Vehicle lighting device, vehicle lighting control method, and program

Abstract

To provide a vehicle lighting device, a vehicle lighting control method and a program that enable comprehensive communication with other parties and further improve traffic safety for the vehicles of oneself and other parties, thereby contributing to the development of a sustainable transportation system.SOLUTION: A vehicle lighting device includes first exterior lights provided on an exterior part of a vehicle, second exterior lights provided on the exterior part of the vehicle, a recognition unit that recognizes objects present in a travel path of the vehicle, a detection unit that detects a viewing direction of a driver of the vehicle, and a control unit that operates the second exterior lights when the recognition unit recognizes the object, and operates the first exterior lights in accordance with the viewing direction detected by the detection unit.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Generally, light bodies other than direction indicators provided at the front and rear of a vehicle body are used to ensure the forward visibility at night and to inform following vehicles of one's own position. In recent years, in order to further ensure the safety of vehicles and pedestrians, a technique has been proposed in which a light body as described above is provided with a notification function for pedestrians and the like in addition to the conventional role.

[0003] For example, a vehicle lighting device (vehicle lighting system) has been proposed that can present to a pedestrian that a vehicle running in the automatic driving mode recognizes the pedestrian (see Patent Document 1). This device includes a communication lamp visible from the front of the vehicle and a lighting control device that changes the lighting state of the communication lamp when the vehicle detects a pedestrian.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above-described conventional technology, although the vehicle itself notifies the other party (pedestrian) whether it recognizes the other party, it cannot reflect whether the driver recognizes the other party and whether the vehicle system recognizes the other party. For this reason, comprehensive communication with the other party cannot be achieved, and there is room for improvement in order to ensure traffic safety for the vehicle and the other party.

[0006] The present invention has been made in consideration of such circumstances, and aims to provide a vehicle lighting device, a vehicle lighting control method, and a program that can achieve comprehensive communication with others, further improve traffic safety for vehicles and others, and contribute to the development of a sustainable transportation system.

Means for Solving the Problems

[0007] The vehicle lighting device, vehicle lighting control method, and program according to this invention adopt the following configurations. (1): The vehicle lighting device according to one aspect of this invention includes a first exterior light provided on an exterior portion of the vehicle, a second exterior light provided on the exterior portion of the vehicle, a recognition unit that recognizes an object existing on the traveling route of the vehicle, a detection unit that detects the visual recognition direction of the driver of the vehicle, and a control unit that operates the second exterior light when the recognition unit recognizes the object and operates the first exterior light according to the visual recognition direction detected by the detection unit.

[0008] (2): In the aspect of (1) above, when the vehicle stops in front of an intersection or a crosswalk and the recognition unit recognizes the object, the control unit operates the second exterior light and operates the first exterior light according to the visual recognition direction detected by the detection unit.

[0009] (3): In the aspect of (1) above, the first exterior light is provided along the outer edge on the side of the vehicle, and the second exterior light is provided along the vehicle width direction in the front of the vehicle.

[0010] (4): In the aspect of (1) above, the control unit lights the second exterior light so as to follow the object.

[0011] (5): In the aspect of (1) above, when a plurality of the objects are recognized, the control unit lights up the positions corresponding to the plurality of the objects in the second exterior light.

[0012] (6): In the aspect of (1) above, the control unit changes the form of lighting the second exterior light according to the positional relationship between the vehicle and each of the plurality of the objects.

[0013] (7): A vehicle lighting control method according to an aspect of the present invention is a vehicle lighting control method in which a processor of a vehicle lighting device including a first exterior light provided on an exterior portion of a vehicle and a second exterior light provided on the exterior portion of the vehicle performs a process of recognizing an object existing on a traveling route of the vehicle, a process of detecting a visual recognition direction of a driver of the vehicle, and when the object is recognized, operates the second exterior light and operates the first exterior light according to the visual recognition direction detected by the detection unit.

