vehicle

Abstract

The present feature relates to a vehicle achieving an enhanced design while avoiding a decrease in the safety or functionality of the vehicle. The vehicle is provided with a front line extending in a vehicle width direction on a front surface of the body, and headlights located on the left and right on the front surface. The headlights are each divided by the front line into an upper portion above the front line for outputting a low beam and a lower portion below the front line for outputting a high beam. The present feature is applicable, for example, to vehicles.

Description

[Technical field]

[0001] The present technology relates to a vehicle, and more particularly to a vehicle with improved design. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been a demand for improvements in the design of vehicles. For example, the shape of headlights, which is one of the important elements of vehicle design, has been improved (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-176885 A Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, it is undesirable to place emphasis on the design of a vehicle at the expense of safety and functionality.

[0005] The present technology has been developed in light of these circumstances, and aims to improve the design of a vehicle while avoiding any deterioration in safety and functionality. [Means for solving the problem]

[0006] A vehicle according to one aspect of the present technology includes a front line that extends in a vehicle width direction on a front side of a body and constitutes a part of a first loop line that surrounds a periphery of the body, and headlights that are disposed on the left and right sides of the front side of the body and are divided into upper and lower parts by the front line, and output low beams from a portion above the front line and output high beams from a portion below the front line. a plurality of lights disposed around the body along the first loop line; and a loop light that surrounds at least a portion of the periphery of the room at approximately the same height as the first loop line; a light control unit that controls the plurality of lights; Equipped with When a person approaches, the light control unit turns on or blinks at least some of the multiple lights in different manners depending on whether the approaching person is recognized as a pre-registered user or not.

[0007] In one aspect of the present technology, in a headlight, a low beam is output from a portion above a front line extending in a vehicle width direction on the front surface of a body, and a high beam is output from a portion below the front line. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a vehicle control system. [Diagram 2] FIG. 2 is a diagram showing an example of a sensing region. [Diagram 3] FIG. 2 is a front view of the vehicle and an enlarged view of the area around the logo. [Figure 4] FIG. [Diagram 5] FIG. 2 is an enlarged view of the tip portion of the left side of the vehicle. [Figure 6] FIG. [Figure 7] FIG. 2 is a view of the left headlight area of ​​the vehicle. [Figure 8] FIG. 2 is a view of the left headlight area of ​​the vehicle. [Figure 9] FIG. 2 is a view of the left headlight area of ​​the vehicle. [Figure 10] FIG. 2 is a schematic view of the interior of the vehicle as viewed from the right side. [Figure 11] FIG. 2 is a schematic diagram of the vicinity of the driver's seat and passenger seat of the vehicle. [Figure 12] FIG. 1 is a schematic diagram of the vicinity of a dashboard of a vehicle. [Figure 13] FIG. 2 is an enlarged view of the steering wheel of the vehicle. [Figure 14] This is a view of the driver's seat seen from diagonally rear left. [Figure 15] FIG. 1 is a diagram showing an example of an installation position of a ToF camera for photographing a driver. [Figure 16] FIG. 1 is a diagram showing an example of an installation position of a ToF camera for photographing a driver. [Figure 17] FIG. 17 is a schematic diagram showing an example of an image captured by a ToF camera installed at the installation position shown in FIGS. 15 and 16. [Figure 18] FIG. 1 is a schematic diagram showing an example of an image captured by a ToF camera installed near a steering wheel. [Figure 19] FIG. 1 is a diagram showing an example of an installation position of a ToF camera for photographing a driver. [Figure 20] 4 is a block diagram showing a configuration example of an information processing unit. FIG. [Figure 21] FIG. 11 is a diagram showing an example of a light emission pattern of a light when the power is turned on. [Figure 22] FIG. 11 is a diagram showing an example of a light emission pattern of a light when the power is turned on. [Diagram 23] 11A and 11B are diagrams illustrating examples of light emission patterns of lights when driving and the headlights are turned off. [Figure 24] FIG. 13 is a diagram showing an example of a light emission pattern when the headlights are turned on while driving. [Diagram 25] FIG. 11 is a diagram showing an example of a light emission pattern of a light when the brakes are applied. [Figure 26] 11A and 11B are diagrams illustrating examples of light emission patterns of lights when a turn signal is activated. [Figure 27] FIG. 13 is a diagram showing an example of a light emission pattern when the door is open. [Figure 28] FIG. 13 is a diagram showing an example of a light emission pattern when a door is closed. [Figure 29] FIG. 11 is a diagram showing an example of a light emission pattern of a light when parking. [Diagram 30] FIG. 13 is a diagram showing an example of a light emission pattern of a light when the power is off. [Diagram 31] 11 is a flowchart illustrating a photographing process. [Diagram 32] 13 shows an example of a video when the object detection mode is set. [Diagram 33] 13 shows an example of a moving image when a prediction mode is set. [Diagram 34] 13 shows an example of a video when the search mode is set. [Diagram 35] 13 shows an example of a video when the search mode is set. [Diagram 36] 13 is a flowchart illustrating an editing process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present technology will be described in the following order. 1. Example of vehicle control system configuration 2. Embodiment 3. Variations 4.Other

[0010] <<1. Example of vehicle control system configuration>> FIG. 1 is a block diagram showing an example of the configuration of a vehicle control system 11, which is an example of a mobility device control system to which the present technology is applied.

[0011] The vehicle control system 11 is provided in the vehicle 1 and performs processing related to driving assistance and automatic driving of the vehicle 1.

[0012] The vehicle control system 11 includes a processor 21, a communication unit 22, a map information storage unit 23, a GNSS (Global Navigation Satellite System) receiving unit 24, an external recognition sensor 25, an in-vehicle sensor 26, a vehicle sensor 27, a recording unit 28, a driving assistance / automatic driving control unit 29, a DMS (Driver Monitoring System) 30, an HMI (Human Machine Interface) 31, and a vehicle control unit 32.

[0013] The processor 21, the communication unit 22, the map information storage unit 23, the GNSS receiving unit 24, the external recognition sensor 25, the in-vehicle sensor 26, the vehicle sensor 27, the recording unit 28, the driving support / automatic driving control unit 29, the driver monitoring system (DMS) 30, the human machine interface (HMI) 31, and the vehicle control unit 32 are connected to each other via a communication network 41. The communication network 41 is configured by an in-vehicle communication network or bus conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), FlexRay (registered trademark), Ethernet (registered trademark), etc. Note that each unit of the vehicle control system 11 may be directly connected to each other by, for example, near field communication (NFC (Near Field Communication)) or Bluetooth (registered trademark) without going through the communication network 41.

[0014] In the following description, when each unit of the vehicle control system 11 communicates with each other via the communication network 41, the description of the communication network 41 will be omitted. For example, when the processor 21 and the communication unit 22 communicate with each other via the communication network 41, it will be simply described that the processor 21 and the communication unit 22 communicate with each other.

[0015] The processor 21 is configured by various processors such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an ECU (Electronic Control Unit), etc. The processor 21 controls the vehicle control system 11 as a whole.

[0016] The communication unit 22 communicates with various devices inside and outside the vehicle, other vehicles, servers, base stations, etc., and transmits and receives various data. As communication with the outside of the vehicle, for example, the communication unit 22 receives from the outside a program for updating software that controls the operation of the vehicle control system 11, map information, traffic information, information about the surroundings of the vehicle 1, etc. For example, the communication unit 22 transmits information about the vehicle 1 (for example, data indicating the state of the vehicle 1, recognition results by the recognition unit 73, etc.), information about the surroundings of the vehicle 1, etc., to the outside. For example, the communication unit 22 performs communication corresponding to a vehicle emergency notification system such as e-Call.

[0017] There is no particular limitation on the communication method of the communication unit 22. A plurality of communication methods may be used.

[0018] For example, the communication unit 22 performs wireless communication with devices in the vehicle using a communication method such as wireless LAN, Bluetooth, NFC, WUSB (Wireless USB), etc. For example, the communication unit 22 performs wired communication with devices in the vehicle using a communication method such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface, registered trademark), or MHL (Mobile High-definition Link) via a connection terminal (and a cable, if necessary) not shown.

[0019] Here, the in-vehicle device is, for example, a device that is not connected to the communication network 41 in the vehicle. For example, a mobile device or a wearable device carried by a passenger such as a driver, an information device brought into the vehicle and temporarily installed, etc. are assumed.

[0020] For example, the communication unit 22 communicates with servers and the like existing on an external network (e.g., the Internet, a cloud network, or an operator-specific network) via a base station or an access point using a wireless communication method such as 4G (fourth generation mobile communication system), 5G (fifth generation mobile communication system), LTE (Long Term Evolution), or DSRC (Dedicated Short Range Communications).

[0021] For example, the communication unit 22 communicates with a terminal (for example, a pedestrian or a store terminal, or an MTC (Machine Type Communication) terminal) present in the vicinity of the vehicle by using a P2P (Peer To Peer) technique. For example, the communication unit 22 performs V2X communication. The V2X communication includes, for example, vehicle-to-vehicle communication with other vehicles, vehicle-to-infrastructure communication with roadside devices, vehicle-to-home communication, and vehicle-to-pedestrian communication with terminals held by pedestrians.

[0022] For example, the communication unit 22 receives electromagnetic waves transmitted by a road traffic information and communication system (VICS (Vehicle Information and Communication System), registered trademark), such as a radio beacon, an optical beacon, or an FM multiplex broadcast.

[0023] The map information storage unit 23 stores maps acquired from an external source and maps created by the vehicle 1. For example, the map information storage unit 23 stores a three-dimensional high-precision map, a global map that has lower precision than a high-precision map and covers a wide area, and the like.

[0024] The high-precision map is, for example, a dynamic map, a point cloud map, a vector map (also called an ADAS (Advanced Driver Assistance System) map), etc. The dynamic map is, for example, a map consisting of four layers of dynamic information, quasi-dynamic information, quasi-static information, and static information, and is provided from an external server or the like. The point cloud map is a map configured of a point cloud (point cloud data). The vector map is a map in which information such as the positions of lanes and traffic lights is associated with the point cloud map. The point cloud map and the vector map may be provided from, for example, an external server or the like, or may be created by the vehicle 1 based on sensing results by the radar 52, the LiDAR 53, etc. as a map for matching with a local map to be described later, and may be stored in the map information storage unit 23. In addition, when a high-precision map is provided from an external server or the like, map data of, for example, several hundred meters square, related to the planned route along which the vehicle 1 will travel is acquired from the server or the like in order to reduce communication capacity.

[0025] The GNSS receiver unit 24 receives GNSS signals from GNSS satellites and supplies them to the driving assistance / automatic driving control unit 29.

[0026] The external recognition sensor 25 includes various sensors used to recognize the situation outside the vehicle 1, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The type and number of sensors included in the external recognition sensor 25 are arbitrary.

[0027] For example, the external recognition sensor 25 includes a camera 51, a radar 52, a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) 53, and an ultrasonic sensor 54. The number of cameras 51, radars 52, LiDARs 53, and ultrasonic sensors 54 is arbitrary, and an example of a sensing area of ​​each sensor will be described later.

[0028] As the camera 51, a camera of any imaging method, such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, or an infrared camera, may be used as necessary.

