Control device and vehicle

Abstract

To control signaling from the own vehicle according to the intention of signaling by another vehicle.SOLUTION: A control device detects a lighting state of a lighting device of a preceding vehicle existing in a traveling direction of the own vehicle from an image captured by a camera mounted on the vehicle, estimates the intention of the lighting state according to the detected lighting state, and a traveling situation based on position information and map information of the own vehicle, and operates a lighting device of the own vehicle according to the estimated intention.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device for controlling lighting devices of a vehicle in accordance with the lighting status of other vehicles, and to a vehicle. [Background technology]

[0002] Drivers of automobiles often use signals using lighting devices as a means of communication between each other. However, signals that have different meanings depending on the situation may not be conveyed to other drivers of vehicles.

[0003] A technology has been proposed in the past that detects the lighting conditions of other vehicles based on an image captured around the vehicle, detects the traffic conditions of the vehicle, and estimates the intention of the signal of the other vehicle based on the lighting conditions of the other vehicle and the traffic conditions (for example, Patent Document 1). After the estimation, this technology performs processing corresponding to the intention of the signal of the other vehicle and outputs it to a display device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-159638 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in conventional technologies, the estimated intention is only used for information output within the vehicle or for autonomous driving, and surrounding traffic is not taken into consideration. Therefore, an object of the present disclosure is to provide a technology for controlling signals from the vehicle in accordance with the intentions of signals from other vehicles. [Means for solving the problem]

[0006] The control device according to the present disclosure detects the lighting status of the lighting devices of a preceding vehicle in the direction of travel of the vehicle from images captured by a camera mounted on the vehicle, estimates the intention of the lighting status based on the detected lighting status and the driving conditions based on the position information and map information of the vehicle, and activates the lighting devices of the vehicle in accordance with the estimated intention. [Effects of the Invention]

[0007] According to the present technology, it is possible to provide a technology for controlling a signal from one's own vehicle in accordance with the intention of the signal from another vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram for explaining an outline of the embodiment. [Figure 2] FIG. 2 shows an example of an image of one frame that constitutes a moving image. [Figure 3] FIG. 3 is a diagram for explaining the relationship between the intention of the lighting state and the lighting control of the vehicle. [Figure 4] FIG. 4 is a block diagram illustrating an example of a system configuration. [Figure 5] FIG. 5 is a process flow diagram illustrating an example of the control process. [Figure 6] FIG. 6 is a diagram showing an example of another driving situation. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Embodiment> Hereinafter, the embodiments will be described with reference to the drawings. In this embodiment, the state of the lighting devices of a preceding vehicle (also called the lighting state) is detected from video image data output by an imaging device such as a drive recorder, and the lighting devices of the vehicle are controlled according to the driving situation. In Fig. 1, a vehicle 1 equipped with a control device according to the embodiment and other vehicles 2 (2A to 2D) are traveling on a road 100.

[0010] The control device of vehicle 1 reads video data from a drive recorder or the like and detects the lighting status of a preceding vehicle 2C traveling ahead of the vehicle (FIG. 1: step S1). FIG. 2 is an example of an image of one frame constituting the video data. Image 200 is image data captured in the direction of travel of vehicle 1. Using an object detection technique, the control device of vehicle 1 detects, from the image data, a preceding vehicle traveling ahead in the same lane as the vehicle, and a predetermined lighting status of the preceding vehicle. As the predetermined lighting status, for example, activation of a turn signal or hazard lamp (emergency flasher) is detected. In the example of FIG. 2, it is assumed that activation of the hazard lamps of preceding vehicle 2C has been detected.

[0011] The control device of vehicle 1 also uses the position information to estimate the intention of the lighting state detected in step S1 (FIG. 1: step S2). FIG. 3 is a diagram illustrating the relationship between the intention of the lighting state and the lighting control of the host vehicle. The table in FIG. 3 includes attributes of "No.", "lighting state of preceding vehicle," "driving conditions," and "lighting control of host vehicle." The "No." field stores identification information for uniquely identifying a record. The "lighting state of preceding vehicle" field stores the state of the lighting device to be detected in step S1 of FIG. 1. The "driving conditions" field stores the conditions around the traveling point of the host vehicle, which can be determined using the position information and map information. In step S2 of FIG. 1, if the registered information for "lighting state of preceding vehicle" and "driving conditions" matches, the lighting state of the preceding vehicle is estimated to be the predetermined intention. The "lighting control of host vehicle" field stores information indicating how the lighting devices of the host vehicle should be controlled when the lighting state of the preceding vehicle is estimated to be the predetermined intention.