[0014] (8): A program according to an aspect of the present invention is a program for causing a processor of a vehicle lighting device including a first exterior light provided on an exterior portion of a vehicle and a second exterior light provided on the exterior portion of the vehicle to perform a process of recognizing an object existing on a traveling route of the vehicle, a process of detecting a visual recognition direction of a driver of the vehicle, and when the object is recognized, operating the second exterior light and operating the first exterior light according to the visual recognition direction detected by the detection unit.

Effect of the Invention

[0015] (1) According to the aspects of (1) to (8), by the vehicle lighting device controlling each light according to the position of the object and the visual recognition direction of the driver, comprehensive communication can be taken with the other party, and the traffic safety for the vehicle and the other party can be further improved, contributing to the development of a sustainable transportation system.

Brief Description of the Drawings

[0016]

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Embodiments for Carrying Out the Invention

[0017] Hereinafter, with reference to the drawings, embodiments of the vehicle lighting device, vehicle lighting control method, and program of the present invention will be described.

[0018] The vehicle lighting device 1 is, for example, a lighting device mounted on a vehicle. The vehicle is, for example, a four-wheeled vehicle, a motorcycle, a micromobility vehicle, etc. In the following description, the case of a four-wheeled vehicle will be described. The vehicle lighting device 1 operates, for example, to turn on the lighting according to the movement of an object such as a pedestrian, a bicycle, a wheelchair, or livestock when the vehicle is traveling on a road and the object crosses the road. The vehicle lighting device 1 detects the object with a camera or the like, and further expresses the movement of the object by detecting the direction in which the driver of the vehicle can visually recognize.

[0019] FIG. 1 is a configuration diagram of a vehicle lighting device 1. The vehicle lighting device 1 includes, for example, a position measurement device 10, an external sensor 20, an in-vehicle camera 30, a first right exterior light 40R, a first left exterior light 40L, a second exterior light 50, a right headlight 60R, a left headlight 60L, an in-vehicle communication network 70, and a control device 100.

[0020] The position measurement device 10 is, for example, a GPS (Global Positioning System) receiver. The position measurement device 10 measures the position of the vehicle 200 and outputs it to the control device 100.

[0021] The external sensor 20 is, for example, a camera, a radar device, a LIDAR (Light Detection and Ranging), a sonar, etc. for acquiring information outside the vehicle. The external sensor 20 transmits a signal representing the detected information to the control device 100.

[0022] The in-vehicle camera 30 is, for example, a visible light camera. The in-vehicle camera 30 is provided inside the passenger compartment 201 of the vehicle 200 and is installed to image the driver's face.

[0023] FIG. 2 is a perspective view of a vehicle 200 equipped with the vehicle lighting device 1. Each of the first right exterior light 40R and the first left exterior light 40L is a light emitting device provided along the outer edge on the side of the vehicle 200. Each of the first right exterior light 40R and the first left exterior light 40L is provided, for example, along the fender. Each of the first right exterior light 40R and the first left exterior light 40L is provided along the boundary between the left and right bonnet hoods 202 and the front fenders 203 of the vehicle 200. Each of the first right exterior light 40R and the first left exterior light 40L is operationally controlled by the control device 100.

[0024] The second exterior light 50 is a light-emitting device provided along the vehicle width direction at the front of the vehicle 200. The second exterior light 50 is provided, for example, on the front grille that constitutes the front part of the vehicle 200. The second exterior light 50 is provided so as to extend in the vehicle width direction between the right headlight 60R and the left headlight 60L.

[0025] Each of the right headlight 60R and the left headlight 60L is provided on the left and right sides in the vehicle width direction at the front of the vehicle 200.

[0026] Figure 3 is a front view of the second exterior light 50. In the second exterior light 50, a plurality of cylindrical portions 51 facing the front (the lighting display direction) of the vehicle 200 are arranged in the vertical direction and the vehicle width direction. Each of the right headlight 60R and the left headlight 60L is composed of a headlight main body 61 and a plurality of status display lights 62 surrounding the periphery of the headlight main body 61. The headlight main body 61 is a light that irradiates the front at night or the like. The status display lights 62 are arranged in an annular shape when viewed from the front. The status display lights 62 function as direction indicators. The status display lights 62 are controlled to turn on / off for each individual light. In Figure 2, the front of the vehicle 200 is indicated by an arrow FR. The upper part of the vehicle 200 is indicated by an arrow UP. The left side when facing the front of the vehicle 200 is indicated by an arrow LH.

