Control device, vehicle lamp system, and program

Abstract

To provide a new technique for enhancing visibility of a road surface according to road illumination.SOLUTION: The control device 100 is a control device that controls a vehicle lamp capable of irradiating a light distribution pattern in front of a vehicle, and includes a first control unit that controls irradiation of the light distribution pattern. The first control unit controls driving of the vehicle lamp so as to change a light distribution pattern to be irradiated when a light spot regarded as a low-position road illumination is included in a captured image obtained by imaging the front of the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle lamp. [Background technology]

[0002] Vehicles equipped with cameras that capture images of the area ahead of the vehicle have been proposed. Image processing devices have also been proposed that use images from such cameras to determine the attributes of light spots in front of the vehicle. For example, Patent Document 1 discloses an image processing device that determines whether the attributes of light spots contained in image information captured in front of the vehicle are roadside facilities based on characteristic information of the light spots calculated from the image information. This device can accurately distinguish between taillights of a preceding vehicle and headlights of an oncoming vehicle and other light spots (streetlights, reflectors, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 156087 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, the introduction of low-position road lighting has been progressing, primarily on expressways, with the aim of reducing maintenance costs. Low-position road lighting uses a different illumination method than conventional pole-type road lighting, illuminating the road from a low position on the shoulder side at a nearly horizontal angle. As a result, the road surface on the shoulder side is bright, and becomes darker as you move away from the shoulder.

[0005] When the brightness of the road surface is uneven in this way, the driver's eyes may adapt to the bright parts of the road surface, which may reduce the visibility of the dark parts of the road surface.

[0006] The present invention has been made in view of the above circumstances, and one of its exemplary purposes is to provide a new technology for improving the visibility of the road surface in accordance with road lighting. [Means for solving the problem]

[0007] In order to solve the above problems, a control device according to one aspect of the present invention is a control device for controlling a vehicle lamp capable of emitting a light distribution pattern ahead of the vehicle, and includes a first control unit that controls the emission of the light distribution pattern. When a light spot that is considered to be low-position road lighting is included in a captured image of the area ahead of the vehicle, the first control unit controls the driving of the vehicle lamp to change the emitted light distribution pattern.

[0008] According to this embodiment, it is possible to emit a light distribution pattern that is suitable for low-position road lighting.

[0009] The first control unit may control the driving of the vehicular lamp so that a first light distribution pattern is projected ahead of the vehicle when the captured image does not include a light point that is deemed to be the low-position road lighting, and may control the driving of the vehicular lamp so that a second light distribution pattern, in which the area on the low-position road lighting side is darker than the first light distribution pattern, is projected ahead of the vehicle when the captured image includes a light point that is deemed to be the low-position road lighting. This prevents the road surface on the low-position road lighting side from being too bright compared to other road surfaces.

[0010] The vehicle lamp may further include a second control unit that outputs a signal for a light distribution pattern according to the type of road lighting based on the position of the light spot in the captured image. When a light spot deemed to be low-position road lighting is located below a horizontal line passing through the center of the captured image, the second control unit may output a control signal to the first control unit so that the vehicle lamp emits the second light distribution pattern. This makes it possible to emit the second light distribution pattern according to the low-position road lighting.

[0011] When a light point that is deemed to be low-position road lighting is located outside the white line in the captured image, the second control unit may output a control signal to the first control unit so that the vehicle lamp emits a second light distribution pattern, thereby enabling the second light distribution pattern corresponding to the low-position road lighting to be emitted.

[0012] The second control unit may output a control signal to the first control unit so that the vehicle lamp emits the second light distribution pattern when the road surface luminance in the captured image is equal to or greater than a predetermined value, thereby enabling the second light distribution pattern according to the road surface luminance to be emitted.

[0013] The second control unit may output a control signal to the first control unit so that the vehicle lamp emits the second light distribution pattern when the luminance of the road shoulder area in the captured image is equal to or greater than a predetermined value, thereby enabling the second light distribution pattern according to the luminance of the road shoulder area to be emitted.

