Vehicle lighting fixtures

Abstract

To provide a vehicular lighting fixture capable of transmitting (transmitting, and receiving its return light) light for detecting detection objects (for example, preceding vehicles, oncoming vehicles, pedestrians, bicycles, motorcycles) transmitted from a LiDAR device to an appropriate range according to road conditions around a vehicle.SOLUTION: A vehicular lighting fixture includes: a LiDAR device 50 having a light source that emits light for detecting a detection object transmitted to a first detection range, and a light-receiving element that, when return light which is reflected light of the light for detecting the detection object reflected by the detection object is incident, outputs an electrical signal according to the intensity of the return light; and a light control mechanism 43 that controls the transmission range of the light for detecting the detection object according to road conditions around a vehicle.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle lamp, and more particularly to a vehicle lamp that can transmit light for detecting a detection target (e.g., a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, or a motorcycle) transmitted from a LiDAR device to an appropriate range depending on road conditions around the vehicle. [Background technology]

[0002] Patent Document 1 describes a LiDAR device that is installed in front of the vehicle so that it cannot be seen from outside, and a vehicle lamp that has a reflector (reflective surface) that reflects light (and its return light) transmitted from the LiDAR device to detect objects to be detected (for example, preceding vehicles, oncoming vehicles, pedestrians, bicycles, motorcycles).

[0003] In response to this, the inventors have considered transmitting (transmitting and receiving the returned light) the light transmitted from the LiDAR device to detect targets (for example, preceding vehicles, oncoming vehicles, pedestrians, bicycles, motorcycles) to an appropriate range depending on the road conditions around the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 203177 Summary of the Invention [Problem to be solved by the invention]

[0005] However, Patent Document 1 does not consider at all transmitting (transmitting and receiving the returned light) the light transmitted from the LiDAR device to detect the target (for example, a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, or a motorcycle) to an appropriate range depending on the road conditions around the vehicle, and there is room for improvement.

[0006] The present disclosure has been made to solve such problems, and aims to provide a vehicle lamp that can transmit (transmit and receive returned light) light for detecting targets (e.g., preceding vehicles, oncoming vehicles, pedestrians, bicycles, motorcycles) transmitted from a LiDAR device to an appropriate range depending on the road conditions around the vehicle. [Means for solving the problem]

[0007] The vehicle lamp according to the present disclosure includes a LiDAR device having a light source that emits light for detecting a detection target that is transmitted to a first detection range, and a light receiving element that outputs an electrical signal according to the intensity of return light when return light, which is reflected light of the light for detecting a detection target that is reflected by the detection target, is incident on the LiDAR device, and a light control mechanism that controls the transmission range of the light for detecting a detection target according to road conditions around the vehicle.

[0008] With this configuration, the light transmitted from the LiDAR device for detecting objects (e.g., preceding vehicles, oncoming vehicles, pedestrians, bicycles, motorcycles) can be transmitted (transmitted and the returned light received) to an appropriate range depending on the road conditions around the vehicle.

[0009] In the above-described vehicle lamp, the light control mechanism may include a first reflecting surface designed to reflect the light for detecting the detection target emitted by the light source and transmit it to a second detection range wider than the first detection range, a second reflecting surface, and a first actuator that moves the second reflecting surface to a first position outside the optical path of the light for detecting the detection target reflected by the first reflecting surface or to a second position on the optical path of the light for detecting the detection target reflected by the first reflecting surface depending on road conditions around the vehicle.

[0010] In addition, in the above-mentioned vehicle lamp, the light control mechanism may include a first reflecting surface designed to reflect the light emitted by the light source for detecting the detection object and transmit it to a second detection range that is wider than the first detection range, and a second actuator that changes the inclination of the first reflecting surface depending on the road conditions around the vehicle.

[0011] In the above-described vehicle lamp, the light control mechanism may include a first reflecting surface designed to reflect the light emitted by the light source for detecting the detection target and transmit it to a second detection range that is wider than the first detection range, and a third actuator that changes the inclination of the LiDAR device according to road conditions around the vehicle.

[0012] In the above-described vehicle lamp, the light control mechanism may include a first reflecting surface designed to reflect the light for detecting the detection target emitted by the light source and transmit it to a second detection range that is wider than the first detection range, and an optical element that is arranged on an optical path of the light for detecting the detection target reflected by the first reflecting surface and that is switchable between a first state in which the light for detecting the detection target reflected by the first reflecting surface is transmitted, and a second state in which the light for detecting the detection target reflected by the first reflecting surface is reflected, depending on road conditions around the vehicle. [Effects of the Invention]