[0027] FIG. 4 is an enlarged view of the second exterior light 50. Each cylindrical portion 51 has a peripheral wall 52a formed in a hexagonal shape. The plurality of cylindrical portions 51 are arranged in a staggered pattern in the vertical direction and the vehicle width direction. On the front side (the lighting display direction side) of each cylindrical portion 51, a Y-shaped connecting wall 53 that connects the top portions 52t separated by one of the hexagonal peripheral walls 52a is provided. For this reason, the peripheral walls 52a of the cylindrical portions 51 of the cylindrical portion assembly wall form a continuous honeycomb shape. The light of the light source lit in this way is emitted to the front side of the vehicle through the cylindrical portions 51 of the cylindrical portion assembly wall. An observer outside the vehicle can recognize characters, figures, etc. displayed by the light of the light source lit inside the cylindrical portion. When the light source is not lit, the light source is hidden by the peripheral wall 52a of the cylindrical portion 51, making it difficult to be seen from the outside.

[0028] FIG. 5 is a diagram showing the recognition range of the external sensor 20 and the visual field range of the driver. A indicates the visual field range of the driver, and B indicates the recognition range of the external sensor 20. In the vehicle to which the present invention is applied, the visual field A of the driver is wider than the recognition range B of the external sensor. As will be described later, when the vehicle 200 stops near an intersection or a crosswalk and there are objects such as pedestrians or other vehicles in the recognition range B of the external sensor 20, the recognition unit 110 uses the external sensor 20 to recognize the objects. When an object exists within the visual field range A of the driver and outside the recognition range of the external sensor 20, when the driver notices and gazes at the object, the detection unit 120 uses the in-vehicle camera 30 to detect the visual recognition direction of the driver and estimates that an object exists.

[0029] As shown in FIG. 1, the control device 100 includes, for example, a recognition unit 110, a detection unit 120, a control unit 130, and a memory unit 140. Components other than the memory unit 140 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including a circuit unit; circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or may be stored in a removable storage medium (a non-transitory storage medium) such as a DVD or a CD-ROM, and may be installed by mounting the storage medium on a drive device.

[0030] The recognition unit 110 recognizes an object. The recognition unit 110 recognizes an object existing on the travel route of the vehicle 200 based on the information input from the external sensor 20. For example, by inputting an image captured by a camera into a learned model for recognizing an object, the position of the object in the image is recognized, and the object existing on the travel route of the vehicle 200 is recognized by converting it into a position on a virtual plane seen from above. The recognition unit 110 transmits the recognized recognition information to the control unit 130. The recognition information is, for example, the position information of the recognized object.

[0031] The detection unit 120 detects the driver's visual recognition direction by means of the in-vehicle camera 30. The visual recognition direction is, for example, the direction in which the line of sight of the driver of the vehicle 200 is directed. The visual recognition direction is not limited to the direction at which the driver is gazing, and may be the direction in which the driver is looking generally. The detection unit 120 uses, for example, the corneal reflection method of detecting the driver's line of sight direction by reflecting infrared rays off the driver's cornea, the limbus tracking method that utilizes the difference in reflectance of light between the cornea and the sclera, the image analysis method of capturing an image of the eyeball with a camera and detecting the line of sight by image processing, etc. to detect the driver's visual recognition direction.

[0032] The detection unit 120, for example, uses the in-vehicle camera 30 to photograph the driver's eyes and detects the visual recognition direction from the positional relationship between the inner canthus and the iris. The detection unit 120 measures the elapsed time when the movement of the visual recognition direction stops. When the detection unit 120 detects that the driver's visual recognition direction has been facing the same direction (within a predetermined angular range) for a certain period of time, it transmits that direction as the visual recognition direction (detection information) to the control unit 130.