[0014] The vehicle may further include an information acquisition unit that acquires information about an area where low-positioned road lighting is present. When the vehicle starts traveling in an area where low-positioned road lighting is not present while the second light distribution pattern is being irradiated, the second control unit may output a control signal to the first control unit so that the vehicle lamp irradiates a light distribution pattern other than the second light distribution pattern. This prevents the second light distribution pattern from being irradiated in an area where low-positioned road lighting is not present.

[0015] Another aspect of the present invention is a vehicle lighting system. The vehicle lighting system includes a vehicle lamp capable of emitting a light distribution pattern ahead of the vehicle, and a first control unit that controls the emission of the light distribution pattern. When a light spot that is considered to be low-position road lighting is included in a captured image of the area ahead of the vehicle, the first control unit controls the driving of the vehicle lamp to change the emitted light distribution pattern.

[0016] According to this embodiment, it is possible to emit a light distribution pattern that is suitable for low-position road lighting.

[0017] Yet another aspect of the present invention is a program for causing a first control unit, which controls the illumination of a light distribution pattern formed by a vehicle lamp ahead of the vehicle, to execute the program. The program also causes the first control unit to execute a step of controlling the driving of the vehicle lamp so as to change the illuminated light distribution pattern when a light spot that is considered to be low-position road lighting is included in a captured image of the area ahead of the vehicle.

[0018] According to this aspect, the first control unit can be caused to execute the step of controlling the driving of the vehicle lamp so that a light distribution pattern according to low-position road lighting is emitted.

[0019] Any combination of the above components, and conversion of the present invention between a manufacturing method, a lighting fixture or lighting device, a light emitting module, a light source, etc. are also valid aspects of the present invention. [Effects of the Invention]

[0020] According to the present invention, the visibility of the road surface can be improved in accordance with road lighting. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a block diagram of a vehicle lighting system according to an embodiment of the present invention; [Figure 2] FIG. 3 is a diagram schematically showing an example of a first light distribution pattern formed by the vehicle lighting system on a virtual screen. [Figure 3] Figure 3(a) is a front view of a low-position road lighting installed on the roadside, Figure 3(b) is a side view of the low-position road lighting shown in Figure 3(a), and Figure 3(c) is a top view of the low-position road lighting shown in Figure 3(a). [Figure 4] FIG. 1 is a diagram showing a captured image of the vehicle's lane on an expressway where low-position road lighting is installed. [Figure 5]Figure 5(a) is a diagram showing a schematic diagram of an example of a low beam lamp according to this embodiment, and Figure 5(b) is a diagram showing a schematic diagram of an example of a low beam light distribution pattern formed by the low beam lamp of Figure 5(a). [Figure 6] FIG. 1 is a schematic diagram showing a vehicle traveling on a road where low-position road lighting is arranged, as viewed from above. [Figure 7] FIG. 10 is a diagram schematically illustrating a wall whose luminance is increased by low-position road lighting. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, parts, and processes shown in each drawing will be given the same reference numerals, and redundant explanations will be omitted where appropriate. Furthermore, the embodiments are illustrative and do not limit the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

[0023] The vehicle lamp according to this embodiment is a vehicle headlamp arranged in front of the vehicle, and is configured as a vehicle lamp system by being appropriately combined with various control units, sensors, etc. First, a schematic configuration of the vehicle lamp system according to this embodiment will be described. Fig. 1 is a block diagram of the vehicle lamp system according to this embodiment.

[0024] The vehicle lighting system 10 includes a camera unit 12 compatible with ADAS (Advanced Driver-Assistance Systems), a center ECU 14, an ADAS domain ECU 16, and a communication module 18. The camera unit 12 includes a camera 20 that captures an image ahead of the vehicle, and a camera ECU 22 that detects objects such as signs and vehicles present ahead of the vehicle based on information from the image captured by the camera 20. The center ECU 14 includes a processor (computing unit) 14a that executes programs required for various controls, and a memory (storage medium) 14b that stores the programs.

[0025] The ADAS domain ECU 16 performs light on / off control and light distribution control using image information and vehicle information acquired from various units, and includes a processor (arithmetic unit) 16a that executes programs required for various controls, and a memory (storage medium) 16b that stores the programs. Although the camera unit 12, center ECU 14, and ADAS domain ECU 16 according to this embodiment are provided on the vehicle body side, they may be provided anywhere in the vehicle. Information obtained by the camera unit 12 may be transmitted to the ADAS domain ECU 16 via the center ECU 14.

