Vehicle control device, vehicle control method, and program

Abstract

To assist in object recognition. [Solution] A vehicle control device comprising: a recognition unit that recognizes objects around a vehicle; an operation control unit that performs suppression control to prevent the vehicle from approaching an object when an object is present and the degree of proximity between the vehicle and the object satisfies predetermined conditions; and a light distribution control unit that changes the illumination range of the headlights installed on the vehicle from a first range to a second range that illuminates above the first range, and changes the timing of changing the illumination range in the light distribution control from the first range to the second range in response to the operation of the suppression control.

Description

Technical Field

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a program.

Background Art

[0002] In recent years, initiatives to provide access to sustainable transportation systems that also take into account vulnerable people among road traffic participants have become active. To achieve this, efforts are focused on research and development that further improves traffic safety and convenience through research and development on preventive safety technologies such as driving assistance that supports a driver's driving. For example, a technology is known that moderates changes in the output level of headlamps in conjunction with the activation of vehicle driving assistance (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] By the way, in conventional preventive safety technologies, sufficient consideration has not been given to control of headlamps in accordance with the surrounding conditions of the vehicle. Specifically, since sufficient studies have not been conducted on object recognition and control of headlamps, the accuracy of object recognition may be reduced depending on the lighting state of the headlamps. For example, when an object is present ahead, depending on the timing when the headlamps are switched from low beam to high beam, the accuracy of object recognition by a sensor may be reduced.

[0005] One of the objectives of this application is to provide a vehicle control device, a vehicle control method, and a program that can assist in object recognition in order to solve the above-mentioned problems. More specifically, one of the objectives is to suppress the situation in which objects in front of the vehicle become unrecognizable due to the control of the timing of changes in the illumination range of the headlights. This will enable driving assistance using object recognition and ultimately contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0006] The vehicle control device, vehicle control method, and program according to this invention employ the following configuration. (1) A vehicle control device according to one aspect of the present invention includes: a recognition unit that recognizes an object in the vicinity of a vehicle; an operation control unit that performs suppression control to prevent the vehicle from approaching the object when the object is present and the degree of proximity between the vehicle and the object satisfies predetermined conditions; and a light distribution control unit that changes the illumination range of a headlight installed on the vehicle from a first range to a second range that illuminates above the first range, and changes the timing of changing the illumination range in the light distribution control from the first range to the second range in response to the operation of the suppression control.

[0007] (2) In the embodiment of (1) above, the light distribution control unit sets a waiting time when changing from the first range to the second range in the light distribution control in response to the operation of the suppression control.

[0008] (3) In the embodiment of (1) above, the light distribution control unit sets the standby time to a first standby time if the suppression control is not operating during the standby time, and sets the standby time to a second standby time which is longer than the first standby time if the suppression control is operating at the start of timing the standby time.

[0009] (4) In the embodiment of (1) above, if the suppression control is activated during the timing of the first standby time, the light distribution control unit changes the standby time from the first standby time to the second standby time.

[0010] (5) In the embodiment of (1) above, the light distribution control unit sets the standby time to the first standby time and starts timing the first standby time at the first time point. If the suppression control is activated, the unit changes the standby time to the second standby time and starts timing the second standby time with the start of timing the second standby time being set as the first time point.

[0011] (6) In the embodiment of (1) above, if the light distribution control unit sets the standby time to the second standby time in accordance with the suppression control, and then a suppression control different from the suppression control is activated during the timing of the second standby time, the second standby time is not changed.

[0012] (7): In the embodiment of (1) above, the light distribution control unit performs control to gradually change the irradiation range from the first range to the second range in the light distribution control, If the suppression control is activated during the gradually changing control after the aforementioned waiting time has elapsed, the gradually changing control will continue.

[0013] (8) A vehicle control method according to one aspect of the present invention includes a computer that recognizes an object in the vicinity of a vehicle, and when the object is present and the degree of proximity between the vehicle and the object satisfies predetermined conditions, it performs suppression control to suppress the vehicle from approaching the object, and a light distribution control that changes the illumination range of the headlights installed on the vehicle from a first range to a second range that illuminates above the first range, wherein the timing of changing the illumination range in the light distribution control from the first range to the second range is changed in response to the operation of the suppression control.

[0014] (9): A program according to one aspect of the present invention causes a computer to recognize an object in the vicinity of a vehicle, and if the object is present and the degree of proximity between the vehicle and the object satisfies predetermined conditions, causes the computer to perform suppression control to suppress the vehicle from approaching the object, and performs light distribution control to change the illumination range of the headlights installed on the vehicle from a first range to a second range that illuminates above the first range, wherein the timing of changing the illumination range in the light distribution control from the first range to the second range is changed in response to the operation of the suppression control. [Effects of the Invention]

[0015] According to the embodiments described in (1) to (9) above, the vehicle control device, vehicle control method, and program can assist in object recognition by changing the timing of changing the irradiation range according to the operating status of the suppression control.

