Light distribution control device and light distribution control method

Abstract

The purpose of the present invention is to provide a technique capable of appropriately preventing a traffic participant from experiencing glare. This light distribution control device comprises: a peripheral information acquisition unit that acquires peripheral information around a vehicle; a determination unit that determines, on the basis of the peripheral information, the probability that a traffic participant will appear in the future within an irradiation range of a traveling lamp of the vehicle, and determines, as an appearance region, a region, in the irradiation range, where the probability is equal to or greater than a predetermined threshold value; and a traveling lamp control unit. The traveling lamp control unit darkens the brightness of the traveling lamp with respect to the appearance region in accordance with the probability.

Description

[Technical Field]

[0001] The present disclosure relates to a light distribution control device and a light distribution control method. [Background technology]

[0002] When driving a vehicle at night, it is recommended that drivers turn on their vehicle's high beams, also known as passing lights, which illuminate farther than the vehicle's low beams, in order to ensure visibility. However, while high beams can ensure the driver's visibility, they can also cause glare, dazzling people and other vehicles within the high beam's illumination range.

[0003] Therefore, ADB (Advanced Driving Beam) has been proposed, which can reduce glare on traffic participants by obtaining information about the vehicle's surroundings using, for example, a forward-facing camera and dimming the illumination from the running lights toward the traffic participants when they are detected. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-037240 Summary of the Invention [Problem to be solved by the invention]

[0005] However, because the ADB described above performs glare suppression control after detecting a traffic participant, there is a delay between when the traffic participant appears from a side street or behind a parked vehicle and when the ADB suppresses glare. This delay is mainly caused by, for example, the time required to identify the traffic participant from an image of the area in front of the vehicle captured by a camera, and the time required to perform dimming control in the area where the traffic participant is detected. The above-mentioned light distribution control has a problem in that glare continues to be seen by the traffic participant during this delay.

[0006] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that can appropriately suppress glare from occurring to traffic participants. [Means for solving the problem]

[0007] The light distribution control device according to the present disclosure includes a surrounding information acquisition unit that acquires surrounding information about the vehicle, a determination unit that determines the probability that a traffic participant will appear in the future within the illumination range of the vehicle's running lights based on the surrounding information, and determines an area within the illumination range where the probability is equal to or greater than a predetermined threshold as an appearance area, and a running light control unit that dims the brightness of the running lights for the appearance area based on the probability. [Effects of the Invention]

[0008] According to the present disclosure, an area within the illumination range where the probability is equal to or greater than a predetermined threshold is determined to be a hazardous area, and the brightness of the running lights for the hazardous area is reduced based on the probability. With this configuration, glare to traffic participants can be appropriately reduced.

[0009] The objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing the configuration of a light distribution control device according to a first embodiment. FIG. [Figure 2] 4 is a diagram for explaining control of a running light control unit according to the first embodiment. FIG. [Figure 3] 4 is a diagram for explaining control of a running light control unit according to the first embodiment. FIG. [Figure 4] 4 is a diagram for explaining control of a running light control unit according to the first embodiment. FIG. [Figure 5] FIG. 2 is a diagram for explaining control of the light distribution control device according to the first embodiment. [Figure 6]FIG. 2 is a diagram for explaining control of the light distribution control device according to the first embodiment. [Figure 7] FIG. 2 is a diagram for explaining control of the light distribution control device according to the first embodiment. [Figure 8] 4 is a flowchart showing the operation of the light distribution control device according to the first embodiment. [Figure 9] FIG. 10 is a block diagram showing the configuration of a light distribution control device according to a second embodiment. [Figure 10] FIG. 10 is a diagram for explaining weighting by a weighting calculation unit 8 according to the second embodiment. [Figure 11] FIG. 10 is a diagram for explaining weighting by a weighting calculation unit 8 according to the second embodiment. [Figure 12] FIG. 10 is a diagram for explaining weighting by a weighting calculation unit 8 according to the second embodiment. [Figure 13] FIG. 10 is a diagram for explaining weighting by a weighting calculation unit 8 according to the second embodiment. [Figure 14] 10 is a flowchart showing the operation of the light distribution control device according to the second embodiment. [Figure 15] FIG. 10 is a block diagram showing the configuration of a light distribution control device according to a third embodiment. [Figure 16] FIG. 10 is a diagram for explaining control of a light distribution control device according to a third embodiment. [Figure 17] 10 is a flowchart showing the operation of the light distribution control device according to the third embodiment. [Figure 18] FIG. 10 is a block diagram showing the configuration of a light distribution control device according to a fourth embodiment. [Figure 19] FIG. 10 is a diagram for explaining control of a light distribution control device according to a fourth embodiment. [Figure 20] 10 is a flowchart showing the operation of the light distribution control device according to the fourth embodiment. [Figure 21] FIG. 10 is a block diagram showing a hardware configuration of a light distribution control device according to another modified example. [Figure 22] FIG. 10 is a block diagram showing a hardware configuration of a light distribution control device according to another modified example. [Figure 23]FIG. 10 is a block diagram showing the configuration of a server according to another modified example. [Figure 24] FIG. 10 is a block diagram showing a configuration of a communication terminal according to another modified example. DETAILED DESCRIPTION OF THE INVENTION