[0013] The present disclosure makes it possible to provide a vehicle lamp that can transmit (transmit and receive returned light) light for detecting a detection target (e.g., a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, a motorcycle) transmitted from a LiDAR device to an appropriate range depending on the road conditions around the vehicle. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a front view of a vehicle V equipped with a vehicle lamp 10 according to a first embodiment. [Figure 2] 1 is a top view of a vehicle V on which a vehicle lamp 10 according to a first embodiment is mounted. [Figure 3] (a) is a side view (cross-sectional view) of the mobile LiDAR device 40, and (b) is a top view. [Figure 4] This is an example of the slide mechanism 43. [Figure 5] 10 is a diagram showing an example of a slide mechanism 43 (schematic configuration diagram). [Figure 6] FIG. 10 is a diagram illustrating a forward monitoring mode. [Figure 7]FIG. 10 is a diagram illustrating a side monitoring mode. [Figure 8] FIG. 10 is a diagram illustrating a 90-degree side monitoring mode. [Figure 9] 10A and 10B are diagrams illustrating a side oblique rear monitoring mode. [Figure 10] FIG. 2 is a functional block diagram of a vehicle system 1 that controls a movable LiDAR device 40. [Figure 11] FIG. 2 is a functional block diagram of a LiDAR device 50. [Figure 12] 4 is a flowchart of an example of the operation of the vehicle lamp 10 (LiDAR device 50). [Figure 13] 10 is a flowchart of the operation of the mobile LiDAR device 40. [Figure 14] FIG. 1A is a side view (cross-sectional view) of a mobile LiDAR device 40A, and FIG. 1B is a top view. [Figure 15] FIG. 1A is a side view (cross-sectional view) of a mobile LiDAR device 40 (modification), and FIG. 1B is a top view. [Figure 16] FIG. 1A is a side view (cross-sectional view) of a mobile LiDAR device 40 (modification), and FIG. 1B is a top view. DETAILED DESCRIPTION OF THE INVENTION

[0015] First Embodiment A vehicle lamp 10 according to a first embodiment of the present disclosure will now be described with reference to the accompanying drawings. Corresponding components in the various drawings are given the same reference numerals, and redundant description will be omitted.

[0016] FIG. 1 is a front view of a vehicle V equipped with a vehicle lamp 10 according to the first embodiment, and FIG. 2 is a top view.

[0017] The vehicle lamp 10 of the first embodiment is a headlamp incorporating a LiDAR (Light Detection and Ranging) device, and is mounted on each of the left and right sides of the front end of a vehicle V such as an automobile.

[0018] As shown in Figures 1 and 2, a vehicle lamp 10 includes a low beam lamp unit 20, a high beam lamp unit 30, and a movable LiDAR device 40. The vehicle lamp 10 is disposed within a lamp chamber formed by an outer lens 60 and a housing 70, and is fixed to the housing 70 or the like. Since the vehicle lamps 10 mounted on both the left and right sides have a symmetrical configuration, the following will representatively describe the movable LiDAR device 40 mounted on the left side of the front end of the vehicle V (left side when facing the front of the vehicle). Note that, as existing low beam lamp units and high beam lamp units can be used for the low beam lamp unit 20 and the high beam lamp unit 30, description thereof will be omitted.

[0019] Fig. 3(a) is a side view (cross-sectional view) of the movable LiDAR device 40, and Fig. 3(b) is a top view. Fig. 4 shows an example of the slide mechanism 43.

[0020] As shown in Figures 3(a) and 3(b), the movable LiDAR device 40 includes a first reflecting surface 41, a second reflecting surface 42, a slide mechanism 43, and a LiDAR device 50 (LiDAR unit or LiDAR module). For ease of explanation, X, Y, and Z axes are defined below as shown in Figure 2, etc. The X axis extends in the fore-and-aft direction of the vehicle. The Y axis extends in the width direction of the vehicle. The Z axis extends in the vertical direction.

[0021] The first reflecting surface 41 is designed to reflect the laser light Ray1 (light for detecting a detection target) transmitted by the LiDAR device 50 (emitted by the light source 51) and transmit it to a second detection range that is wider than the first detection range. The first detection range and the second detection range will now be described. Fig. 4(a) shows an example of the (original) detection range (first detection range A1) of the LiDAR device 50 itself, and Fig. 4(b) shows an example of the second detection range A2 that is wider than the first detection range A1.

[0022] The first detection range A1 is a detection range that the LiDAR device 50 originally has, and as shown in FIG. 4(a), the horizontal spread angle is θ H1 (horizontal viewing angle) and vertical spreading angle are θ V1(horizontal viewing angle). For example, the angle θ H1 is 20~30°, angle θ V1 is 1 to 10°. For example, the horizontal resolution is 0.5°, the vertical resolution is 0.5°, and the detection (measurement) distance is 100 to 200 m. On the other hand, as shown in FIG. 4(b), the second detection range A2 has a horizontal spread angle of θ H2 (horizontal viewing angle) and vertical spreading angle are θ V2 (horizontal viewing angle). For example, the angle θ H2 is 90 to 120°, angle θ V2 is 1 to 10°.

[0023] The first reflecting surface 41 is, for example, a reflecting surface of a paraboloid of revolution. For example, the vertical cross section of the first reflecting surface 41 is approximately a paraboloid, and its focal point F 41 (See FIG. 3(a)) is located near the MEMS mirror 53a. On the other hand, the cross-sectional shape of the first reflecting surface 41 is not a parabolic surface, but is designed so that the light Ray1 reflected by the first reflecting surface 41 is diffused in the horizontal direction. For example, the radius of curvature of the cross-sectional shape of the first reflecting surface 41 is designed to be larger than the radius of curvature of the vertical cross-sectional shape of the first reflecting surface 41. This allows the LiDAR device 50 to have a horizontal spread angle θ H1 The light Ray1 transmitted to the range (see FIG. 4(b)) is reflected by the first reflecting surface 41, and the horizontal divergence angle θ H2 (see FIG. 4(b)) and is irradiated forward. The first reflecting surface 41 may be a free-form surface, or may include a plurality of reflecting areas formed by dividing the first reflecting surface 41 (for example, dividing it into a grid pattern). Each reflecting area is designed as a convex or concave surface (so-called multi-reflector) so that the light Ray1 reflected by the reflecting area is diffused in the horizontal direction.