[0016] According to the embodiments described in (2) and (3) above, if suppression control is activated or activated at the start of or during the timing of the waiting time, a longer waiting time can be set than when suppression control is not activated, thereby suppressing a decrease in object recognition accuracy by taking into account the timing of suppression control activation.

[0017] According to the embodiments described in (4) to (5) above, if suppression control is activated during the timing of the first waiting time, the second waiting time can be set based on the start time of timing of the first waiting time, thereby appropriately setting and timing the second waiting time and suppressing a decrease in the accuracy of object recognition.

[0018] According to the embodiment of (6) above, if suppression control is activated during the timing of the second standby time, the second standby time is not changed, thereby enabling light distribution control at an appropriate timing without making the second standby time excessively long.

[0019] According to the embodiment of (7) above, if suppression control is activated during control that is gradually changing the irradiation range, it is possible to facilitate the driver's recognition of the surrounding situation by continuing the gradually changing control. [BRIEF DESCRIPTION OF THE DRAWINGS]

[0020] [Figure 1] Fig. 1 is a configuration diagram of a vehicle system 1 using the vehicle control system according to the embodiment. [Figure 2] Fig. 2 is a diagram illustrating an example of a scene where processing that does not delay the timing of changing the irradiation range is applied. [Figure 3] Fig. 3 is a diagram illustrating an example of a time chart in a scene where processing that does not delay the timing of changing the irradiation range is applied. [Figure 4] Fig. 4 is a diagram illustrating the irradiation range of a headlamp. [Figure 5] Fig. 5 is a diagram illustrating an example of a scene where the processing of the present embodiment is applied. [Figure 6] Fig. 6 is a diagram illustrating an example of a time chart in a scene where the processing of the present embodiment is applied. [Figure 7] Fig. 7 is a diagram illustrating an example of a time chart in a scene where the processing of the present embodiment is applied. [Figure 8] Fig. 8 is a flowchart illustrating an example of the flow of processing executed by the driving support apparatus 100. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] [Overall Configuration] Fig. 1 is a configuration diagram of a vehicle system 1 using the vehicle control system according to the embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and the driving source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine, or discharge power from a secondary battery or a fuel cell. The present embodiment will be described as being applied to a vehicle, but may be applied to other vehicles instead of the present vehicle.

[0022] Vehicle system 1 includes, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, an operator 80, a driver assistance device 100, a driving force output device 200, a brake device 210, a steering device 220, and headlights 230. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. The configuration shown in Figure 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. The driver assistance device 100 is an example of a "vehicle control device".

[0023] Camera 10 is a digital camera that utilizes a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 is mounted at any location on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, camera 10 is mounted on the top of the front windshield, behind the rearview mirror, etc. Camera 10 periodically and repeatedly images the area around vehicle M. Camera 10 may also be a stereo camera.

[0024] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and direction) of an object. The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 may also detect the position and speed of an object using the FM-CW (Frequency Modulated Continuous Wave) method. The radar device 12 can also be mounted, for example, on the front corners (left and right) of the vehicle M. This allows the radar device 12 to detect objects that are about to cross in front of the vehicle M.

[0025] LIDAR14 irradiates light (or electromagnetic waves with a wavelength close to light) around vehicle M and measures the scattered light. Based on the time from emission to reception, LIDAR14 detects the distance to the target. The irradiated light is, for example, pulsed laser light. LIDAR14 can be attached to any location on vehicle M.

[0026] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0027] The communication device 20 communicates with other vehicles in the vicinity of vehicle M, or with various server devices via a wireless base station, for example, by using a cellular network, Wi-Fi network, Bluetooth®, DSRC (Dedicated Short Range Communication), etc.

[0028] The HMI30 presents various information to the occupants of vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI30 is equipped with a display device. The display device is a display device, also known as a multi-information display, that displays various information in vehicle M, such as a speedometer showing the vehicle's speed or a tachometer showing the rotational speed of the internal combustion engine in vehicle M, and is located in the center of the instrument panel of vehicle M.

[0029] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, a compass sensor for detecting the orientation of the vehicle M, and a sensor for detecting the steering rotation angle, etc.

[0030] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory. The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, speaker, touch panel, keys, etc. The navigation HMI 52 may be partially or completely shared with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter referred to as the route on the map) from the position of the vehicle M determined by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52, by referring to the first map information 54. The first map information 54 is, for example, information in which the road shape is represented by links indicating roads and nodes connected by those links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be implemented, for example, by the functions of a terminal device such as a smartphone or tablet held by an occupant. The navigation device 50 may transmit the current location and destination to the navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0031] The MPU 60 includes, for example, a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the map route provided by the navigation device 50 into multiple blocks (for example, every 100m with respect to the vehicle's direction of travel) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 makes decisions such as which lane from the left the vehicle should travel in. If there is a branching point on the map route, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel a reasonable route to proceed to the branching point. For example, if the vehicle M reaches a predetermined distance before a branching road it is traveling on, the recommended lane determination unit 61 determines the lane connecting to the branching road as the recommended lane. The recommended lane determination unit 61 and the second map information 62 may be functional units or information included in other devices such as a driver assistance device 100. The recommended lane information is provided to the driver, for example, via the HMI.