[0011] <First Embodiment> FIG. 1 is a block diagram showing the configuration of a light distribution control device 100 according to the first embodiment. The light distribution control device 100 of FIG. 1 controls the light distribution of a vehicle's running lights 7. The light distribution control device 100 may be mounted on a vehicle, or may be a server not mounted on a vehicle, as will be described later. The vehicle whose running lights 7 are controlled may be, for example, an automobile or a motorcycle. In the following description, vehicles other than the vehicle whose running lights 7 are controlled may be referred to as other vehicles.

[0012] The running lights 7 are lighting fixtures that may cause glare to traffic participants, and include, for example, at least one of high beams with ADB function and other auxiliary lights. Traffic participants include, for example, at least one of pedestrians and other vehicles. In this specification, for example, at least one of A, B, C, ..., and Z means any one of all combinations of one or more elements selected from the group A, B, C, ..., and Z.

[0013] The light distribution control device 100 in Fig. 1 is connected to a surrounding information collection unit 1 and a running light 7. The light distribution control device 100 in Fig. 1 also includes a surrounding information acquisition unit 2, a probability area specification unit 3, a probability determination unit 4, an area determination unit 5, and a running light control unit 6. Among the components of the light distribution control device 100, the probability area specification unit 3, the probability determination unit 4, and the area determination unit 5 are included in the concept of a determination unit. The components in Fig. 1 will be described in detail below.

[0014] The surrounding information collection unit 1 collects surrounding information of the vehicle. For example, the surrounding information collection unit 1 may include a front camera that captures an image in front of the vehicle or a distance measurement sensor, a search device that can search for surrounding information based on the vehicle position and map information, or a communication device that can receive surrounding information through vehicle-to-vehicle communication.

[0015] The surrounding information acquisition unit 2 acquires the surrounding information collected by the surrounding information collection unit 1. In the example of Fig. 1, the surrounding information acquisition unit 2 is an interface of the surrounding information collection unit 1, but is not limited to this and may include, for example, the surrounding information collection unit 1.

[0016] The probability area specifying unit 3 specifies an area within the illumination range of the vehicle's running lights 7 where a traffic participant is likely to appear in the future, based on the surrounding information acquired by the surrounding information acquiring unit 2.

[0017] For example, if the surrounding information is information collected by a forward camera or a distance measuring sensor, the probability area identification unit 3 calculates the shape of an object ahead of the vehicle based on the surrounding information and determines whether the calculated shape has the shape of a specific structure such as a building or a side street. If the calculated shape is the shape of a specific structure, the probability area identification unit 3 identifies an area adjacent to the specific structure, such as an area located behind the specific structure relative to the driver, as an area where there is a probability that a traffic participant will appear in the future.

[0018] For example, when the surrounding information is information retrieved from map information or information received via vehicle-to-vehicle communication, the probability area identification unit 3 determines whether a specific structure, such as a building or a side road, exists ahead of the vehicle based on the surrounding information. If the probability area identification unit 3 determines that a specific structure exists ahead of the vehicle, it identifies an area adjacent to the specific structure, such as an area located behind the specific structure relative to the driver, as an area where a traffic participant is likely to appear in the future.

[0019] The probability region identification unit 3 includes a probability determination unit 4. The probability determination unit 4 determines the probability that a traffic participant will appear in the region identified by the probability region identification unit 3 in the future, based on the surrounding information acquired by the surrounding information acquisition unit 2 and the type and size of the region identified by the probability region identification unit 3. For example, if the identified region is adjacent to a building, the probability determination unit 4 determines a first value as the probability of the region, and if the identified region is adjacent to a side road, the probability determination unit 4 determines a second value as the probability of the region. For example, if the size of the identified region is large, the probability determination unit 4 determines a first value as the probability of the region, and if the size of the identified region is small, the probability determination unit 4 determines a second value as the probability of the region.

[0020] The identification of the area by the probability area identification unit 3 and the determination of the probability by the probability determination unit 4 may be performed, for example, based on predetermined calculation processing, or based on machine learning (training) such as deep learning using a neural network.

[0021] The region determination unit 5 determines whether or not there is a region among the regions identified by the probability region identification unit 3 whose probability determined by the probability determination unit 4 is equal to or greater than a predetermined threshold. The region determination unit 5 then determines the region whose probability is equal to or greater than the threshold as an appearance region. The threshold may be 0 or a value greater than 0.

[0022] The probability region identification unit 3, probability determination unit 4, and region determination unit 5 described above determine the probability of a traffic participant appearing in the future within the illumination range of the running lights 7 based on surrounding information, and determine an area within the illumination range where the probability is equal to or greater than a predetermined threshold as an appearance region. Note that, as long as such a determination is made, the probability region identification unit 3, probability determination unit 4, and region determination unit 5 are not limited to those described above. For example, two or more of the probability region identification unit 3, probability determination unit 4, and region determination unit 5 may be realized by a single component.