[0026] The vehicle lighting system 10 further includes a lamp ECU 24, a low beam lamp 28 and a high beam lamp 30 whose light distribution is controlled by the lamp ECU 24, a high-definition ADB (Adaptive Driving Beam) controller 26, a high-definition ADB LED unit 34 controlled by the controller 26, and a power driver 32 that supplies power to the LED unit 34. The low beam lamp 28 and the high beam lamp 30 may be a single unit that integrates a high beam function and a low beam function. Alternatively, the vehicle lighting system 10 may be a multi-lens (multi-lamp) headlamp that realizes a low beam light distribution pattern by overlapping light emitted from multiple light sources, like a low beam lamp described below.

[0027] The lamp ECU 24 includes a processor 24a that executes programs required for various controls and a memory 24b that stores the programs. The lamp ECU 24 and the controller 26 according to this embodiment may be provided in any of the low beam lamp 28, the high beam lamp 30, and the LED unit 34, which are vehicle lighting fixtures.

[0028] Data communication between the ADAS domain ECU 16 and the camera unit 12, center ECU 14, and lamp ECU is performed using a method such as CAN (Controller Area Network) or LVDS (Low Voltage Differential Signaling). Similarly, data communication between the lamp ECU 24 and the controller 26, low beam lamp 28, and high beam lamp 30 is performed using a method such as CAN. The lamp ECU 24 supplies power to the controller 26, low beam lamp 28, high beam lamp 30, and power driver 32.

[0029] The controller 26 transmits image data D1 to the receiving section of the LED unit 34 and outputs a signal S1 that instructs the LED unit 34 to be driven. In addition, the controller 26 transmits information about the LED drive voltage to the power supply driver 32. The power supply driver 32 supplies power to each LED in the LED unit 34. The controller 26 also receives light source temperature data D2 and LED voltage data D3 from the LED unit 34.

[0030] Fig. 2 is a diagram schematically illustrating an example of a first light distribution pattern formed by the vehicle lighting system on a virtual screen. The first light distribution pattern P1 shown in Fig. 2 is a pattern in which a low beam light distribution pattern PL formed by the low beam lamps 28, a high beam light distribution pattern PH formed by the high beam lamps 30, and an ADB light distribution pattern PHL formed by the LED unit 34 are superimposed. At night, the vehicle travels while the lamps provided in the vehicle lighting system 10 illuminate the area ahead of the vehicle with the first light distribution pattern P1 shown in Fig. 2.

[0031] The light source and optical members of the low beam lamp 28 are appropriately selected so that they mainly illuminate the area near the vehicle below the HH line on the virtual screen. The light source and optical members of the high beam lamp 30 are appropriately selected so that they mainly illuminate the distant area above the HH line on the virtual screen. The high beam lamp 30 has eight LEDs arranged in one direction, and by controlling the on / off of each LED, it is possible to form a light distribution pattern in which part of the high beam light distribution pattern PH is blocked or dimmed.

[0032] The LED unit 34 is a vehicle lamp capable of illuminating the area ahead of the vehicle with light emitted from the LED unit 34, with light sources and optical components appropriately selected to illuminate an area centered on the intersection of the HH and V lines on the virtual screen. The ADB light distribution pattern PHL is a light distribution pattern that overlaps with both the low-beam light distribution pattern PL and the high-beam light distribution pattern PH, centered on the intersection of the HH and V lines. Furthermore, by individually controlling the drive current of each LED and reducing or eliminating the drive current of some LEDs, some pixels in the matrix that make up the ADB light distribution pattern PHL can be shaded or dimmed. This minimizes the shaded area when preventing glare on vehicles and people within the range of the ADB light distribution pattern PHL, while maintaining visibility in other areas.