[0032] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may also include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, etc. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

[0033] The control element 80 includes, for example, a steering wheel, accelerator pedal, brake pedal, shift lever, and other control elements. The control element 80 is equipped with a sensor that detects the amount of operation or whether or not an operation is performed, and the detection result is output to the driver assistance device 100, or to some or all of the driving force output device 200, brake device 210, and steering device 220. The steering wheel does not necessarily have to be annular in shape and may take the form of an irregularly shaped steering wheel, joystick, buttons, etc.

[0034] The driver assistance device 100 includes, for example, a recognition unit 110, a change output unit 120, a light distribution control unit 130, and an operation control unit 140. The recognition unit 110, the change output unit 120, the light distribution control unit 130, and the operation control unit 140 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), and SOC (System On Chip), or by the cooperation of software and hardware. The program may be stored in advance in a storage unit (a storage device equipped with a non-transient storage medium) such as the HDD or flash memory of the driver assistance device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driver assistance device 100 when the storage medium (non-transient storage medium) is mounted on the drive device.

[0035] The recognition unit 110 recognizes the position and state, such as speed and acceleration, of objects around the vehicle M based on surrounding information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive axis) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or it may be represented by a region. The "state" of an object may include the object's acceleration, jerk, or "action state" (for example, whether or not it is changing lanes or attempting to change lanes).

[0036] The recognition unit 110 recognizes, for example, the vehicle M's path and other paths in its vicinity. A path is a route on a road that includes the lane in which the vehicle M travels and the opposing lane. For example, the recognition unit 110 recognizes a path by comparing the pattern of road markings (e.g., an arrangement of solid and dashed lines) obtained from the second map information 62 with the pattern of road markings around the vehicle M recognized from the image captured by the camera 10. The recognition unit 110 may also recognize a path by recognizing not only road markings but also path boundaries (road boundaries) that include road markings, shoulders, curbs, median strips, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results from the INS may be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, and other road events present in the vicinity of the vehicle M.

[0037] The recognition unit 110 recognizes the behavior of the vehicle M based on the detection results of the vehicle sensor 40. For example, when recognizing a road, the recognition unit 110 recognizes the position and attitude of the vehicle M relative to the road. The recognition unit 110 may recognize, for example, the deviation of the vehicle M's reference point from the center of the lane, and the angle it makes with a line connecting the centers of the lanes in the direction of travel of the vehicle M, as the relative position and attitude of the vehicle M relative to the road. Alternatively, the recognition unit 110 may recognize the position of the vehicle M's reference point relative to one of the side edges of the road (road lane markings or road boundary) as the relative position of the vehicle M relative to the road.

[0038] The modification output unit 120 outputs a light distribution change request to the light distribution control unit 130, which is a request to start the light distribution control described later. The light distribution change request is output based on the recognition result by the recognition unit 110. For example, the modification output unit 120 outputs a light distribution change request depending on whether or not a vehicle traveling in the oncoming lane is recognized (see Figures 3, 6, and 7 for details). For example, if there is no oncoming or preceding vehicle in front of vehicle M, the modification output unit 120 controls the headlights 230 in cooperation with the light distribution control unit 130 to illuminate the headlights 230 with the first range (e.g., the low beam illumination range) described later, and if there is an oncoming or preceding vehicle in front of vehicle M, it controls the headlights 230 to illuminate the headlights 230 with the second range (e.g., the high beam illumination range) described later. The modification output unit 120 and the light distribution control unit 130 realize the auto high beam function. In this embodiment, the process is described as being performed when the auto high beam function is ON, but instead (or in addition to this), the process may be performed when the auto high beam function is OFF and the driver switches from low beam to high beam.

[0039] The light distribution control unit 130 controls the illumination range of the headlights 230. The light distribution control unit 130 performs light distribution control, for example, by changing the illumination range of the headlights 230 from a first range to a second range which is a range above the first range. The second range may be a range that improves visibility compared to the first range when the area around the vehicle M is dark. For example, the first range may be the illumination range of the so-called low beam, and the second range may be the illumination range of the so-called high beam. The second range may be a range that is wider upward than the first range. The light distribution control may also be a control that gradually changes the illumination range of the headlights 230 from the first range to the second range. Details of the processing of the light distribution control unit 130 will be described later.

[0040] The motion control unit 140 controls all the components included in the driver assistance device 100 and the vehicle system 1. For example, the motion control unit 140 controls the steering of the vehicle M, controls the speed of the vehicle M, and controls the HMI 30 to provide information to the driver.