[0033] Based on the recognition information, detection information transmitted from the recognition unit 110 and the detection unit 120, the driving situation of the vehicle 200, and information on the scene where the vehicle is placed, the control unit 130 controls the first right exterior light 40R, the first left exterior light 40L, the second exterior light 50, the right headlight 60R, and the left headlight 60L. The driving situation is, for example, information such as the vehicle 200 is traveling, stopped, about to turn right / left, etc.

[0034] The driving situation is obtained, for example, from the in-vehicle communication network 70. The in-vehicle communication network 70 is, for example, a CAN (Controller Area Network). The in-vehicle communication network 70 is connected to sensors and ECUs (Electronic Control Units) of the vehicle 200, and various state information used for vehicle control is transmitted.

[0035] A scene is information indicating whether the vehicle 200 is at an intersection or a crosswalk. The control unit 130 compares the history of the position information of the vehicle 200 measured by the position measurement device 10 with the information of the map information 142 stored in the storage unit 140 to determine the scene.

[0036] The storage unit 140 stores the map information 142. The map information 142 appropriately stores the latest map and stores the locations of intersections or crosswalks. The storage unit 140 may be realized by the above various storage devices, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory), etc.

[0037] In addition to recognizing an object by the external sensor 20, the recognition unit 110 may recognize that there is an object around the vehicle 200 through communication with a pedestrian's mobile terminal or other vehicles.

[0038] When the recognition unit 110 recognizes an object, the control unit 130 operates the second exterior light 50, the right headlight 60R, and the left headlight 60L. The control unit 130 may further operate the second exterior light 50 based on the visual recognition direction of the driver detected by the detection unit 120. On the other hand, the control unit 130 operates the first right exterior light 40R and the first left exterior light 40L based on the visual recognition direction of the driver detected by the detection unit 120. Also, when the recognition unit 110 recognizes an object and the control unit 130 determines that the vehicle 200 is in front of an intersection or a crosswalk, each light may be operated. Hereinafter, the lighting forms of the first right exterior light 40R, the first left exterior light 40L, the second exterior light 50, the right headlight 60R, and the left headlight 60L will be described.

[0039] FIG. 6 is a diagram showing an example of the lighting pattern of each light when the vehicle 200 is in motion. "In motion" means traveling on a road in the traveling direction at a vehicle speed of a predetermined speed or more. When the vehicle 200 is in motion, the control unit 130 turns off the first right exterior light 40R and the first left exterior light 40L. The control unit 130 lights the second exterior light 50 in a single line. The control unit 130 turns off the headlight main bodies 61 of the right headlight 60R and the left headlight 60L, and lights the status display light 62. The lighting pattern of each light shown in FIG. 6 is defined as the first lighting pattern. When the vehicle 200 is traveling normally on the road, the control unit 130 controls each light to the first lighting pattern. The determination that the vehicle 200 is traveling normally is made by the control unit 130 acquiring the driving status from the in-vehicle communication network 70 and making a determination. For example, the control unit 130 determines that the vehicle 200 is in motion when the vehicle speed of the vehicle 200 is a predetermined speed or more.

[0040] FIG. 7 is a diagram showing an example of the lighting state of each light when a pedestrian starts approaching from the right side of the vehicle 200 while the vehicle 200 is turning right. FIG. 8 is a diagram showing an example of the pedestrian H as seen from the viewpoint of the driver of the vehicle 200 when each light is controlled in the state of FIG. 7. As shown in FIG. 8, the pedestrian H is trying to cross the crosswalk from the right side toward the driver. The driver can visually recognize the pedestrian H. When the detection unit 120 detects that the driver has visually recognized the pedestrian H, as shown in FIG. 7, the control unit 130 lights the first right exterior light 40R in a first color. The first color may be, for example, green or another color. The control unit 130 continues to turn off the first left exterior light 40L. Based on the lighting signal, the control unit 130 lights the right side of the second exterior light 50 in a V shape, and the light lights dimly as it goes to the left side. The control unit 130 lights only the right side of the second exterior light 50, and turns off the center and the left side. The control unit 130 turns off the headlight main bodies 61 of the right headlight 60R and the left headlight 60L, and lights the status display light 62. The lighting pattern of each light shown in FIG. 7 is defined as the second lighting pattern.

