Vehicle control system

Abstract

When a vehicle enters or exits a tunnel, the system detects objects from captured images and appropriately controls the headlights. [Solution] The vehicle control system S includes an imaging unit 110 that generates an image of the area in front of the vehicle in the direction of travel, an illuminance sensor 120 that detects the brightness around the vehicle, a detection unit 221 that detects an object in front of the vehicle in the direction of travel based on the image, a determination unit 222 that, when a tunnel is detected as an object, determines the relative position of the vehicle passing through the tunnel with respect to the tunnel according to the ambient brightness, and a control determination unit 223 that determines at least one of the parameters for the process of detecting an object from the image and the state of the vehicle's headlights 130 according to the determined relative position.

Description

Technical Field

[0001] The present invention relates to a vehicle control system that controls a plurality of functions of a vehicle.

Background Art

[0002] Vehicles having a plurality of functions are known. Patent Document 1 discloses a vehicle having an imaging device that adjusts the exposure amount at the time of imaging based on the luminance of an imaging image when detecting an object based on the imaging image, and an automatic lighting device that automatically lights the vehicle's headlights when the outside of the vehicle becomes dark.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Each of the plurality of functions mounted on the vehicle is controlled individually, so the timing of control switching is different for each function. In particular, when the vehicle enters or exits a tunnel, the exposure amount may be adjusted to correspond to a bright exit while the vehicle is traveling near the exit of the tunnel, or the headlights may turn on after the vehicle enters the tunnel.

[0005] Therefore, the present invention has been made in view of these points, and an object thereof is to appropriately control the process of detecting an object from an imaging image and the headlights when the vehicle enters or exits a tunnel.

Means for Solving the Problems

[0006] In one embodiment of the present invention, a vehicle control system is provided, comprising: a sensor for detecting the brightness around a vehicle; an imaging unit for generating an image of the area in front of the vehicle in the direction of travel; a detection unit for detecting an object in front of the vehicle in the direction of travel based on the image; a determination unit for determining the relative position of the vehicle with respect to the tunnel, according to the brightness of the surrounding area, when the detection unit detects a tunnel as the object; and a control determination unit for determining at least one of the parameters for the process of detecting the object from the image and the state of the vehicle's headlights, according to the determined relative position.

[0007] The sensor detects the brightness above the vehicle, and the identification unit may determine the relative position based on whether the brightness above is above a predetermined value for determining whether or not the vehicle is outside the tunnel, when the detection unit detects the tunnel as an object.

[0008] The identifying unit may determine that the relative position is the position before entering the tunnel if the detection unit detects the tunnel as the object and the brightness above is equal to or greater than the predetermined value, or it may determine that the relative position is the position inside the tunnel if the detection unit detects the tunnel as the object and the brightness above is less than the predetermined value.

[0009] After the identifying unit has identified that the relative position is inside the tunnel, it may continue to identify that the relative position is inside the tunnel as long as the brightness above is less than the predetermined value, even if the detection unit no longer detects the tunnel.

[0010] The identifying unit may, after identifying that the relative position is inside the tunnel, identify that the relative position is a position after passing through the tunnel if the detection unit no longer detects the tunnel and the brightness above becomes greater than or equal to the predetermined value.

[0011] If the control determination unit determines that the relative position is the position before entering the tunnel, it may set the headlights to the illuminated state.

[0012] If the control determination unit determines that the relative position is the position after passing through the tunnel, it may turn off the headlights.

[0013] The detection unit performs the process of detecting the object from the captured image based on pixels with luminance values ​​within a determination range for detecting the object from the captured image, and the control determination unit may make the determination range when the relative position is a position inside the tunnel wider than the determination range when the relative position is a position before entering the tunnel.

[0014] The detection unit performs the process of detecting the object from the captured image based on pixels with luminance values ​​within a determination range for detecting the object from the captured image, and the control determination unit may make the determination range when the relative position is a position inside the tunnel wider than the determination range when the relative position is a position after passing through the tunnel. [Effects of the Invention]

[0015] According to the present invention, when a vehicle enters or exits a tunnel, it is possible to appropriately control the process of detecting objects from captured images and the headlights. [Brief explanation of the drawing]

[0016] [Figure 1] This is a diagram illustrating the configuration of a vehicle control system. [Figure 2] This is a schematic diagram showing a vehicle approaching a tunnel. [Figure 3] This is a data table that shows the conditions for determining relative position. [Figure 4] This is a schematic diagram showing a vehicle traveling inside a tunnel. [Figure 5] This is a schematic diagram showing a vehicle traveling near the exit of a tunnel. [Figure 6] It is a schematic diagram showing the state where the vehicle has exited the tunnel. [Figure 7] It is an example of a data table associating relative positions and controls. [Figure 8] It is a flowchart showing an example of a specific process.