[0033] The LED unit 34 has a light source in which 64 LEDs 34a (light-emitting areas) are arranged in a matrix, with 256 LEDs in the vertical direction and 64 LEDs in the horizontal direction, and the driving of each LED is individually controlled based on instructions from the controller 26. The LED unit 34 may have 20 or more light-emitting elements arranged along the short side of a rectangle and 100 or more light-emitting elements arranged along the long side. Furthermore, other than LEDs, organic EL elements, liquid crystal shutters, MEMS mirrors, and the like can also be used as light sources as long as they can individually turn on and off the matrix-shaped light-emitting areas.

[0034] The controller 26 is configured to be able to form multiple light distribution patterns with different brightnesses in the partial regions by changing the illumination state of some of the multiple light-emitting regions. In other words, the controller 26 controls the vehicle lamp to irradiate a selected light distribution pattern by controlling the amount of light emitted from each of the multiple light-emitting regions. This allows a variety of light distribution patterns to be formed with a single LED unit 34. Furthermore, even if there are multiple partial regions where reflective objects exist, it is possible to form light distribution patterns in which the brightness of each partial region is adjusted.

[0035] As shown in FIG. 1 , the control device 100 according to the present embodiment may include a center ECU 14, a camera ECU 22, an ADAS domain ECU 16, and a lamp ECU 24. If the center ECU 14 or the ADAS domain ECU 16 alone can realize a desired function, the center ECU 14 or the ADAS domain ECU 16 may function as the control device 100. In this case, the processor 14a or the processor 16a corresponds to a second control unit. If the lamp ECU 24 alone can realize a desired function, the lamp ECU 24 may function as the control device 100. In this case, the processor 24a corresponds to a first control unit. The combination of components that constitute the control device and control unit according to the present embodiment is not particularly limited. For example, the functions realized by the center ECU 14, the camera ECU 22, the ADAS domain ECU 16, and the lamp ECU 24 may be realized by another ECU, an ECU with a different name, or multiple ECUs.

[0036] The control device 100 controls vehicle lighting fixtures (low beam lamps 28, high beam lamps 30, and LED units 34) that can project a light distribution pattern ahead of the vehicle. In more detail, upon receiving instruction information X1 for the light distribution pattern determined by the processor 16a, the processor 24a outputs control signals (supply voltage and image data) corresponding to the instruction information X1 to each lamp, the controller 26, and the power supply driver 32.

[0037] Next, low-positioned road lighting will be described. FIG. 3(a) is a front view of a low-positioned road lighting installed on a road shoulder, FIG. 3(b) is a side view of the low-positioned road lighting shown in FIG. 3(a), and FIG. 3(c) is a top view of the low-positioned road lighting shown in FIG. 3(a). Low-positioned road lighting 40 has been increasingly introduced in recent years, mainly on expressways, as lighting that is effective in reducing maintenance costs and light pollution to the surrounding environment. Furthermore, multiple low-positioned road lighting 40 are mainly installed at intervals along the road on road shoulder walls 42 or fences outside the white lines 44. The low-positioned road lighting 40 is installed so that the height H from the top of the light-emitting surface 40a, which is a light source such as an LED, is 0.9 to 1.5 m. Note that low-positioned road lighting 40 may also be installed in the median strip on the opposite side of the road shoulder.

[0038] FIG. 4 is a diagram showing a captured image of the vehicle's lane side of a highway where low-positioned road lighting is installed. Low-positioned road lighting 40 installed on the road shoulder illuminates the road surface at an angle nearly parallel to the road surface, so the side closer to the road shoulder (area R) tends to be brighter and the side further away tends to be darker. Therefore, if there are areas with excessively high road surface brightness, the driver's eyes will adapt to the high-luminance areas, causing low-luminance areas to appear relatively darker than their actual brightness values, which may reduce visibility. Therefore, the control device 100 according to this embodiment can improve visibility by switching the light distribution pattern depending on the presence or absence of low-positioned road lighting determined from the image captured by the camera.

[0039] Specifically, the ADAS domain ECU 16 receives image information X2 of an image captured by the camera unit 12 of the area ahead of the vehicle and includes a discrimination unit 17a that discriminates light points of the low-positioned road lights 40 included in the image information X2, and a determination unit 17b that determines a predetermined light distribution pattern according to the discriminated low-positioned road lights 40 and transmits the aforementioned instruction information X1. This allows the control device 100 to control the drive of each lamp so that a desired light distribution pattern is emitted depending on whether or not there is a low-positioned road light ahead of the vehicle. In other words, when there is a low-positioned road light ahead of the vehicle, the control device 100 can control the drive of the vehicle lamps to change to an appropriate light distribution pattern so as to alleviate unevenness in the brightness of the road surface ahead of the vehicle.