[0041] As shown in Fig. 8, when pedestrian H begins to approach near the crosswalk, the driver stops vehicle 200 to avoid a collision and visually recognizes the direction of pedestrian H. Detection unit 120 detects the visual recognition direction of the driver. When detection unit 120 detects the visual recognition direction of the driver and it is found from the detected visual recognition direction and the elapsed time that the driver is gazing at the right side, control unit 130 changes the lighting pattern of each light to the second lighting pattern. By controlling each light to be lit in the second lighting pattern by control unit 130, it is conveyed to pedestrian H that the driver has visually recognized pedestrian H, and pedestrian H can obtain a sense of security.

[0042] Fig. 9 is a diagram showing an example of the lighting state of each light when pedestrian H approaches from the right side of vehicle 200. Fig. 10 is a diagram showing an example of pedestrian H as seen from the viewpoint of the driver of vehicle 200 when each light is controlled in the state of Fig. 9. As shown in Fig. 10, pedestrian H is walking on the crosswalk on the right side facing the driver and has advanced further than the time point of Fig. 8. By advancing, pedestrian H is walking in a place closer to vehicle 200. As shown in Fig. 9, control unit 130 lights the first right exterior light 40R so that the second color moves from the right direction to the left direction while being lit in the first color. The second color may be, for example, white, or another color, or a color different from the first color. Control unit 130 continues to light the second exterior light 50 in the same state as the second exterior light 50 in Fig. 8. Control unit 130 continues to turn off the headlight body 61 of the right headlight 60R and the left headlight 60L and continues to turn on the status display light 62, similar to Fig. 8. The lighting pattern of each light shown in Fig. 9 is set as the third lighting pattern.

[0043] The driver continues to watch the pedestrian H walking on the crosswalk. As the pedestrian H moves forward, the driver's line of sight moves to the left. For example, when the detection unit 120 detects that the driver has watched the pedestrian H for 1 to 2 seconds, the control unit 130 lights the first right exterior light 40R in a second color and lights it so as to follow the driver's line of sight. The second color, for example, gradually moves to the left, and the illuminated part dims. The control unit 130 lights the first color at the dimmed part.

[0044] By controlling the control unit 130 to light each light in a third lighting mode, it is conveyed to the pedestrian H that the driver's line of sight is following the pedestrian H, and the pedestrian H can feel at ease.

[0045] FIG. 11 is a diagram showing an example of the lighting state of each light when the pedestrian H approaches the front right side of the vehicle 200. FIG. 12 is a diagram showing an example of the pedestrian H as seen from the viewpoint of the driver of the vehicle 200 when each light is controlled in the state of FIG. 11. As shown in FIG. 12, the pedestrian H further moves forward and walks on the crosswalk in the front right side direction of the vehicle 200. As shown in FIG. 11, the control unit 130 lights the first right exterior light 40R in the first color while the second color is lit at the left end. The control unit 130 gradually dims the part where the second color is lit on the first right exterior light 40R and lights only the first color. The control unit 130 lights only the right end of the second exterior light 50. The lighting shape of the second exterior light 50 may be, for example, a hexagon as shown in FIG. 11, a human shape, or a dot. The control unit 130 turns off a part of the headlight body 61 and the status display light 62 on the right side of the right headlight 60R and the left headlight 60L and lights the other part of the status display light 62. The control unit 130 turns off the first left exterior light 40L. The lighting state of each light shown in FIG. 11 is set as the fourth lighting mode.

[0046] As shown in FIG. 12, since the pedestrian H has advanced, the driver's visual recognition direction gradually moves toward the front of the vehicle 200. The control unit 130 controls the lighting state of each light according to the visual recognition direction and lights it in the fourth lighting mode.

[0047] By controlling the control unit 130 to light each light in the fourth lighting mode, it is conveyed to the pedestrian H that the driver's visual recognition direction continues to follow the pedestrian H, and the pedestrian H can obtain a sense of security.