[0012] The table in FIG. 3 is an example of a database, and the information may be properly normalized and stored in multiple tables, or may be denormalized and stored collectively in a single table. This information may also be hard-coded (on-coded) rather than stored in a table or external file. For example, the information registered in "driving conditions" may include other conditions in addition to the example in FIG. 3.

[0013] Then, the control device of the vehicle 1 controls the lighting devices of the vehicle in accordance with the estimated driving conditions (FIG. 1: step S3). In this step, the lighting devices of the vehicle are controlled based on the information registered in the "lighting control of the vehicle" field in FIG. 3, for example.

[0014] In this way, the vehicle 1 shown in FIG. 1 can estimate the intention of the preceding vehicle 2C regarding the activation of its lighting devices and can quickly notify the following vehicle 2D and other vehicles of the driving conditions. If the following vehicle 2D is also equipped with the control device according to this embodiment, it can perform similar control, and the notification to the surrounding area will spread quickly in a chain reaction. The control device may also notify the driver of the vehicle that its lighting devices have been activated via a user interface such as a speaker. The driver can also know the estimated driving conditions and, if he or she determines that the estimation is incorrect, can correct it by operating a push button on the lighting device or the like.

[0015] <Device configuration> FIG. 4 is a block diagram for explaining an example of the system configuration. The vehicle 1 is, for example, an automobile. The vehicle 1 includes an in-vehicle device 10, a camera 20, a positioning sensor 30, a user interface (UI) 40, and a lighting device 50. The in-vehicle device 10 also includes a processor The vehicle-mounted device 10 includes a positioning sensor 11 and a storage device 12. The vehicle-mounted device 10 is a computer, and may function as a drive recorder in cooperation with a camera 20, for example. The vehicle-mounted device 10 can identify the position of the vehicle 1 on a map based on position information output by a positioning sensor 30. The vehicle-mounted device 10 may be, for example, a device that also serves as part of a car navigation system, or a device that cooperates with a car navigation system.

[0016] The processor 11 is an arithmetic processing device such as a CPU (Central Processing Unit). The processor 11 executes a program to perform each process according to the embodiment. The storage device 12 includes at least one of a main storage device such as a random access memory (RAM) or a read-only memory (ROM), and an auxiliary storage device such as a hard-disk drive (HDD), a solid-state drive (SSD), or a flash memory. The storage device 12 temporarily stores programs read by the processor 11 and information to be processed, and secures a working area for the processor 11. For example, the storage device 12 temporarily or permanently stores information used in the present embodiment, such as image data output by the camera 20 and location information output by the positioning sensor 40.

[0017] Camera 20 is an imaging device that converts light into an electrical signal using an image sensor such as a CCD or CMOS, and creates and outputs image data. As shown in FIG. 2, camera 20 outputs image 200, for example, captured in the direction of travel of vehicle 1. Image 200 corresponds to, for example, one still image among a series of frames constituting a moving image. In other words, camera 20 repeats the process of creating and outputting image 200. Note that the focal length, etc., of camera 20 is not particularly limited, and the angle of view of image 200 is not limited to the example of FIG. 2.

[0018] The positioning sensor 30 is a receiver that receives signals from satellites in a global navigation satellite system (GNSS), calculates coordinates indicating the position of the positioning sensor 30, and outputs the coordinates as position information.

[0019] The UI 40 is a user interface such as a speaker and a display. The display may be a display having a touch panel laminated thereon. The processor 11 may notify the driver of the host vehicle via the UI 40 of, for example, the intention of the lighting status of the preceding vehicle or that the lighting devices of the host vehicle have been controlled.

[0020] The lighting device 50 is, for example, a direction indicator. The processor 11 can control the operation of the lighting device 50 via a light control unit or the like. The lighting device 50 functions as a turn signal by flashing one of the left and right lights, and functions as a hazard lamp by flashing both the left and right lights.

