Control device, vehicle lamp system, and program

Abstract

To provide a new technique for enhancing visibility of a falling object on a road 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 the driving of the vehicle lamp so as to change a light distribution pattern to be irradiated when a light spot regarded as high-position road illumination is included in a captured image obtained by imaging the front of the vehicle and a light spot regarded as a preceding vehicle is not included.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] Incidentally, a driver of a vehicle traveling at night can recognize a fallen object on the road ahead from several tens of meters away because the fallen object is illuminated by the headlights. However, if the background on the road ahead is bright due to road lighting, the difference in brightness between the fallen object (visual object) illuminated by the headlights and the background becomes small, making the fallen object difficult to see. As a result, the driver may be late in noticing the visual object.

[0005] 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 increasing the visibility of fallen objects on the road in accordance with road lighting. [Means for solving the problem]

[0006] In order to solve the above problems, a control device according to one embodiment 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 captured image of the area ahead of the vehicle includes a light spot that is considered to be a high-position road lighting spot but does not include a light spot that is considered to be a leading vehicle, the first control unit controls the driving of the vehicle lamp to change the emitted light distribution pattern.

[0007] According to this embodiment, it is possible to emit a light distribution pattern suitable for high-position road lighting.

[0008] The first control unit may control the driving of the vehicular lamp so that a first high beam light distribution pattern is projected ahead of the vehicle when the captured image does not include light points deemed to be high road lighting and does not include light points deemed to be a preceding vehicle, and may control the driving of the vehicular lamp so that a second high beam light distribution pattern is projected, in which a partial area ahead of the vehicle lane is dimmed compared to the first high beam light distribution pattern, when the captured image includes light points deemed to be high road lighting and does not include light points deemed to be a preceding vehicle. By doing so, when the captured image includes light points deemed to be high road lighting and does not include light points deemed to be a preceding vehicle, the second high beam light distribution pattern is projected, thereby preventing a reduction in the luminance difference between the background illuminated by the high road lighting and a visual object in the dimmed partial area ahead of the vehicle lane. As a result, the visibility of visual objects on the road (e.g., fallen objects) can be improved in accordance with the high road lighting.

[0009] The vehicle lamp may further include a second control unit that outputs a signal for a light distribution pattern according to the presence or absence of high-position road lighting, depending on the position of the light spot in the captured image. If the light spot is located above a horizontal line passing through the center of the captured image and if no light spot deemed to be a preceding vehicle is included, the second control unit may output a control signal to the first control unit so that the vehicle lamp emits a second high-beam light distribution pattern. This allows the vehicle lamp to emit a second light distribution pattern according to the presence or absence of high-position road lighting.

[0010] The first control unit may control the driving of the vehicle lamp so that a second high beam light distribution pattern is irradiated, a portion of which is within a range of 20 to 40 meters ahead of the vehicle lane. This improves the visibility of fallen objects even if they are within a range of 20 to 40 meters ahead of the vehicle lane when the road is illuminated by high-position road lighting.

[0011] The first control unit may control the driving of the vehicle lamp so as to emit a second high beam light distribution pattern having a partial area included in a range of 0 to 2 degrees below the horizon line ahead of the vehicle lane and passing through the center of the captured image. This improves the visibility of a fallen object even if the fallen object is located in a range of 0 to 2 degrees below the horizon line ahead of the vehicle lane and passing through the center of the captured image when the road is illuminated by high-position road lighting.

[0012] When the captured image no longer contains light points that are considered to be high-position road lighting while the second high-beam light distribution pattern is being projected, the second control unit may output a control signal to the first control unit so that the vehicle lamp projects a light distribution pattern other than the second high-beam light distribution pattern. This eliminates the need to dim a portion of the area ahead of the vehicle lane when there is no high-position road lighting and the background on the road ahead is dark, making it possible to project a light distribution pattern other than the second high-beam light distribution pattern.

[0013] 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. The first control unit controls the driving of the vehicle lamp to change the emitted light distribution pattern when a captured image of the area ahead of the vehicle includes a light spot that is considered to be a high-position road lighting spot but does not include a light spot that is considered to be a leading vehicle.

[0014] According to this embodiment, it is possible to emit a light distribution pattern suitable for high-position road lighting.

[0015] The vehicle lamp may have a light source with a plurality of light-emitting regions arranged in a matrix. The first control unit may be configured to be able to form a plurality of light distribution patterns by changing the illumination state of some of the plurality of light-emitting regions. This makes it possible to change the shape of a portion of the region ahead of the vehicle's lane where light is to be dimmed.

[0016] Yet another aspect of the present invention is a program for causing a first control unit to execute a control process for controlling the illumination of a light distribution pattern formed by a vehicle lamp ahead of the vehicle. The program also causes the first control unit to execute a step of controlling the driving of the vehicle lamp to change the illuminated light distribution pattern when a captured image of the area ahead of the vehicle includes a light spot that is deemed to be a high-position road lighting spot but does not include a light spot that is deemed to be a preceding vehicle.

[0017] 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 high-position road lighting is emitted.