[0048] FIG. 13 is a diagram showing an example of the lighting state of each light when the pedestrian H approaches the left side of the vehicle 200. FIG. 14 is a diagram showing an example of the pedestrian H as viewed from the perspective of the driver of the vehicle 200 when each light is controlled in the state of FIG. 13. The pedestrian H further advances and walks on the left side as viewed from the driver. The driver's visual recognition direction moves to the left. As shown in FIG. 13, the control unit 130 dims the first color of the first right exterior light 40R. The control unit 130 turns off the first left exterior light 40L. The control unit 130 lights the left side of the second exterior light 50 in a hexagonal shape. The control unit 130 turns off the headlight bodies 61 of the right headlight 60R and the left headlight 60L and lights only the status display light 62. The lighting state of each light shown in FIG. 13 is set as the fifth lighting state.

[0049] In FIG. 14, as the pedestrian H moves to the left and the driver's visual recognition direction moves to the left accordingly, the control unit 130 controls the lit portion of the second exterior light 50 to be on the left side. Further, the control unit 130 dims the lighting of the first right exterior light 40R.

[0050] By controlling the control unit 130 to light each light in the fifth lighting mode, it is conveyed to the pedestrian H that the movement of each light follows the movement of the pedestrian H as it moves to the left side of the road, so that the pedestrian H can obtain a sense of security.

[0051] FIG. 15 is a diagram showing an example of the lighting state of each light when the pedestrian H is moving away from the left side of the vehicle 200. FIG. 16 is a diagram showing an example of the pedestrian H as viewed from the perspective of the driver of the vehicle 200 when each light is controlled in the state of FIG. 15. The pedestrian H is further moving forward and is about to finish crossing the crosswalk, and is moving away from the vehicle 200. As shown in FIG. 15, the control unit 130 turns off the first right exterior light 40R. The control unit 130 turns on the first left exterior light 40L in the first color, and turns it on while the second color moves according to the movement of the pedestrian H. The control unit 130 lights the left side of the second exterior light 50 in a C shape. The control unit 130 turns off the left sides of the right headlight 60R and the left headlight 60L, i.e., the headlight main bodies 61, and turns on the other status display lights 62. The lighting state of each light shown in FIG. 15 is defined as the sixth lighting pattern.

[0052] By controlling the control unit 130 to light each light in the sixth lighting pattern, when the pedestrian H is about to finish crossing the crosswalk, the movement of each light follows, which is conveyed to the pedestrian H, so that the pedestrian H can obtain a sense of security.

[0053] FIG. 17 is a diagram showing an example of the lighting state of each light when the pedestrian H is moving away from the left side of the vehicle 200. FIG. 18 is a diagram showing an example of the pedestrian H as viewed from the perspective of the driver of the vehicle 200 when each light is controlled in the state of FIG. 17. The pedestrian H is further moving forward and finishes crossing the crosswalk. As shown in FIG. 17, the control unit 130 continues to turn off the first right exterior light 40R. The control unit 130 moves the light of the second color of the first left exterior light 40L to the left side. The control unit 130 continues to light the left side of the second exterior light 50 in a C shape. The control unit 130 turns off the headlight main bodies 61 of the right headlight 60R and the left headlight 60L, and turns on the status display lights 62. The lighting state of each light shown in FIG. 17 is defined as the seventh lighting state.

[0054] The driver determines that the pedestrian H is moving away and the risk of collision has disappeared, shifts the visual recognition direction back to the driving direction again, and continues driving. Each light of the vehicle lighting device 1 returns to the first lighting mode.

[0055] When the vehicle 200 stops near an intersection or a crosswalk, the recognition unit 110 recognizes the object, and when the detection unit 120 determines that the visual recognition direction of the driver is in the direction of the object, the vehicle lighting device 1 lights up from the second lighting mode to the seventh lighting mode. The vehicle lighting device 1 does not necessarily change in order from the first lighting mode. Instead, as long as the object exists near the vehicle 200 and it is detected that the driver has shifted the visual recognition direction to the direction of the object, the lighting mode is changed according to the position of the object and the visual recognition direction. By changing the lighting mode of the vehicle lighting device 1 according to the position of the object and the visual recognition direction, the driver's visual recognition direction can be transmitted outside the vehicle 200, enabling comprehensive communication.