[0021] The vehicle 1 may further include a vehicle speed sensor such as a vehicle speed pulse generator, a gyro sensor, a distance measurement sensor, etc. The vehicle speed sensor generates a pulse signal (vehicle speed signal) according to the rotation of the axle. The vehicle speed signal is transmitted to the vehicle 1 via an ECU (Electronic Control Unit), for example. The vehicle speed signal is transmitted to the in-vehicle device 10. The in-vehicle device 10 can determine, for example, the speed of the vehicle itself based on the vehicle speed signal. The distance measurement sensor is a LiDAR (Light Detection And Ranging) sensor, a radar sensor, or the like, and measures, for example, the distance to vehicles traveling around the vehicle itself. Based on the output of the distance measurement sensor, the in-vehicle device 10 can obtain the distance to, for example, a preceding vehicle traveling in the same lane as the host vehicle, or a vehicle traveling behind the host vehicle in an adjacent lane.

[0022] <Control processing> 5 is a processing flow diagram showing an example of the control processing. The in-vehicle device 10 repeatedly executes the control processing shown in FIG. 5, for example, while the camera 20 is capturing images or while the vehicle is traveling. The camera 20 continuously stores the captured image data in the storage device 12 of the in-vehicle device 10. It is assumed that an object detection model for detecting an object from the image data is stored in advance in the storage device 12. The object detection model can be created by a machine learning method such as deep learning using a convolutional neural network. The storage device 12 may also store a lane detection model for detecting, for example, white lines on a road from the image data and identifying the position of the lane on which the vehicle is traveling (for example, the number of lanes from the roadside).

[0023] The processor 11 of the in-vehicle device 10 acquires image data output by the camera 20 (FIG. 5: step S11). The image data is data corresponding to one frame of a moving image output by the camera 20. In this step, for example, an image such as that shown in FIG. 2 is read from the storage device 12.

[0024] After step S11, the processor 11 acquires position information from the positioning sensor 30 and estimates the traveling position of the vehicle (FIG. 5: step S12). In this step, the traveling position on a map, for example, is estimated. In addition to the position information and map information, the processor 11 may also calculate the altitude of the traveling point using, for example, a gyro sensor, and determine whether the road on which the vehicle is traveling is an expressway or an ordinary road. For example, it is assumed that the vehicle 1 shown in FIG. 1 is estimated to be located at coordinates on an expressway.

[0025] After step S12, processor 11 detects activation of the lighting devices of the preceding vehicle based on the image data (FIG. 5: step S13). In this step, it is detected that the lighting devices of the preceding vehicle traveling in the same lane as the host vehicle have been activated based on the image data acquired in step S1. The detection of other vehicles captured in the image data, the determination of whether the detected other vehicles are traveling in the same lane as the host vehicle, and the determination of whether the lighting devices of the detected other vehicles are activated may be performed using, for example, one detection model, or may be performed by image analysis that combines two or more detection models or detection rules.

[0026] Furthermore, if the lighting status of the preceding vehicle is detected (step S13: YES), the processor 11 determines whether the lighting status matches a predetermined condition. For example, the processor 11 determines whether the lighting status matches the information registered in the "lighting status of the preceding vehicle" field in the table shown in FIG. 3. That is, based on record No. 1 in FIG. 3, the processor 11 determines whether the lighting status of the preceding vehicle is hazard lights (FIG. 5: step S14). In this step, whether both the left and right turn signals of the detected preceding vehicle are flashing is determined based on image analysis using a predetermined detection model or detection rule. In the example of FIG. 2, it is determined that the preceding vehicle 2C has activated its hazard lights. FIG. 6 is a diagram showing an example of another driving situation. In the example of FIG. 6, for example, the vehicle 1A also detects the hazard lights of the preceding vehicle 2E.

[0027] If it is determined in step S14 that the light is on, the processor 11 determines whether the vehicle is in a predetermined driving situation associated with the lighting state (S14: YES). For example, the processor 11 determines whether the vehicle is traveling on an expressway based on the record No. 1 in FIG. 3 (FIG. 5: step S15). In this step, it is determined whether the vehicle's traveling position estimated in step S12 is on an expressway. For example, in the example of FIG. 6, it is assumed that the vehicle 1A is determined to be traveling on an ordinary road 101 in S12, and is determined not to be traveling on an expressway in this step.