[0018] 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]

[0019] According to the present invention, the visibility of fallen objects on the road can be improved in accordance with road lighting. [Brief explanation of the drawings]

[0020] [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 schematic diagram showing a state in which there is no road lighting and the road is illuminated only by vehicle lighting, and Figure 3(b) is a schematic diagram showing a state in which the road is illuminated by pole lighting and vehicle lighting. [Figure 4] FIG. 1 is a diagram showing an image captured by a vehicle camera of a road on which high-position road lighting is installed. [Figure 5] FIG. 1 is a schematic diagram of a road on which high-position road lighting is installed, viewed from above. DETAILED DESCRIPTION OF THE INVENTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 turned off or dimmed.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] Next, we will explain the visibility of fallen objects on the road. Figure 3(a) is a schematic diagram showing a state where the road is illuminated only by vehicle lamps without road lighting, and Figure 3(b) is a schematic diagram showing a state where the road is illuminated by pole lights and vehicle lamps.

[0037] As shown in FIG. 3(a), when the road ahead is illuminated with a light distribution pattern PV from a vehicle lamp, the background luminance of the road surface is low and the luminance of the illuminated fallen object F is bright, so the visibility of the fallen object F is relatively good. On the other hand, when there is high-positioned road lighting that illuminates the road from a high position (about 10 m) such as pole lighting 40 shown in FIG. 3(b), the background luminance becomes high (0.5 cd / m) due to the light distribution pattern PX that illuminates the road. 2 As a result, the difference in brightness between the light distribution pattern PV of the vehicle lamp and the luminance of the falling object F illuminated by the light distribution pattern PV becomes small, which may result in reduced visibility.

[0038] Therefore, the vehicle lighting system according to this embodiment can change the light distribution pattern so as to suppress the decrease in visibility in a situation where the visibility of a falling object is reduced. Fig. 4 is a diagram showing an image captured by a vehicle camera 20 of a road on which high-positioned road lighting is installed. Fig. 5 is a schematic diagram of a road on which high-positioned road lighting is installed, viewed from above.

[0039] As shown in each figure, a pole light 40 installed at the roadside illuminates the road surface of the host vehicle lane R from above with a predetermined light distribution pattern PX. In this situation, if the captured image of the area ahead of the vehicle shown in FIG. 4 contains a light spot deemed to be the pole light 40 but does not contain a light spot deemed to be a preceding vehicle, the lamp ECU 24 controls the driving of the vehicle lamps to change the emitted light distribution pattern. The reason why the control condition is that a light spot deemed to be a preceding vehicle V' is not contained is that if the preceding vehicle V' is traveling without any problems, there is little possibility that a fallen object F exists between the host vehicle V and the preceding vehicle V', and therefore control to change the light distribution pattern is not necessary.

[0040] As described above, in the case where a fallen object F may be present ahead of the host vehicle lane R and the captured image does not include a light point deemed to be the pole light 40 and does not include a light point deemed to be the preceding vehicle V' (the situation shown in FIG. 3(a)), the lamp ECU 24 controls the driving of the low beam lamps 28, the high beam lamps 30, and the LED unit 34 so that a first high beam light distribution pattern (light distribution pattern PV shown in FIG. 3(a)) is irradiated ahead of the vehicle. On the other hand, if the fallen object F is irradiated by the light distribution pattern PV, which is a high beam light distribution pattern, and the light distribution pattern PX by the pole light 40 as shown in FIG. 3(b), the fallen object will be difficult for the driver of the host vehicle V to see.

[0041] Therefore, as shown in Fig. 4, when the captured image contains a light spot deemed to be the pole light 40 but does not contain a light spot deemed to be the preceding vehicle V', the lamp ECU 24 controls the driving of the vehicle lamp so as to irradiate a second high beam light distribution pattern PV' in which a partial area S ahead of the own vehicle's lane is dimmed compared to the light distribution pattern PV shown in Fig. 3(a). This makes it possible to prevent a decrease in the luminance difference between the road surface background illuminated from above by a high road light such as the pole light 40 and a fallen object F in the dimmed partial area S ahead of the own vehicle's lane. As a result, a light distribution pattern that improves the visibility of a visual object on the road (for example, a fallen object) can be irradiated in accordance with the high road light.

[0042] 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-position road lighting and a preceding vehicle determined from an image captured by a camera.

[0043] Specifically, the ADAS domain ECU 16, which receives image information X2 of an image captured by the camera unit 12 of the area ahead of the vehicle, includes a discrimination unit 17a that discriminates light spots of the pole light 40 and the preceding vehicle V' included in the image information X2, and a determination unit 17b that determines a predetermined light distribution pattern according to the discriminated pole light 40 or preceding vehicle V' 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 the presence or absence of the pole light 40 or preceding vehicle V' ahead of the vehicle. In other words, when a pole light 40 is present ahead of the vehicle, the control device 100 can control the drive of the vehicular lamp to change the light distribution pattern to an appropriate one so that the difference between the background luminance of the road surface ahead of the vehicle and the luminance of a fallen object F illuminated by the light distribution pattern of the vehicular lamp does not become small.