[0023] The running light control unit 6 dims the brightness of the running lights 7 for the appearance area determined by the area determination unit 5 based on the probability determined by the probability determination unit 4. In the first embodiment, the running light control unit 6 dims the brightness of the running lights 7 for the appearance area based on the probability, regardless of whether a traffic participant actually exists in the appearance area.

[0024] 2 to 4 are diagrams showing the control by the running light control unit 6 to darken the brightness of the running lights 7 for the appearance area, that is, the dimming control of the running lights 7 for the appearance area. Specifically, FIGS. 2 to 4 are diagrams showing the relationship between the probability determined by the probability determination unit 4 and the amount of dimming of the running lights 7 for the appearance area. Note that the threshold value TH in FIGS. 2 to 4 may be any value that is equal to or greater than the threshold value used by the area determination unit 5 to determine the appearance area.

[0025] In the case of Figure 2, when the probability is equal to or greater than the threshold value TH, the running light control unit 6 sets the amount of dimming of the running lights 7 for the appearance area to a constant value greater than 0. In this case, the dimming control of the running lights 7 can be simplified.

[0026] In the example shown in Figure 3, the running light control unit 6 increases the dimming amount of the running lights 7 for the appearance area as the probability increases. In this case, the driver's visibility can be ensured while suppressing glare to traffic participants. Note that the solid line in Figure 3 indicates the control of the running light control unit 6 when the threshold value used by the area determination unit 5 to determine the appearance area is 0, and the dotted line in Figure 3 indicates the control of the running light control unit 6 when the threshold value is greater than 0.

[0027] In the case of Fig. 4, when the probability is equal to or greater than the threshold value TH, the running light control unit 6 increases the dimming amount of the running lights 7 for the appearance area from a value greater than 0 as the probability increases. In this case, it is possible to perform dimming control of the running lights 7 appropriate for the vehicle's traveling speed or the traveling scene.

[0028] 5 to 7 are diagrams showing an example of light distribution control by the light distribution control device 100 according to the first embodiment, specifically showing the front of the vehicle. Illustrated in Fig. 5 to Fig. 7 are a high beam illumination range 36, which is the illumination range of the running light 7, and a low beam illumination range 37 of the vehicle.

[0029] 5 shows an example in which there is no appearance area ahead of the vehicle, but there is another vehicle, a leading vehicle 31. In this case, the running light control unit 6 controls the running lights 7 so as to darken (for example, turn off) the part of the high beam illumination range 36 where the leading vehicle 31 is located.

[0030] FIG. 6 shows an example in which a vehicle is traveling in an urban area with buildings such as buildings. In addition to a leading vehicle 31 being present ahead of the vehicle, an area behind a building 32 on the roadside is also shown as an appearance area 33. In this case, the running light control unit 6 controls the running lights 7 to darken not only the portion of the high beam illumination range 36 where the leading vehicle 31 is present, but also the appearance area 33. If the surroundings information acquisition unit 2 is configured to acquire information recognized by the vehicle's front camera as surroundings information, the running light control unit 6 ensures that the brightness of the appearance area 33 is sufficient to enable the front camera to recognize traffic participants appearing in the appearance area 33. Thus, the running light control unit 6 darkens the appearance area 33 to the extent that the front camera can recognize traffic participants appearing in the appearance area 33.

[0031] Fig. 7 shows a state in which, after the state in Fig. 6, a pedestrian 34, who is a traffic participant, appears in appearance area 33. As shown in Figs. 6 and 7, by darkening the brightness of appearance area 33 in advance, it is possible to prevent glare from occurring on pedestrian 34 who appears in high beam illumination range 36.

[0032] If the surrounding information acquisition unit 2 is configured to acquire information recognized by a front camera of the vehicle as surrounding information, the appearance area 33 in Fig. 7 is illuminated with a brightness that allows the front camera to recognize traffic participants. Therefore, the running light control unit 6 may determine whether a traffic participant has appeared in the appearance area 33 based on the surrounding information, and, if it is determined that a traffic participant has appeared in the appearance area 33, may control the brightness of the appearance area 33 based on the type of traffic participant.

[0033] For example, if it is determined that the emerging traffic participant is another vehicle, the running light control unit 6 may turn off the appearance area 33, or may ensure that the appearance area 33 is bright enough to recognize the other vehicle with the front camera. Also, for example, if it is determined that the emerging traffic participant is a pedestrian, the running light control unit 6 may ensure that the appearance area 33 is bright enough to recognize the pedestrian with the front camera, but may make the brightness brighter than the brightness of the appearance area 33 of the other vehicle.

[0034] Although not shown in the figure, if a traffic participant moves toward the outside of the appearance area 33, the running light control unit 6 may move the appearance area 33 to track the traffic participant while maintaining the brightness of the appearance area 33.