[0029] Furthermore, for example, the external recognition sensor 25 includes an environmental sensor for detecting the weather, climate, brightness, etc. The environmental sensor includes, for example, a raindrop sensor, a fog sensor, a sunlight sensor, a snow sensor, an illuminance sensor, etc.

[0030] Furthermore, for example, the external recognition sensor 25 includes a microphone used to detect sounds around the vehicle 1 and the positions of sound sources.

[0031] The in-vehicle sensor 26 includes various sensors for detecting information inside the vehicle, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The in-vehicle sensor 26 may include any type and any number of sensors.

[0032] For example, the in-vehicle sensor 26 includes a camera, a radar, a seating sensor, a steering wheel sensor, a microphone, a biosensor, etc. The camera may be a camera of any imaging method, such as a ToF camera, a stereo camera, a monocular camera, an infrared camera, etc. The biosensor is provided, for example, on a seat or a steering wheel, and detects various types of bioinformation of a passenger such as a driver.

[0033] The vehicle sensor 27 includes various sensors for detecting the state of the vehicle 1, and supplies sensor data from each sensor to each unit of the vehicle control system 11. The type and number of sensors included in the vehicle sensor 27 are arbitrary.

[0034] For example, the vehicle sensor 27 includes a speed sensor, an acceleration sensor, an angular velocity sensor (gyro sensor), and an inertial measurement unit (IMU). For example, the vehicle sensor 27 includes a steering angle sensor that detects the steering angle of the steering wheel, a yaw rate sensor, an accelerator sensor that detects the amount of operation of an accelerator pedal, and a brake sensor that detects the amount of operation of a brake pedal. For example, the vehicle sensor 27 includes a rotation sensor that detects the number of rotations of the engine or the motor, an air pressure sensor that detects the air pressure of the tires, a slip ratio sensor that detects the slip ratio of the tires, and a wheel speed sensor that detects the rotation speed of the wheels. For example, the vehicle sensor 27 includes a battery sensor that detects the remaining charge and temperature of the battery, and an impact sensor that detects an impact from the outside.

[0035] The recording unit 28 includes, for example, a magnetic storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, and a magneto-optical storage device. The recording unit 28 records various programs and data used by each part of the vehicle control system 11. For example, the recording unit 28 records a rosbag file including messages transmitted and received by a ROS (Robot Operating System) on which an application program related to autonomous driving runs. For example, the recording unit 28 includes an EDR (Event Data Recorder) and a DSSAD (Data Storage System for Automated Driving), and records information on the vehicle 1 before and after an event such as an accident.

[0036] The driving support / automatic driving control unit 29 controls driving support and automatic driving of the vehicle 1. For example, the driving support / automatic driving control unit 29 includes an analysis unit 61, an action planning unit 62, and an operation control unit 63.

[0037] The analysis unit 61 performs an analysis process of the vehicle 1 and the surrounding situation. The analysis unit 61 includes a self-position estimation unit 71, a sensor fusion unit 72, and a recognition unit 73.

[0038] The self-position estimation unit 71 estimates the self-position of the vehicle 1 based on the sensor data from the external recognition sensor 25 and the high-precision map stored in the map information storage unit 23. For example, the self-position estimation unit 71 generates a local map based on the sensor data from the external recognition sensor 25, and estimates the self-position of the vehicle 1 by matching the local map with the high-precision map. The position of the vehicle 1 is based on, for example, the center of the rear wheel pair axle.

[0039] The local map is, for example, a three-dimensional high-precision map or an occupancy grid map created using a technique such as SLAM (Simultaneous Localization and Mapping). The three-dimensional high-precision map is, for example, the above-mentioned point cloud map. The occupancy grid map is a map in which the three-dimensional or two-dimensional space around the vehicle 1 is divided into grids of a predetermined size, and the occupancy state of an object is indicated on a grid-by-grid basis. The occupancy state of an object is indicated, for example, by the presence or absence of an object and the probability of its existence. The local map is also used, for example, in detection processing and recognition processing of the external situation of the vehicle 1 by the recognition unit 73.

[0040] The self-position estimation unit 71 may estimate the self-position of the vehicle 1 based on the GNSS signal and the sensor data from the vehicle sensor 27.

[0041] The sensor fusion unit 72 performs a sensor fusion process to obtain new information by combining a plurality of different types of sensor data (for example, image data supplied from the camera 51 and sensor data supplied from the radar 52). Methods for combining different types of sensor data include integration, fusion, and association.

[0042] The recognition unit 73 performs detection processing and recognition processing of the situation outside the vehicle 1.

[0043] For example, the recognition unit 73 performs detection processing and recognition processing of the situation outside the vehicle 1 based on information from the external recognition sensor 25, information from the self-position estimation unit 71, information from the sensor fusion unit 72, and the like.

[0044] Specifically, for example, the recognition unit 73 performs detection processing and recognition processing of objects around the vehicle 1. The object detection processing is, for example, processing to detect the presence or absence, size, shape, position, movement, etc. of an object. The object recognition processing is, for example, processing to recognize attributes such as the type of object, or to identify a specific object. However, the detection processing and the recognition processing are not necessarily clearly separated, and may overlap.

[0045] For example, the recognition unit 73 performs clustering to classify a point cloud based on sensor data such as LiDAR or radar into clusters of points, thereby detecting objects around the vehicle 1. This allows the presence or absence, size, shape, and position of objects around the vehicle 1 to be detected.

[0046] For example, the recognition unit 73 performs tracking to follow the movement of the clusters of the point cloud classified by clustering, thereby detecting the movement of the objects around the vehicle 1. As a result, the speed and traveling direction (movement vector) of the objects around the vehicle 1 are detected.

[0047] For example, the recognition unit 73 performs object recognition processing such as semantic segmentation on the image data supplied from the camera 51 to recognize the type of object around the vehicle 1.

[0048] Note that objects to be detected or recognized may include, for example, vehicles, people, bicycles, obstacles, structures, roads, traffic lights, traffic signs, road markings, and the like.

[0049] For example, the recognition unit 73 performs a recognition process of traffic rules around the vehicle 1 based on the map stored in the map information storage unit 23, the estimation result of the vehicle's own position, and the recognition result of objects around the vehicle 1. Through this process, for example, the positions and states of traffic signals, the contents of traffic signs and road markings, the contents of traffic regulations, and lanes on which travel is possible are recognized.

[0050] For example, the recognition unit 73 performs a process of recognizing the environment around the vehicle 1. Examples of the surrounding environment to be recognized include the weather, temperature, humidity, brightness, and road surface condition.

[0051] The behavior planning unit 62 creates a behavior plan for the vehicle 1. For example, the behavior planning unit 62 creates the behavior plan by performing route planning and route following processing.

[0052] Global path planning is a process for planning a rough route from the start to the goal. This route planning also includes a process for local path planning, which is called trajectory planning and allows the vehicle 1 to proceed safely and smoothly in the vicinity of the vehicle 1, taking into account the motion characteristics of the vehicle 1 on the route planned by the route planning.

[0053] Path following is a process of planning an operation for traveling safely and accurately along a route planned by a route plan within a planned time. For example, a target speed and a target angular velocity of the vehicle 1 are calculated.

[0054] The operation control unit 63 controls the operation of the vehicle 1 in order to realize the action plan created by the action planning unit 62.

[0055] For example, the operation control unit 63 controls the steering control unit 81, the brake control unit 82, and the drive control unit 83 to perform acceleration / deceleration control and direction control so that the vehicle 1 proceeds along the trajectory calculated by the trajectory plan. For example, the operation control unit 63 performs cooperative control for the purpose of realizing ADAS functions such as collision avoidance or impact mitigation, following driving, maintaining vehicle speed, collision warning for the vehicle itself, and lane departure warning for the vehicle itself. For example, the operation control unit 63 performs cooperative control for the purpose of automatic driving that autonomously drives without the driver's operation.

[0056] The DMS 30 performs authentication processing of the driver and recognition processing of the driver's state, etc., based on the sensor data from the in-vehicle sensor 26 and the input data input to the HMI 31. Examples of the driver's state to be recognized include physical condition, alertness level, concentration level, fatigue level, line of sight direction, level of intoxication, driving operation, posture, etc.

[0057] The DMS 30 may perform authentication processing of passengers other than the driver and recognition processing of the conditions of the passengers. For example, the DMS 30 may perform recognition processing of the conditions inside the vehicle based on sensor data from the in-vehicle sensor 26. Conditions inside the vehicle to be recognized include, for example, temperature, humidity, brightness, odor, and the like.

[0058] The HMI 31 is used to input various data, instructions, etc., generates input signals based on the input data, instructions, etc., and supplies them to each part of the vehicle control system 11. For example, the HMI 31 includes operation devices such as a touch panel, buttons, microphones, switches, and levers, as well as operation devices that allow input by means of voice, gestures, etc. other than manual operation. The HMI 31 may be, for example, a remote control device that uses infrared rays or other radio waves, or an externally connected device such as a mobile device or wearable device that supports the operation of the vehicle control system 11.

[0059] The HMI 31 also performs output control to generate and output visual information, auditory information, and tactile information for the occupant or the outside of the vehicle, as well as to control the output content, output timing, output method, etc. Visual information is information displayed by images or light, such as an operation screen, a status display of the vehicle 1, a warning display, a monitor image showing the situation around the vehicle 1, etc. Auditory information is information displayed by sound, such as guidance, warning sound, warning message, etc. Tactile information is information provided to the occupant's sense of touch by force, vibration, movement, etc.

[0060] Possible devices for outputting visual information include, for example, a display device, a projector, a navigation device, an instrument panel, a CMS (Camera Monitoring System), an electronic mirror, a lamp, etc. The display device may be a device having a normal display, or may be a device that displays visual information within the field of view of a passenger, such as, for example, a head-up display, a see-through display, or a wearable device with an AR (Augmented Reality) function.

[0061] Devices that output auditory information include, for example, audio speakers, headphones, earphones, and the like.

[0062] A device that outputs tactile information may be, for example, a haptic element that uses haptic technology. The haptic element may be provided, for example, on a steering wheel, a seat, or the like.

[0063] The vehicle control unit 32 controls each part of the vehicle 1. The vehicle control unit 32 includes a steering control unit 81, a brake control unit 82, a drive control unit 83, a body system control unit 84, a light control unit 85, and a horn control unit 86.

[0064] The steering control unit 81 detects and controls the state of the steering system of the vehicle 1. The steering system includes, for example, a steering mechanism including a steering wheel, an electric power steering, etc. The steering control unit 81 includes, for example, a control unit such as an ECU that controls the steering system, and an actuator that drives the steering system.

[0065] The brake control unit 82 detects and controls the state of the brake system of the vehicle 1. The brake system includes, for example, a brake mechanism including a brake pedal, an ABS (Antilock Brake System), etc. The brake control unit 82 includes, for example, a control unit such as an ECU that controls the brake system, and an actuator that drives the brake system.

[0066] The drive control unit 83 detects and controls the state of the drive system of the vehicle 1. The drive system includes, for example, an accelerator pedal, a drive force generating device for generating drive force such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to the wheels, etc. The drive control unit 83 includes, for example, a control unit such as an ECU that controls the drive system, and an actuator that drives the drive system.