[0044] The ADAS domain ECU 16 outputs a signal for a light distribution pattern according to the presence or absence of a pole light 40, depending on the position of the light spot in the captured image. If the light spot is located above the horizontal line passing through the center C of the captured image shown in Fig. 4 and if no light spot deemed to be a preceding vehicle is included, the ADAS domain ECU 16 outputs a control signal to the lamp ECU 24 to cause the vehicle lamp to emit a second high beam light distribution pattern PV'. This makes it possible to emit the second high beam light distribution pattern PV' corresponding to the pole light 40.

[0045] The second high beam light distribution pattern PV' has a partial area S that is included in a range of 20 to 40 m ahead of the vehicle's lane. As a result, even if a fallen object is present in a range of 20 to 40 m ahead of the vehicle's lane when the road is illuminated by the pole light 40, the visibility of the fallen object can be improved. Alternatively, the second high beam light distribution pattern PV' has a partial area S that is included in a range of 0 to 2 degrees ahead of the vehicle's lane and below the horizontal line that passes through the center of the captured image. As a result, even if a fallen object is present in a range of 0 to 2 degrees ahead of the vehicle's lane and below the horizontal line that passes through the center of the captured image when the road is illuminated by the pole light 40, the visibility of the fallen object can be improved.

[0046] Furthermore, when the captured image no longer contains a light spot that is deemed to be the pole light 40 while the ADAS domain ECU 16 is irradiating the second high beam light distribution pattern PV', the ADAS domain ECU 16 may output a control signal to the lamp ECU 24 so that the vehicle lamp irradiates a light distribution pattern other than the second high beam light distribution pattern PV'. This eliminates the need to dim the partial area S ahead of the vehicle's lane when there is no pole light 40 and the background of the road ahead is dark, making it possible to irradiate a light distribution pattern other than the second high beam light distribution pattern PV' (for example, the light distribution pattern PV).

[0047] The vehicle lamp according to this embodiment has an LED unit 34 in which a plurality of light-emitting regions are arranged in a matrix. The lamp ECU 24 is configured to be able to form a plurality of light distribution patterns by changing the illumination state of some of the plurality of light-emitting regions. This allows the shape of the partial region S ahead of the vehicle's lane, which is to be dimmed, to be freely changed to some extent.

[0048] High-positioned 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 corresponding to the type of road lighting (low-positioned road lighting or pole lighting) based on the position of the light point in the captured image. When a light point deemed to be a pole lighting 40 is located above 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 to cause the LED unit 34 to emit a second high-beam light distribution pattern PV'. The center C of the captured image can be determined, for example, as the intersection of two diagonals of a rectangle. This allows the second high-beam light distribution pattern PV' corresponding to the high-positioned road lighting to be emitted.

[0049] 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 the light distribution pattern formed by the vehicle lighting in front 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 a high-position road lighting is included in a captured image of the area in front of the vehicle.

[0050] 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]

[0051] 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 Pole lighting, 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 to be emitted when a captured image of the area ahead of the vehicle includes a light spot that is considered to be a high-position road lighting and does not include a light spot that is considered to be a preceding vehicle.

2. The first control unit If the captured image does not include a light point that is deemed to be a high-position road lighting and a light point that is deemed to be a preceding vehicle, controlling the driving of the vehicle lamp so that a first high beam 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 high-position road lighting and does not include a light spot that is considered to be a preceding vehicle, the control device controls the driving of the vehicle lamp so that a second high beam light distribution pattern is irradiated, which is a dimmed area in front of the vehicle's lane compared to the first high beam light distribution pattern.

3. a second control unit that outputs a signal of a light distribution pattern according to the presence or absence of high-position road lighting based on the position of the 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 above a horizontal line passing through the center of the captured image and when the captured image does not include a light point that is considered to be a preceding vehicle, the control device outputs a control signal to the first control unit so that the vehicle lamp irradiates the second high beam light distribution pattern.

4. The control device according to claim 3, characterized in that the first control unit controls the driving of the vehicle lamp so that the second high beam light distribution pattern is irradiated so that the partial area is included in a range of 20 to 40 m ahead of the vehicle lane.

5. The control device according to claim 3, characterized in that the first control unit controls the driving of the vehicle lamp so that the second high beam light distribution pattern is irradiated to the partial area included in a range of 0 to 2 degrees ahead of the vehicle lane and below a horizontal line passing through the center of the captured image.

6. 6. The control device according to claim 3, wherein, when the captured image no longer contains a light spot that is considered to be high-position road lighting while the second high beam 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 high beam light distribution pattern.

7. 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 to be emitted when a captured image of the area ahead of the vehicle includes a light spot that is considered to be a high-position road lighting and does not include a light spot that is considered to be a preceding vehicle.

8. The vehicle lamp has a light source in which a plurality of light-emitting regions are arranged in a matrix, 8. The vehicle lighting system according to claim 7, wherein the first control unit is configured to be able to form a plurality of light distribution patterns by changing the illumination state of some of the plurality of light-emitting regions.

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 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 high-position road lighting and does not include a light spot that is considered to be a preceding vehicle.

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