[0028] If it is determined in step S15 that the vehicle is on an expressway (S15: YES), the processor 11 estimates that the intention of the light state of the preceding vehicle is to notify the tail end of the traffic jam (FIG. 5: step S16). 3 may further store information indicating the intention of the lighting state. Furthermore, the processor 11 may notify the driver of the host vehicle of the estimated intention via the UI 50. For example, the hazard lights of the preceding vehicle are estimated to indicate the intention to reach the end of the traffic jam, and this information is output by voice via a speaker or by text or images via a display. The vehicle 1 in FIG. 1 estimates that the lighting state of the other vehicle 2C is the hazard lights for indicating the end of the traffic jam.

[0029] In step S16, the intention of the lighting state of the preceding vehicle may be estimated to be an indication of the tail end of a traffic jam if at least one of the following conditions is met in addition to the information shown in record No. 1 in Fig. 3. These additional conditions can improve the accuracy of the estimation. (1) The preceding vehicle decelerates by more than a predetermined threshold. For example, if estimation using image analysis or estimation using the vehicle's own vehicle's speed sensor and distance measurement sensor further detects that the speed of the preceding vehicle has decreased by more than a predetermined standard, it may be estimated that the preceding vehicle's hazard lights are indicating that it is at the end of the traffic jam. (2) There is traffic congestion information around the vehicle's driving position. For example, if it is further detected that a traffic jam has occurred around the vehicle's driving position (for example, near or ahead of the vehicle's driving position) based on traffic congestion information obtained from a road traffic information and communication system (Vehicle Information and Communication System, VICS (registered trademark)) or the like, it may be assumed that the hazard lights of the preceding vehicle indicate that the vehicle is at the end of the traffic jam. (3) The hazard lights of the preceding vehicle were not activated immediately after changing lanes. For example, if it is determined based on the video data of the most recent predetermined period that the preceding vehicle has activated its hazard lights within a predetermined time after changing lanes, it may be estimated exceptionally that the hazard lights of the preceding vehicle are not intended to indicate the end of a traffic jam. In other words, it is determined that the hazard lights of the preceding vehicle are a so-called thank you hazard, and in the steps described below, processor 11 does not control the lighting devices 50 of the subject vehicle.

[0030] Then, after step S16, the processor 11 controls the lighting devices of the host vehicle (FIG. 5: step S17). In this step, the processor 11 performs a predetermined control associated with the lighting state and driving situation of the preceding vehicle. For example, the processor 11 activates the hazard lights of the host vehicle based on the record No. 1 in FIG. 3. That is, the processor 11 promptly notifies the following vehicles, etc. of the situation based on the intention of the lighting state of the preceding vehicle estimated in step S16. In the example of FIG. 1, the vehicle 1 activates the hazard lights of the host vehicle. The processor 11 may also notify the driver of the host vehicle via the UI 50 that the lighting devices of the host vehicle have been controlled. For example, the fact that the hazard lights of the host vehicle have been activated may be output by voice via a speaker or by text or images via a display. The hazard light operation button provided on the instrument panel may also be turned on or flashing.

[0031] On the other hand, if it is determined in step S14 that the light is not a hazard lamp (S14: NO), for example, based on record No. 2 in FIG. 3, processor 11 determines whether the light state of the preceding vehicle is a turn signal (FIG. 5: step S18). In this step, it is determined based on image analysis using a predetermined detection model or detection rule whether only one of the left and right turn signals of the detected preceding vehicle is flashing. It is assumed that vehicle 1B in FIG. 6 has detected the right turn signal of preceding vehicle 2F.

[0032] If it is determined in step S18 that the light is a turn signal (S14: YES), the processor 11 determines whether the current driving situation is a predetermined one associated with the light state. For example, based on the record No. 2 in FIG. 3, the processor 11 determines whether the current driving situation is a predetermined one associated with the turn signal of the preceding vehicle, which is ahead of the vehicle's own vehicle and in the direction indicated by the turn signal of the preceding vehicle (for convenience, also referred to as the "indicated direction"). In this step, the processor 11 determines whether a facility such as a store exists ahead of the vehicle (in other words, ahead of the preceding vehicle) along the road in the indicated direction (FIG. 5: step S19). In this step, the determination is made based on the traveling position estimated in step S12 and map information. For example, the processor 11 determines whether a facility such as a store exists ahead of the vehicle (in other words, ahead of the preceding vehicle) along the road in the indicated direction. Note that on a road with vehicle lanes, the processor 11 may determine that the condition of this step is met when the preceding vehicle and the vehicle are traveling in the lane closest to the indicated direction (i.e., there is no possibility of changing lanes). It is assumed that the vehicle 1B in FIG. 6 has determined that a predetermined facility, store 3A, exists ahead to the right.