[0056] When there are multiple objects, the control unit 130 lights them up in a form that emphasizes the object with a higher risk level for the vehicle 200. The risk level refers to the risk of collision between the control unit 130 and the vehicle 200. The risk level is calculated from conditions such as, for example, a high wrapping rate between the object and the vehicle 200 and a short distance between the object and the vehicle 200. The wrapping rate is a value calculated by dividing the horizontal difference between the left end of the vehicle 200 and the center of the object when the vehicle 200 is driving on the road by the total width of the vehicle 200.

[0057] FIG. 19 is a diagram showing an example where there are multiple objects. There are a pedestrian C and a pedestrian D in the traveling direction of the vehicle 200. The pedestrian C and the pedestrian D are within the range recognized by the external sensor 20 of the vehicle 200. The control unit 130 calculates the risk levels of the pedestrian C and the pedestrian D respectively. The risk level is calculated to be the highest when the wrapping rate between the vehicle 200 and the object is the highest and the distance between the vehicle 200 and the object is the shortest. In the case of FIG. 19, the pedestrian C is calculated to have the highest risk level.

[0058] FIG. 20 is a front view of a vehicle 200 showing the lighting state of the vehicle lighting device 1 controlled in the case of FIG. 19. The control unit 130 turns off the first right exterior light 40R and the first left exterior light 40L. The control unit 130 lights the second exterior light 50 in a rectangular shape at locations corresponding to pedestrians C and D. The control unit 130 lights the rectangle corresponding to pedestrian C with a high risk of danger brightly and the rectangle corresponding to pedestrian D with a low risk of danger dimly for the second exterior light 50. The control unit 130 turns off the headlight bodies 61 of the right headlight 60R and the left headlight 60L and only lights the status indicator light 62.

[0059] The control unit 130 controls the lighting position within the second exterior light 50 according to the positional relationship of the object and controls the lighting form according to the risk level of the object.

[0060] FIG. 21 is a diagram showing an example of the lighting state of the vehicle lighting device 1 when the vehicle 200 is stopped. "Stopped" means that the vehicle 200 is stopped at a speed less than a predetermined speed. When the vehicle 200 is stopped, the control unit 130 turns off the first right exterior light 40R, the first left exterior light 40L, and the second exterior light 50. The control unit 130 lights only the lower half of the status indicator light 62 of the right headlight 60R and the left headlight 60L, and turns off the other parts. The lighting state shown in FIG. 21 is defined as the eighth lighting state.

[0061] FIG. 22 is a flowchart showing an example of the operation of the second exterior light 50. The processing of this flowchart is repeatedly executed, for example, at a predetermined cycle. In the flowchart of FIG. 22, it is assumed that there is one object.

[0062] First, the control unit 130 determines whether the vehicle speed of the vehicle 200 is equal to or higher than a predetermined speed (step S100). The predetermined speed is, for example, a value of about 1 [km / h], and is a value for determining whether the vehicle 200 is stopped or in a state close to it.

[0063] When the vehicle 200 is traveling at a predetermined speed or higher, the control unit 130 controls the second exterior light 50 to be in the first lighting mode (step S120).

[0064] When the vehicle 200 is traveling at a speed lower than the predetermined speed, the control unit 130 determines whether the vehicle 200 is present near an intersection or a crosswalk (step S110).

[0065] In the process of step S110, when it is determined that the vehicle 200 is stopped near an intersection or a crosswalk (that is, when the vehicle 200 is present near an intersection or a crosswalk in a state close to a stop), the recognition unit 110 determines whether an object is present (step S130).

[0066] When no object is present, the control unit 130 controls the second exterior light 50 to be in the eighth lighting mode (step S140).

[0067] When an object is present, the control unit 130 controls the second exterior light 50 from the second lighting mode to the seventh lighting mode according to the visual recognition direction of the driver and the position of the object (step S150).

[0068] According to the embodiment described above, by controlling each light according to the position of the object and the visual recognition direction of the driver, comprehensive communication can be taken with the other party, and the traffic safety for the vehicle and the other party can be further improved, contributing to the development of a sustainable transportation system.