[0035] <Operation> Fig. 8 is a flowchart showing the operation of the light distribution control device 100 according to Embodiment 1. The operation in Fig. 8 is performed repeatedly while the running lights 7 are on, for example.

[0036] In step S1, the surrounding information acquisition unit 2 acquires surrounding information.

[0037] In step S2, the probability area identification unit 3 identifies an area within the illumination range of the vehicle's running lights 7 where a traffic participant is likely to appear in the future, based on the surrounding information. The probability determination unit 4 determines the probability that a traffic participant will appear in the future, based on the area identified by the probability area identification unit 3. The area determination unit 5 determines an appearance area based on the area identified by the probability area identification unit 3 and the probability determined by the probability determination unit 4.

[0038] In step S3, the running light control unit 6 determines a light distribution pattern for the running lights 7 to dim the brightness of the running lights 7 in the appearance area based on the probability and the appearance area. Then, the running light control unit 6 controls the light distribution of the running lights 7 based on the determined light distribution pattern.

[0039] <Summary of the First Embodiment> According to the light distribution control device 100 of the first embodiment, the probability that a traffic participant will appear in the future within the illumination range of the running lights 7 is determined based on ambient information, an area within the illumination range where the probability is equal to or greater than a predetermined threshold is determined to be an appearance area 33, and the brightness of the running lights 7 for the appearance area 33 is dimmed based on the probability. With this configuration, the brightness of the appearance area 33 within the illumination range of the running lights 7 where a traffic participant is highly likely to appear can be dimmed in advance, thereby making it possible to prevent glare from being caused to traffic participants due to delays in light distribution control.

[0040] Furthermore, in the first embodiment, when the surrounding information acquisition unit 2 acquires information recognized by the vehicle's front camera as surrounding information, the running light control unit 6 ensures that the brightness of the appearance area 33 is sufficient to enable the front camera to recognize traffic participants appearing in the appearance area 33. With this configuration, the brightness of the running lights 7 for the appearance area 33 is dimmed, while the front camera can recognize traffic participants appearing in the appearance area 33.

[0041] Furthermore, in the first embodiment, when a traffic participant appears in the appearance area 33, the brightness of the appearance area 33 is controlled based on the type of the traffic participant. With this configuration, the running lights 7 can illuminate the traffic participant at a brightness appropriate for the traffic participant, thereby ensuring the driver's visibility while suppressing glare on the traffic participants.

[0042] <Embodiment 2> 9 is a block diagram showing the configuration of a light distribution control device 100 according to Embodiment 2. In the following, of the components according to Embodiment 2, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described.

[0043] The probability region identification unit 3 further includes a weighting calculation unit 8, which is included in the concept of a determination unit, just like the probability region identification unit 3. The weighting calculation unit 8 assigns weights to the probabilities determined by the probability determination unit 4. By assigning weights to the probabilities, for example, it is possible to increase the accuracy of the probabilities, and as a result, it is possible to appropriately suppress glare from being caused to traffic participants.

[0044] Fig. 10 is a diagram for explaining the weighting of the probability by the weighting calculation unit 8. Specifically, the lower diagram of Fig. 10 is a diagram showing the area ahead of the vehicle, and the upper diagram of Fig. 10 is a diagram showing the relationship between the weighting and the horizontal position (i.e., angle) ahead of the vehicle.

[0045] As shown in FIG. 10, the weighting calculation unit 8 weights the probability so that the weighting of the probability at the ends of the illumination range of the running light 7 is greater than the weighting of the probability at the center of the illumination range of the running light 7.

[0046] In the example of FIG. 10, the weighting regarding probability is the weighting that changes the probability itself. That is, when the weighting amount of probability at the center of the irradiation range of the running light 7 is a and the weighting amount of probability at the end of the irradiation range of the running light 7 is b, the weighting calculation unit 8 performs the weighting of probability so that the relationship a < b holds. Note that the center of the irradiation range of the running light 7 usually corresponds to the center of the front of the vehicle.

[0047] As long as it is possible to ensure the driver's field of view while suppressing glare to traffic participants, the weighting of probability is not limited to the example of FIG. 10. For example, the graph showing the relationship between the angle and the probability was symmetric in the example of FIG. 10, but it may be asymmetric. Also, for example, the graph showing the relationship between the angle and the probability was represented by a straight line in the example of FIG. 10, but it may be represented by a curve or the like.

[0048] FIG. 11 is a diagram showing an application example of the weights in FIG. 10, and specifically, it is a diagram showing the relationship between the probability and the dimming amount of the running light 7 with respect to the appearance area. When the probability c is determined by the probability determination unit 4, since the probability c is smaller than the threshold TH, the dimming amount of the running light 7 with respect to the appearance area is 0. When the probability c is changed to the probability c' by applying the weights in FIG. 10, the running light control unit 6 controls the running light 7 with the dimming amount d' of the running light 7 with respect to the appearance area.

