude, longitude, and azimuth of the host vehicle 1. The position information acquisition device 14 may perform well-known self-position estimation processing (localization) to improve the accuracy of the information indicating the latitude, longitude, and azimuth of the host vehicle 1. The position information acquisition device 14 transmits information indicating the traveling position of the host vehicle 1 (for example, latitude, longitude, azimuth, etc.) to the headlamp control device 18. The vehicle speed sensor 15 detects the vehicle speed of the host vehicle 1 and transmits the detection result to the headlamp control device 18. The steering angle sensor 16 detects the steering angle (the angle of the steering wheel (not shown) of the host vehicle 1) and transmits the detection result to the headlamp control device 18. The communication device 17 communicates with the big data analysis unit SY1 included in the vehicle recognition sensitivity adjustment system SY, etc. When the communication device 17 receives from the driver of the host vehicle 1 an operation to turn off the function of the headlamp 11 for switching the light distribution from the high beam lighting state to the shaded high beam lighting state, the communication device 17 transmits information indicating the operation to the big data analysis unit SY1. Further, the communication device 17 transmits information indicating the traveling position of the host vehicle 1 and the front camera image at the time when the HMI 13 receives the operation to the big data analysis unit SY1. Furthermore, the communication device 17 receives the result of learning described later performed by the big data analysis unit SY1 and transmits the result of the learning to the headlamp control device 18.

[0016] The headlight control device 18 is composed of a microcomputer including a communication interface (I / F) 181, a memory 182, and a processor 183. The communication interface 181 has an interface circuit for connecting the headlight control device 18 to the headlight 11, the front camera 12, the HMI 13, the position information acquisition device 14, the vehicle speed sensor 15, the steering angle sensor 16, the communication device 17, etc. The memory 182 stores programs and various data used in the processes executed by the processor 183. Further, the memory 182 stores default values of vehicle recognition sensitivity, vehicle speed thresholds, steering angle thresholds, etc., which will be described later. The processor 183 has functions as an acquisition unit 3A, a vehicle recognition unit 3B, a control unit 3C, and a vehicle recognition sensitivity adjustment unit 3D. The acquisition unit 3A acquires the front camera image transmitted from the front camera 12. Further, the acquisition unit 3A acquires information indicating the traveling position (e.g., latitude, longitude, azimuth, etc.) of the own vehicle 1 transmitted from the position information acquisition device 14. Furthermore, the acquisition unit 3A acquires information indicating the vehicle speed of the own vehicle 1 (detection result of the vehicle speed sensor 15) transmitted from the vehicle speed sensor 15. Also, the acquisition unit 3A acquires information indicating the steering angle of the own vehicle 1 (detection result of the steering angle sensor 16) transmitted from the steering angle sensor 16. Furthermore, the acquisition unit 3A acquires the result of learning transmitted from the communication device 17.

[0017] In the example shown in FIGS. 1 and 2, the vehicle recognition sensitivity adjustment system SY includes a big data analysis unit SY1, the own vehicle 1, and a plurality of probe vehicles PV. When the driver of each of the plurality of probe vehicles PV performs an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the shaded high beam on state, each of the plurality of probe vehicles PV transmits information indicating the operation to the big data analysis unit SY1. Also, each of the plurality of probe vehicles PV transmits information indicating the traveling position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs the operation to the big data analysis unit SY1. Furthermore, each of the plurality of probe vehicles PV transmits information indicating an operation to the big data analysis unit SY1 when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the low beam on state. Also, each of the plurality of probe vehicles PV transmits information indicating the traveling position of the probe vehicle PV when the driver of the probe vehicle PV performs the operation and the front camera image of the probe vehicle PV to the big data analysis unit SY1. The big data analysis unit SY1 uses the traveling position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the shaded high beam on state, and the traveling position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the low beam on state, to perform learning on the recognition sensitivity of the oncoming vehicle with the lamp lit included in the front camera image of the probe vehicle PV suitable for each traveling position of the probe vehicle PV. Specifically, the big data analysis unit SY1 performs learning using teacher data, which is a dataset with labels indicating whether it is necessary to increase (i.e., make it easier to recognize the oncoming vehicle with the lamp lit included in the front camera image) the recognition sensitivity of the oncoming vehicle with the lamp lit included in the front camera image of each traveling position of the probe vehicle PV from the default value, decrease (i.e., make it more difficult to recognize the oncoming vehicle with the lamp lit included in the front camera image) from the default value, or set it to the default value. Furthermore, by using the model obtained through learning, the big data analysis unit SY1 determines, based on the front camera images at the driving positions of the host vehicle 1 and the plurality of probe vehicles PV, whether it is necessary to increase, decrease, or set to the default value the recognition sensitivity of the oncoming vehicles with their lamps on included in the front camera images compared to the default value. The big data analysis unit SY1 generates information indicating this as the result of learning (recommended vehicle recognition sensitivity) and transmits the result of this learning to the host vehicle 1 and others.