[0040] Next, a light distribution pattern suitable for a case where low-position road lighting is present will be described. Fig. 5(a) is a diagram schematically illustrating an example of a low-beam lamp according to this embodiment, and Fig. 5(b) is a diagram schematically illustrating an example of a low-beam light distribution pattern formed by the low-beam lamp of Fig. 5(a). Note that the low-beam lamp 28 shown in Fig. 5(a) is provided in the left headlamp on the left front of the vehicle, and a similar configuration is also provided in the right headlamp on the right front of the vehicle. The left headlamp will be described below, but the right headlamp will not be described because it has the same function.

[0041] Low beam lamp 28 has a focusing unit 28a that particularly brightens the area near the cutline of the light distribution pattern, a medium diffusion unit 28b that illuminates the horizontal range below the cutline, and a multi-lens diffusion unit 28c that illuminates a wide area including the road surface ahead of the vehicle. Focusing unit 28a forms light distribution pattern PL1, medium diffusion unit 28b forms light distribution pattern PL2, and multi-lens diffusion unit 28c forms light distribution pattern PL3. Multi-lens diffusion unit 28c has multiple LED light sources 28c1-28c6, each of which can be turned on and off.

[0042] 6 is a schematic diagram showing a vehicle traveling on a road where low-positioned road lighting is installed, viewed from above. For example, when a vehicle V is traveling in a driving lane of a highway where low-positioned road lighting is not installed, the lamp ECU 24 controls the driving of each light source of the low-beam lamps 28 so that the low-beam light distribution pattern PL (first light distribution pattern) shown in FIG. 5(b) is emitted. On the other hand, when low-positioned road lighting 40 is installed, the road surface from the driving lane to the area on the shoulder side across the white line 44 becomes relatively bright. Therefore, when the vehicle V illuminates the road ahead with the low-beam light distribution pattern PL, if the area brightly illuminated by the low-positioned road lighting 40 and the area brightly illuminated by the low-beam light distribution pattern PL overlap, the overlapping area becomes brighter than necessary.

[0043] Therefore, when the captured image includes a light spot that is deemed to be a low-position road lighting, the lamp ECU 24 controls the driving of the low-beam lamp 28 so that a partial low-beam light distribution pattern PL' (second light distribution pattern) is projected in front of the vehicle, the partial low-beam light distribution pattern PL' having a darker area on the low-position road lighting side compared to the low-beam light distribution pattern PL. Specifically, the driving of the low-beam lamp 28 is controlled so that the LED light source 28c6 of the multi-eye diffusion unit 28c is turned off or dimmed. This makes it possible to project a partial low-beam light distribution pattern PL' corresponding to the low-position road lighting, and prevents the road surface on the low-position road lighting 40 side from being too bright compared to other road surfaces.

[0044] When the low-position road lighting 40 is located on the median strip side, the driving of the low-beam lamp 28 is controlled so as to turn off or dim the LED light source 28c1 of the multi-lens diffusion unit 28c, thereby enabling the projection of a partial low-beam light distribution pattern according to the low-position road lighting. Even when the vehicle V is traveling with a high-beam light distribution pattern irradiated, the light source that illuminates the area brightly illuminated by the low-position road lighting 40 can be turned off or dimmed to enable the projection of a partial high-beam light distribution pattern according to the low-position road lighting.

[0045] The low-position road lighting is identified using light points in the captured image. For example, the ADAS domain ECU 16 outputs a signal for a light distribution pattern according to the type of road lighting (low-position road lighting or pole lighting) based on the position of the light point in the captured image. When a light point deemed to be low-position road lighting 40 is located below the horizontal line passing through the center C of the captured image shown in FIG. 4, the ADAS domain ECU 16 outputs a control signal to the lamp ECU 24 so that the low-beam lamp 28 emits a partial low-beam light distribution pattern PL'. The center C of the captured image can be determined, for example, as the intersection of two diagonals of a rectangle. This makes it possible to emit a partial low-beam light distribution pattern PL' according to the low-position road lighting.