[0041] The motion control unit 140 controls the vehicle M according to the determination result based on the surrounding information detected by the object recognition device 16. Specifically, if the motion control unit 140 determines that the degree of proximity between the vehicle M and an object recognized to be present in the vicinity of the vehicle M based on the surrounding information satisfies predetermined conditions, it performs suppression control, which is control based on the degree of proximity between the vehicle M and the object. The degree of proximity may be calculated, for example, based on the distance between the vehicle M and the object, or based on the time available before the vehicle M and the object come into contact. The predetermined conditions may be, for example, "the distance between the vehicle M and the object is less than a predetermined value," or "the time available between the vehicle M and the object is less than a predetermined time." The predetermined conditions can be any conditions that utilize the degree of proximity between the vehicle M and the object. Suppression control is, for example, control that suppresses the degree of proximity between the vehicle M and the object. Control that suppresses the degree of proximity includes, for example, speed adjustment support and warnings. Speed ​​adjustment support is control that adjusts the speed of the vehicle M. Speed ​​adjustment assistance may include, for example, control to reduce the vehicle M's speed, or deceleration control which slows down or stops the vehicle M. The warning alerts the driver that the degree of proximity between the vehicle M and an object meets predetermined conditions. The warning may be performed, for example, by displaying a warning image, by outputting sound, or by vibrating the steering wheel. For example, the warning may be stronger the higher the probability of proximity. For example, if the degree of proximity is not suppressed after the warning is displayed, an audible warning may be given in addition to the display. The operation control unit 140 performs so-called collision mitigation brake system (CMBS) control.

[0042] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle M to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU that controls them. The ECU controls the above configuration according to information input from the driver assistance device 100 or from the operator 80.

[0043] The braking system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the driver assistance device 100 or from the control element 80, so that brake torque corresponding to the braking operation is output to each wheel.

[0044] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance device 100 or from the control element 80.

[0045] The headlight 230 is, for example, a headlamp that illuminates the area in front of vehicle M. The headlight 230 may also be an Adaptive Driving Beam (ADB) headlamp, which is capable of changing the light distribution of the emitted light. Light distribution refers to the direction of light output and the light output level. The headlight 230 is configured to emit light in the direction of travel of vehicle M.

[0046] [Processing details] In this embodiment, when the light distribution control unit 130 changes the illumination range of the headlight 230 from a first range to a second range, it changes the timing of the illumination range change in accordance with the operation of the suppression control. For example, when the light distribution control unit 130 changes the illumination range from a first range to a second range, if the suppression control is activated, it delays the timing of the illumination range change to support object recognition. Scene 1 describes the process of not delaying the timing of the illumination range change, and Scene 2 describes the process of delaying the timing of the illumination range change.

[0047] [Scene 1] Figure 2 shows an example of a situation in which processing that does not delay the timing of changing the illumination range is applied. In Figure 2, vehicle M is traveling in the lane opposite to the lane in which vehicle M is traveling, and vehicle M1 is traveling in the opposite lane. In this situation, vehicle M and vehicle M1 are about to pass each other. At this time, the change output unit 120 outputs a light distribution change request to start light distribution control that changes the illumination range of the headlight 230 from the first range (low beam) to the second range (high beam). When a light distribution change request is output, the light distribution control unit 130 sets a waiting time and executes the light distribution control after the waiting time has elapsed.

[0048] In the scenario shown in Figure 2, there are no objects in front of vehicle M that would interfere with vehicle M, and therefore the suppression control is not activated. As a result, the waiting time is set to the first waiting time. The first waiting time is the waiting time for light distribution control when the suppression control is not activated. The first waiting time is a preset time. The first waiting time may be set according to, for example, the type of vehicle M, or according to the installation position of the headlights 230. In other words, in the scenario shown in Figure 2, when a light distribution change request is output, the light distribution control unit 130 starts timing the first waiting time and executes light distribution control after the first waiting time has elapsed. As a result, when vehicle M passes oncoming vehicle M1, vehicle M illuminates the area in front with low beams to suppress the driver of oncoming vehicle M1 from feeling dazzled, and immediately after vehicle M passes oncoming vehicle M1, vehicle M illuminates the area in front with high beams to ensure visibility for the driver of vehicle M.

[0049] Figure 3 shows an example of a time chart in a scenario where processing is applied to avoid delaying the timing of changing the illumination range. The time chart in Figure 3 is a time-series time chart that includes the time before and after the scenario shown in Figure 2. The time chart in Figure 3 shows whether or not the change output unit 120 outputs a light distribution change request, the illumination range of the pre-light off controlled by the light distribution control unit 130, and whether or not the suppression control by the operation control unit 140 is activated. At time T1, the change output unit 120 outputs a light distribution change request. At this time, since the suppression control is not activated, the light distribution control unit 130 sets the waiting time to the first waiting time and starts timing. Also at time T1, the illumination range of the headlight 230 is the first range. At time T1+W1 (end of the first waiting time), after the first waiting time has elapsed from time T1 (start of the first waiting time), the light distribution control unit 130 starts light distribution control, and the illumination range of the headlight 230 is gradually changed from the first range to the second range.