[0024] The second reflecting surface 42 is a movable reflecting surface that is slid by a sliding mechanism 43. The second reflecting surface 42 may be a flat reflecting surface or a curved reflecting surface.

[0025] The slide mechanism 43 is an example of a light control mechanism that controls the transmission range (transmission direction) of the laser light Ray1 according to the road conditions around the vehicle V.

[0026] FIG. 5 is a schematic diagram showing an example of the slide mechanism 43. As shown in FIG.

[0027] 5, the slide mechanism 43 includes a motor 43a (an example of a first actuator of the present disclosure) and a joint 43c that connects a rotation shaft 43b of the motor 43a to the second reflecting surface 42. The rotation shaft 43b of the motor 43a extends in the Z-axis direction.

[0028] The transmission range of light Ray1 reflected by the first reflecting surface 41 can be changed by controlling the motor 43a using the control unit 90 (light control unit 93) described below to slide the second reflecting surface around the rotation axis 43b.

[0029] For example, as shown in FIG. 6, by disposing the second reflecting surface 42 at a retreat position P1 (an example of the first position in the present disclosure) behind the first reflecting surface 41, the light Ray1 reflected by the first reflecting surface 41 is reflected at an angle θ H2 This mode will be referred to as a forward monitoring mode hereinafter. Figure 6 is a diagram illustrating the forward monitoring mode.

[0030] Furthermore, for example, by sliding the second reflecting surface 42 a first distance in the direction of arrow AR (see FIG. 6) from the retracted position P1 and positioning (a part of) the second reflecting surface 42 at a position (not shown; an example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41, the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of angle θ2 to the side of the vehicle, as shown in FIG. 7. Hereinafter, this mode will be referred to as the side monitoring mode. FIG. 7 is a diagram illustrating the side monitoring mode.

[0031] Furthermore, for example, by sliding the second reflecting surface 42 a second distance (second distance > first distance) in the direction of arrow AR (see FIG. 6) from the retracted position P1 and positioning (a part of) the second reflecting surface 42 at a position (not shown; another example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41, the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of angle θ3 to the side of the vehicle, as shown in FIG. 8. Hereinafter, this mode will be referred to as the 90-degree side monitoring mode. FIG. 8 is a diagram illustrating the 90-degree side monitoring mode.

[0032] 9, for example, by sliding the second reflecting surface 42 from the retracted position P1 in the direction of the arrow AR (see FIG. 6) a third distance (third distance > second distance) and positioning (a part of) the second reflecting surface 42 at a position P2 (another example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41, the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of an angle θ4 from the front to the rear of the vehicle. Hereinafter, this mode will be referred to as the side oblique rear monitoring mode. FIG. 9 is a diagram illustrating the side oblique rear monitoring mode.

[0033] The LiDAR device 50 has the functions of transmitting (irradiating) laser light, which is light for detecting a detection target (e.g., a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, or a motorcycle), within a first detection range A1 (the detection range inherent to the LiDAR device 50; see FIG. 4(a)), receiving return light, which is the laser light reflected by the detection target, and measuring the distance to the measurement target based on the time between transmitting the laser light and receiving the return light. As shown in FIG. 3(a), the LiDAR device 50 includes a light source 51, a beam splitter 52, an optical deflector 53 (MEMS mirror 53a), a light-receiving element 54, and a case 55 that houses these components. Note that a lens that focuses (collimates) the laser light emitted by the light source 51 may be provided between the light source 51 and the beam splitter 52. The case 55 has an opening 55a through which the laser light emitted by the light source 51 and its return light pass. As the LiDAR device 50, for example, the one described in International Publication No. 2020 / 145095 can be used.

[0034] The light source 51 is a semiconductor light-emitting element such as a laser diode (LD) that emits laser light. The laser light emitted by the light source 51 is an example of light for detecting a detection target that is transmitted (irradiated) to (scans the first detection range A1) within a first detection range A1 (a detection range that the LiDAR device 50 originally has; see FIG. 4(a)). Hereinafter, the laser light emitted by the light source 51 will be referred to as laser light Ray1. Furthermore, the return light that is the reflected light of the laser light Ray1 reflected by the detection target will be referred to as return light Ray2. The light source 51 emits infrared light with a wavelength of, for example, 905 to 1500 nm. The light source 51 emits the laser light Ray1 (in pulses) under the control of the light source control unit 50a.

[0035] The laser light Ray1 emitted by the light source 51 passes through the beam splitter 52 and enters the optical deflector 53 (MEMS mirror 53a).

[0036] The optical deflector 53 includes a MEMS mirror 53a that reflects the laser light Ray1 so that the laser light Ray1 scans the first detection range A1 (see FIG. 4(a)) two-dimensionally (in the horizontal and vertical directions). The MEMS mirror 53a is swung around two mutually orthogonal axes (for example, the horizontal and vertical axes) under control of a mirror control unit 50b (described later) so that the laser light Ray1 that is incident on and reflected by the MEMS mirror 53a scans the first detection range A1 (see FIG. 4(a)) two-dimensionally (in the horizontal and vertical directions).