[0046] Alternatively, when a light point regarded as the low-position road lighting 40 is located outside the white line 44 in the captured image shown in Fig. 4, the ADAS domain ECU 16 may output a control signal to the lamp ECU 24 so that the low-beam lamp 28 emits a partial low-beam light distribution pattern PL'. This also makes it possible to emit a partial low-beam light distribution pattern PL' according to the low-position road lighting.

[0047] Even when the vehicle V is traveling on a road where low-position road lighting 40 is present while illuminating the low-beam light distribution pattern PL, the shoulder side may not be brighter than necessary depending on the road and environmental conditions. In such cases, turning off or dimming the illumination of the area near the low-position road lighting may actually reduce the driver's visibility. Therefore, the change to the partial low-beam light distribution pattern PL' in accordance with the low-position road lighting may be made when the background luminance of the road surface is at or above a predetermined brightness. At or above the predetermined brightness, for example, 1 cd / m 2 That's all.

[0048] Delineators are an example of road accessories that are positioned similarly to the low-positioned road lights 40. Like the low-positioned road lights, delineators are also perceived as light points in the captured image. However, the low-positioned road lights 40 are self-luminous fixed objects, and the brightness of the surrounding road surface is high. On the other hand, the light points caused by the delineators are light that is reflected from the light emitted by the vehicle lamps, and the brightness of the surrounding road surface is low. Therefore, the ADAS domain ECU 16 detects whether the road surface brightness in the captured image is equal to or higher than a predetermined value (for example, 1 cd / m 2 In the above cases, a control signal may be output to the lamp ECU 24 so that the low beam lamp 28 emits a partial low beam light distribution pattern PL'. This makes it possible to emit a partial low beam light distribution pattern PL' that corresponds to the road surface brightness.

[0049] On roads where low-positioned road lighting is installed, the reflectance of the walls may be increased to improve the sense of brightness (particularly to improve the brightness due to retroreflected light from the walls on which the low-positioned road lighting is installed). However, if the reflectance of the walls is higher than a certain level, the walls may become excessively bright, which may make it relatively difficult to see the road surface. FIG. 7 is a diagram showing a schematic diagram of a wall whose brightness is increased by low-positioned road lighting. In this case, the ADAS domain ECU 16 determines whether the brightness of the road shoulder region R' in the captured image is greater than a predetermined value (for example, 2 cd / m 2 ) In the above cases, a control signal is output to the lamp ECU 24 so that the LED unit 34 emits a partial ADB light distribution pattern PHL'. The partial ADB light distribution pattern PHL' is a light distribution pattern having a dark area S caused by turning off or dimming the LEDs 34a corresponding to the road shoulder area R'. This allows the partial ADB light distribution pattern PHL' to be emitted in accordance with the brightness of the road shoulder area.

[0050] Note that even when there is no low-position road lighting, there is a possibility that the partial low-beam light distribution pattern PL' may continue to be irradiated even when there is no need for it due to erroneous detection of light spots in image processing, etc. Therefore, the control device 100 according to this embodiment includes an information acquisition unit 14c in the center ECU 14 that acquires information about areas where low-position road lighting is present. The information acquisition unit 14c receives GPS information and wireless communication information via the communication module 18. Based on this information, for example, when the vehicle begins to travel in an area where there is no low-position road lighting while the partial low-beam light distribution pattern PL' is being irradiated, the ADAS domain ECU 16 outputs a control signal to the lamp ECU 24 to cause the low-beam lamps 28 to irradiate the normal low-beam light distribution pattern PL or another light distribution pattern. This prevents the partial low-beam light distribution pattern PL' from being irradiated in areas where there is no low-position road lighting.