[0050] The light distribution control unit 130 sets the first waiting time without considering the suppression control, even if the suppression control is activated before the timing of the first waiting time (before time T1). The light distribution control unit 130 may continue the gradual change control if the suppression control is activated during the gradual change control, which is a control in which the irradiation range is gradually changed from the first range to the second range after the light distribution control has started. At time T1+W1, the light distribution control starts and the irradiation range is gradually changed from the first range to the second range. Even if the suppression control is activated at time T1+G1, the light distribution control unit 130 continues the gradual change control as is. The gradual change control is not affected even if the suppression control is activated during the control of the gradual change control.

[0051] Thus, if suppression control is activated during gradual change control, continuing the gradual change control can appropriately support the driver's perception of the surrounding situation. For example, if vehicle M and oncoming vehicle M1 pass each other, and the illumination range changes from the first range to the second range after 1 hour, it is presumed that oncoming vehicle M1 is already behind vehicle M and visibility is good. In this situation, if pedestrian P is present and suppression control is activated, continuing the gradual change control makes it easier for the driver to perceive the surrounding situation, allowing the driver to execute control that slows down vehicle M in response to pedestrian P. In other words, by supporting the driver's appropriate perception of the surrounding situation, it is possible to support traffic safety.

[0052] [Scene 2] Figure 4 shows the illumination range of the headlight 230. Figure 4 shows the cases when a pedestrian P is present in the direction of travel of the vehicle M, with the illumination range being the first range AR1 (A) and the second range AR2 (B). (A) and (B) show the relationship between the illumination range of the headlight 230 (first range AR1 or second range AR2), the imaging range AR3 of the camera 10, and the pedestrian P.

[0053] In (A) and (B), the degree of proximity between pedestrian P and vehicle M satisfies predetermined conditions, and suppression control is performed by the operation control unit 140. When the illumination range is the first range AR1, pedestrian P is not in the first range AR1. When the illumination range is the second range AR2, pedestrian P is in the second range AR2.

[0054] Pedestrian P is detected, for example, by camera 10. In (A) and (B), pedestrian P is included in the imaging range AR3 of camera 10. Since the recognition unit 110 recognizes pedestrian P when pedestrian P is included in the imaging range AR3, the recognition unit 110 recognizes pedestrian P in (A) and (B). When the illumination range is the first range AR1, the imaging range AR3 and the first range AR1 do not overlap. When the illumination range is the second range AR2, the imaging range AR3 and the second range AR2 overlap. That is, the brightness of the imaging range AR3 is different in (A) and (B).

[0055] When the illumination range is changed from the first range AR1 to the second range AR2, the brightness in the imaging range AR3 changes, which may cause the recognition unit 110 to fail to recognize the pedestrian P. Specifically, if the brightness in the imaging range AR3 changes significantly, a portion of the image captured by the camera 10 may become excessively bright, potentially resulting in the loss of some or all of the information contained in the image. If the information of the pedestrian P contained in the image is lost, the camera 10 will not detect the pedestrian P, and the recognition unit 110 will not recognize the pedestrian P.

[0056] The suppression control for pedestrians P is executed when the recognition unit 110 recognizes pedestrians P and the degree of proximity between pedestrians P and vehicle M satisfies predetermined conditions. In other words, if pedestrians P are not recognized by the recognition unit 110, the suppression control for pedestrians P is not executed.

[0057] Thus, even if a pedestrian P is actually present and the degree of proximity between the pedestrian P and the vehicle M satisfies predetermined conditions, the recognition unit 110 may fail to recognize the pedestrian P due to the change in the illumination range from the first range to the second range, resulting in the suppression control not activating or the suppression control that was in operation terminating. Therefore, in the processing of this embodiment, as described below, the waiting time for the illumination range to change from the first range to the second range is changed in accordance with the operation of the suppression control, thereby suppressing the difficulty the recognition unit 110 has in recognizing the pedestrian P due to the change in the illumination range.

[0058] Figure 5 shows an example of a scenario in which the processing of this embodiment is applied. In Figure 5, there is an oncoming vehicle M1 traveling in the opposite lane of the lane in which vehicle M is traveling, and a pedestrian P crossing the road behind the oncoming vehicle M1. In this scenario, vehicle M and the oncoming vehicle M1 are about to pass each other. At this time, the change output unit 120 outputs a light distribution change request to start light distribution control to change the illumination range of the headlight 230 from the first range (low beam) to the second range (high beam). When a light distribution change request is output, the light distribution control unit 130 sets a waiting time and executes the light distribution control after the waiting time has elapsed.

[0059] Furthermore, in the scenario shown in Figure 5, the recognition unit 110 recognizes the presence of a pedestrian P. Since the pedestrian P is recognized, the motion control unit 140 derives the degree of proximity between the pedestrian P and the vehicle M. At this time, the degree of proximity between the pedestrian P and the vehicle M satisfies a predetermined condition, so the motion control unit 140 executes suppression control for the pedestrian P.