[0067] The body system control unit 84 detects and controls the states of the body system systems of the vehicle 1. The body system systems include, for example, a keyless entry system, a smart key system, a power window device, a power seat, an air conditioning system, an airbag, a seat belt, a shift lever, etc. The body system control unit 84 includes, for example, a control unit such as an ECU that controls the body system systems, and an actuator that drives the body system systems.

[0068] The light control unit 85 detects and controls the states of various lights of the vehicle 1. Examples of lights to be controlled include headlights, backlights, fog lights, turn signals, brake lights, projections, and bumper displays. The light control unit 85 includes a control unit such as an ECU that controls the lights, and an actuator that drives the lights.

[0069] The horn control unit 86 detects and controls the state of the car horn of the vehicle 1. The horn control unit 86 includes, for example, a control unit such as an ECU that controls the car horn, and an actuator that drives the car horn.

[0070] FIG. 2 is a diagram showing an example of a sensing area by the camera 51, the radar 52, the LiDAR 53, and the ultrasonic sensor 54 of the external recognition sensor 25 in FIG.

[0071] The sensing area 101F and the sensing area 101B are examples of the sensing area of ​​the ultrasonic sensor 54. The sensing area 101F covers the periphery of the front end of the vehicle 1. The sensing area 101B covers the periphery of the rear end of the vehicle 1.

[0072] The sensing results in the sensing area 101F and the sensing area 101B are used for, for example, parking assistance for the vehicle 1.

[0073] Sensing area 102F to sensing area 102B show examples of sensing areas of a short-range or medium-range radar 52. Sensing area 102F covers a position farther in front of the vehicle 1 than sensing area 101F. Sensing area 102B covers a position farther in the rear of the vehicle 1 than sensing area 101B. Sensing area 102L covers the rear periphery of the left side of the vehicle 1. Sensing area 102R covers the rear periphery of the right side of the vehicle 1.

[0074] The sensing results in the sensing area 102F are used, for example, to detect vehicles, pedestrians, and the like that exist in front of the vehicle 1. The sensing results in the sensing area 102B are used, for example, for a collision prevention function behind the vehicle 1. The sensing results in the sensing area 102L and the sensing area 102R are used, for example, to detect objects in blind spots on the sides of the vehicle 1.

[0075] Sensing area 103F to sensing area 103B show examples of sensing areas by camera 51. Sensing area 103F covers a position farther in front of vehicle 1 than sensing area 102F. Sensing area 103B covers a position farther in the rear of vehicle 1 than sensing area 102B. Sensing area 103L covers the periphery of the left side of vehicle 1. Sensing area 103R covers the periphery of the right side of vehicle 1.

[0076] The sensing results in the sensing area 103F are used, for example, for recognition of traffic lights and traffic signs, lane departure prevention support systems, etc. The sensing results in the sensing area 103B are used, for example, for parking support and surround view systems, etc. The sensing results in the sensing areas 103L and 103R are used, for example, for surround view systems, etc.

[0077] Sensing area 104 illustrates an example of the sensing area of ​​the LiDAR 53. Sensing area 104 covers a position farther forward than sensing area 103F in front of the vehicle 1. On the other hand, sensing area 104 has a narrower range in the left-right direction than sensing area 103F.

[0078] The sensing results in the sensing area 104 are used for, for example, emergency braking, collision avoidance, pedestrian detection, and the like.

[0079] Sensing area 105 shows an example of the sensing area of ​​the long-distance radar 52. Sensing area 105 covers a position farther ahead of the vehicle 1 than sensing area 104. On the other hand, sensing area 105 has a narrower range in the left-right direction than sensing area 104.

[0080] The sensing results in the sensing area 105 are used for, for example, ACC (Adaptive Cruise Control) and the like.

[0081] The sensing area of ​​each sensor may have various configurations other than that shown in Fig. 2. Specifically, the ultrasonic sensor 54 may also sense the sides of the vehicle 1, and the LiDAR 53 may sense the rear of the vehicle 1.

[0082] <<2. Preferred embodiment>> Next, an embodiment of the present technology will be described with reference to FIGS.

[0083] <Exterior configuration example of vehicle 1> First, an example of the configuration of the exterior of the vehicle 1 will be described with reference to Fig. 3 to Fig. 9. In the following, the configuration of the exterior lighting system of the vehicle 1 will be mainly described.

[0084] Fig. 3 is a front view of vehicle 1 and an enlarged view of the vicinity of the logo of vehicle 1 at the center of the front. Fig. 4 is a left side view of vehicle 1. Fig. 5 is an enlarged view of the tip of the left side of vehicle 1. Fig. 6 is a rear view of vehicle 1. Figs. 7 to 9 are views of the vicinity of the headlight on the left side of vehicle 1 as viewed from multiple directions.

[0085] In the following description, the left and right sides of the vehicle 1 when viewed in the traveling direction are respectively referred to as the left and right sides of the vehicle 1. For example, the left and right sides of FIG.

[0086] Many of the external lights and sensors of the vehicle 1 are arranged along a loop line L1, which is an imaginary line that surrounds the periphery of the body of the vehicle 1 in a substantially horizontal direction. Here, "arranged along the loop line L1" includes not only the case where they are arranged on the loop line L1, but also the case where they are arranged in the vicinity of the loop line L1.

[0087] For example, as shown in FIG. 3, accessory light 201L, accessory light 201R, day running light 202L, day running light 202R, headlight 203LU, headlight 203LD, headlight 203RU, and headlight 203RD are disposed on the front side of the body.

[0088] The accessory light 201L extends in the vehicle width direction (left-right direction) from the center of the front face of the body to near the right ends of the headlights 203LU and 203LD. The accessory light 201R extends in the vehicle width direction (left-right direction) from the center of the front face of the body to near the left ends of the headlights 203RU and 203RD.

[0089] The accessory light 201L and the accessory light 201R are separated from each other with a gap therebetween. Specifically, the right end of the accessory light 201L is bent diagonally downward to the right, and the left end of the accessory light 201R is bent diagonally upward to the left. The bent portion at the right end of the accessory light 201L and the bent portion at the left end of the accessory light 201R face each other substantially in parallel with a predetermined interval therebetween, forming a logo of the vehicle 1. An optical sensor (not shown), such as a camera, radar, or LiDAR, is disposed in an area A1 in the gap between the accessory light 201L and the accessory light 201R near the center of the logo.

[0090] The day running light 202L extends horizontally from the left end of the accessory light 201L to near the left ends of the headlights 203LU and 203LD. As shown in Figures 7 to 9, the left end of the day running light 202L curves toward the rear of the vehicle 1 and extends in a direction penetrating the body.

[0091] The day running light 202R extends horizontally from the right end of the accessory light 201R to near the right ends of the headlights 203RU and 203RD. Although not shown, the right end of the day running light 202R curves toward the rear of the vehicle 1 and extends in a direction penetrating the body, similar to the day running light 202L.

[0092] The accessory light 201L, the accessory light 201R, the day running light 202L, and the day running light 202R form a front light along a loop line L1 on the front side of the body. The front light forms a front line that is a part of the loop line L1, extends in the vehicle width direction (left-right direction) on the front side of the body, curves backward at both ends, and extends in a direction penetrating the body.

[0093] The accessory light 201L, the accessory light 201R, the day running light 202L, and the day running light 202R each include a plurality of LEDs arranged in a horizontal direction. Each LED can be individually controlled to be turned on / off, have a color, a brightness, and the like.

[0094] In the following, when there is no need to distinguish between the accessory light 201L and the accessory light 201R, they will simply be referred to as the accessory light 201. In the following, when there is no need to distinguish between the day running light 202L and the day running light 202R, they will simply be referred to as the day running light 202.

[0095] The headlight 203LU is adjacent to the upper side of the day running light 202L, extends horizontally, and curves backward at the left end. The headlight 203LD is adjacent to the lower side of the day running light 202L, extends horizontally, and curves backward at the left end. In this way, the headlight 203LU and the headlight 203LD are separated above and below by the day running light 202L (front line).

[0096] The headlight 203RU is adjacent to the upper side of the day running light 202R, extends horizontally, and curves backward at the right end. The headlight 203RD is adjacent to the lower side of the day running light 202R, extends horizontally, and curves backward at the right end. In this way, the headlight 203RU and the headlight 203RD are separated above and below by the day running light 202R (front line).

[0097] Headlight 203LU and headlight 203RU each have multiple LEDs arranged horizontally and vertically, and output a low beam. Headlight 203LD and headlight 203RD each have multiple LEDs arranged horizontally and vertically, and output a high beam. Each LED can be individually controlled to turn on / off, and to change color, brightness, etc.

[0098] In the following, when there is no need to distinguish between headlights 203LU and 203LD, they will simply be referred to as headlight 203L. In the following, when there is no need to distinguish between headlights 203RU and 203RD, they will simply be referred to as headlight 203R. In the following, when there is no need to distinguish between headlights 203L and 203R, they will simply be referred to as headlight 203.

[0099] In this way, by dividing the headlights 203L and 203R into upper and lower parts by the front line, the degree of freedom in designing the headlights 203L and 203R is improved. For example, the headlights 203L and 203R can be designed in a way other than slanted eyes or droopy eyes. In addition, since the low beam (headlight 203LU and headlight 203RU) and high beam (headlight 203LD and headlight 203RD) are arranged in appropriate positions, the functionality of the headlights 203 and the safety of the vehicle 1 are not reduced.

[0100] Also, for example, as shown in FIG. 4, a turn signal 204L, an auxiliary light 205FL, and an auxiliary light 205BL are disposed on the left side surface of the body.

[0101] The turn signal 204L extends in the front-rear direction on an extension of the A-pillar 215L, immediately above the loop line L1.

[0102] The auxiliary light 205FL is disposed behind the door knob 213FL of the left front door 212FL and illuminates the area around the door knob 213FL. Since the door knob 213FL is disposed immediately above the loop line L1, the auxiliary light 205FL is also disposed immediately above the loop line L1.

[0103] Furthermore, for example, a short-range wireless communication device (not shown) such as NFC is disposed on the doorknob 213FL or in the vicinity of the doorknob 213FL.

[0104] The auxiliary light 205BL is disposed behind the door knob 213BL of the rear left door 212BL, and illuminates the area around the door knob 213BL. Since the door knob 213BL is disposed immediately above the loop line L1, the auxiliary light 205BL is also disposed immediately above the loop line L1.

[0105] Furthermore, for example, a short-range wireless communication device (not shown) such as NFC is disposed on the doorknob 213BL or in the vicinity of the doorknob 213BL.

[0106] In this manner, on the left side of the vehicle 1, the turn signal 204L, the auxiliary light 205FL, and the auxiliary light 205BL are aligned in the front-rear direction along the loop line L1.

[0107] The turn signal 204L, the auxiliary light 205FL, and the auxiliary light 205BL each include a plurality of LEDs arranged in a horizontal direction. Each LED can be individually controlled to be turned on / off, have a color, or have a brightness, etc.

[0108] 4, an optical sensor such as a camera, a radar, or a LiDAR is provided in an area A2L near the intersection of the loop line L1 and an extension of the A-pillar 215L. For example, a LiDAR 53FL is provided below the turn signal 204L and on the loop line L1.