[0018] In the examples shown in FIGS. 1 and 2, as described above, when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle PV from the high beam on state to the shaded high beam on state, the big data analysis unit SY1 uses the driving position of the probe vehicle PV and the front camera image of the probe vehicle PV at that time, and when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle PV from the high beam on state to the low beam on state, the big data analysis unit SY1 uses the driving position of the probe vehicle PV and the front camera image of the probe vehicle PV at that time to perform learning on the recognition sensitivity of the oncoming vehicles with their lamps on included in the front camera image of the probe vehicle PV suitable for each driving position of the probe vehicle PV. In other examples, without using the driving position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle PV from the high beam on state to the low beam on state, the big data analysis unit SY1 may perform learning on the recognition sensitivity of the oncoming vehicles with their lamps on included in the front camera image of the probe vehicle PV suitable for each driving position of the probe vehicle PV by using the driving position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle PV from the high beam on state to the shaded high beam on state.

[0019] In the examples shown in FIGS. 1 and 2, based on the result of learning (recommended vehicle recognition sensitivity) acquired by the acquisition unit 3A, the vehicle recognition sensitivity adjustment unit 3D adjusts the recognition sensitivity of the oncoming vehicle with its lamp lit included in the front camera image of the host vehicle 1 at each traveling position of the host vehicle 1 (that is, increases the recognition sensitivity above the default value so that the oncoming vehicle is more easily recognized, decreases the recognition sensitivity below the default value so that the oncoming vehicle is less easily recognized, or sets the recognition sensitivity to the default value). The vehicle recognition unit 3B recognizes the oncoming vehicle with its lamp lit included in the front camera image of the host vehicle 1 with the recognition sensitivity adjusted by the vehicle recognition sensitivity adjustment unit 3D. When the oncoming vehicle with its lamp lit included in the front camera image of the host vehicle 1 is recognized by the vehicle recognition unit 3B, the control unit 3C performs control to switch the light distribution of the headlamp 11 of the host vehicle 1 from the high beam on state to the shaded high beam on state.

[0020] Specifically, in the examples shown in FIGS. 1 and 2, when the vehicle speed detected by the vehicle speed sensor 15 is equal to or higher than the vehicle speed threshold value, even if the result of learning (recommended vehicle recognition sensitivity) acquired by the acquisition unit 3A indicates that it is necessary to increase the recognition sensitivity of the oncoming vehicle with its lamp lit included in the front camera image of the host vehicle 1 above the default value, the vehicle recognition sensitivity adjustment unit 3D sets the recognition sensitivity of the oncoming vehicle with its lamp lit included in the front camera image of the host vehicle 1 to the default value without increasing it above the default value. Therefore, when the control to switch the light distribution of the headlamp of the host vehicle 1 from the high beam on state to the shaded high beam on state is performed during high-speed travel of the host vehicle 1 where it is necessary to maintain the high beam on state, it is possible to suppress the possibility that the driver's field of vision of the host vehicle 1 is blocked. Also, when the vehicle speed detected by the vehicle speed sensor 15 is equal to or higher than the vehicle speed threshold value, even if the vehicle recognition sensitivity adjustment unit 3D indicates that the learning result (recommended vehicle recognition sensitivity) obtained by the acquisition unit 3A needs to lower the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 below the default value, the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 is set to the default value without lowering it below the default value. Therefore, for example, a sudden change from the lighting state of the cutoff high beam to the lighting state of the high beam can be suppressed.