[0037] As a result, the light source 51 emits light, and the laser light Ray1 passes through the beam splitter 52 and enters the optical deflector 53 (MEMS mirror 53a), where it is transmitted (irradiated) to the first detection range A1 (see Figure 4(a)) (scanning the first detection range A1 two-dimensionally).

[0038] Return light Ray2, which is the reflected light of laser light Ray1 reflected by the detection target, returns to the LiDAR device 50 along the same optical path as laser light Ray1, is split (reflected) by beam splitter 52 toward the light receiving element 54, and enters the light receiving element 54. Note that in Figures 3(a) and 3(b), etc., return light Ray2 is depicted with a dotted arrow offset from laser light Ray1 for ease of understanding, but in reality, the optical paths of return light Ray2 and laser light Ray1 are the same.

[0039] When return light Ray2, which is reflected light of the laser light Ray1 reflected by the detection target, is incident on the light receiving element 54, the light receiving element 54 outputs an electrical signal corresponding to the intensity of the return light Ray2. The light receiving element 54 is, for example, a photodiode or a SPAD (Single Photon Avalanche Diode). The electrical signal output by the light receiving element 54 is input to a signal processing unit 50c, which will be described later.

[0040] The LiDAR device 50 (case 55) configured as described above is fixed to a housing or the like via a bracket 44 with the opening 55a, through which the laser light Ray1 and its return light Ray2 pass, facing upward (see Figure 3(b)).

[0041] In the movable LiDAR device 40 configured as described above, the laser light Ray1 emitted by the light source 51 passes through the beam splitter 52, is reflected by the optical deflector 53 (MEMS mirror 53a), and is further reflected by the first reflecting surface 41 (or the first reflecting surface 41 and the second reflecting surface 42), thereby increasing the emission angle (particularly the horizontal emission angle) and transmitting (irradiating) the laser light Ray1 to a second detection range A2 (see Figure 4(b)) that is wider than the first detection range A1 (the detection range that the LiDAR device 50 originally has; see Figure 4(a)) (the second detection range A2 is scanned two-dimensionally).

[0042] Next, a configuration example of the vehicle system 1 that controls the movable LiDAR device 40 will be described.

[0043] FIG. 10 is a functional block diagram of the vehicle system 1 that controls the movable LiDAR device 40.

[0044] As shown in FIG. 10, the vehicle system 1 includes an imaging device 80 and a control unit 90.

[0045] The imaging device 80 includes an imaging element such as a CCD sensor or a CMOS sensor that captures an image of the area ahead of the vehicle V. The imaging device 80 is provided in a predetermined location (e.g., inside the vehicle cabin) of the vehicle V. An image of the area around the vehicle V (e.g., an image of the area ahead of the vehicle V; image data) captured by the imaging device 80 is input to the control unit 90.

[0046] The control unit 90 includes, for example, a processor (not shown). The processor is, for example, a CPU (Central Processing Unit). There may be one processor or multiple processors. The processor functions as a road condition determination unit 92 and a light control unit 93 by executing a predetermined program 91a loaded into a memory (not shown) from a non-volatile storage unit 91 such as a flash ROM. Some or all of these may be realized by hardware.

[0047] The road condition determination unit 92 determines the road conditions (e.g., straight roads, intersections, three-way intersections, merging roads) around the vehicle V, for example, by performing predetermined image processing based on images (image data) captured by the imaging device 80. Note that the road condition determination unit 92 may determine the road conditions around the vehicle V based on data input from a navigation device (not shown) or the like mounted on the vehicle V.

[0048] The light control unit 93 controls the motor 43a constituting the slide mechanism 43 in accordance with the road conditions around the vehicle V, which are the determination results of the road condition determination unit 92, thereby moving the second reflecting surface 42. This controls the transmission range (transmission direction) of the laser light Ray1 in accordance with the road conditions around the vehicle V. A specific example of this control will be described later.

[0049] Next, the function of the LiDAR device 50 will be described.

[0050] FIG. 11 is a functional block diagram of the LiDAR device 50.

[0051] As shown in FIG. 11, the LiDAR device 50 includes a control unit 56, a memory 57, and a storage unit 58. The control unit 56 includes, for example, a processor (not shown). The processor is, for example, a CPU (Central Processing Unit). There may be one processor or multiple processors. The processor functions as a light source control unit 50a, a mirror control unit 50b, a signal processing unit 50c, and a correction unit 50d by executing a predetermined program (not shown) loaded from a non-volatile storage unit 58 such as a flash ROM to the memory 57 (for example, a RAM). Some or all of these may be realized by hardware.

[0052] The light source control unit 50a controls the light source 51 so that it emits light in a pulsed manner.

[0053] The mirror control unit 50b controls the laser light Ray1 incident on and reflected by the MEMS mirror 53a to scan the first detection range A1 (the detection range originally possessed by the LiDAR device 50; see FIG. 4(a)) two-dimensionally (in the horizontal and vertical directions) at a measurement point (for example, in the horizontal direction N H pieces, vertical N V The optical deflector 53 (MEMS mirror 53a) is controlled so as to scan the laser beam (measurement points).