[0109] Furthermore, an optical sensor (not shown), such as a camera, radar, or LiDAR, is provided in an area A3L near the intersection of the loop line L1 and an extension of the C-pillar 216L.

[0110] In this way, by locating the optical sensor near the loop line L1, even if the color of the surface of the optical sensor is different from the color of the body, the optical sensor is recognized as being part of the loop line L1, so that the optical sensor blends naturally into the exterior appearance of the body without creating an unnatural feeling.

[0111] Although not shown, on the right side of the vehicle 1, a turn signal 204R, an auxiliary light 205FR, an auxiliary light 205BR, a door handle 213FR, a door handle 213BR, a short-range wireless communication device, and an optical sensor are arranged in the same positions as on the left side.

[0112] Further, for example, as shown in FIG. 6, tail light 206CL, tail light 206CR, tail light 206L, tail light 206R, brake light 207LU, brake light 207LD, brake light 207RU, and brake light 207RD are arranged on the rear surface of the body.

[0113] The tail light 206CL extends in the vehicle width direction (left-right direction) from the center of the rear face of the body to near the right ends of the brake lights 207LU and 207LD. The tail light 206CR extends horizontally from the center of the rear face of the body to near the right ends of the brake lights 207RU and 207RD.

[0114] The tail light 206CL and the tail light 206CR are separated from each other with a gap therebetween. Specifically, the right end of the tail light 206CL is bent obliquely upward to the right, and the left end of the tail light 206CR is bent obliquely downward to the left. The bent portion at the right end of the tail light 206CL and the bent portion at the left end of the tail light 206CR face each other substantially in parallel with a predetermined gap therebetween, forming the logo of the vehicle 1. An optical sensor (not shown), such as a camera, radar, or LiDAR, is disposed in an area A4 in the gap between the tail light 206CL and the tail light 206CR near the center of the logo.

[0115] The tail light 206L extends horizontally from the left end of the tail light 206CL to near the left ends of the brake light 207LU and the brake light 207LD. The left end of the tail light 206L curves forward. The tail light 206R extends horizontally from the right end of the tail light 206CR to near the right ends of the brake light 207RU and the brake light 207RD. The right end of the tail light 206R curves forward.

[0116] The tail light 206CL, the tail light 206CR, the tail light 206L, and the tail light 206R form a tail line that extends in the left-right direction on the rear surface of the body and has both ends curved forward. The tail line forms a part of the loop line L1.

[0117] Each of the tail lights 206CL, 206CR, 206L, and 206R includes a plurality of LEDs arranged in a horizontal direction. The on / off, color, brightness, etc. of each LED can be controlled individually.

[0118] In the following, when there is no need to distinguish between the tail light 206CL and the tail light 206CR, they will simply be referred to as the tail light 206C. In the following, when there is no need to distinguish between the tail light 206C, the tail light 206L, and the tail light 206R, they will simply be referred to as the tail light 206.

[0119] The brake light 207LU is adjacent to the upper side of the tail light 206L and curves forward at the left end. The brake light 207LD is adjacent to the lower side of the tail light 206L and curves forward at the left end. In this way, the brake light 207LU and the brake light 207LD are separated from each other by the tail light 206L.

[0120] The brake light 207RU is adjacent to the upper side of the tail light 206R and curves forward at the right end. The brake light 207RD is adjacent to the lower side of the tail light 206R and curves forward at the right end. In this way, the brake light 207RU and the brake light 207RD are separated from each other by the tail light 206R (tail line).

[0121] The brake light 207LU, the brake light 207LD, the brake light 207RU, and the brake light 207RD each include a plurality of LEDs arranged in a horizontal direction. Each LED can be individually controlled to be turned on / off, have a color, a brightness, and the like.

[0122] In the following, when there is no need to distinguish between the brake light 207LU and the brake light 207LD, they will simply be referred to as the brake light 207L. In the following, when there is no need to distinguish between the brake light 207RU and the brake light 207RD, they will simply be referred to as the brake light 207R. In the following, when there is no need to distinguish between the brake light 207L and the brake light 207R, they will simply be referred to as the brake light 207.

[0123] In addition, the body color differs along the lower end of the windshield 211, the lower end of the window 214FL of the door 212FL, the lower end of the window 214BL of the door 212BL, the lower end of the window 214FR (not shown) of the door 212FR, and the lower end of the window 214BR (not shown) of the door 212BR, along the loop line L2, which is an imaginary line that surrounds the periphery of the body of the vehicle 1 in an approximately horizontal direction.

[0124] For example, a black line is formed by chrome plating along the loop line L2. The area above the loop line L2 is colored black. For example, the area above the loop line L2 is painted black. The windshield 211, the window 214FL, the window 214BL, the window 214FR, the window 214BR, and the rear window 217 are tinted black.

[0125] On the other hand, the body below the loop line L2 is painted in a color different from that above the loop line L2. The color of the body below the loop line L2 is not particularly limited.

[0126] Further, cameras 51SL and 51SR are provided near the front and bottom ends of the windows 214FL and 214FR (not shown) along the loop line L2. The cameras 51SL and 51SR capture images of the left rear and right rear of the vehicle 1, respectively.

[0127] In this way, it is possible to improve the design of the vehicle 1 while avoiding any deterioration in the safety and functionality of the vehicle 1.

[0128] For example, two substantially parallel loop lines L1 and L2 are virtually recognized on the exterior of the vehicle 1. This makes the vehicle body appear lower, giving a sporty impression.

[0129] As described above, the degree of freedom in designing the headlights is improved. Furthermore, since each light is disposed in an appropriate position, the functionality of each light and the safety of the vehicle 1 are not degraded.

[0130] In addition, since the front line (front light) curves backward at both ends and extends in a direction penetrating the body, the impression is given that the front line penetrates the body and is connected to the LiDAR53FL on the left side and the LiDAR53RL on the right side.

[0131] Furthermore, by arranging sensors around the vehicle 1 along the loop line L1, the impression is given that the area around the vehicle 1 is being watched (surveilled), which is effective in preventing theft and vandalism of the vehicle 1.

[0132] <Example of vehicle 1 interior configuration> Next, an example of the interior configuration of the vehicle 1 will be described with reference to Figs.

[0133] First, the devices arranged along the loop line L11 will be described with reference to FIGS.

[0134] Fig. 10 is a schematic diagram of the interior of the vehicle 1 as viewed from the right. Fig. 11 is a schematic diagram of the vicinity of the driver's seat 251FL and passenger seat 251FR of the vehicle 1. Fig. 12 is a schematic diagram of the vicinity of the dashboard of the vehicle 1. Fig. 13 is an enlarged view of the steering wheel 253 of the vehicle.

[0135] Inside the vehicle 1, multiple user interface devices are concentrated along a loop line L11 (Figure 10), which is an imaginary line that surrounds the periphery of the passenger compartment in an approximately horizontal direction, and various interfaces are consolidated.

[0136] Here, the device for the user interface includes, for example, an output device that outputs visual information, auditory information, and tactile information, and an operation device used for various operations. In addition, being arranged along the loop line L11 includes not only being arranged on the loop line L11, but also being arranged in the vicinity of the loop line L11.

[0137] The loop line L11 is disposed at the same height as the loop line L1 outside the vehicle 1. In addition, the loop line L11 is tilted slightly upward from the front to the rear because the positions of the rear seats 251BL and 251BR are higher than the positions of the driver's seat 251FL and the passenger seat 251FR.

[0138] For example, the display devices constituting the HMI 31 in FIG. 1 are arranged along the loop line L11.

[0139] For example, as shown in FIGS. 10 to 12, a center display 252 is disposed on the front of the dashboard in front of a driver's seat 251FL and a passenger seat 251FR so as to extend in the vehicle width direction (left-right direction) immediately above a loop line L11.

[0140] The center display 252 is largely divided into a left end, a center portion, and a right end portion depending on the orientation of the display. The left end, center portion, and right end portion of the center display 252 can display independently or can display together. The left end and right end portions of the center display 252 are mainly used as digital outer mirrors (electronic side mirrors) that replace conventional side mirrors. For example, the left end portion displays an image of the left rear of the vehicle 1 captured by the camera 51SL (FIG. 3). The right end portion displays an image of the right rear of the vehicle 1 captured by the camera 51SR (FIG. 3).

[0141] As shown in FIGS. 11 to 13, a steering wheel 253 is disposed on the loop line L11 in front of the driver's seat 251FL.

[0142] 12 and 13, illumination 254 is provided along the periphery of the central part of steering wheel 253. Illumination 254 includes a plurality of LEDs arranged circumferentially along the periphery of the central part of steering wheel 253. Each LED can be individually controlled to be turned on / off, have a color, a brightness, etc. Therefore, the color, brightness, and light-emitting area (range in which light is emitted) of illumination 254 are variable.

[0143] An airbag is stored in the center of steering wheel 253. When the airbag deploys, the central portion of steering wheel 253 shown by the dotted line in Fig. 13 breaks. Illumination 254 is positioned to avoid this central portion that may break. This prevents fragments of illumination 254 and harmful substances from scattering when the airbag deploys.

[0144] Moreover, the speakers constituting the HMI 31 in FIG. 1 are arranged along the loop line L11.

[0145] Specifically, as shown in Fig. 10 and Fig. 11, the speaker 255FL is embedded near the loop line L11 on the inside of the door 212FL on the driver's seat 251FL side. As shown in Fig. 11, the speaker 255FR is embedded near the loop line L11 on the inside of the door 212FR on the passenger seat 251FR side. As shown in Fig. 10, the speaker 255BL is embedded near the loop line L11 on the inside of the door 212BL on the left rear seat 251BL side. Although not shown, the speaker 255BR is embedded near the loop line L11 on the inside of the door 212BR on the right rear seat 251BR side.

[0146] Although not shown, a speaker (hereinafter referred to as a seat speaker) is embedded individually below the headrest of the driver's seat 251FL, the passenger seat 251FR, the rear seat 251BL, and the rear seat 251BR. Furthermore, the shape of the seats and the position of the seat speakers are adjusted so that people of various heights (sitting heights) can clearly hear the sound from the seat speakers of each seat.

[0147] The speakers 255FL to 255BR arranged along the loop line L11 are used, for example, to output sounds directed to the entire interior of the vehicle (all passengers in the vehicle).

[0148] Furthermore, speakers 255FL to 255FR realize 360-degree real audio. By realizing 360-degree real audio, for example, it is possible to enjoy videos, music, and the like with realistic sound inside the vehicle. Furthermore, the position of dangerous objects such as obstacles present around vehicle 1 can be notified by the output direction of sound.

[0149] On the other hand, the seat speakers of each seat are used, for example, mainly to output private sounds for the individual passengers sitting in each seat. In other words, the sounds output from each seat speaker are individually controlled.

[0150] Note that this arrangement of speakers is an example and can be changed. For example, the number of speakers arranged on the loop line L11 may be increased. For example, speakers may be arranged on the dashboard in the front of the vehicle 1.