[0049] In the above description, the weighting for adding probability has been described, but it may be a weighting for subtracting probability. For example, the probability c' may be changed to the probability c. Also, in the example of FIG. 10, the weighting regarding probability was the weighting that changes the probability itself, but it is not limited to this. For example, as shown in FIG. 12, the weighting regarding probability may be the weighting that changes the probability threshold TH for defining whether or not to dim. Also, for example, as shown in FIG. 13, the weighting regarding probability may be the weighting that changes the rate of change of the dimming amount with respect to the probability.

[0050] <Operation> Fig. 14 is a flowchart showing the operation of light distribution control device 100 according to embodiment 2. The operation in Fig. 14 is similar to the operation in Fig. 8 with the processing of step S4 added between step S2 and step S3, so step S4 will be mainly described here.

[0051] In step S4, the running light control unit 6 assigns a weight to the probability based on the horizontal position of the appearance area 33 ahead of the vehicle, in accordance with the relationship shown in the graph of FIG.

[0052] In step S3, the running light control unit 6 determines a light distribution pattern for the running lights 7 to dim the brightness of the running lights 7 in the appearance area based on the probability after the weighting has been applied and the appearance area. Then, the running light control unit 6 controls the light distribution of the running lights 7 based on the determined light distribution pattern.

[0053] <Summary of the second embodiment> Generally, the direction of the center of the illumination range of the running lights 7 as seen by the driver is often the direction of travel of the vehicle, so brightness has a large impact on the driver's driving safety. On the other hand, the direction of the edges of the illumination range of the running lights 7 as seen by the driver is often offset from the direction of travel of the vehicle, so brightness has a small impact on the driver's driving safety. For this reason, drivers usually pay less attention to the edges of the illumination range of the running lights 7 than to the center.

[0054] In contrast, according to the light distribution control device 100 of the second embodiment, the weighting related to the probability at the ends of the illumination range of the running lights 7 is greater than the weighting related to the probability at the center of the illumination range of the running lights 7. With this configuration, the appearance region 33 is more likely to be generated at the ends of the illumination range of the running lights 7 than at the center, so that glare suppression for traffic participants can be improved while maintaining driving safety for the driver.

[0055] <Third Embodiment> 15 is a block diagram showing the configuration of a light distribution control device 100 according to the third embodiment. Hereinafter, among the components according to the third embodiment, components that are the same as or similar to the components described above will be given the same or similar reference numerals, and different components will be mainly described. In the third embodiment, the surrounding information acquisition unit 2 acquires at least an image of the area ahead of the vehicle as surrounding information.

[0056] The configuration of Fig. 15 is an example of a configuration in which an area related to the line of sight of a vehicle driver is actually measured, and is similar to the configuration of Fig. 9 in which a line of sight information collecting unit 11, a line of sight information acquiring unit 12, and a gaze area identifying unit 9 are added. The gaze area identifying unit 9, like the probability area identifying unit 3, is included in the concept of a determination unit.

[0057] The gaze information collecting unit 11 collects gaze information of the driver. For example, the gaze information collecting unit 11 collects the gaze information of the driver using a camera that captures images inside the vehicle.

[0058] The gaze information acquiring unit 12 acquires the gaze information collected by the gaze information collecting unit 11. In the example of Fig. 15, the gaze information acquiring unit 12 is an interface of the gaze information collecting unit 11, but is not limited thereto, and may include, for example, a DMS (driver monitoring system) as the gaze information collecting unit 11.

[0059] The gaze area specifying unit 9 specifies an area related to the line of sight of the vehicle driver as an area on which the vehicle driver gazes (hereinafter referred to as "gaze area") by actual measurement or estimation.

[0060] In measuring the gaze area, for example, the gaze area identification unit 9 identifies the gaze area based on the gaze information acquired by the gaze information acquisition unit 12. In this case, the surrounding information may be expanded to include information obtained by actually measuring the area related to the gaze of the vehicle driver.

[0061] To estimate the gaze area, the gaze information collecting unit 11 and the gaze information acquiring unit 12 are not required, and the gaze area identifying unit 9 uses, for example, a saliency map. The saliency map is a map that calculates, for each pixel, how easily a person will gaze when looking at an image showing the area ahead of the vehicle, and includes areas that are easy for the driver of the vehicle to gaze at, i.e., areas that correspond to the gaze area. Areas that are easy for the driver of the vehicle to gaze at include, for example, the area in the direction of travel (vanishing point), the area of parked vehicles parked on the shoulder of the road, and the area of pedestrians.