[0033] If it is determined in step S19 that a predetermined facility is present (S19: YES), processor 11 estimates that the intention of the light state of the preceding vehicle is to notify entry into the facility (FIG. 5: step S20). Processor 11 may also notify the driver of the host vehicle of the estimated intention via UI 50. For example, the fact that the blinker of the preceding vehicle is estimated to indicate an intention to enter the facility along the road may be output by voice via a speaker or by text or images via a display.

[0034] In step S20, the intention of the lighting state of the preceding vehicle may be estimated to be an indication of entry into a facility if at least one of the following conditions is met in addition to the information shown in record No. 2 in Fig. 3. These additional conditions can improve the accuracy of the estimation. (1) There is no intersection ahead For example, if there is an intersection ahead of the vehicle (in other words, ahead of the leading vehicle) where the vehicle can turn right or left in the direction indicated by the turn signal of the leading vehicle, it may be assumed that the turn signal of the leading vehicle does not indicate an intention to enter a facility. In this case, the processor 11 does not control the lighting devices 50 of the vehicle in a step described later. For example, even if the vehicle 1C in FIG. 6 detects the left turn signal of the leading vehicle 2G and determines that stores 3B and 3C are located ahead and to the left, it may still determine that the vehicle does not intend to enter a facility along the road if the facility is located within a predetermined range from the intersection where the vehicle can turn left. (2) The space ahead of the preceding vehicle is clear and the preceding vehicle has slowed down or stopped. For example, when processor 11 detects through image analysis that the road ahead of the leading vehicle is clear and further detects that the leading vehicle has slowed down or stopped through estimation using image analysis or estimation using the vehicle's speed sensor and distance measurement sensor, processor 11 may estimate that the intention of the leading vehicle's lighting state is to indicate entry into a facility. Condition (2) may be determined as an exception to condition (1). For example, when vehicle 1C in FIG. 6 detects the left turn signal of leading vehicle 2G and determines that leading vehicle 2G has stopped in front of store 3B and that no other vehicles are present in front of leading vehicle 2G, processor 11 may determine that the turn signal indicates an intention to enter a facility along the road, even if store 3B is within a predetermined range from an intersection where a left turn is permitted. (3) The facility must have a parking lot. For example, if the map information includes information indicating whether a facility such as a store has a parking lot, processor 11 may estimate that the intention of the light state of the leading vehicle is to indicate entry into the facility when it is further determined that a facility located ahead of the vehicle's driving position and along the road in the direction indicated by the turn signal of the leading vehicle has a parking lot. For example, if the map information provided by vehicle 1C includes information indicating that there is no parking lot for stores 3B and 3C in FIG. 6, it may be determined that the turn signal of leading vehicle 2G does not indicate an intention to enter the facility along the road. Note that the predetermined facility described above may be the parking lot itself, such as a pay parking lot.

[0035] After step S20, processor 11 controls the lighting devices of the vehicle (FIG. 5: step S21). In this step, processor 11 performs a predetermined control associated with the lighting state and driving conditions of the preceding vehicle. For example, processor 11 activates a blinker in the direction opposite to the direction indicated by the preceding vehicle, based on record No. 2 in FIG. 3. That is, the course change of the host vehicle is notified based on the intention of the preceding vehicle and the lighting state estimated in step S20. Furthermore, the processor 11 may notify the driver of the host vehicle via the UI 50 that the lighting devices of the host vehicle have been controlled. For example, the activation of the turn signal of the host vehicle may be output by voice via a speaker or by text or images via a display. Furthermore, an indicator such as an LED (Light Emitting Diode) may be provided on the operation lever of the turn signal, and the indicator may be turned on or flashed.

[0036] In step S21, processor 11 may further determine whether the host vehicle can change course in the direction opposite to the direction indicated by the preceding vehicle, and may activate the turn signals of the host vehicle if the course change is possible. For example, processor 11 may determine, based on image analysis or map information, whether overtaking, going beyond the line, changing course, etc. are restricted on the road on which the host vehicle is traveling, and may activate the turn signals of the host vehicle if they are not restricted. In this way, control can be performed in accordance with the traveling conditions of the host vehicle.