[0021] Furthermore, in the examples shown in FIGS. 1 and 2, when the steering angle detected by the steering angle sensor 16 is equal to or greater than the steering angle threshold value, even if the vehicle recognition sensitivity adjustment unit 3D indicates that the learning result (recommended vehicle recognition sensitivity) obtained by the acquisition unit 3A needs to increase the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 above the default value, the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 is set to the default value without increasing it above the default value. Therefore, when the light distribution switching control of the headlamp of the host vehicle 1 from the lighting state of the high beam to the lighting state of the cutoff high beam is executed during the sharp curve running of the host vehicle 1 where it is necessary to maintain the lighting state of the high beam, the possibility that the driver's field of view of the host vehicle 1 will be blocked can be suppressed. Also, when the steering angle detected by the steering angle sensor 16 is equal to or higher than the steering angle threshold value, even if the vehicle recognition sensitivity adjustment unit 3D indicates that the learning result (recommended vehicle recognition sensitivity) obtained by the acquisition unit 3A needs to lower the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 below the default value, the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the host vehicle 1 is set to the default value without lowering it below the default value. Therefore, for example, a sudden change from the lighting state of the cutoff high beam to the lighting state of the high beam can be suppressed.

[0022] In the examples shown in FIGS. 1 and 2, the host vehicle 1 has the function of a probe vehicle PV. That is, similar to the probe vehicle PV, when the driver of the host vehicle 1 performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the host vehicle 1 from the high beam on state to the shaded high beam on state, the host vehicle 1 transmits information indicating that operation to the big data analysis unit SY1. Further, the host vehicle 1 transmits information indicating the traveling position of the host vehicle 1 and the front camera image of the host vehicle 1 when the driver of the host vehicle 1 performs that operation to the big data analysis unit SY1.

[0023] FIG. 3 is a flowchart for explaining an example of the process executed by the processor 183 of the headlamp control device 18 according to the first embodiment. In the example shown in FIG. 3, in step S10, the acquisition unit 3A acquires the front camera image of the host vehicle 1, information indicating the traveling position of the host vehicle 1, information indicating the vehicle speed of the host vehicle 1, information indicating the steering angle of the host vehicle 1, and the result of learning performed in the big data analysis unit SY1. In steps S11 to S17, the vehicle recognition sensitivity adjustment unit 3D adjusts the recognition sensitivity of the oncoming vehicle including the lamp included in the front camera image of the host vehicle 1 at each traveling position of the host vehicle 1 based on the learning result acquired in step S10. Specifically, in step S11, the vehicle recognition sensitivity adjustment unit 3D determines whether the vehicle speed of the host vehicle 1 acquired in step S10 is lower than the vehicle speed threshold. If YES, the process proceeds to step S12; if NO, the process proceeds to step S15. In step S12, the vehicle recognition sensitivity adjustment unit 3D determines whether the steering angle of the host vehicle 1 acquired in step S10 is smaller than the steering angle threshold. If YES, the process proceeds to step S13; if NO, the process proceeds to step S15. In step S13, the vehicle recognition sensitivity adjustment unit 3D determines whether it is necessary to set the recognition sensitivity of the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 to the default value based on the front camera image of the host vehicle 1 acquired in step S10 and the result of the learning performed in the big data analysis unit SY1. If YES, the process proceeds to step S15; if NO, the process proceeds to step S14. In step S14, the vehicle recognition sensitivity adjustment unit 3D determines whether it is necessary to increase the recognition sensitivity of the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 above the default value based on the front camera image of the host vehicle 1 acquired in step S10 and the result of the learning performed in the big data analysis unit SY1. If YES, the process proceeds to step S16; if NO, the process proceeds to step S17.