[0069] The embodiment described above can be expressed as follows. A storage medium storing computer-readable instructions, A first exterior light provided on the exterior of the vehicle, A second exterior light provided on the exterior of the vehicle, A processor connected to the storage medium, and The vehicle lighting device processor executes computer-readable instructions to: recognize an object existing on the travel route of the vehicle; detect the visual recognition direction of the driver of the vehicle; when the object is recognized, operate the second exterior light and operate the first exterior light according to the visual recognition direction detected by the detection unit; A vehicle lighting device that executes the above.

[0070] As described above, the embodiments for carrying out the present invention have been described using the embodiments. However, the present invention is not limited to such embodiments at all, and various modifications and substitutions can be made without departing from the gist of the present invention. It should be noted that it is desirable to prohibit the vehicle 200 from moving forward (moving in the direction approaching the object) between the second lighting mode and the seventh lighting mode. Further, an effect sound or voice may be linked using an external speaker (not shown) according to the second lighting mode to the seventh lighting mode.

Explanation of Signs

[0071] 1 Vehicle lighting device 10 Positioning device 20 External sensor 30 In-vehicle camera 40R First right exterior light 40L First left exterior light 50 Second exterior light 60R Right headlight 60L Left headlight 70 In-vehicle communication network 100 Control device 110 Recognition unit 120 Detection unit 130 Control unit 140 Storage unit 142 Map information

Claims

1. A pair of left and right headlamps that irradiate the front of the vehicle, a first exterior light provided along the outer edge of the exterior part on the side of the vehicle, which is different from the headlamps, a second exterior light provided along the vehicle width direction on the exterior part of the front of the vehicle between the pair of left and right headlamps, which is different from the headlamps, a recognition unit that recognizes an object existing in the traveling path of the vehicle, a detection unit that detects the visual recognition direction of the driver of the vehicle, a control unit that operates the second exterior light in a state where the headlamp is turned on or off when the recognition unit recognizes the object, and operates the first exterior light according to the visual recognition direction detected by the detection unit, A vehicle lighting device comprising the above.

2. When the vehicle stops in front of an intersection or a crosswalk and the recognition unit recognizes the object, the control unit operates the second exterior light and operates the first exterior light according to the visual recognition direction detected by the detection unit. The vehicle lighting device according to Claim 1.

3. The first exterior light is disposed on the fender, The second exterior light is disposed on the grille. The vehicle lighting device according to Claim 1.

4. The control unit turns on the second exterior light so as to follow the object. The vehicle lighting device according to Claim 1.

5. When a plurality of the objects are recognized, the control unit turns on the positions corresponding to the plurality of the objects in the second exterior light. The vehicle lighting device according to Claim 1.

6. The control unit changes the lighting form of the second exterior light according to the positional relationship between the vehicle and each of the plurality of objects. The vehicle lighting device according to Claim 1.

7. A processor of a vehicle lighting device including a pair of left and right headlamps that irradiate the front of the vehicle, a first exterior light provided along the outer edge of the exterior part on the side of the vehicle, which is different from the headlamps, and a second exterior light provided along the vehicle width direction on the exterior part of the front of the vehicle between the pair of left and right headlamps, which is different from the headlamps, performs a process of recognizing an object existing in the traveling path of the vehicle, performs a process of detecting the visual recognition direction of the driver of the vehicle, When the object is recognized, in a state where the headlight is turned on or off, the second exterior light is operated, and the first exterior light is operated according to the detected visual recognition direction. A vehicle lighting control method for executing the above.

8. A processor of a vehicle lighting device including a pair of left and right headlights that irradiate the front of the vehicle, a first exterior light provided along the outer edge of the exterior portion on the side of the vehicle, which is different from the headlight, and a second exterior light provided along the vehicle width direction on the front exterior portion of the vehicle between the pair of left and right headlights, which is different from the headlight. A process of recognizing an object existing on the traveling route of the vehicle. A process of detecting the visual recognition direction of the driver of the vehicle. When the object is recognized, in a state where the headlight is turned on or off, the second exterior light is operated, and the first exterior light is operated according to the detected visual recognition direction. A program for causing the above to be executed.

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