Mode for Carrying Out the Invention

[0017] <Configuration of Vehicle Control System S> FIG. 1 is a diagram for explaining the configuration of the vehicle control system S. The vehicle control system S is a system mounted on a vehicle and controls a plurality of devices mounted on the vehicle. The vehicle control system S includes an imaging unit 110, an illuminance sensor 120, a headlight 130, and a control determination device 200.

[0018] The imaging unit 110 is a camera that generates an imaging image by imaging the front in the traveling direction of the vehicle. The imaging unit 110 is provided, for example, at a position where it can image the front in the traveling direction of the vehicle inside the vehicle cabin. Specifically, the imaging unit 110 is provided within a predetermined distance from the upper end or within a predetermined distance from the lower end of the windshield of the vehicle. The predetermined distance is, for example, 150 millimeters, but is not limited thereto.

[0019] The illuminance sensor 120 detects the brightness around the vehicle. The illuminance sensor 120 detects illuminance, for example, as the brightness around the vehicle. Illuminance is a physical quantity representing the brightness of light illuminating the surface of an object, and the unit is lux. The illuminance sensor 120 includes a first illuminance sensor that detects the illuminance above the vehicle and a second illuminance sensor that detects the illuminance in the traveling direction ahead of the vehicle, and detects each of the illuminance above the vehicle and the illuminance in the traveling direction ahead.

[0020] The headlight 130 is attached to the front of the vehicle and is a lamp that illuminates the front in the traveling direction of the vehicle. The headlight 130 is controlled by the control determination device 200 to turn on or off.

[0021] The control decision device 200 determines the control of the vehicle when it enters or exits a tunnel. The control decision device 200 turns on the headlights 130 when it detects a tunnel from the captured image, and turns off the headlights 130 when the vehicle exits the tunnel. Furthermore, when the vehicle enters a tunnel, the control decision device 200 changes the parameters of the detection process that detects objects ahead in the direction of travel from the captured image to the parameters used when the vehicle is traveling inside the tunnel. When the vehicle exits a tunnel, the control decision device 200 changes the parameters of the detection process to the parameters used when the vehicle is traveling outdoors (outside the tunnel). In this way, the control decision device 200 controls the parameters of the detection process and the headlights 130 when the vehicle enters or exits a tunnel. The specific configuration of the control decision device 200 will be described below.

[0022] [Configuration of the control decision device 200] The control decision device 200 includes a storage unit 210 and a control unit 220. The storage unit 210 is a storage medium including ROM (Read Only Memory), RAM (Random Access Memory), and hard disk. The storage unit 210 stores the program to be executed by the control unit 220.

[0023] The control unit 220 is a computing resource that includes a processor such as a CPU (Central Processing Unit). The control unit 220 performs the functions of the detection unit 221, the identification unit 222, and the control decision unit 223 by executing a program stored in the storage unit 210.

[0024] The detection unit 221 performs a detection process to detect objects ahead in the direction of travel based on the captured image. For example, the detection unit 221 detects objects present ahead in the direction of travel based on the brightness values ​​of pixels included in the captured image. Specifically, the detection unit 221 detects objects from the captured image based on pixels with brightness values ​​within a determination range for detecting objects from the captured image. More specifically, the detection unit 221 detects an object of a certain type present ahead in the direction of travel if the shape of the object substantially matches that of an object of that type, formed by multiple pixels with brightness values ​​within a determination range corresponding to that type of object. The types of objects are, for example, tunnels, vehicles, and pedestrians, but are not limited to these. Furthermore, the detection unit 221 can detect objects using other known techniques, not limited to those described above.