[0054] The signal processing unit 50c calculates the distance (distance to the measurement point) associated with the angular direction of the detection object (e.g., the azimuth angle and elevation angle of the measurement point) for each measurement point based on the time from transmitting the laser light Ray1 to receiving the return light Ray2, and outputs the angular direction (e.g., the azimuth angle and elevation angle of the measurement point) and distance (distance to the measurement point) of the detection object. This output angular direction of the detection object (e.g., the azimuth angle and elevation angle of the measurement point) is corrected by the correction unit 50d as described below, and then stored in the memory 57 or the storage unit 58 together with the distance (distance to the measurement point), and is used to detect the detection object (e.g., a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, a motorcycle).

[0055] The correction unit 50d corrects the angular direction of the detection target (for example, the azimuth angle and elevation angle of the measurement point) output by the signal processing unit 50c based on the correction data 58a. The correction data 58a is stored in the storage unit 58, for example.

[0056] The technical significance of correcting the angular direction of the detection target (for example, the azimuth angle and elevation angle of the measurement point) is as follows: The laser light Ray1 that is incident on and reflected by the MEMS mirror 53a is reflected by the first reflecting surface 41 (or the first reflecting surface 41 and the second reflecting surface 42), and is therefore actually transmitted not within the first detection range A1 but to a second detection range A2 (see FIG. 4(b)) that is wider than the first detection range A1 (the detection range that the LiDAR device 50 originally has; see FIG. 4(a)).

[0057] Therefore, for example, laser light Ray1 that is intended to be transmitted in a specific angular direction (e.g., azimuth angle θ, specific elevation angle φ) is reflected by the first reflecting surface 41 (or the first reflecting surface 41 and the second reflecting surface 42) and is actually transmitted in an angular direction (e.g., azimuth angle θ + Δθ, elevation angle φ + Δφ) different from the specific angular direction (e.g., azimuth angle θ, specific elevation angle φ).

[0058] Therefore, the correction unit 50d corrects the specific angular direction (e.g., azimuth angle θ, elevation angle φ) output by the signal processing unit 50c based on correction data, such as azimuth angle θ + Δθ and elevation angle φ + Δφ. Δθ and Δφ are examples of correction data. The correction data (Δθ, Δφ) can be calculated in advance by tracing rays for each angular direction (e.g., azimuth angle, elevation angle) using predetermined simulation software, and stored in the storage unit 58.

[0059] Next, an example of the operation of the vehicle lamp 10 (LiDAR device 50) will be described.

[0060] FIG. 12 is a flowchart of an example of the operation of the vehicle lamp 10 (LiDAR device 50).

[0061] First, a laser beam Ray1 is transmitted (step S10). This is achieved by the light source control unit 50a controlling the light source 51 to emit light in pulses. The laser beam Ray1 emitted by the light source 51 passes through the beam splitter 52, is reflected by the optical deflector 53 (MEMS mirror 53a), and is further reflected by the first reflecting surface 41 (or the first reflecting surface 41 and the second reflecting surface 42), thereby increasing the emission angle (particularly the horizontal emission angle). The laser beam Ray1 is then transmitted (irradiated) to a second detection range A2 (see FIG. 4(b)) that is wider than the first detection range A1 (the detection range that the LiDAR device 50 originally has; see FIG. 4(a)) (the second detection range A2 is scanned two-dimensionally).

[0062] Next, the return light Ray2 is received (step S11). That is, the return light Ray2, which is the reflected light of the laser light Ray1 transmitted in step S10 and reflected by the detection target, returns to the LiDAR device 50 along the same optical path as the laser light Ray1, is split (reflected) by the beam splitter 52 toward the light receiving element 54, and is incident on the light receiving element 54. When the return light Ray2 is incident on the light receiving element 54, the light receiving element 54 outputs an electrical signal corresponding to the intensity of the return light Ray2.

[0063] Next, the distance to the detection target is calculated (step S12). This is achieved by the signal processing unit 50c. The signal processing unit 50c calculates the distance (distance to the measurement point) associated with the angular direction of the detection target (e.g., the azimuth angle and elevation angle of the measurement point) for each measurement point based on the time from when the laser light Ray1 is transmitted to when the return light Ray2 is received, and outputs the angular direction (e.g., the azimuth angle and elevation angle of the measurement point) and the distance (distance to the measurement point) of the detection target.

[0064] Next, the angular direction of the detection target (e.g., the azimuth angle and elevation angle of the measurement point) output by the signal processing unit 50c in step S12 is corrected (step S13). This is achieved by the correction unit 50d. The correction unit 50d corrects the angular direction of the detection target (e.g., the azimuth angle and elevation angle of the measurement point) output by the signal processing unit 50c in step S12 based on the correction data 58a.

[0065] Next, the angular direction of the detection object corrected in step S13 (for example, the azimuth angle and elevation angle of the measurement point) and the distance calculated in step S12 are stored in memory 57 or storage unit 58. The stored angular direction and distance of the detection object are used to detect the detection object (for example, a preceding vehicle, an oncoming vehicle, a pedestrian, a bicycle, or a motorcycle).

[0066] Next, an example of the operation of the movable LiDAR device 40 will be described.

[0067] FIG. 13 is a flowchart of the operation of the mobile LiDAR device 40.

[0068] In the following, it is assumed that the vehicle V is traveling on a straight road (such as a general road or a highway) and the second reflecting surface 42 is located at the retreat position P1 (see FIG. 6). It is also assumed that the imaging device 80 is sequentially capturing images of the periphery of the vehicle V (for example, images ahead of the vehicle V).