[0024] In step S15, the vehicle recognition sensitivity adjustment unit 3D sets the recognition sensitivity of the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 to the default value. In step S16, the vehicle recognition sensitivity adjustment unit 3D increases the recognition sensitivity of the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 above the default value. In step S17, the vehicle recognition sensitivity adjustment unit 3D decreases the recognition sensitivity of the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 below the default value. In step S18, the vehicle recognition unit 3B recognizes the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 with the recognition sensitivity adjusted in steps S11 to S17. When the oncoming vehicle with its lamp lit in the front camera image of the host vehicle 1 is recognized in step S18, in step S19, the control unit 3C executes the light distribution switching control of the headlamp 11 of the host vehicle 1 from the high beam lighting state to the shaded high beam lighting state.

[0025] <Second Embodiment> The host vehicle 1 to which the headlight control device 18 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the headlight control device 18 of the first embodiment described above is applied, except as described later.

[0026] As described above, in the host vehicle 1 to which the headlight control device 18 of the first embodiment is applied, the headlight 11 has a function of turning on the high beam, a function of turning on the shaded high beam, and a function of turning on the low beam. On the other hand, in the host vehicle 1 to which the headlight control device 18 of the second embodiment is applied, the headlight 11 has a function of turning on the high beam and a function of turning on the low beam, and does not have a function of turning on the shaded high beam. The operations of the driver of the host vehicle 1 received by the HMI 13 include, for example, an operation of turning off the function of controlling the light distribution switching of the headlight 11 from the high beam on state to the low beam on state. When the HMI 13 receives an operation from the driver of the host vehicle 1 to turn off the function of controlling the light distribution switching of the headlight 11 from the high beam on state to the low beam on state, the communication device 17 transmits information indicating the operation to the big data analysis unit SY1. Further, the communication device 17 transmits information indicating the traveling position of the host vehicle 1 and the front camera image when the HMI 13 receives the operation to the big data analysis unit SY1.

[0027] In an example of the vehicle recognition sensitivity adjustment system SY including the host vehicle 1 to which the headlight control device 18 of the second embodiment is applied, the big data analysis unit SY1 uses the traveling position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV turns off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the shaded high beam on state, and the traveling position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV turns off the function of controlling the light distribution switching of the headlight of the probe vehicle PV from the high beam on state to the low beam on state, and performs learning of the recognition sensitivity of the oncoming vehicle with the lamp lit in the front camera image of the probe vehicle PV suitable for each traveling position of the probe vehicle PV. In another example of the vehicle recognition sensitivity adjustment system SY including the host vehicle 1 to which the headlamp control device 18 of the second embodiment is applied, without using the running position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of the light distribution switching control of the headlamp of the probe vehicle PV from the high beam on state to the shaded high beam on state, the big data analysis unit SY1 uses the running position of the probe vehicle PV and the front camera image of the probe vehicle PV when the driver of the probe vehicle PV performs an operation to turn off the function of the light distribution switching control of the headlamp of the probe vehicle PV from the high beam on state to the low beam on state, and may perform learning of the recognition sensitivity of the oncoming vehicle including the lamp in the front camera image of the probe vehicle PV suitable for each running position of the probe vehicle PV.

[0028] As described above, in the host vehicle 1 to which the headlamp control device 18 of the first embodiment is applied, when the oncoming vehicle including the lamp in the front camera image of the host vehicle 1 is recognized by the vehicle recognition unit 3B, the control unit 3C executes the light distribution switching control of the headlamp 11 of the host vehicle 1 from the high beam on state to the shaded high beam on state. On the other hand, in the host vehicle 1 to which the headlamp control device 18 of the second embodiment is applied, when the oncoming vehicle including the lamp in the front camera image of the host vehicle 1 is recognized by the vehicle recognition unit 3B, the control unit 3C executes the light distribution switching control of the headlamp 11 of the host vehicle 1 from the high beam on state to the low beam on state.