[0037] In step S21, the processor 11 may further determine, for example, using a distance measurement sensor, that no other vehicle is traveling behind the host vehicle in the adjacent lane in the opposite direction to the direction indicated by the preceding vehicle, and may activate the turn signal of the host vehicle if it is determined that no other vehicle is traveling. In this way, control can be performed in accordance with the traveling situation of the host vehicle.

[0038] Furthermore, if it is determined in step S15 that the vehicle is not on a highway (step S15: NO), if it is determined in step S18 that the turn signal is not on (step S18: NO), if it is determined in step S19 that the specified facility does not exist (step S19: NO), or after step S21, processor 11 ends one cycle of the control processing.

[0039] For example, while the camera 20 is capturing images or the vehicle is traveling, the processor 11 returns to step S11 and repeatedly executes the process of Fig. 5. The process flow of Fig. 5 may be executed in a different order or in parallel, as long as the results are unchanged. For example, the processor 11 may execute each of step S11 and step S12 in a predetermined processing cycle different from the subsequent process.

[0040] <Effects> According to this embodiment, not only can the intention of the preceding vehicle when it activates its lighting devices be estimated, but the lighting devices of the own vehicle can also be quickly controlled in accordance with the estimation result, i.e., the signal from the own vehicle can be controlled in accordance with the intention of the signal from the other vehicle.

[0041] <Other> The illustrated system and device configurations are merely examples and are not limited to the above examples. For example, at least some of the processing performed by the in-vehicle device 10 of the vehicle 1 may be shared and executed by multiple devices, or may be executed in parallel by multiple devices. The vehicle 1 may be a so-called autonomous driving vehicle.

[0042] The present invention also includes a computer program for executing the above-mentioned processing method, and a computer-readable recording medium on which the program is recorded. The above-mentioned processing becomes possible by loading the recording medium into a computer and executing the recorded program. A computer-readable recording medium is a recording medium that stores information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer. Among such recording media, those that can be removed from a computer are Possible storage media include flexible disks, magneto-optical disks, optical disks, magnetic tapes, memory cards, etc. Also, examples of recording media fixed to a computer include hard disk drives and ROMs. [Explanation of symbols]

[0043] 1: Vehicle, 10: In-vehicle device, 11: Processor, 12: Storage device, 20: Camera, 40: Positioning sensor, 50: User interface (UI)

Claims

1. Detecting the state of the lighting devices of a preceding vehicle in the direction of travel of the subject vehicle from an image captured by a camera mounted on the vehicle; Detecting a predetermined traveling condition associated with the detected state of the lighting device of the preceding vehicle based on the position information of the subject vehicle and map information; activating a lighting device of the vehicle in accordance with the detected predetermined driving condition; Control device.

2. If the state of the lighting device of the preceding vehicle is that the hazard lamps are activated and the driving situation is that the vehicle is driving on an expressway, activate the hazard lamps of the own vehicle. The control device according to claim 1 .

3. The driving situation is the preceding vehicle decelerates by a predetermined threshold or more; The map information includes information indicating a traffic jam on the side of the vehicle's traveling direction relative to the vehicle's position information; and The hazard lights of the preceding vehicle have not been activated within a predetermined period of time after the preceding vehicle changed lanes; and when at least one of the following conditions is met, the hazard lamp of the vehicle is activated. The control device according to claim 2 .

4. When the state of the lighting device of the preceding vehicle is that the turn signal is activated and the traveling situation is a situation in which a predetermined facility exists in the traveling direction of the host vehicle and in the direction indicated by the turn signal, the turn signal of the host vehicle on the side opposite to the indicated direction is activated. The control device according to any one of claims 1 to 3.

5. The driving situation is There is no intersection within a predetermined range in the traveling direction of the vehicle; The road ahead of the preceding vehicle is clear and the preceding vehicle has slowed down or stopped; and The map information contains information indicating that the predetermined facility has a parking lot; When at least one of the above conditions is met, a turn signal of the host vehicle on the opposite side to the indicated direction is activated. The control device according to claim 4.

6. Detecting the state of the lighting devices of a preceding vehicle in the direction of travel of the subject vehicle from an image captured by a camera mounted on the vehicle; Detecting a predetermined traveling condition associated with the detected state of the lighting device of the preceding vehicle based on the position information of the subject vehicle and map information; activating a lighting device of the vehicle in accordance with the detected predetermined driving condition; A vehicle equipped with a control device.

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