[0151] 10, loop lights 256 are arranged slightly above the loop line L11 and at approximately the same height as the external loop line L1, approximately parallel to the loop line L11, so as to surround the interior of the vehicle. The loop lights 256 are downlights equipped with multiple LEDs embedded in the vehicle so as to be aligned approximately horizontally, and are mainly used as auxiliary lighting or interior decoration. Each LED can be individually controlled to be turned on / off, and its color, brightness, etc.

[0152] It should be noted that the loop light 256 does not necessarily have to surround the entire interior of the vehicle, but may be non-continuous and surround only a portion of the interior of the vehicle.

[0153] Furthermore, various operating devices are arranged along the loop line L11.

[0154] For example, as described above, the steering wheel 253 is disposed on the loop line L11 in front of the driver's seat 251FL.

[0155] As shown in FIG. 13, a stalk lever 257, which is a rod-shaped operating body, is provided at the rear of the steering wheel 253 so as to extend from a steering column (not shown) in the vehicle width direction (lateral direction (rightward)). The stalk lever 257 can be moved in the vertical direction, and by moving it in the vertical direction, the shift position of the vehicle 1 is changed. In other words, the stalk lever 257 constitutes a tilt-type shift lever that is movable in the vertical direction. Note that the stalk lever 257 may be, for example, either a straight type that moves straight up and down, or a column type that moves in a zigzag manner up and down.

[0156] The order in which the shift positions are set by the stalk lever 257 is, from top to bottom, R (reverse), N (neutral), D (drive), and A (automatic driving). That is, when the stalk lever 257 is moved downward from top to bottom, the shift positions are switched in the order of R, N, D, and A. When the stalk lever 257 is moved upward from bottom to top, the shift positions are switched in the order of A, D, N, and R.

[0157] Further, a button 258 that can be pressed in the axial direction of the stalk lever 257 is provided at the tip of the stalk lever 257. When the button 258 is pressed, the shift position of the vehicle 1 is switched to P (parking).

[0158] Further, an indicator 259 is provided circumferentially on the side surface of the stalk lever 257. The indicator 259 is disposed at a position visible through gaps between the spokes of the steering wheel 253 when viewed from the driver's seat 251FL.

[0159] The color of the indicator 259 changes depending on the set shift position. For example, when the shift position is set to parking, the indicator 259 is red. When the shift position is set to drive, the indicator 259 is white. When the shift position is set to automatic driving and automatic driving is possible, the indicator 259 is green. When the shift position is set to automatic driving and automatic driving is active, the indicator 259 is blue.

[0160] 13, the indicator 259 may be disposed outside the outer periphery of the steering wheel 253 when viewed from the driver's seat 251FL. This makes the indicator 259 visible from outside the steering wheel 253. Also, the indicator 259 may be disposed in both the solid line and dotted line positions.

[0161] In this way, by providing indicator 259 on the operating body (stalk lever 257) used to change the shift position, the driver can intuitively understand the meaning represented by the color of indicator 259 and intuitively and reliably recognize the shift position.

[0162] Also, for example, the setting state of the shift position may be displayed on the center display 252 or the like. In this case, for example, the shift positions are displayed in the order of the setting direction by the stalk lever 257. That is, the shift positions are displayed in the order of R (reverse), N (neutral), D (drive), and A (automatic driving) from the top.

[0163] Furthermore, for example, a dial that rotates around an axis (circumferential direction) may be provided at the axial end or middle of the stalk lever 257, and the shift position may be changed by rotating the dial.

[0164] 11, the air outlet 260FC, the air outlet 260FL, and the air outlet 260FR of the air conditioner (A / C) are arranged on the loop line L11. Specifically, the air outlet 260FR is arranged immediately below the center display 252 between the driver's seat 251FL and the passenger seat 251FR. The air outlet 260FL is arranged immediately below the center display 252 near the joint of the door 212FL on the driver's seat 251FL side. The air outlet 260FR is arranged immediately below the center display 252 near the joint of the door 212FR on the passenger seat 251FR side.

[0165] Furthermore, as shown in Fig. 12, the air outlet 260FC is provided with a knob 261CL and a knob 261CR for changing the air direction. As shown in Fig. 12, the air outlet 260FL is provided with a knob 261FL for changing the air direction. Although not shown, the air outlet 260FR is provided with a knob 261FR for changing the air direction at the same position as the knob 261FL of the air outlet 260FL. In this way, the knobs 261CL, 261CR, 261FL, and 261FR are provided on the loop line L11.

[0166] As shown in FIG. 12, an operation unit 262 having switches and the like for making various settings for the headlights 203 is disposed on the loop line L11 at the rear right side of the steering wheel 253.

[0167] Further, a door opener is disposed on the loop line L11. For example, as shown in Fig. 11, a door opener 263FL is disposed on the loop line L11 near the center in the front-rear direction of the door 212FL on the driver's seat 251FL side. Similarly, a door opener 263FR is disposed on the loop line L11 near the center in the front-rear direction of the door 212FR on the passenger's seat 251FR side.

[0168] In this way, by arranging various user interface devices and the like along the loop line L11, noise that interferes with driving is removed from the driver's line of sight, providing an environment in which it is easy to concentrate on driving. In addition, by concentrating various devices near the loop line L11, it becomes possible to intuitively recognize the positions of various devices and operate them. Furthermore, by concentrating various devices near the loop line L11 and arranging the loop light 256, an impression is given that the inside of the vehicle 1 is being watched. In addition, the vertical movement of the driver's and other passengers' eyes is reduced, suppressing car sickness in the passengers.

[0169] FIG. 14 is a view of the driver's seat 251FL as seen from the left rear.

[0170] The tablet terminal 264L is provided on the back of the driver's seat 251FL, more specifically, on the back of the headrest of the driver's seat 251FL.

[0171] For example, the tablet terminal 264L presents infotainment-related information to a passenger in the rear seat 251BL and accepts operations on the presented information. In addition, for example, the tablet terminal 264L displays an alert in the event of an emergency or danger.

[0172] Although not shown in the drawings, for example, a tablet terminal 264R similar to the tablet terminal 264L is provided on the back of the passenger seat 251FR.

[0173] Also, for example, ToF cameras may be provided near the tablet terminals 264L and 264R, respectively. This makes it possible to recognize, for example, passengers operating the tablet terminals 264L and 264R based on images captured by the ToF cameras.

[0174] Next, examples of installation positions of the ToF camera for capturing an image in the direction of the driver's seat 251FL (the driver sitting in the driver's seat 251FL) will be described with reference to FIGS.

[0175] As shown in FIGS. 15 and 16, the ToF camera is installed at an installation position P1 around the digital rear-view mirror 265, for example.

[0176] The digital rearview mirror 265 is used to check the rear of the vehicle 1 in place of a conventional rearview mirror, and is also called a smart rearview mirror or a digital rear mirror. As shown in FIG. 11 and other drawings, the digital rearview mirror 265 is provided at the upper end and near the center of the windshield 211, slightly toward the rear of the vehicle 1 from the windshield 211, similar to a conventional rearview mirror, and is disposed above the center of the center display 252. Also, as shown in FIG. 15 and FIG. 16, the digital rearview mirror 265 is installed near the ceiling via an attachment part 266, diagonally in front of the right of the driver's seat 251FL.

[0177] The installation position P1 is located on the ceiling of the vehicle 1 near the rear end of the left side surface of the mounting portion 266 and near the upper left of the digital rear-view mirror 265.

[0178] FIG. 17 shows a schematic example of an image captured by the ToF camera when the ToF camera is installed at installation position P1.

[0179] By installing the ToF camera at the installation position P1, the upper body of the driver 281 sitting in the driver's seat 251FL is photographed from above and diagonally to the right. This allows the face of the driver 281 to be photographed from above and diagonally to the right, and for example, the recognition unit 73 (FIG. 1) can recognize the line of sight of the driver 281. In addition, the upper body of the driver 281, including the steering wheel 253, can be photographed from a bird's-eye view, and for example, the recognition unit 73 can recognize the posture of the driver 281. Furthermore, since there is a low probability that an obstacle will appear between the driver 281 and the digital rearview mirror 265, the line of sight and posture of the driver 281 can be stably recognized.

[0180] On the other hand, FIG. 18 shows an example of an image captured by the ToF camera when the ToF camera is placed on or near the steering wheel 253. In FIG.

[0181] In this case, the vicinity of the face of the driver 281 is photographed from the front as if looking up. Therefore, the recognition unit 73 can recognize the line of sight of the driver 281. However, it is expected that an obstacle such as the hand of the driver 281 is likely to appear between the driver 281 and the steering wheel 253, and a situation where the line of sight cannot be recognized is likely to occur. In addition, since the entire upper body of the driver 281 is not photographed, it becomes difficult for the recognition unit 73 to recognize the posture of the driver 281.

[0182] FIG. 19 shows a modified example of the installation position of the ToF camera.

[0183] For example, a ToF camera may be installed at installation position P2 on the left edge of the digital rearview mirror 265.

[0184] For example, a ToF camera may be installed on the ceiling of vehicle 1 at installation position P3 behind digital rear-view mirror 265 (forward of vehicle 1 from digital rear-view mirror 265) and closer to driver's seat 251FL than digital rear-view mirror 265 (to the left of digital rear-view mirror 265).

[0185] For example, a ToF camera may be installed at installation position P4 on the ceiling of vehicle 1, in front of digital rearview mirror 265 (rear of vehicle 1 from digital rearview mirror 265) and closer to driver's seat 251FL than digital rearview mirror 265 (to the left of digital rearview mirror 265).

[0186] Regardless of whether the ToF camera is installed at installation position P2 to installation position P4, it is possible to recognize the driver's line of sight and posture based on the images captured by the ToF camera, just as when the ToF camera is installed at installation position P1.

[0187] It should be noted that a conventional optical mirror may be used instead of the digital rearview mirror 265. Also, a camera of a type different from the ToF camera may be used.

[0188] Furthermore, for example, a ToF camera that photographs a passenger sitting in the passenger seat 251FR may be installed in a position symmetrical to the camera that photographs the driver.

[0189] <Configuration example of the information processing unit 351> FIG. 20 is a block diagram showing an example of the configuration of an information processing unit 351 realized by the processor 21, the HMI 31, etc. in FIG.

[0190] The information processing unit 351 includes an image processing unit 361 , a metadata adding unit 362 , and an output control unit 363 .

[0191] The image processing unit 361 performs various image processing and editing on the video data obtained by the camera 51. The image processing unit 361 also converts sensor data obtained by optical sensors other than the camera, such as the radar 52 and the LiDAR 53, into an image.

[0192] The metadata adding unit 362 adds metadata to the video data obtained by the camera 51.

[0193] The output control unit 363 controls the output of visual information, auditory information, and tactile information in the HMI 31. For example, the output control unit 363 controls the output of visual information from the center display 252, the tablet terminal 264L, the tablet terminal 264R, and the illumination 254 of the steering wheel 253. For example, the output control unit 363 controls the output of auditory information (sound) from the speakers 255FL to 255BR and the seat speaker.

[0194] <Vehicle 1 operation> Next, an example of the operation of the vehicle 1 will be described with reference to FIGS.

[0195] In the following description, when there is no need to distinguish between the doors 212FL, 212FR, 212BL, and 212BR, they will simply be referred to as doors 212.