[0029] As described above, in the host vehicle 1 to which the headlamp control device 18 of the first embodiment is applied, when the driver of the host vehicle 1 performs an operation to turn off the function of the light distribution switching control of the headlamp of the host vehicle 1 from the high beam on state to the shaded high beam on state, similar to the probe vehicle PV, the host vehicle 1 transmits information indicating the operation to the big data analysis unit SY1, and transmits information indicating the running position of the host vehicle 1 and the front camera image of the host vehicle 1 when the driver of the host vehicle 1 performs the operation to the big data analysis unit SY1. On one hand, in the host vehicle 1 to which the headlight control device 18 of the second embodiment is applied, when the driver of the host vehicle 1 performs an operation to turn off the function of the light distribution switching control of the headlight of the host vehicle 1 from the high beam on state to the low beam on state, similar to the probe vehicle PV, information indicating the operation is transmitted to the big data analysis unit SY1, and information indicating the traveling position of the host vehicle 1 and the front camera image of the host vehicle 1 when the driver of the host vehicle 1 performs the operation are transmitted to the big data analysis unit SY1.

[0030] <Third Embodiment> The host vehicle 1 to which the headlight control device 18 of the third embodiment is applied is configured in the same manner as the host vehicle 1 to which the headlight control device 18 of the first or second embodiment described above, except as described later.

[0031] In the host vehicle 1 to which the headlight control device 18 of the third embodiment is applied, when the driver of the host vehicle 1 performs an operation to turn off the function of the light distribution switching control of the headlight of the host vehicle 1 from the high beam on state to the shaded high beam or low beam on state, information indicating the operation is not transmitted to the big data analysis unit SY1, and information indicating the traveling position of the host vehicle 1 and the front camera image of the host vehicle 1 when the driver of the host vehicle 1 performs the operation are not transmitted to the big data analysis unit SY1. That is, the host vehicle 1 does not have the function as the probe vehicle PV.

[0032] As described above, the embodiments of the headlight control device, the headlight control method, and the program of the present disclosure have been described with reference to the drawings. However, the headlight control device, the headlight control method, and the program of the present disclosure are not limited to the above-described embodiments, and appropriate modifications can be made without departing from the spirit of the present disclosure. The configurations of the respective examples of the above-described embodiments may be combined as appropriate. In each example of the above-described embodiments, the processing performed in the headlight control device 18 (ECU) has been described as software processing performed by executing a program. However, the processing performed in the headlight control device 18 may be processing performed by hardware. Alternatively, the processing performed in the headlight control device 18 may be processing that combines both software and hardware. Further, the program stored in the memory 182 of the headlight control device 18 (the program that realizes the functions of the processor 183 of the headlight control device 18) may be recorded, provided, distributed, etc. on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc.

Explanation of Reference Numerals

[0033] 1... own vehicle, 11... headlight, 12... front camera, 13... HMI, 14... position information acquisition device, 15... vehicle speed sensor, 16... steering angle sensor, 17... communication device, 18... headlight control device, 181... communication interface, 182... memory, 183... processor, 3A... acquisition unit, 3B... vehicle recognition unit, 3C... control unit, 3D... vehicle recognition sensitivity adjustment unit, SY... vehicle recognition sensitivity adjustment system, SY1... big data analysis unit, PV... probe vehicle, NW... network