[0025] When a vehicle approaches a tunnel, the detection unit 221 detects the tunnel as an object ahead in the direction of travel from the captured image. Figure 2 is a schematic diagram showing the state when a vehicle V approaches a tunnel T. In Figure 2, the vehicle V is before entering the tunnel T. The detection unit 221 detects the tunnel T located ahead in the direction of travel if the captured image contains pixels with a brightness value within the determination range corresponding to the tunnel T. The detection unit 221 also detects the tunnel T as an object ahead in the direction of travel if the shape of the region composed of multiple pixels with brightness values ​​within the determination range corresponding to the tunnel T roughly matches the shape of the entrance to the tunnel T. The determination range corresponding to the tunnel T can be appropriately determined by experimentation, etc., for example, it is between the minimum brightness value of the pixels included in the captured image (specifically 0) and 20% or less of the maximum brightness value.

[0026] When the identification unit 222 detects the tunnel T as an object from the captured image, it determines the relative position of the vehicle V passing through the tunnel T with respect to the tunnel T. However, if the vehicle V is not moving forward, it will not enter the tunnel T, so the control determination device 200 does not need to determine the control for entering or exiting the tunnel T. Also, if it is nighttime, the state of the vehicle V's headlights 130 and the detection processing parameters are controlled to correspond to the darker nighttime conditions than inside the tunnel T. Therefore, if it is nighttime, the control determination device 200 does not need to make any changes when the vehicle V enters or exits the tunnel T. Accordingly, when the identification unit 222 detects the tunnel T as an object from the captured image, it performs the identification process only if the vehicle V is moving forward and it is daytime.

[0027] First, the identification unit 222 determines whether or not vehicle V is moving forward. The identification unit 222 determines that vehicle V is moving forward if the vehicle speed of vehicle V is greater than 0 and the shift position of vehicle V is in drive (D). The identification unit 222 determines that vehicle V is not moving forward if the vehicle speed of vehicle V is 0 or less (stopped or moving in reverse) and the shift position is in a position other than drive (D).

[0028] Next, the identification unit 222 determines whether it is currently daytime or not. The identification unit 222 determines that it is currently daytime if the illuminance in front of the vehicle V in the direction of travel, as detected by the illuminance sensor 120, is above a threshold. The threshold is a value used to determine whether it is daytime or not, and is specifically 20,000 lux, but is not limited to this. Specifically, the identification unit 222 determines that it is currently daytime if the illuminance from light with wavelengths corresponding to sunlight, included in the light detected by the illuminance sensor 120, is above a threshold. The identification unit 222 determines that it is currently nighttime if the illuminance in front of the vehicle V in the direction of travel is below a threshold.

[0029] The identification unit 222 determines that the conditions for executing the specific process are not met if vehicle V is not moving forward or if it is currently nighttime, and therefore does not execute the specific process. The identification unit 222 determines that the conditions for executing the specific process are met if vehicle V is moving forward and it is currently daytime, and therefore executes the specific process. The specific process for determining the relative position executed by the identification unit 222 will be described in detail below with reference to Figure 3. Figure 3 is a data table showing the conditions for determining the relative position.

[0030] When the identification unit 222 determines that the conditions for executing a specific process have been met, it determines whether the illuminance above is above a threshold. When the tunnel T is detected in the captured image (tunnel [present]) and the illuminance above detected by the illuminance sensor 120 is above a predetermined value, the identification unit 222 determines that the relative position is the position before entering tunnel T. Specifically, the identification unit 222 refers to a data table to identify the relative position [before entry] associated with tunnel [present] and illuminance above [predetermined value or higher]. This is because even if tunnel T is detected as an object in the captured image, if the area above vehicle V is bright, it can be said that vehicle V has not yet entered tunnel T. The predetermined value is a value used to determine whether the position of vehicle V is outside tunnel T. As long as tunnel T is detected in the captured image and the illuminance above detected by the illuminance sensor 120 is above the predetermined value, the identification unit 222 continues to determine that the relative position is the position before entering tunnel T.

[0031] Vehicle V continues to travel and enters tunnel T. Figure 4 is a schematic diagram showing the state of vehicle V while traveling inside tunnel T. When vehicle V enters tunnel T, the detection unit 221 detects tunnel T by detecting the wall of tunnel T as an object ahead in the direction of travel from the captured image. Specifically, the detection unit 221 detects tunnel T as an object ahead in the direction of travel if the shape of the region composed of multiple pixels with brightness values ​​within the determination range corresponding to the wall of tunnel T substantially matches the shape of the wall of tunnel T. On the other hand, when vehicle V enters tunnel T, the area above vehicle V becomes dark, so the illuminance above detected by the illuminance sensor 120 falls below a predetermined value. The identification unit 222 determines that when tunnel T is detected from the captured image (tunnel [present]) and the illuminance above falls below a predetermined value, vehicle V has entered tunnel T and its relative position is now inside tunnel T. Specifically, the identification unit 222 refers to a data table to identify a relative position [inside the tunnel] associated with a tunnel [present] and an upper illuminance [below a predetermined value].