[0062] To generate the saliency map, for example, the gaze area identification unit 9 acquires an image of the area ahead of the vehicle included in the surrounding information acquired by the surrounding information acquisition unit 2, and generates the saliency map based on the image. An example of the saliency map generated by the gaze area identification unit 9 is a saliency map for detecting a gaze area in an imaging signal (see, for example, L. Itti and C. Koch, “A saliency-based search mechanism for overt and covert shift of visual attention,” Vision Research, Vol. 40, pp. 1489-1506, 2000). The saliency of the saliency map may be calculated based on, for example, brightness, color, or orientation in the image, or may be a method that applies machine learning (training) such as deep learning using a neural network. The deep learning may be, for example, learning that uses an image of the area ahead of the vehicle and actual gaze information as training data.

[0063] The gaze area identification unit 9 estimates the gaze area based on a saliency map generated from the image. For example, the gaze area identification unit 9 selects a saliency map that is closest to the image ahead of the vehicle included in the surrounding information from among multiple saliency maps, and identifies the gaze area by comparing the image ahead of the vehicle with the searched saliency map.

[0064] The running light control unit 6 increases the brightness of the running lights 7 in the gaze area. Also, the running light control unit 6 increases the brightness of the running lights 7 in the overlap area where the appearance area and the gaze area overlap, so that the brightness is brighter than in the appearance area and darker than in the gaze area.

[0065] Fig. 16 is a diagram showing an example of light distribution control by light distribution control device 100 according to the third embodiment, specifically a diagram showing the area ahead of a vehicle. Fig. 16 shows an example in which a vehicle is traveling in an urban area with buildings such as skyscrapers. Fig. 16 also shows an example in which a building 32 and a parked vehicle 41 are present ahead of the vehicle. Two appearance regions 33a and 33b are determined for parked vehicle 41, and one appearance region 33c is determined for building 32, thereby identifying gaze region 43. Furthermore, appearance regions 33a and 33b and gaze region 43 form overlapping regions 44a and 44b, and a portion of appearance region 33c and gaze region 43 form overlapping region 44c.

[0066] In this case, the running light control unit 6 makes the brightness of the gaze area 43 other than the overlap area brighter than the brightness of the normal high beam illumination range 36. The running light control unit 6 also makes the brightness of the overlap areas 44a, 44b, and 44c brighter than the brightness of the appearance area 33c and darker than the brightness of the gaze area 43. For example, if the brightness of the normal high beam illumination range is 100%, the running light control unit 6 controls the brightness of each area so that the brightness of the gaze area is 120%, the brightness of the appearance area is 20%, and the brightness of the overlap area is 70%, which is the average of the brightness of the appearance area and the brightness of the gaze area. Note that these numerical values are merely examples and are not limited to these.

[0067] <Operation> Fig. 17 is a flowchart showing the operation of light distribution control device 100 according to embodiment 3. The operation in Fig. 17 is similar to the operation in Fig. 14 with the processing of step S5 added between step S4 and step S3, so step S5 will be mainly described here.

[0068] In step S5, the gaze area specifying unit 9 specifies the gaze area by actual measurement or estimation.

[0069] In step S3, the running light control unit 6 determines a light distribution pattern for the running lights 7 to control the brightness of each area based on the weighted probability, the appearance area, and the gaze area. Then, the running light control unit 6 controls the light distribution of the running lights 7 based on the determined light distribution pattern.

[0070] <Summary of the Third Embodiment> According to the light distribution control device 100 of the third embodiment described above, the brightness of the running lights 7 in the gaze area is increased, and the brightness of the running lights 7 in the overlap area where the appearance area and the gaze area overlap is increased compared to the appearance area and decreased compared to the gaze area. This configuration makes it possible to achieve two contradictory controls: a control to darken the appearance area to reduce glare for traffic participants, and a control to brighten the gaze area.

[0071] <Fourth Embodiment> 18 is a block diagram showing the configuration of a light distribution control device 100 according to Embodiment 4. In the following, of the components according to Embodiment 4, components that are the same as or similar to the components described above will be assigned the same or similar reference numerals, and different components will be mainly described.

[0072] The configuration of FIG. 18 is the same as the configuration of FIG. 15 with the addition of a danger area identification unit 10, and the danger area identification unit 10 is included in the concept of a determination unit, similar to the probability area identification unit 3. The danger area identification unit 10 determines whether or not there is a possibility of contact between the vehicle and the appearance area based on the surrounding information. For example, the danger area identification unit 10 calculates the relative movement of the appearance area with respect to the vehicle based on the surrounding information, predicts the future positional relationship between the vehicle and the appearance area based on the movement, and determines whether or not there is a possibility of contact between the vehicle and the appearance area based on the positional relationship. Note that the danger area identification unit 10 may first determine whether or not there is an object in the appearance area based on the surrounding information, and then calculate the movement, predict the movement relationship, and determine the possibility of contact.

[0073] The running light control unit 6 prohibits the running lights 7 from being dimmed in an appearance area determined by the danger area identification unit 10 to have a possibility of contact with a vehicle.