[0069] First, the road conditions around the vehicle V are determined from the image data of the imaging device 80 (step S20). This is realized by the road condition determination unit 92.

[0070] Next, if it is determined in step S20 that the road conditions around the vehicle V are a straight road (step S21: YES), the movable LiDAR device 40 transitions to a forward monitoring mode (see FIG. 6) (step S22). Specifically, the light control unit 93 controls the motor 43a constituting the slide mechanism 43 to place the second reflecting surface 42 in a retracted position P1 (an example of the first position in the present disclosure) behind the first reflecting surface 41. In this forward monitoring mode (see FIG. 6), the light Ray1 reflected by the first reflecting surface 41 is reflected at an angle θ H2 can be transmitted within a range of

[0071] On the other hand, if the result of the determination in step S20 is that the vehicle is located at an intersection (step S23: YES), the movable LiDAR device 40 transitions to a side monitoring mode (see FIG. 7) (step S24). Specifically, the light control unit 93 controls the motor 43a constituting the slide mechanism 43 to slide the second reflecting surface 42 a first distance in the direction of the arrow AR (see FIG. 6) from the retracted position P1, thereby disposing (a part of) the second reflecting surface 42 at a position (not shown; an example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41. In this side monitoring mode (see FIG. 7), the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of an angle θ2 to the side of the vehicle, as shown in FIG. 7.

[0072] On the other hand, if the result of the determination in step S20 is that the intersection is a three-way intersection (a three-way intersection with a wall) (step S25: YES), the movable LiDAR device 40 transitions to a 90-degree side monitoring mode (see FIG. 8) (step S26). Specifically, the light control unit 93 controls the motor 43a constituting the slide mechanism 43 to slide the second reflecting surface 42 from the retracted position P1 in the direction of the arrow AR (see FIG. 6) a second distance (the second distance > the first distance), thereby disposing (a part of) the second reflecting surface 42 at a position (not shown; another example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41. In this 90-degree side monitoring mode (see FIG. 8), the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of an angle θ3 to the side of the vehicle, as shown in FIG. 8.

[0073] On the other hand, if the result of the determination in step S20 is that the road is a merging road (a road merging onto an expressway) (step S27: YES), the movable LiDAR device 40 transitions to a side oblique rear monitoring mode (see FIG. 9 ) (step S26). Specifically, the light control unit 93 controls the motor 43a constituting the slide mechanism 43 to slide the second reflecting surface 42 from the retracted position P1 in the direction of the arrow AR (see FIG. 6 ) a third distance (the third distance > the second distance), as shown in FIG. 9 , and position (a part of) the second reflecting surface 42 at a position P2 (another example of the second position in the present disclosure) on the optical path of the light Ray1 reflected by the first reflecting surface 41. In this side oblique rear monitoring mode (see FIG. 9 ), the light Ray1 reflected by the first reflecting surface 41 and the second reflecting surface 42 can be transmitted within a range of an angle θ4 from the front of the vehicle to the rear of the vehicle.

[0074] The processes of steps S20 to S28 are repeatedly executed until the ignition is turned off (step S29: YES).

[0075] As described above, according to the first embodiment, the laser light Ray1 transmitted from the LiDAR device 50 can be transmitted to an appropriate range depending on the road conditions around the vehicle V (transmitted and the returned light received).

[0076] This is because the vehicle V is equipped with a slide mechanism 43 (motor 43a) that moves the second reflecting surface 42 to a first position P1 (see, for example, Figure 6) outside the optical path of the laser light Ray1 reflected by the first reflecting surface 41, or to a second position P2 (see, for example, Figure 9) on the optical path of the laser light Ray1 reflected by the first reflecting surface 41, depending on the road conditions around the vehicle V, and an optical control unit 93 that controls the slide mechanism 43 (motor 43a) depending on the road conditions around the vehicle V, which are the judgment result of the road condition judgment unit 92.

[0077] Furthermore, according to the first embodiment, the laser light Ray1 emitted by the light source 51 (laser light Ray1 scanned by the MEMS mirror 53a) is reflected by the first reflecting surface 41 (or the first reflecting surface 41 and the second reflecting surface 42) and transmitted to a second detection range A2 (see Figure 4(b)) which is wider than the first detection range A1 (the detection range that the LiDAR device 50 originally has; see Figure 4(a)). Therefore, the detection range that the LiDAR device 50 originally has (the first detection range A1) can be expanded (particularly in the horizontal direction) to the second detection range A2.

[0078] Furthermore, according to the first embodiment, the signal processing unit 50c is provided with a correction unit 50d that corrects the angular direction of the detection target (e.g., the azimuth angle and elevation angle of the measurement point) based on the correction data 58a. Therefore, even if the detection range (first detection range A1) originally possessed by the LiDAR device 50 is expanded to the second detection range A2 as described above, the detection target can be properly detected.

[0079] Next, a modified example will be described.

[0080] FIG. 15(a) is a side view (cross-sectional view) of the movable LiDAR device 40 (modification), and FIG. 15(b) is a top view.