[0196] <Lighting system emission pattern> First, examples of light emission patterns of the lighting system of the vehicle 1 will be described with reference to Figs.

[0197] The light control unit 85 (FIG. 1) performs coordinated control of the lights outside the vehicle and the lights inside the vehicle.

[0198] Specifically, Figures 21 to 30 show examples of light emission patterns of the accessory light 201L, the accessory light 201R, the day running light 202L, the day running light 202R, the headlight 203L, the headlight 203R, the turn signal 204L, the turn signal 204R, the auxiliary light 205FL, the auxiliary light 205FR, the auxiliary light 205BL, the auxiliary light 205BR, the tail light 206L, the tail light 206R, the tail light 206CL, the tail light 206CR, the brake light 207L, the brake light 207R, the loop light 256, and the main light 401.

[0199] The main light 401 is equipped with LEDs arranged along the periphery of the ceiling inside the vehicle 1, and is used as the main lighting in the vehicle. Each LED can be individually controlled to be turned on / off, and to have a different color, brightness, etc.

[0200] 21 to 30, headlights 203LU and 203LD, headlights 203RU and 203RD, brake lights 207LU and 207LD, and brake lights 207RU and 207RD are not distinguished from one another and are illustrated collectively.

[0201] In the following, unless otherwise specified, the accessory light 201L, the accessory light 201R, the day running light 202L, the day running light 202R, the headlight 203L, the headlight 203R, the turn signal 204L, the turn signal 204R, the auxiliary light 205FL, the auxiliary light 205FR, the auxiliary light 205BL, and the auxiliary light 205BR are assumed to shine in white. In the following, unless otherwise specified, the tail light 206L, the tail light 206R, the tail light 206CL, the tail light 206CR, the brake light 207L, and the brake light 207R are assumed to shine in red. In the following, unless otherwise specified, the loop light 256 and the main light 401 are assumed to shine in orange.

[0202] In the following description, basically, in each diagram, lights that are lit will be painted black, and lights that are not lit will be painted white.

[0203] <When power is turned on> Fig. 21 and Fig. 22 show examples of light emission patterns when the power of the vehicle 1 is turned on. Fig. 21 shows the state when all lights that are to be turned on when the power is turned on are turned on. Fig. 22 shows the final state of the lights when the power is turned on.

[0204] When vehicle 1 is powered off, all lights are off.

[0205] When the power of vehicle 1 is turned on, accessory light 201L, accessory light 201R, day running light 202L, day running light 202R, turn signal 204L, turn signal 204R, auxiliary light 205FL, auxiliary light 205FR, auxiliary light 205BL, auxiliary light 205BR, tail light 206L, tail light 206R, tail light 206CL, and tail light 206CR are illuminated.

[0206] At this time, as indicated by arrows A11 and A12 in the figure, the light is turned on so that the light flows around the body from the center of the front of the body to the center of the back of the body.

[0207] Specifically, the logo portion at the right end of the accessory light 201L and the logo portion at the left end of the accessory light 201R are first lit for a while.

[0208] Next, the LEDs of the accessory light 201L are turned on in order from the right end to the left end. Next, the LEDs of the day running light 202L are turned on in order from the right end to the left end. Next, the LEDs of the turn signal 204L are turned on in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205FL are turned on in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205BL are turned on in order from the front end to the rear end. Next, the LEDs of the tail light 206L are turned on in order from the left end to the right end. Finally, the LEDs of the tail light 206CL are turned on in order from the left end to the right end. As a result, as shown by the arrow A11, each light is turned on so that the light flows counterclockwise from the center of the front of the body to the center of the rear.

[0209] Similarly, the LEDs of the accessory light 201R are turned on in order from the left end to the right end. Next, the LEDs of the day running light 202R are turned on in order from the left end to the right end. Next, the LEDs of the turn signal 204R are turned on in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205FR are turned on in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205BR are turned on in order from the front end to the rear end. Next, the LEDs of the tail light 206R are turned on in order from the right end to the left end. Finally, the LEDs of the tail light 206CR are turned on in order from the right end to the left end. As a result, as shown by the arrow A12, each light is turned on so that the light flows clockwise from the center of the front of the body to the center of the rear.

[0210] The left and right lights will be turned on simultaneously.

[0211] Next, the loop light 256 and the main light 401 are turned on. At this time, the loop light 256 and the main light 401 are turned on so that the entirety of each of them gradually becomes brighter.

[0212] When the loop light 256 and the main light 401 finish lighting, the state shown in FIG. 21 is reached.

[0213] Next, some of the lights are turned off as shown in Fig. 22. At this time, as shown by arrows A13 and A14 in the figure, the lights are turned off in order from the front of the left side and the front of the right side of the body to the center of the back.

[0214] Specifically, the LEDs of the turn signal 204L are turned off in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205FL are turned off in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205BL are turned off in order from the front end to the rear end. Next, the LEDs of the tail light 206L are turned off in order from the left end to the right end. Finally, the LEDs of the tail light 206CL are turned off in order from the left end to the right end. As a result, as shown by the arrow A13, each light is turned off in order counterclockwise from the front of the left side of the body to the center of the back.

[0215] Similarly, the LEDs of the turn signal 204R are turned off in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205FR are turned off in order from the front end to the rear end. Next, the LEDs of the auxiliary light 205BR are turned off in order from the front end to the rear end. Next, the LEDs of the tail light 206R are turned off in order from the right end to the left end. Finally, the LEDs of the tail light 206CR are turned off in order from the right end to the left end. As a result, as shown by the arrow A14, each light is turned off in order clockwise from the front of the right side of the body to the center of the back.

[0216] The lights will turn left and right and turn off at the same time.

[0217] <When driving and headlights 203 are off> FIG. 23 shows an example of a light emission pattern when the vehicle 1 is being driven (the shift position is set to driving or automatic driving) and the headlights 203 are turned off.

[0218] In this state, the accessory light 201L, the accessory light 201R, the day running light 202L, and the day running light 202R are turned on.

[0219] Note that due to restrictions such as laws and regulations, the day running lights 202L and 202R are always turned on while the vehicle 1 is being driven. On the other hand, due to restrictions such as laws and regulations, the accessory lights 201L and 201R must be dimmed or turned off while the vehicle 1 is being driven. Therefore, the brightness of the accessory lights 201L and 201R is set lower than normal.

[0220] <When driving and headlights 203 are on> FIG. 24 shows an example of a light emission pattern when the vehicle 1 is being driven (the shift position is set to driving or automatic driving) and the headlights 203 are turned on.

[0221] Comparing Fig. 24 with Fig. 23, it is different in that headlight 203L, headlight 203R, taillight 206L, taillight 206R, taillight 206CL, and taillight 206CR are turned on. That is, in accordance with the lighting of headlight 203L and headlight 203R, taillight 206L, taillight 206R, taillight 206CL, and taillight 206CR are turned on.

[0222] <When braking> FIG. 25 shows an example of the lighting pattern when the brakes are applied.

[0223] Comparing the state of Figure 25 with the state of Figure 23, it is different in that the brake light 207L and the brake light 207R are turned on. That is, the brake light 207L and the brake light 207R are turned on by the brakes being applied.

[0224] <When turn signal is operating> FIG. 26 shows an example of the illumination pattern when the left turn signal is activated.

[0225] Comparing FIG. 26 with FIG. 23, the differences are that the daytime running lights 202L and the tail lights 206L change color, and the turn signals 204L flash.

[0226] Specifically, the LEDs of the daytime running light 202L change from white to orange in order from the right end to the left end. After all the LEDs of the daytime running light 202L have changed to orange, the LEDs of the turn signal 204L light up orange in order from the front end to the rear end.

[0227] At the same time, the LEDs in the tail light 206L change from white to orange in order from the right end to the left end.

[0228] Next, the LEDs of the day running light 202L change from orange to white in order from the right end to the left end. After all the LEDs of the day running light 202L have changed to white, the LEDs of the turn signal 204L are turned off in order from the front end to the rear end.

[0229] At the same time, the LEDs in the tail light 206L change from orange to white in order from the right end to the left end.

[0230] Thereafter, the same operation is repeated.

[0231] <If door 212 is open> FIG. 27 shows an example of a lighting pattern when any of the doors 212 of the vehicle 1 is open.

[0232] At this time, the accessory light 201L, the accessory light 201R, the day running light 202L, the day running light 202R, the tail light 206L, the tail light 206R, the tail light 206CL, the tail light 206CR, the loop light 256, and the main light 401 are turned on.

[0233] <When door 212 closes> FIG. 28 shows an example of a light emission pattern when a state changes from one of the doors 212 of the vehicle 1 being open to all of the doors 212 being closed.

[0234] Comparing the state of Fig. 28 with the state of Fig. 29, it is different in that the main light 401 is turned off. That is, when the door 212 is closed, the main light 401 is turned off.

[0235] <When parking> FIG. 29 shows an example of a light emission pattern when the shift position of the vehicle 1 is set to parking.

[0236] In this case, the accessory light 201L, the accessory light 201R, the day running light 202L, the day running light 202R, the turn signal 204L, the turn signal 204R, the tail light 206L, the tail light 206R, the tail light 206CL, the tail light 206CR, and the loop light 256 are turned on.

[0237] <When power is off> FIG. 30 shows an example of a light emission pattern when the power is turned off from a state in which the shift position of the vehicle 1 is set to parking.

[0238] In this case, the accessory light 201L, the accessory light 201R, the day running light 202L, the day running light 202R, the turn signal 204L, the turn signal 204R, the tail light 206L, the tail light 206R, the tail light 206CL, the tail light 206CR, and the loop light 256 are turned off.

[0239] At this time, the lights are turned off in a flowing manner from the side of the body to the center of the front as shown by arrows A15 and A16, and from the side of the body to the center of the back as shown by arrows A17 and A18.

[0240] Specifically, the LEDs of the turn signal 204L are turned off in order from the rear end to the front end. Next, the LEDs of the day running light 202L are turned off in order from the left end to the right end. Next, the LEDs of the accessory light 201L are turned off in order from the left end to the right end.

[0241] In parallel with this, the LEDs of the turn signal 204R are turned off in order from the rear end to the front end. Next, the LEDs of the day running light 202R are turned off in order from the right end to the left end. Next, the LEDs of the accessory light 201R are turned off in order from the right end to the left end.

[0242] In parallel with this, the LEDs of the tail light 206L are turned off in order from the left end to the right end. Next, the LEDs of the tail light 206CL are turned off in order from the left end to the right end.

[0243] In parallel with this, the LEDs of the tail light 206R are turned off in order from the right end to the left end. Next, the LEDs of the tail light 206CR are turned off in order from the right end to the left end.

[0244] Additionally, the loop light 256 gradually goes out.

[0245] <When a person approaches vehicle 1> Next, although illustration is omitted, an example of a light emission pattern when the recognition unit 73 detects the approach of a person to the vehicle 1 will be described.

[0246] For example, a light located near the approaching person (near the place where the person approached) lights up or flashes. Specifically, for example, when the approach of a person near the door 212FL is detected, the turn signal 204L and the auxiliary light 205FL near the door 212FL lights up or flashes. Furthermore, for example, after the turn signal 204L and the auxiliary light 205FL are turned on, other lights may also be turned on in sequence.