[0074] Fig. 19 is a diagram showing an example of light distribution control by the light distribution control device 100 according to the fourth embodiment, specifically showing the area ahead of a vehicle. Fig. 19 shows an example in which a vehicle is traveling in an urban area with buildings such as skyscrapers. Fig. 19 also shows an example in which a building 32 and a parked vehicle 41 are present ahead of the vehicle. Two appearance areas 33a and 33b are determined for the parked vehicle 41, and one appearance area 33c is determined for the building 32, thereby specifying a gaze area 43.

[0075] Here, assume that the driver is driving the vehicle to overtake parked vehicle 41 from the right side of parked vehicle 41. In this case, because appearance area 33a exists in the traveling direction of the vehicle, hazard area identification unit 10 determines that appearance area 33a may come into contact with a vehicle. Therefore, running light control unit 6 prohibits dimming the brightness of running lights 7 for appearance area 33a. As a result, the brightness of the area where appearance area 33a and gaze area 43 overlap becomes substantially the same as the brightness of gaze area 43. On the other hand, because appearance area 33b does not exist in the traveling direction of the vehicle, hazard area identification unit 10 does not determine that appearance area 33a may come into contact with a vehicle. Therefore, running light control unit 6 dims the brightness of running lights 7 for appearance area 33b.

[0076] <Operation> Fig. 20 is a flowchart showing the operation of light distribution control device 100 according to embodiment 4. The operation in Fig. 20 is similar to the operation in Fig. 17 with the processing of step S6 added between step S5 and step S3, so step S6 will be mainly described here.

[0077] In step S6, the danger area identification unit 10 determines whether or not there is a possibility of contact between the vehicle and the appearance area, based on the surrounding information.

[0078] In step S3, the running light control unit 6 determines a light distribution pattern for the running lights 7 to control the brightness of each area based on the probability after the weighting has been applied, the appearance area, the gaze area, and the determination result of the danger area identification unit 10. Then, the running light control unit 6 controls the light distribution of the running lights 7 based on the determined light distribution pattern.

[0079] <Summary of the Fourth Embodiment> According to the light distribution control device 100 of the fourth embodiment described above, it is determined based on surrounding information whether there is a possibility of contact between a vehicle and an appearance area, and for an appearance area determined to have such a possibility, dimming of the running lights 7 is prohibited. With this configuration, the brightness of an appearance area where there is a possibility of contact with a vehicle is maintained, and the driver's visibility can be ensured, so that driving safety can be prioritized over dimming.

[0080] <Other variations> The surrounding information acquisition unit 2, the determination unit (i.e., the probability area identification unit 3, the probability determination unit 4, and the area determination unit 5), and the running light control unit 6 shown in FIG. 1 are hereinafter referred to as the "surrounding information acquisition unit 2, etc." The surrounding information acquisition unit 2, etc. are realized by a processing circuit 81 shown in FIG. 21. That is, the processing circuit 81 includes the surrounding information acquisition unit 2 that acquires surrounding information about the vehicle, a determination unit that determines the probability of a traffic participant appearing in the future within the illumination range of the vehicle's running lights based on the surrounding information and determines an area within the illumination range where the probability is equal to or greater than a predetermined threshold as an appearance area, and the running light control unit 6 that dims the brightness of the running lights for the appearance area based on the probability. The processing circuit 81 may be implemented by dedicated hardware or a processor that executes a program stored in a memory. Examples of the processor include a central processing unit, a graphics processing unit (GPU), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a digital signal processor (DSP).

[0081] When the processing circuit 81 is dedicated hardware, the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field Programmable Gate Array), an SoC (System-on-a-Chip), a system LSI (Large-Scale Integration), or a combination thereof. The functions of each unit such as the ambient information acquisition unit 2 may be realized by a circuit in which processing circuits are distributed, or the functions of each unit may be realized together by a single processing circuit.

[0082] When the processing circuit 81 is a processor, the functions of the surrounding information acquisition unit 2 and the like are realized in combination with software and the like. Software and the like may include, for example, software, firmware, or both software and firmware. The software and the like are written as a program and stored in a memory. As shown in FIG. 22 , the processor 82 applied to the processing circuit 81 realizes the functions of each unit by reading and executing a program stored in a memory 83. That is, the light distribution control device 100 includes a memory 83 for storing a program that, when executed by the processing circuit 81, results in the following steps: acquiring surrounding information about the vehicle; determining, based on the surrounding information, the probability that a traffic participant will appear in the future within the illumination range of the vehicle's running lights; determining, as an appearance area, an area within the illumination range where the probability is equal to or greater than a predetermined threshold; and dimming the brightness of the running lights for the appearance area based on the probability. In other words, this program can be said to cause a computer to execute the procedures and methods of the surrounding information acquisition unit 2 and the like. Here, the memory 83 may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), SSD (Solid State Drive), HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), drive device for any of these, or any storage medium to be used in the future.

[0083] The above describes a configuration in which each function of the surrounding information acquisition unit 2, etc. is realized either by hardware or software, etc. However, this is not limited to this, and a configuration in which part of the surrounding information acquisition unit 2, etc. is realized by dedicated hardware and another part is realized by software, etc. For example, the surrounding information acquisition unit 2's function can be realized by a processing circuit 81 as dedicated hardware, and the other functions can be realized by the processing circuit 81 as a processor 82 reading and executing a program stored in a memory 83.