[0060] When the waiting time is set to the first waiting time, suppression control is executed after the first waiting time, and at that time, light distribution control is executed to change the illumination range from the first range to the second range. As explained using Figure 4, when light distribution control is performed, the change in brightness of pedestrian P becomes large, making it difficult for the recognition unit 110 to recognize pedestrian P, and there is a possibility that the suppression control will stop working. For this reason, when suppression control is activated (in the scenario shown in Figure 5), the waiting time is set to the second waiting time, which is longer than the first waiting time. This delays the timing at which the light distribution control that changes the illumination range from the first range to the second range is executed, and the second waiting time, during which the light distribution control is executed after the suppression control is completed or after the driver recognizes the target of the suppression control, may be set according to the intensity of the suppression control, for example. The second waiting time may be, for example, the first waiting time plus a buffer time. In other words, in the scenario shown in Figure 5, when a light distribution change request is output, the light distribution control unit 130 starts timing the second waiting time and executes the light distribution control after the second waiting time has elapsed.

[0061] Figure 6 is a diagram showing an example of a time chart in a scenario to which the processing of this embodiment is applied. The time chart in Figure 6 is a time chart in a time series that includes the time before and after the scenario shown in Figure 5. Similar to the time chart in Figure 3, the time chart in Figure 6 shows whether or not the change output unit 120 outputs a request for change of light distribution, the illumination range of the front lights turned off controlled by the light distribution control unit 130, and whether or not the suppression control by the operation control unit 140 is activated. At time T2, the change output unit 120 outputs a request for change of light distribution. At this time, since the suppression control is activated, the light distribution control unit 130 sets the waiting time to the second waiting time and starts timing. Also at time T2, the illumination range of the headlight 230 is the first range. At time T2+W2 (end of the second waiting time), after the second waiting time has elapsed from time T2 (start of the second waiting time), the light distribution control unit 130 starts light distribution control, and the illumination range of the headlight 230 is gradually changed from the first range to the second range.

[0062] In this way, if suppression control is activated when a light distribution change request is output (when the waiting time starts to be measured), the waiting time for light distribution control can be set to a second waiting time to support object recognition. For example, when vehicle M and oncoming vehicle M1 pass each other and a light distribution change request is output, if suppression control for pedestrian P is activated, the light distribution control unit 130 sets the waiting time to a second waiting time and executes light distribution control after the second waiting time has elapsed. By setting the waiting time to be longer than the first waiting time, the timing at which a state of undetection of pedestrian P (a state in which pedestrian P is not recognized) occurs due to the illumination range changing from the first range to the second range and the brightness around pedestrian P changing significantly can be delayed. This makes it possible to prevent suppression control from being stopped midway due to the undetection of pedestrian P.

[0063] Furthermore, if suppression control ("different suppression control") is activated again during the timing of the second waiting period, the waiting period does not need to be changed from the second waiting period. For example, refer to the time chart in Figure 6. Suppression control is activated twice, at time T2A and time T2B. Time T2A is before time T2, which is the output time of the light distribution change request. Time T2B is a time during the second waiting period, after time T2 and before time T2+W2. In Figure 6, the change output unit 120 outputs a light distribution change request at time T2, and the light distribution control unit 130 executes light distribution control at time T2+W2, two hours after time T2.

[0064] Thus, if suppression control ("different suppression control") is activated again during the second waiting time, the light distribution control unit 130 can execute light distribution control at the appropriate timing by not changing the waiting time from the set second waiting time. For example, in a situation where vehicle M and oncoming vehicle M1 pass each other while suppression control for pedestrian P is activated and a request for a change in light distribution is output, if suppression control is activated again during the waiting time for light distribution control (second waiting time), the waiting time will not be changed. When a different suppression control is activated, it can be inferred that the suppression control has been activated twice and that the driver has been notified that it is a situation that requires attention. Therefore, it is inferred that it is important to execute light distribution control after the second waiting time has elapsed to improve the driver's visibility. By improving the driver's visibility, it becomes easier for the driver to grasp the situation around vehicle M, and the driver's overlooking of pedestrian P can be suppressed.

[0065] Figure 7 shows an example of a time chart in a scenario to which the processing of this embodiment is applied. The time chart in Figure 7 is a time chart for the scenario in Figure 5 where the degree of proximity between pedestrian P and vehicle M does not meet the predetermined condition before the first waiting time is measured, and the degree of proximity between pedestrian P and vehicle M meets the predetermined condition after the start of the first waiting time measurement. Similar to the time charts in Figures 3 and 6, the time chart in Figure 7 shows whether or not the change output unit 120 outputs a request for a change in light distribution, the illumination range of the headlights turned off controlled by the light distribution control unit 130, and whether or not the suppression control by the operation control unit 140 is activated. At time T3, the change output unit 120 outputs a request for a change in light distribution. At this time, the suppression control is not activated, so the light distribution control unit 130 sets the waiting time to the first waiting time and starts measuring. Also at time T3, the illumination range of the headlights 230 is the first range. At time T3+R3, after a predetermined time has elapsed from time T3, the suppression control is executed. At this time, the light distribution control unit 130 changes the standby time from the first standby time to the second standby time. At time T3+W3, after the second standby time has elapsed from time T3, the light distribution control unit 130 starts light distribution control, and the illumination range of the headlight 230 is gradually changed from the first range to the second range.