[0247] Also, for example, when the approach of a person is detected, the lights may be turned on or flashed in the same pattern regardless of the location of the approach. For example, the lights may be turned on so that the light flows around the vehicle.

[0248] Furthermore, for example, the manner in which the light is turned on or blinks (for example, color, pattern, etc.) may be changed depending on the approaching person. For example, if the approaching person is recognized as a pre-registered user (for example, the driver or his / her family member), a white light may be blinked. On the other hand, for example, if the approaching person fails to be recognized (if the approaching person is not recognized as a pre-registered user), a red light may be blinked.

[0249] For example, the body system control unit 84 may automatically unlock the doors when it detects the approach of a registered user.

[0250] In addition, for example, the conditions for turning on or blinking the lights in response to the approach of a person may be limited. For example, the lights may be turned on or blinked in response to the approach of a person only when the power of the vehicle 1 is turned off or when there is no person inside the vehicle 1.

[0251] In this way, when the approach of a person is detected, for example, the exterior lights are turned on or flashed to alert those around that the vehicle 1 is monitoring the surroundings, which can prevent theft or vandalism of the vehicle 1. Also, when the approach of a person is detected, for example, the interior lights are turned on or flashed to alert those around that the vehicle 1 is also monitoring the interior of the vehicle.

[0252] <Lighting pattern of steering wheel 253 illumination 254> Next, the light emission pattern of the illumination 254 of the steering wheel 253 will be described.

[0253] For example, the light control unit 85 turns on or blinks the illumination 254 in a pattern according to the situation based on at least one of the situation of the vehicle 1, the situation around the vehicle 1, and the situation of the passenger. The light emission pattern of the illumination 254 is defined by at least one of the color, brightness, blinking pattern, light movement, and light-emitting area, for example.

[0254] Specifically, for example, when the vehicle 1 is ready for autonomous driving, multiple short light bands rotate approximately once around the illumination 254. Then, the entire illumination 254 flashes. This allows the driver to reliably recognize that the vehicle 1 is ready for autonomous driving.

[0255] Also, for example, when the vehicle 1 changes lanes by autonomous driving, first, the entire illumination 254 is turned on. Then, after the illumination 254 is turned off, the LED of the illumination 254 in the direction in which the vehicle 1 moves to change lanes flashes. Then, after the lane change is completed, the entire illumination 254 is turned on and then turned off. In this way, a notification of the lane change is given from before the lane change until the lane change is completed, which gives a sense of security to the passengers.

[0256] Furthermore, for example, when the driver needs to be alerted to an approaching obstacle, drowsiness, etc., the upper part of the illumination 254 flashes in red, allowing the driver to quickly sense and avoid danger.

[0257] Also, for example, when voice recognition is being performed, multiple light bands move left and right in the upper part of the illumination 254. This allows the driver to recognize that the voice recognition function is operating normally.

[0258] <Shooting process> Next, the photographing process executed by the vehicle 1 will be described with reference to the flowchart of FIG.

[0259] This process starts, for example, when the power of the vehicle 1 is turned on, and ends when the power of the vehicle 1 is turned off.

[0260] In step S1, the camera 51 captures the surroundings and interior of the vehicle 1. Specifically, the camera 51 is composed of a plurality of cameras, and each camera captures the surroundings or interior (room) of the vehicle 1. Each camera supplies video data obtained by capturing the video to the information processing unit 351.

[0261] In step S2, the image processing unit 361 performs image processing as necessary.

[0262] For example, the image processing unit 361 superimposes visual information onto each frame of the video data, as will be described later with reference to FIGS.

[0263] Furthermore, for example, the image processing unit 361 performs image processing such as noise cancellation on each frame of the video data based on the sensor data from the in-vehicle sensor 26 and the vehicle sensor 27. For example, when it is raining, the image processing unit 361 removes noise such as raindrops from within the frame.

[0264] In step S3, the metadata adding unit 362 adds metadata to the video data.

[0265] For example, the metadata assignment unit 362 assigns metadata regarding at least one of the shooting location, shooting date and time, the status of the vehicle 1, the status inside the vehicle, and the surrounding status to each video data shot while moving, etc.

[0266] The metadata relating to the shooting location includes, for example, at least one of the position of the vehicle 1 at the time of shooting, the shooting direction, the position of the camera used for shooting, and the like.

[0267] The metadata relating to the shooting date and time includes, for example, at least one of the date and time when the image was shot.

[0268] The metadata regarding the status of the vehicle 1 includes, for example, at least one of the following: speed, acceleration, direction of travel, destination, and state of the vehicle 1 (for example, whether there is an obstacle, whether there is an accident, the amount of charge, etc.).

[0269] The metadata regarding the situation inside the vehicle includes, for example, identification information of the passengers (e.g., name, ID, etc.), the seat positions of the passengers, the situation of the passengers (e.g., behavior, dozing, etc.), voice recognition results of conversations inside the vehicle, activity levels inside the vehicle, etc. The activity levels are set based on, for example, the volume of conversations inside the vehicle and the movements of the passengers.

[0270] Metadata regarding the surrounding conditions may include at least one of the following: weather, temperature, humidity, brightness, the position and type of surrounding objects (e.g., other vehicles, pedestrians, obstacles, traffic signs, landmarks, etc.), the presence or absence and type of events (e.g., accidents, construction, etc.), etc.

[0271] Also, for example, the metadata adding unit 362 may add metadata input by a user (passenger) to video data. For example, a movie button may be provided on the steering wheel 253, and the driver may press the movie button when a scene for which video data is desired to be saved has been shot. Examples of scenes for which video data is desired to be saved include when the scenery around the vehicle 1 is good, or when a problem such as an accident has occurred. For example, the metadata adding unit 362 adds metadata indicating that saving is required to video data shot during a period specified by the user using the movie button.

[0272] The unit for assigning metadata can be set arbitrarily. For example, metadata is assigned on a frame-by-frame basis, on a unit basis consisting of multiple frames, or on a video data basis. The unit for assigning metadata may be variable depending on the type of metadata.

[0273] In step S4, the vehicle 1 accumulates the video data. Specifically, the image processing unit 361 causes the recording unit 28 to store the video data.

[0274] At this time, audio data recorded around and inside the vehicle 1 may be stored together with the video data.

[0275] In step S5, the vehicle 1 displays the video. Specifically, the output control unit 363 causes the HMI 31 to display the video based on the video data.

[0276] For example, the moving images shown in FIGS.

[0277] 32 shows an example of a moving image displayed when the display mode is set to the object detection mode. In this example, a vehicle and a person are selected as detection targets. A frame 501 surrounding a vehicle and a frame 502 surrounding a person detected in a moving image captured in front of the vehicle 1 are displayed. Characters indicating the type of object detected (CAR and PERSON) are also displayed within the frames 501 and 502.

[0278] 33 shows an example of a moving image displayed when the display mode is set to the prediction mode. In this example, the predicted position of a moving object (in this example, a person) detected in the moving image 0.5 seconds later is displayed. In this example, the current position of the person is shown by a dotted line, and the predicted position of the person 0.5 seconds later is shown by a solid line and is surrounded by a frame 511.

[0279] 34 shows an example of a moving image displayed when the display mode is set to the search mode. Here, an example is shown in which possible parking locations are searched for and displayed. Specifically, a frame 521 showing possible parking locations is displayed.

[0280] For example, a plurality of parking positions may be displayed. Also, for example, parking positions may be displayed using a bird's-eye view.

[0281] Fig. 35 shows an example of a moving image displayed when the display mode is set to the search mode, for example. Here, an example is shown in which a person who has been registered in advance is searched for and the detected person is displayed. Specifically, a frame 531 that surrounds the person who has been registered in advance is displayed in the moving image. Also, the name of the detected person (Sakura) is displayed in frame 531.

[0282] For example, a video of a direction (for example, forward, backward, left, right, etc.) selected by a passenger such as a driver may be displayed on the center display 252. Also, for example, a 360-degree video around the vehicle 1 may be displayed on the center display 252 while scrolling.

[0283] Also, for example, sensor data obtained by the radar 52 and the LiDAR 53 may be converted into an image and displayed on the center display 252. Also, visual information based on data obtained by two or more types of sensors among the camera 51, the radar 52, and the LiDAR 53 may be superimposed on a moving image and displayed.

[0284] Furthermore, for example, the planned direction of travel, etc. may be displayed superimposed on the video based on the route plan.

[0285] In addition, for example, the movement of other vehicles predicted based on information obtained through vehicle-to-vehicle communication may be superimposed on the video and displayed.

[0286] Thereafter, the process returns to step S1, and the processes from step S1 to step S5 are repeatedly executed.

[0287] <Video editing processing> Next, the video editing process executed by the vehicle 1 will be described with reference to FIG.

[0288] This process is started, for example, when an instruction to edit a moving image is input to the HMI 31. The instruction to edit a moving image includes, for example, the period during which the moving image to be edited was shot (hereinafter, referred to as the period to be edited), conditions for extracting frames to be included in the moving image, and the like.

[0289] In step S51, the image processing unit 361 edits the moving image.

[0290] For example, based on metadata, etc., the image processing unit 361 extracts frames to be included in the edited video data (hereinafter referred to as edited video data) from each video data shot within the editing period (hereinafter referred to as shot video data).

[0291] For example, the image processor 361 extracts frames to which metadata indicating that storage is required has been added.

[0292] Also, for example, the image processing unit 361 extracts frames that satisfy given conditions based on metadata.

[0293] For example, the image processing unit 361 extracts frames based on the route of the vehicle 1 during the editing period and metadata. For example, the image processing unit 361 detects the route of the vehicle 1 during the editing period based on the map data and the location information included in the metadata of the video data. Then, for example, when the vehicle 1 is traveling on a road along the sea, the image processing unit 361 preferentially extracts frames photographed in the direction of the sea. For example, when the vehicle 1 is traveling on a high ground such as a mountain, the image processing unit 361 preferentially extracts frames photographed in a direction overlooking the surroundings. Furthermore, for example, the image processing unit 361 preferentially extracts frames that include landmarks and the like around the vehicle 1 based on the traveling direction and turning direction of the vehicle 1.

[0294] For example, the image processing unit 361 extracts frames when a specific event occurs based on metadata. For example, when the vehicle 1 is involved in an accident or when an accident occurs around the vehicle 1, the image processing unit 361 preferentially extracts frames from the time period before and after the accident. Also, for example, the image processing unit 361 preferentially extracts frames captured in the direction in which the accident occurred.

[0295] For example, when the image processor 361 detects excitement inside the vehicle based on the activity level included in the metadata, the image processor 361 preferentially extracts frames taken inside the vehicle. Also, for example, the image processor 361 extracts audio data corresponding to the extracted frames of the vehicle.

[0296] Also, for example, the output control unit 363 may cause the center display 252 and the tablet terminal 264L to display a list of video data or actual videos, and the image processing unit 361 may edit the videos based on instructions from the user.

[0297] For example, the user may select video data and frames that he or she wishes to include in the edited video data. In this case, for example, various types of information, visual effects, graffiti, and other visual information may be superimposed on the video frames displayed on the center display 252, the tablet terminal 264L, and the like.