[0081] In the first embodiment, the second reflecting surface 42, which is a movable reflecting surface, and the slide mechanism 43 that slides the second reflecting surface 42 are used. However, this is not limiting. For example, as shown in FIGS. 15(a) and 15(b), the second reflecting surface 42, which is a movable reflecting surface, and the slide mechanism 43 that slides the second reflecting surface 42 may be omitted, and an optical element 100 that can be switched between a first state in which the laser light Ray1 reflected by the first reflecting surface 41 is transmitted and a second state in which the laser light Ray1 reflected by the first reflecting surface 41 is reflected, depending on the road conditions around the vehicle V, may be disposed in the optical path of the laser light Ray1 reflected by the first reflecting surface 41. For example, three optical elements 100 may be disposed in series at different angles corresponding to the side monitoring mode, the 90-degree side monitoring mode, and the side diagonal rear monitoring mode. Examples of such optical elements 100 include those described in JP 2020-177092 A.

[0082] This modification also provides the same effects as the first embodiment.

[0083] FIG. 16(a) is a side view (cross-sectional view) of the movable LiDAR device 40 (modification), and FIG. 16(b) is a top view.

[0084] 16(a) and 16(b), the second reflecting surface 42, which is a movable reflecting surface, and the slide mechanism 43 that slides the second reflecting surface 42 may be omitted, and multiple reflecting mirrors 200, the amount of rotation of which is controlled according to the road conditions around the vehicle V, may be arranged like shutters on the optical path of the laser light Ray1 reflected by the first reflecting surface 41. The rotation axis of the reflecting mirror 200 extends in a direction perpendicular to the plane of the paper in FIG. 16(b) (the Z-axis direction).

[0085] This modification also provides the same effects as the first embodiment. Second Embodiment Next, a mobile LiDAR device 40A will be described as a second embodiment of the present disclosure with reference to the accompanying drawings. Corresponding components in each drawing are given the same reference numerals, and duplicated descriptions will be omitted.

[0086] FIG. 14(a) is a side view (cross-sectional view) of the mobile LiDAR device 40A, and FIG. 14(b) is a top view.

[0087] The movable LiDAR device 40A of the second embodiment has the same configuration as the movable LiDAR device 40 of the first embodiment except for the following differences compared to the movable LiDAR device 40 of the first embodiment. The following description will focus on the differences from the movable LiDAR device 40 of the first embodiment, and the same reference numerals will be used to designate the same configuration as the movable LiDAR device 40 of the first embodiment, and the description will be omitted as appropriate.

[0088] First, the movable LiDAR device 40 of the first embodiment is provided with the second reflecting surface 42, whereas the movable LiDAR device 40A of the second embodiment does not include the second reflecting surface 42.

[0089] Secondly, the movable LiDAR device 40 of the first embodiment is provided with a slide mechanism 43 as a light control mechanism that controls the transmission range (transmission direction) of the laser light Ray1 in accordance with the road conditions around the vehicle V, whereas the movable LiDAR device 40A of the second embodiment is provided with a mechanism that changes the inclination of the first reflecting surface 41 in accordance with the road conditions around the vehicle V as a light control mechanism that controls the transmission range (transmission direction) of the laser light Ray1 in accordance with the road conditions around the vehicle V. This mechanism is configured, for example, as follows.

[0090] 14(a), the first reflecting surface 41 is supported so as to be tiltable in the vertical and horizontal directions around a pivot 45a. The movable LiDAR device 40A also includes a first aiming nut 45b provided above the pivot 45a (fulcrum), a first aiming screw 45c threadedly engaged with the first aiming nut 45b, and a motor 45d controlled by the control unit 90 (light control unit 93) as a second actuator for rotating the first aiming screw 45c forward and backward.

[0091] As shown in FIG. 14(b), the movable LiDAR device 40A also includes a second aiming nut 45e provided on the side of the pivot 45a (fulcrum), a second aiming screw 45f threadedly engaged with the second aiming nut 45e, and a motor 45g controlled by the control unit 90 (light control unit 93), which is a second actuator that rotates the second aiming screw 45f forward and backward.

[0092] Furthermore, the movable LiDAR device 40A of the second embodiment includes a mechanism that changes the inclination of the LiDAR device 50 according to the road conditions around the vehicle V, as a light control mechanism that controls the transmission range (transmission direction) of the laser light Ray1 according to the road conditions around the vehicle V. This mechanism is configured, for example, as follows.

[0093] 14(a), the LiDAR device 50 is supported via a bracket 47 so as to be tiltable in the up-down and left-right directions around a pivot 46a as a fulcrum. The movable LiDAR device 40A also includes a third aiming nut 46b provided above the pivot 46a (fulcrum), a third aiming screw 46c threadedly engaged with the third aiming nut 46b, and a motor 46d controlled by the control unit 90 (light control unit 93) as a second actuator that rotates the third aiming screw 46c forward and backward.

[0094] Although not shown, similar to that shown in Figure 14(b), the movable LiDAR device 40A is equipped with a fourth aiming nut provided on the side of the pivot 46a (fulcrum), a fourth aiming screw threaded into the fourth aiming nut, and a motor controlled by the control unit 90 (light control unit 93), which is a fourth actuator that rotates the fourth aiming screw forward and backward.

[0095] The control unit 90 (light control unit 93) controls the motors 45d and 45g to tilt the first reflecting surface 41 in the vertical and horizontal directions around the pivot 45a, thereby changing the transmission range of the light Ray1 reflected by the first reflecting surface 41. Similarly, the control unit 90 (light control unit 93) controls the motors 46d and the like to tilt the LiDAR device 50 in the vertical and horizontal directions around the pivot 45a, thereby changing the transmission range of the light Ray1 reflected by the first reflecting surface 41.