[0066] Thus, if suppression control is activated during the timing of the first waiting period, object recognition can be supported by changing the waiting period from the first waiting period to the second waiting period. For example, during the timing of the first waiting period, as vehicle M moves, the degree of proximity between pedestrian P and vehicle M meets a predetermined condition, and suppression control for pedestrian P is activated. At this time, by changing the waiting period from the first waiting period to the second waiting period, the timing at which the pedestrian P becomes undetected due to the change in the illumination range can be delayed. In other words, it is possible to suppress the decrease in recognition accuracy caused by the change in the illumination range. This makes it possible to prevent the suppression control from being stopped midway due to the pedestrian P becoming undetected.

[0067] As described above, the light distribution control unit 130 may set the standby time to the first standby time and start timing the first standby time at the first time point. If suppression control is activated, it may change the standby time to the second standby time and start timing the second standby time with the first time point as the start time for timing the second standby time. Referring to the time chart in Figure 7, the start time for timing the first standby time is time T3, and the start time for timing the second standby time is also time T3. At time T3+R3, when the standby time is changed from the first standby time to the second standby time, the start time for timing the standby time does not change.

[0068] In this way, when the waiting time is changed from the first waiting time to the second waiting time, the start time of the waiting time measurement is not changed, allowing the light distribution control to be executed at the appropriate timing. For example, when vehicle M and oncoming vehicle M1 pass each other, a light distribution change request is output, and during the first waiting time measurement, camera 10 detects a pedestrian P behind oncoming vehicle M1 and suppression control is activated, the light distribution control unit 130 changes (extends) the waiting time from the first waiting time to the second waiting time. By changing the waiting time from the first waiting time to the second waiting time, with the same first point in time as the start time, the light distribution control is executed promptly after the suppression control is properly executed. By executing the light distribution control at the appropriate timing, it is possible to suppress the driver overlooking the pedestrian P.

[0069] Furthermore, if suppression control is activated during the gradual change control, which is a control in which the irradiation range is gradually changed from the first range to the second range, the light distribution control unit 130 may continue the gradual change control. At time T3+W3 in Figure 7, the light distribution control is started and the irradiation range is gradually changed from the first range to the second range. Even if suppression control is activated during the gradual change control after time T3+W3, the light distribution control unit 130 continues the gradual change control without setting a waiting time because the gradual change control is in operation.

[0070] Thus, if suppression control is activated during the control of the gradual change control, continuing the gradual change control can appropriately support the driver's perception of the surrounding situation, as explained in Figure 3.

[0071] Furthermore, if suppression control is activated while gradual change control is in operation, the light distribution control unit 130 may interrupt the gradual change control and resume it after a predetermined time has elapsed. The illumination range during the interruption of the gradual change control may be fixed to the illumination range at the start of the interruption of the gradual change control. The predetermined time is a preset time, which may be set according to the type of vehicle M, or according to the installation position of the headlights 230. By interrupting the gradual change control, it is possible to suppress the occurrence of abrupt changes in brightness in the imaging range AR3 and prevent the suppression control that is in operation from stopping.

[0072] Figure 8 is a flowchart showing an example of the processing flow performed by the driver assistance device 100. The flowchart shown in Figure 8 is, for example, executed when vehicle M is in motion.

[0073] First, the light distribution control unit 130 determines whether a light distribution change request has been output by the change output unit 120 (step S100). If no light distribution change request has been output (step S100; NO), the process in step S100 is executed again. If a light distribution change request has been output (step S100; YES), the light distribution control unit 130 determines whether the suppression control by the operation control unit 140 is active (step S102).

[0074] If suppression control is active when a light distribution change request is output (step S102; YES), the light distribution control unit 130 sets the waiting time to the second waiting time and starts timing the waiting time (step S104). Next, the light distribution control unit 130 determines whether the second waiting time has elapsed since the start of timing (step S106). If the second waiting time has not elapsed since the start of timing (step S106; YNO), the process in step S106 is executed again. If the second waiting time has elapsed since the start of timing (step S106; YES), the light distribution control unit 130 executes light distribution control to change the irradiation range from the first range to the second range (step S108). After the completion of the process in step S108, the driving support device 100 terminates the process shown in Figure 8. Note that if suppression control is activated during the elapsed second waiting time in step S106, the second waiting time will not be changed.

[0075] If the suppression operation is not active when a light distribution change request is output (step S102; NO), the light distribution control unit 130 sets the waiting time to the first waiting time and starts timing the waiting time (step S110). Next, the light distribution control unit 130 determines whether or not suppression control was activated during the first waiting time (step S112). If suppression control is not activated (step S112; NO), the light distribution control unit 130 determines whether or not the first waiting time has elapsed since the start of timing (step S114). If the first waiting time has not elapsed (step S114; NO), the process in step S112 is executed again. If the first waiting time has elapsed (step S114; YES), the light distribution control unit 130 executes light distribution control to change the irradiation range from the first range to the second range (step S108). After the completion of the process in step S108, the driving support device 100 terminates the process shown in Figure 8.