[0298] Then, the image processing unit 361 generates edited video data, for example, by combining the extracted frames. For example, the image processing unit 361 generates edited video data by connecting the extracted frames in chronological order, arranging or overlapping multiple frames within the same frame, etc. Furthermore, the image processing unit 361 superimposes visual information on the extracted frames as necessary, for example, based on metadata.

[0299] In step S52, the vehicle 1 saves the video data. For example, the image processing unit 361 stores the edited video data in the recording unit 28. In addition, for example, the image processing unit 361 transmits the edited video data via the communication unit 22 to a server or an information processing terminal (for example, a smartphone, a tablet terminal, a personal computer, etc.) held by the passenger, and stores the data therein.

[0300] After that, the video editing process ends.

[0301] In this way, it is possible to easily edit the video captured around and inside the vehicle 1. This makes it possible to easily generate, for example, video data that records travel memories, video data that extracts scenic scenes, video data that records the circumstances of an accident, and the like.

[0302] <<3. Modifications>> Below, a modification of the above-described embodiment of the present technology will be described.

[0303] For example, the captured video data with the metadata added before editing may be stored or copied outside the vehicle 1, and the video may be edited by a device external to the vehicle 1 (for example, a server (cloud), a smartphone, a tablet terminal, a personal computer, etc.). Also, for example, the video may be edited by a device external to the vehicle 1 in cooperation with the vehicle 1. Furthermore, for example, the metadata may be added by a device external to the vehicle 1.

[0304] In addition, in the above description, an example has been shown in which the front line and the tail line of the loop line L1 are illuminated, but they may not be illuminated, taking into consideration, for example, design, legal regulations, and the like.

[0305] Furthermore, in the above description, an example has been shown in which the central portion of the front line and the central portion of the tail line are separated, but they may be connected without being separated, taking into consideration, for example, the design.

[0306] Also, for example, an optical sensor such as a camera, a radar, or a LiDAR may be disposed inside the headlight 203.

[0307] Furthermore, in the above description, an example in which the vehicle 1 is a left-hand drive vehicle has been shown, but the present technology can of course also be applied to a right-hand drive vehicle. When the present technology is applied to a right-hand drive vehicle, the above-mentioned vehicle exterior and interior layouts are appropriately changed to suit the right-hand drive vehicle.

[0308] In addition, the type of vehicle to which the present technology can be applied is not particularly limited. In addition, the present technology can be applied to moving devices such as personal mobility, airplanes, ships, construction machines, agricultural machines, etc., in addition to vehicles. In addition, the moving devices to which the present technology can be applied include, for example, moving devices such as drones and robots that capture images of the surroundings without a person on board.

[0309] <<4.Other>> <Computer configuration example> The above-described series of processes can be executed by hardware or software. When the series of processes is executed by software, a program constituting the software is installed in a computer (e.g., the processor 21, etc.).

[0310] In addition, the program executed by the computer may be a program in which processing is performed chronologically in the order described in this specification, or it may be a program in which processing is performed in parallel or at the required timing, such as when called.

[0311] In this specification, a system refers to a collection of multiple components (devices, modules (parts), etc.), regardless of whether all the components are in the same case. Therefore, multiple devices housed in separate cases and connected via a network, and a single device in which multiple modules are housed in a single case, are both systems.

[0312] Furthermore, the embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present technology.

[0313] For example, the present technology can be configured as cloud computing, in which a single function is shared and processed collaboratively by multiple devices via a network.

[0314] Furthermore, each step described in the above flow chart can be executed by one device, or can be shared and executed by a plurality of devices.

[0315] Furthermore, when a single step includes multiple processes, the multiple processes included in the single step can be executed by a single device, or can be shared and executed by multiple devices.

[0316] <Examples of configuration combinations> The present technology can also be configured as follows.

[0317] (1) A front line extending in the vehicle width direction at the front of the body; headlights that are arranged on the left and right sides of the front surface, are divided into upper and lower parts by the front line, and output low beams from the parts above the front line and high beams from the parts below the front line; A vehicle equipped with. (2) The front line forms part of a first loop line that encircles the periphery of the body. 2. The vehicle described in (1) above. (3) a plurality of lights disposed around the body along the first loop line; a light control unit that controls the plurality of lights; The vehicle according to (2) above, (4) The light control unit turns on or blinks at least a part of the plurality of lights when a person approaches the vehicle. The vehicle described in (3) above. (5) The light control unit turns on or blinks the light located near the person. The vehicle described in (4) above. (6) The light control unit changes a manner in which the light is turned on or blinks depending on the person. A vehicle as described in (4) or (5) above. (7) If the person is registered in advance, a body system control unit that unlocks the door is The vehicle according to any one of (4) to (6) above, further comprising: (8) A loop light that surrounds at least a portion of the vehicle interior at approximately the same height as the first loop line. Further preparation, The light control unit performs cooperative control of the plurality of lights and the loop light. A vehicle as described in any one of (3) to (7). (9) The front line is composed of a front light extending in the vehicle width direction at the front. A vehicle as described in any one of (3) to (8). (10) The front light is divided in the center, and an optical sensor is disposed in the divided portion. The vehicle described in (9) above. (11) The divided portion constitutes part of the logo. The vehicle described in (10) above. (12) The plurality of lights include a tail light extending in the vehicle width direction on the rear surface of the body. A vehicle as described in any one of (3) to (11). (13) The brake lights are arranged on the left and right sides of the rear and are separated into upper and lower parts by the tail lights. The vehicle according to (12) further comprises: (14) The taillight is divided in the center, and an optical sensor is disposed in the divided portion. A vehicle as described in (12) or (13) above. (15) The divided portion constitutes part of the logo. The vehicle described in (14) above. (16) The plurality of lights includes a turn signal. A vehicle as described in any one of (3) to (15). (17) An optical sensor is disposed near an intersection of the first loop line and an extension line of the A-pillar or an extension line of the C-pillar. A vehicle as described in any one of (2) to (16). (18) The optical sensor includes a LiDAR. 17. The vehicle according to claim 15. (19) A turn signal is disposed on the optical sensor disposed near the intersection of the first loop line and an extension line of the A-pillar. A vehicle as described in (17) or (18) above. (20) A door handle is disposed on the side surface of the body in the vicinity of the first loop line. A vehicle as described in any one of (2) to (19). (twenty one) A communication device that is arranged on or near the doorknob and performs short-range wireless communication. The vehicle according to (20) above, (twenty two) Auxiliary lights to illuminate the area around the doorknob The vehicle according to (21) further comprises: (twenty three) A second loop line is provided around the periphery of the body along the lower edge of the window provided in the body. The vehicle according to any one of (2) to (22) further comprises: (twenty four) The color of the body is different above and below the second loop line. The vehicle described in (23) above. (twenty five) The end of the front line is curved toward the rear of the body and extends in a direction penetrating the body. A vehicle as described in any one of (1) to (24). (26) An optical sensor disposed between the logos disposed at the center of the front line The vehicle according to any one of (1) to (25) above, further comprising: (27) An optical sensor installed in the headlight The vehicle according to any one of (1) to (26) further comprises:

[0318] It should be noted that the effects described in this specification are merely examples and are not limiting, and other effects may also be obtained. [Explanation of symbols]

[0319] 1 vehicle, 11 vehicle control system, 21 processor, 31 HMI, 51 camera, 52 radar, 53 LiDAR, 73 recognition unit, 84 body control unit, 85 light control unit, 201 accessory light, 202 daytime running light, 203 headlight, 204 turn signal, 205 auxiliary light, 206 tail light, 207 brake light, 252 center display, 253 steering wheel, 254 illumination, 255FL to BR speaker, 256 loop light, 257 stalk lever, 258 button, 259 indicator, 260FC to 260FR air outlet, 261CL to 261FR knob, 262 operation unit, 263FL, 263FR door opener, 265 Tablet terminal, 265 digital rearview mirror, 266 mounting unit, 351 information processing unit, 361 image processing unit, 362 metadata assignment unit, 363 output control unit, 401 main light

Claims

1. a front line extending in a vehicle width direction on a front surface of the body and constituting a part of a first loop line surrounding the periphery of the body; a plurality of lights including headlights arranged on the left and right sides of a front surface of the body, divided into upper and lower parts by the front line, outputting a low beam from a portion above the front line and outputting a high beam from a portion below the front line, the plurality of lights being arranged around the body along the first loop line; A loop light that surrounds at least a portion of the perimeter of the room at approximately the same height as the first loop line; a light control unit that controls the plurality of lights; Equipped with When a person approaches, the light control unit turns on or blinks at least some of the plurality of lights in different modes depending on whether the person who approaches is recognized as a pre-registered user or not. vehicle.

2. The light control unit turns on or blinks the light located near the person who has approached.

2. The vehicle of claim 1.

3. A body system control unit that unlocks the door when the approaching person is recognized as a pre-registered user. The vehicle of claim 1 further comprising:

4. The light control unit performs cooperative control of the plurality of lights and the loop light.

2. The vehicle of claim 1.

5. The front line is constituted by a front light extending in the vehicle width direction on the front surface of the body.

2. The vehicle of claim 1.

6. The front light is divided in the center, and an optical sensor is disposed in the divided portion.

6. A vehicle as claimed in claim 5.

7. The divided portion constitutes part of the logo.

7. The vehicle of claim 6.

8. The plurality of lights include a tail light extending in the vehicle width direction on the rear surface of the body.

2. The vehicle of claim 1.

9. The brake lights are arranged on the left and right sides of the rear and are separated into upper and lower parts by the tail lights. The vehicle of claim 8 further comprising:

10. The taillight is divided in the center, and an optical sensor is disposed in the divided portion.

9. The vehicle of claim 8.

11. The divided portion constitutes part of the logo.

11. The vehicle of claim 10.

12. The plurality of lights includes a turn signal.

2. The vehicle of claim 1.

13. An optical sensor is disposed near an intersection of the first loop line and an extension of the A-pillar or an extension of the C-pillar.

2. The vehicle of claim 1.

14. The optical sensor includes a LiDAR.

14. A vehicle as claimed in claim 13.

15. A turn signal is disposed on the optical sensor disposed near an intersection point between the first loop line and an extension line of the A-pillar.

14. A vehicle as claimed in claim 13.

16. A door handle is disposed on a side surface of the body in the vicinity of the first loop line.

2. The vehicle of claim 1.

17. A communication device that is arranged on or near the doorknob and performs short-range wireless communication.

17. A vehicle as claimed in claim 16, comprising:

18. Auxiliary lights to illuminate the area around the doorknob The vehicle of claim 17 further comprising:

19. A second loop line is provided around the periphery of the body along the lower edge of the window provided in the body. The vehicle of claim 1 further comprising:

20. The color of the body is different above and below the second loop line.

20. A vehicle as claimed in claim 19.

21. The end of the front line is curved toward the rear of the body and extends in a direction penetrating the body.

2. The vehicle of claim 1.

22. An optical sensor disposed between the logos disposed at the center of the front line The vehicle of claim 1 further comprising:

23. An optical sensor installed in the headlight The vehicle of claim 1 further comprising:

Images