[0032] After the relative position is determined to be inside tunnel T, if vehicle V continues to travel inside tunnel T, vehicle V approaches the exit of tunnel T. Figure 5 is a schematic diagram showing the state of vehicle V traveling near the exit of tunnel T. The detection unit 221 stops detecting the walls of tunnel T as vehicle V approaches the exit of tunnel T, and therefore stops detecting tunnel T as an object ahead in the direction of travel. On the other hand, while vehicle V is traveling inside tunnel T, the overhead illuminance is below a predetermined value. The identification unit 222 continues to determine that the relative position is inside tunnel T as long as the overhead illuminance is below a predetermined value, even if the detection unit 221 stops detecting tunnel T from the captured image. Specifically, the identification unit 222 continues to identify the relative position [inside tunnel] associated with tunnel [none] and overhead illuminance [below predetermined value] in the data table as long as tunnel [none] and overhead illuminance [below predetermined value].

[0033] Vehicle V exits tunnel T from its exit by continuing to travel. Figure 6 is a schematic diagram showing the state after vehicle V has exited tunnel T. When vehicle V exits tunnel T, the area above vehicle V becomes brighter, so the illuminance detected by the illuminance sensor 120 becomes above a predetermined value. When tunnel T is no longer detected and the illuminance above is above a predetermined value, the identification unit 222 determines that vehicle V has exited tunnel T and its relative position has become the position after passing through tunnel T. When tunnel [none] and the illuminance above is [above predetermined value], the identification unit 222 continues to identify the relative position [after passing] associated with tunnel [none] and illuminance above is [above predetermined value] by referring to the data table.

[0034] In this way, the identification unit 222 can appropriately determine the relative position of the vehicle V passing through the tunnel T with respect to the tunnel T, depending on whether or not the tunnel T is detected from the captured image and the illumination above the vehicle V. The identification unit 222 notifies the control determination unit 223 of the determined relative position.

[0035] The control determination unit 223 determines the control of the vehicle V based on the identified relative position. For example, the control determination unit 223 refers to a data table that associates relative position with control and determines the control according to the relative position. Figure 7 is an example of a data table that associates relative position with control.

[0036] The control determination unit 223 determines the state of the headlight 130 according to the identified relative position. Specifically, if the control determination unit 223 determines that the relative position is the position before entering tunnel T, it sets the state of the headlight 130 to the illuminated state. More specifically, when the relative position becomes [before entry], the control determination unit 223 sets the state of the headlight 130 to the [illuminated] state corresponding to the relative position [before entry]. This allows the control determination unit 223 to illuminate the headlight 130 before the vehicle V enters tunnel T.

[0037] The control determination unit 223 sets the headlights 130 to the illuminated state when it determines that the relative position is inside the tunnel T. When the relative position changes from [before entering] to [inside the tunnel], the control determination unit 223 maintains the state of the headlights 130 in the same [illuminated] state as before [before entering], corresponding to the relative position being inside the tunnel. As a result, the control determination unit 223 can keep the headlights 130 illuminated while the vehicle V is traveling inside the tunnel T.

[0038] The control determination unit 223 turns off the headlights 130 when it determines that the relative position is the position after passing through the tunnel. When the relative position changes from [inside the tunnel] to [after passing through], the control determination unit 223 turns off the headlights 130, which corresponds to the relative position being [after passing through]. As a result, the control determination unit 223 can turn off the headlights 130 after the vehicle V has passed through the tunnel T.

[0039] The control determination unit 223 determines the parameters for the process of controlling the vehicle V according to its relative position. For example, the control determination unit 223 determines the parameters for the detection process of the detection unit 221 according to the specified relative position. When the relative position is specified as [before entry] and [after passing], the control determination unit 223 sets the parameters for the detection process to the parameters corresponding to [outdoors]. When the relative position is specified as [inside the tunnel], the control determination unit 223 sets the parameters for the detection process to the parameters corresponding to [inside the tunnel]. The parameters for the detection process are, for example, the determination range for detecting the vehicle as an object from the captured image in the detection process. To give a specific example, when the relative position is specified as [before entry] and [after passing], the control determination unit 223 sets the determination range for the detection process to the first determination range corresponding to [outdoors]. When the relative position is specified as [inside the tunnel], the control determination unit 223 sets the determination range for the detection process to the second determination range corresponding to [inside the tunnel].