[0076] If suppression control is activated during the first waiting time (step S112; YES), the light distribution control unit 130 changes the waiting time from the first waiting time to the second waiting time (step S116). In other words, if suppression control was not activated when the light distribution change request was output, but the suppression control is activated during the timing of the first waiting time, the light distribution control unit 130 changes the waiting time from the first waiting time to the second waiting time. Next, the light distribution control unit 130 determines whether the second waiting time has elapsed since the start of timing (step S106). In this case, the time of the start of timing in the process of step S106 is the time of the start of timing in the process of step S110. If the second waiting time has not elapsed since the start of timing (step S106; YNO), the process of step S106 is executed again. If the second waiting time has elapsed since the start of timing (step S106; YES), the light distribution control unit 130 executes light distribution control to change the irradiation range from the first range to the second range (step S108). After the completion of step S108, the driver assistance device 100 terminates the process shown in Figure 8.

[0077] According to the embodiment described above, the light distribution control unit 130 performs light distribution control to change the illumination range of the headlights 230 installed on the vehicle M from a first range AR1 to a second range AR2 that illuminates above the first range AR1, and in response to the operation of suppression control, the timing of changing the illumination range in the light distribution control from the first range AR1 to the second range AR2 can be changed to support object recognition.

[0078] The embodiments described above can be expressed as follows. A memory device that stores the program, Equipped with a hardware processor, The hardware processor executes the program stored in the memory device, Recognizes objects around the vehicle, If the object exists and the degree of proximity between the vehicle and the object satisfies predetermined conditions, suppression control is performed to prevent the vehicle from approaching the object. A light distribution control unit that performs light distribution control to change the illumination range of a headlight installed on the vehicle from a first range to a second range that illuminates above the first range, and changes the timing of changing the illumination range in the light distribution control from the first range to the second range in response to the operation of the suppression control.

[0079] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0080] 1…Vehicle System 100... Driving assistance system 230... Headlights 110...Recognition section 130...Light Distribution Control Unit 140...Operation Control Unit

Claims

1. A recognition unit that recognizes objects around the vehicle, If the object exists and the degree of proximity between the vehicle and the object satisfies predetermined conditions, the operation control unit performs suppression control to prevent the vehicle from approaching the object. A light distribution control unit that performs light distribution control to change the illumination range of a headlight installed on the vehicle from a first range to a second range that illuminates above the first range, and further comprises a light distribution control unit that changes the timing of changing the illumination range in the light distribution control from the first range to the second range in response to the operation of the suppression control. Vehicle control system.

2. The light distribution control unit sets a waiting time when changing from the first range to the second range in the light distribution control in response to the operation of the suppression control. The vehicle control device according to claim 1.

3. The light distribution control unit sets the standby time to a first standby time if the suppression control is not operating during the standby time, and sets the standby time to a second standby time which is longer than the first standby time if the suppression control is operating at the start of timing the standby time. The vehicle control device according to claim 2.

4. If the suppression control is activated during the timing of the first waiting time, the light distribution control unit changes the waiting time from the first waiting time to the second waiting time. The vehicle control device according to claim 3.

5. The light distribution control unit sets the standby time to a first standby time and starts timing the first standby time at a first time point. If the suppression control is activated, it changes the standby time to a second standby time and starts timing the second standby time at the first time point. The vehicle control device according to claim 4.

6. The light distribution control unit sets the standby time to the second standby time in accordance with the suppression control, and if a suppression control different from the first standby time is activated during the timing of the second standby time, it does not change the second standby time. The vehicle control device according to claim 3 or 4.

7. The light distribution control unit performs control to gradually change the irradiation range from the first range to the second range in the light distribution control. If the suppression control is activated during the gradually changing control after the aforementioned waiting time has elapsed, the gradually changing control will be continued. The vehicle control device according to claim 4.

8. Computers Recognizes objects around the vehicle, If the object exists and the degree of proximity between the vehicle and the object satisfies predetermined conditions, suppression control is performed to prevent the vehicle from approaching the object. A light distribution control unit that performs light distribution control to change the illumination range of a headlight installed on the vehicle from a first range to a second range that illuminates above the first range, and which changes the timing of changing the illumination range in the light distribution control from the first range to the second range in response to the operation of the suppression control. Vehicle control method.

9. On the computer, The system recognizes objects around the vehicle. If the object exists and the degree of proximity between the vehicle and the object satisfies predetermined conditions, a suppression control is performed to prevent the vehicle from approaching the object. A light distribution control unit that performs light distribution control to change the illumination range of a headlight installed on the vehicle from a first range to a second range that illuminates above the first range, and which changes the timing of changing the illumination range from the first range to the second range in the light distribution control in response to the operation of the suppression control. program.

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