[0051] The invention of the vehicle lighting system according to this embodiment can be considered as an invention of a control device alone having a control unit. It can also be considered as an invention of a program to be executed by the control unit that controls the vehicle lighting. This program is executed by the lamp ECU 24, the ADAS domain ECU 16, and the center ECU 14, which control the illumination of a light distribution pattern formed by the vehicle lighting ahead of the vehicle. This program also causes the lamp ECU 24, the ADAS domain ECU 16, and the center ECU 14 to execute a step of controlling the operation of the vehicle lighting to change the illuminated light distribution pattern when a light spot deemed to be low-position road lighting is included in a captured image of the area ahead of the vehicle.

[0052] Although the present invention has been described above with reference to the above-mentioned embodiments, the present invention is not limited to the above-mentioned embodiments, and suitable combinations and substitutions of the configurations of the embodiments are also included in the present invention. Furthermore, it is possible to suitably rearrange the combinations and processing orders in the embodiments based on the knowledge of those skilled in the art, and to make modifications to the embodiments such as various design changes, and such modified embodiments are also included in the scope of the present invention. [Explanation of symbols]

[0053] 10 Vehicle lighting system, 12 Camera unit, 14 Center ECU, 16 ADAS domain ECU, 20 Camera, 24 Lamp ECU, 26 Controller, 28 Low beam lamp, 30 High beam lamp, 34 LED unit, 40 Low position road lighting, 40a Light emitting surface, 42 Wall, 44 White line, 100 Control device.

Claims

1. A control device for controlling a vehicle lamp capable of irradiating a light distribution pattern ahead of a vehicle, a first control unit that controls irradiation of the light distribution pattern; The first control unit A control device characterized by controlling the driving of the vehicle lamp so as to change the light distribution pattern when a light spot that is considered to be low-position road lighting is included in an image captured of the area ahead of the vehicle.

2. The first control unit If the captured image does not include a light point that is considered to be a low-position road lighting, controlling the driving of the vehicle lamp so that a first light distribution pattern is irradiated ahead of the vehicle; 2. The control device according to claim 1, wherein, when the captured image includes a light spot that is considered to be a low-position road lighting, the control device controls the driving of the vehicle lamp so that a second light distribution pattern is projected in front of the vehicle, the second light distribution pattern having a darker area on the low-position road lighting side compared to the first light distribution pattern.

3. a second control unit that outputs a signal of a light distribution pattern according to a type of road lighting based on a position of a light spot in the captured image; The second control unit 3. The control device according to claim 2, wherein when a light point is located below a horizontal line passing through the center of the captured image, a control signal is output to the first control unit so that the vehicle lamp irradiates the second light distribution pattern.

4. The second control unit 4. The control device according to claim 3, wherein when a light point is located outside a white line in the captured image, a control signal is output to the first control unit so that the vehicle lamp emits the second light distribution pattern.

5. The second control unit 4. The control device according to claim 3, wherein when the road surface luminance in the captured image is equal to or greater than a predetermined value, a control signal is output to the first control unit so that the vehicle lamp irradiates the second light distribution pattern.

6. The second control unit 4. The control device according to claim 3, wherein when the brightness of the road shoulder area in the captured image is equal to or greater than a predetermined value, a control signal is output to the first control unit so that the vehicle lamp irradiates the second light distribution pattern.

7. An information acquisition unit that acquires information about an area where low-position road lighting is present, 7. The control device according to claim 3, wherein when the vehicle starts traveling in an area where low-position road lighting is not present while the second light distribution pattern is being irradiated, the second control unit outputs a control signal to the first control unit so that the vehicle lamp irradiates a light distribution pattern other than the second light distribution pattern.

8. a vehicle lamp capable of emitting a light distribution pattern ahead of the vehicle; a first control unit that controls irradiation of the light distribution pattern, The first control unit A vehicle lighting system characterized by controlling the driving of the vehicle lighting fixture so as to change the light distribution pattern when a light spot that is considered to be low-position road lighting is included in an image captured of the area ahead of the vehicle.

9. A program to be executed by a first control unit that controls irradiation of a light distribution pattern formed in front of a vehicle by a vehicle lamp, The program is characterized in that it causes the first control unit to execute a step of controlling the driving of the vehicle lamp so as to change the light distribution pattern to be emitted when a captured image of the area ahead of the vehicle includes a light spot that is considered to be low-position road lighting.

Images