[0040] By the way, other vehicles traveling ahead of vehicle V in the direction of travel within tunnel T have their taillights on, so the brightness value of pixels in the area of ​​the captured image where the taillights are captured will be higher than the brightness value of pixels in the area where the area of ​​the captured image where the taillights are not captured. Therefore, the control decision unit 223 widens the second determination range compared to the first determination range. Specifically, the control decision unit 223 widens the second determination range compared to the first determination range by setting the upper limit of the second determination range higher than the upper limit of the first determination range. As a result, the detection unit 221 can more easily detect pixels with high brightness values ​​among the multiple pixels included in the captured image taken while vehicle V is traveling within tunnel T as taillights, thus making it easier to detect the vehicle as an object ahead in the direction of travel.

[0041] Furthermore, the control determination unit 223 may determine not only the determination range for detecting a vehicle as an object from the captured image in the detection process, but also the determination range for detecting a pedestrian as an object from the captured image in the detection process. The brightness value of pixels in the area of ​​the captured image in which pedestrians inside the tunnel T are captured will be smaller than the brightness value of pixels in the area of ​​the captured image in which pedestrians outside are captured. Therefore, the control determination unit 223 makes the third determination range for detecting pedestrians from the captured image inside the tunnel T wider than the fourth determination range for detecting pedestrians from the captured image outside. More specifically, the control determination unit 223 makes the lower limit of the third determination range smaller than the lower limit of the fourth determination range. This makes it easier for the detection unit 221 to detect pedestrians inside the tunnel T, which are captured in darker conditions than outdoors.

[0042] [Specific process to determine relative position] Figure 8 is a flowchart of an example of a specific process. The specific process is executed at predetermined intervals while the vehicle V is driving during the daytime. The predetermined interval is, for example, 100 milliseconds, but is not limited to this. It is also assumed that the illuminance sensor 120 appropriately detects the illuminance above the vehicle V.

[0043] The detection unit 221 acquires the captured image generated by the imaging unit 110 (step S1). The detection unit 221 detects an object in front of the direction of travel from the captured image.

[0044] The identification unit 222 determines whether the detection unit 221 has detected the tunnel T as an object ahead in the direction of travel (step S2). If the detection unit 221 has not detected the tunnel T as an object ahead in the direction of travel (No in step S2), the identification unit 222 waits until the detection unit 221 detects the tunnel T as an object ahead in the direction of travel.

[0045] If the detection unit 221 detects the tunnel T as an object ahead in the direction of travel (Yes in step S2), the identification unit 222 determines whether the illuminance above detected by the illuminance sensor 120 is above a predetermined value (step S3). If the illuminance above is above a predetermined value (Yes in step S3), the identification unit 222 determines that the relative position of the vehicle V with respect to the tunnel T is the position before entering the tunnel T (step S4). As long as the illuminance above is above a predetermined value, the identification unit 222 repeatedly executes steps S3 and S4, and continues to determine that the relative position is the position before entering the tunnel T.

[0046] If the illuminance above detected by the illuminance sensor 120 falls below a predetermined value (No in step S3), the identification unit 222 determines that the relative position of the vehicle V with respect to the tunnel T is inside the tunnel T (step S5). If the detection unit 221 determines that the relative position is inside the tunnel T, it acquires the image captured by the imaging unit 110 inside the tunnel T (step S6). The detection unit 221 detects an object in front of the vehicle in the direction of travel from the captured image.

[0047] The identification unit 222 determines whether the detection unit 221 has detected the tunnel T as an object ahead in the direction of travel when the relative position of the vehicle V is determined to be inside the tunnel T (step S7). If the detection unit 221 has detected the tunnel T as an object ahead in the direction of travel (Yes in step S7), the identification unit 222 returns to step S5 and determines that the relative position is inside the tunnel T.

[0048] If the detection unit 221 no longer detects the tunnel T as an object ahead in the direction of travel (No in step S7), the identification unit 222 determines whether the upward illuminance detected by the illuminance sensor 120 is above a predetermined value (step S8). If the upward illuminance detected by the illuminance sensor 120 is below a predetermined value (No in step S8), the identification unit 222 returns to step S5 and determines that the relative position is inside the tunnel T. If the upward illuminance detected by the illuminance sensor 120 becomes above a predetermined value (Yes in step S8), the identification unit 222 determines that the relative position of the vehicle V with respect to the tunnel T is the position after passing through the tunnel T (step S9).