Claims

1. A vehicle recognition unit that recognizes a preceding vehicle with its lamps lit included in a front camera image of the host vehicle; When a preceding vehicle with its lamps lit included in the front camera image of the host vehicle is recognized by the vehicle recognition unit, the control of switching the light distribution of the headlamp of the host vehicle from the high beam lit state to the light distribution of the shaded high beam that shades the preceding vehicle with its lamps lit included in the front camera image of the host vehicle and its surroundings, or the control of switching the light distribution of the headlamp of the host vehicle from the high beam lit state to the low beam lit state; and a control unit that executes the control; An acquisition unit that acquires the result of learning the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the probe vehicle suitable for each traveling position of the probe vehicle, which is performed using the traveling position of the probe vehicle and the front camera image of the probe vehicle when the driver of the probe vehicle performs an operation to turn off the function of switching the light distribution of the headlamp of the probe vehicle from the high beam lit state to the shaded high beam lit state, or an operation to turn off the function of switching the light distribution of the headlamp of the probe vehicle from the high beam lit state to the low beam lit state; A headlamp control device comprising a vehicle recognition sensitivity adjustment unit that adjusts the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the host vehicle at each traveling position of the host vehicle based on the learning result acquired by the acquisition unit.

2. The acquisition unit acquires the detection result of a steering angle sensor of the host vehicle; The vehicle recognition sensitivity adjustment unit sets the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the host vehicle to a default value when the steering angle detected by the steering angle sensor is equal to or greater than a steering angle threshold value. The headlamp control device according to claim 1.

3. The acquisition unit acquires the detection result of a vehicle speed sensor of the host vehicle; The vehicle recognition sensitivity adjustment unit sets the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the host vehicle to a default value when the vehicle speed detected by the vehicle speed sensor is equal to or higher than a vehicle speed threshold value. The headlight control device according to claim 1.

4. A vehicle recognition step in which a headlight control device recognizes a preceding vehicle with its lamps lit included in the front camera image of the host vehicle; When a preceding vehicle with its lamps lit included in the front camera image of the host vehicle is recognized in the vehicle recognition step, the headlight control device controls the light distribution switching of the headlight of the host vehicle from the high beam lighting state to the lighting state of a shaded high beam that shades the preceding vehicle with its lamps lit included in the front camera image of the host vehicle and its surroundings, or controls the light distribution switching of the headlight of the host vehicle from the high beam lighting state to the low beam lighting state. A control step for executing; The headlight control device uses the driving position of the probe vehicle and the front camera image of the probe vehicle when an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle from the high beam lighting state to the shaded high beam lighting state, or an operation to turn off the function of controlling the light distribution switching of the headlight of the probe vehicle from the high beam lighting state to the low beam lighting state is performed. An acquisition step of acquiring the result of learning the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the probe vehicle suitable for each driving position of the probe vehicle; A headlight control method comprising a vehicle recognition sensitivity adjustment step in which the headlight control device adjusts the recognition sensitivity of a preceding vehicle with its lamps lit included in the front camera image of the host vehicle at each driving position of the host vehicle based on the learning result acquired in the acquisition step.

5. In a processor, A vehicle recognition step in which a preceding vehicle with its lamps lit included in the front camera image of the host vehicle is recognized; When a preceding vehicle with its lamp lit included in the front camera image of the host vehicle is recognized in the vehicle recognition step, control for switching the light distribution of the headlamp of the host vehicle from the high beam lit state to the light distribution of the cutoff high beam that shields the preceding vehicle with its lamp lit included in the front camera image of the host vehicle and its surroundings, or control for switching the light distribution of the headlamp of the host vehicle from the high beam lit state to the low beam lit state, and an acquisition step of acquiring the result of learning the recognition sensitivity of a preceding vehicle with its lamp lit included in the front camera image of the probe vehicle suitable for each traveling position of the probe vehicle, using the traveling position of the probe vehicle and the front camera image of the probe vehicle when the driver of the probe vehicle performs an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle from the high beam lit state to the cutoff high beam lit state, or an operation to turn off the function of controlling the light distribution switching of the headlamp of the probe vehicle from the high beam lit state to the low beam lit state, and a program for executing a vehicle recognition sensitivity adjustment step of adjusting the recognition sensitivity of a preceding vehicle with its lamp lit included in the front camera image of the host vehicle at each traveling position of the host vehicle based on the learning result acquired in the acquisition step.

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