[0084] As described above, the processing circuitry 81 can realize the above-mentioned functions by hardware, software, or a combination of these.

[0085] The light distribution control device described above can also be applied to a light distribution control system constructed as a system by appropriately combining a vehicle device, a communication terminal, the functions of an application installed on at least one of the vehicle device and the communication terminal, and a server. Communication terminals include, for example, mobile phones, smartphones, and tablets. The functions or components of the light distribution control device described above may be distributed among the devices that construct the system, or may be concentrated in one of the devices.

[0086] Fig. 23 is a block diagram showing the configuration of a server 91 according to this modification. The server 91 in Fig. 23 includes a communication unit 91a and a control unit 91b, and is capable of wireless communication with a vehicle device 93 of a vehicle 92.

[0087] The communication unit 91 a, which is a surrounding information acquisition unit, receives surrounding information about the vehicle acquired by the vehicle device 93 by performing wireless communication with the vehicle device 93 .

[0088] The control unit 91b has functions similar to those of the determination unit (i.e., probability area specification unit 3, probability determination unit 4, area determination unit 5) and running light control unit 6 in FIG. 1 , by a processor (not shown) of the server 91 executing a program stored in a memory (not shown) of the server 91. That is, the control unit 91b determines the probability and the appearance area based on the surrounding information, and generates a control signal for controlling the brightness of the running lights for the appearance area to be dimmed based on the probability. The communication unit 91a then transmits the control signal of the control unit 91b to the vehicle device 93. The server 91 configured in this manner can achieve the same effects as the light distribution control device 100 described in the first embodiment.

[0089] Fig. 24 is a block diagram showing the configuration of a communication terminal 96 according to this modification. The communication terminal 96 in Fig. 24 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and is capable of wireless communication with a vehicle device 98 of a vehicle 97. Note that the communication terminal 96 may be a mobile terminal such as a mobile phone, smartphone, or tablet carried by the driver of the vehicle 97. The communication terminal 96 configured in this manner can achieve the same effects as the light distribution control device 100 described in the first embodiment.

[0090] It should be noted that the embodiments and modifications may be freely combined, and the embodiments and modifications may be modified or omitted as appropriate.

[0091] The above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0092] 2 Surrounding information acquisition unit, 3 Probability area identification unit, 4 Probability judgment unit, 5 Area judgment unit, 6 Running light control unit, 7 Running light, 8 Weighting calculation unit, 9 Gaze area identification unit, 10 Danger area identification unit, 33, 33a, 33b, 33c Appearance area, 43 Gaze area, 44a, 44b, 44c Overlap area, 100 Light distribution control device.

Claims

1. a surrounding information acquisition unit that acquires surrounding information of the vehicle; a determination unit that determines the probability that a traffic participant will appear in the future within an illumination range of the vehicle's running lights based on the surrounding information, and determines an area within the illumination range where the probability is equal to or greater than a predetermined threshold as an appearance area; a running light control unit that dims the brightness of the running lights for the appearance area based on the probability; A light distribution control device comprising:

2. The light distribution control device according to claim 1, the surrounding information acquisition unit acquires information recognized by a front camera of the vehicle as the surrounding information; The running light control unit is a light distribution control device that ensures the brightness of the appearance area to be such that the traffic participants appearing in the appearance area can be recognized by the front camera.

3. The light distribution control device according to claim 2, The running light control unit is a light distribution control device that controls the brightness of the appearance area based on a type of the traffic participant when the traffic participant appears in the appearance area.

4. The light distribution control device according to claim 1, A light distribution control device, wherein a weighting related to the probability at an end of the illumination range of the running light is greater than a weighting related to the probability at a center of the illumination range of the running light.

5. The light distribution control device according to claim 1, The running light control unit increases the brightness of the running lights in a gaze area, which is an area related to the line of sight of the driver of the vehicle, and increases the brightness of the running lights in an overlap area where the appearance area and the gaze area overlap, to be brighter than the appearance area and dimmer than the gaze area.

6. The light distribution control device according to claim 5, the surrounding information acquisition unit acquires an image of a front area of the vehicle, The light distribution control device, wherein the determination unit estimates the gaze area based on a saliency map generated from the image.

7. The light distribution control device according to claim 1, the determination unit determines whether or not there is a possibility of contact between the vehicle and the appearance area based on the surrounding information; The running light control unit prohibits the brightness of the running lights from being dimmed in the appearance area determined to have the possibility.

8. Acquires information about the vehicle's surroundings, determining a probability that a traffic participant will appear in the future within an illumination range of the vehicle's running lights based on the surrounding information, and determining an area within the illumination range where the probability is equal to or greater than a predetermined threshold as an appearance area; A light distribution control method that dims the brightness of the running lights for the appearance area based on the probability.

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