[0049] [Effects of Vehicle Control System S] As described above, when the vehicle control system S detects a tunnel T as an object ahead of the vehicle V based on an image captured of the area in front of the vehicle V in the direction of travel, it determines the relative position of the vehicle V with respect to the tunnel T, according to the brightness around the vehicle V. Then, the vehicle control system S determines at least one of the parameters for the process of detecting an object from the image and the state of the vehicle V's headlights 130, according to the determined relative position.

[0050] As a result, the vehicle control system S can, for example, turn on the headlights 130 of vehicle V before the vehicle V enters tunnel T, and turn off the headlights 130 after the vehicle exits the tunnel. Furthermore, the vehicle control system S can set the parameters of the detection process for detecting objects from captured images to parameters appropriate for inside tunnel T when vehicle V enters tunnel T, and set the parameters of the detection process to parameters appropriate for outside when vehicle V exits tunnel T. In this way, the vehicle control system S can appropriately control the process for detecting objects from captured images and the headlights 130 when vehicle V enters or exits tunnel T.

[0051] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of its gist. For example, all or part of the apparatus can be configured by functionally or physically distributing and integrating in any unit. Furthermore, new embodiments resulting from any combination of multiple embodiments are also included in the embodiments of the present invention. The effects of the new embodiments resulting from the combinations are combined with the effects of the original embodiments. [Explanation of Symbols]

[0052] S Vehicle Control System V Vehicle 110 Imaging Unit 120 Illuminance Sensor 130 Headlights 200 Control Decision Device 210 Storage section 220 Control Unit 221 Detection unit 222 Specific part 223 Control Decision Unit

Claims

1. A sensor that detects the brightness around the vehicle, An imaging unit that generates an image of the area in front of the vehicle in the direction of travel, A detection unit that detects an object in the direction of travel based on the captured image, When the detection unit detects a tunnel as the object, the identification unit determines the relative position of the vehicle with respect to the tunnel according to the ambient brightness, A control determination unit that determines at least one of the parameters for the process of detecting the object from the captured image and the state of the vehicle's headlights according to the identified relative position, A vehicle control system having the following features.

2. The aforementioned sensor detects the brightness above the vehicle, The identifying unit, when the detection unit detects the tunnel as the object, determines the relative position according to whether the brightness above is greater than or equal to a predetermined value for determining whether or not it is outside the tunnel. The vehicle control system according to claim 1.

3. The specified part is, If the detection unit detects the tunnel as the object and the brightness above is equal to or greater than the predetermined value, the relative position is determined to be the position before entering the tunnel. If the detection unit detects the tunnel as the object and the brightness above is less than the predetermined value, the relative position is identified as being within the tunnel. The vehicle control system according to claim 2.

4. After the identification unit has identified that the relative position is inside the tunnel, even if the detection unit no longer detects the tunnel, it continues to identify the relative position as being inside the tunnel as long as the brightness above is less than the predetermined value. The vehicle control system according to claim 3.

5. After the identification unit identifies that the relative position is inside the tunnel, if the detection unit no longer detects the tunnel and the brightness above exceeds the predetermined value, the identification unit identifies that the relative position is a position after passing through the tunnel. The vehicle control system according to claim 3.

6. When the control determination unit determines that the relative position is the position before entering the tunnel, it sets the headlights to the illuminated state. The vehicle control system according to claim 3.

7. When the control determination unit determines that the relative position is the position after passing through the tunnel, it sets the headlights to the off state. The vehicle control system according to claim 5.

8. The detection unit performs the process of detecting the object from the captured image based on pixels with brightness values ​​within a determination range for detecting the object from the captured image. The control determination unit makes the determination range when the relative position is a position inside the tunnel wider than the determination range when the relative position is a position before entering the tunnel. The vehicle control system according to claim 3.

9. The detection unit performs the process of detecting the object from the captured image based on pixels with brightness values ​​within a determination range for detecting the object from the captured image. The control determination unit makes the determination range when the relative position is a position inside the tunnel wider than the determination range when the relative position is a position after passing through the tunnel. The vehicle control system according to claim 5.

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