[0096] For example, by tilting at least one of the first reflecting surface 41 and the LiDAR device 50 by a predetermined amount, the light Ray1 reflected by the first reflecting surface 41 is reflected at an angle θ H2 can be transmitted within a range (forward monitoring mode).

[0097] For example, by tilting at least one of the first reflecting surface 41 and the LiDAR device 50 by a predetermined amount, the light Ray1 reflected by the first reflecting surface 41 can be transmitted within a range of angle θ2 to the side of the vehicle, as shown in Figure 7 (side monitoring mode).

[0098] For example, by tilting at least one of the first reflecting surface 41 and the LiDAR device 50 by a predetermined amount, the light Ray1 reflected by the first reflecting surface 41 can be transmitted within a range of an angle θ3 to the side of the vehicle, as shown in Figure 8 (90 degree side monitoring mode).

[0099] For example, by tilting at least one of the first reflecting surface 41 and the LiDAR device 50 by a predetermined amount, the light Ray1 reflected by the first reflecting surface 41 can be transmitted within a range of angle θ4 from the front to the rear of the vehicle (side diagonal rear monitoring mode).

[0100] The movable LiDAR device 40A of the second embodiment can also perform the same operation as the flowchart shown in Fig. 13. Note that, when the processes of steps S27 and S28 in Fig. 13 are omitted, only the mechanism that changes the tilt of the first reflecting surface 41 in accordance with the road conditions around the vehicle V may be used, and the mechanism that changes the tilt of the LiDAR device 50 in accordance with the road conditions around the vehicle V may be omitted. Conversely, only the mechanism that changes the tilt of the LiDAR device 50 in accordance with the road conditions around the vehicle V may be used, and the mechanism that changes the tilt of the first reflecting surface 41 in accordance with the road conditions around the vehicle V may be omitted.

[0101] As described above, according to the second embodiment, the laser light Ray1 transmitted from the LiDAR device 50 can be transmitted to an appropriate range depending on the road conditions around the vehicle V.

[0102] This is because the second embodiment is provided with a mechanism for changing the inclination of the first reflecting surface 41 in accordance with the road conditions around the vehicle V and a mechanism for changing the inclination of the LiDAR device 50 in accordance with the road conditions around the vehicle V. In addition, the second embodiment can achieve the same effects as the first embodiment.

[0103] Next, a modified example will be described.

[0104] In the above-described embodiments, examples have been described in which the vehicle lamp of the present disclosure is applied to a vehicle headlamp, but the present disclosure is not limited to this. For example, the vehicle lamp of the present disclosure may be applied to a vehicle signal lamp or other vehicle lamps.

[0105] Furthermore, in each of the above embodiments, an example has been described in which the scanning LiDAR device 50 is used as the LiDAR device, but this is not limiting. A flash LiDAR device (not shown) or other LiDAR devices may also be used as the LiDAR device.

[0106] The numerical values shown in the above embodiments are all examples, and it goes without saying that other appropriate numerical values can be used.

[0107] The above-described embodiments are merely examples in all respects. The present disclosure should not be construed as being limited by the descriptions of the above-described embodiments. The present disclosure can be implemented in various other forms without departing from the spirit or main features thereof. [Explanation of symbols]

[0108] 1...vehicle system, 10...vehicle lamp, 20...low beam lamp unit, 30...high beam lamp unit, 40, 40A...movable LiDAR device, 41...first reflective surface, 42...second reflective surface, 43...slide mechanism, 43a...motor, 43b...rotating shaft, 43c...joint, 44...bracket, 45a...pivot, 45b...first aiming nut, 45c...first aiming screw, 45d...motor, 45e...second aiming nut, 45f...second aiming screw, 45g...motor, 46a...pivot, 46b...third aiming nut, 46c...third aiming screw, 46d...motor, 47...bracket, 50...LiDAR device, 50a...light source control unit, 50b...mirror control unit, 50c...signal processing unit, 50d...correction unit, 51...light source, 52...beam splitter, 53...optical deflector, 53a...MEMS mirror, 54...light receiving element, 55...case, 55a...opening, 56...control unit, 57...memory, 58...storage unit, 58a...correction data, 60...outer lens, 70...housing, 80...imaging device, 90...control unit, 91...storage unit, 91a...predetermined program, 92...road condition determination unit, 93...light control unit, 100...optical element, 200...reflecting mirror, A1...first detection range, A2...second detection range

Claims

1. A LiDAR device having a light source that emits light for detecting a detection target that is transmitted to a first detection range, and a light receiving element that outputs an electrical signal corresponding to the intensity of return light when return light, which is reflected light of the light for detecting a detection target that is reflected by the detection target, is incident; a light control mechanism for controlling a transmission range of the light for detecting the detection object in accordance with road conditions around the vehicle; Equipped with The light control mechanism includes: A vehicle lamp including a third actuator that changes the inclination of the LiDAR device according to road conditions around the vehicle.

2. The light control mechanism further comprises: a first reflecting surface designed to reflect the light for detecting the detection object emitted by the light source and transmit the light to a second detection range that is wider than the first detection range; a second reflecting surface; 2. The vehicle lamp according to claim 1, further comprising: a first actuator that moves the second reflecting surface to a first position outside the optical path of the light for the detection object reflected by the first reflecting surface, or to a second position on the optical path of the light for the detection object reflected by the first reflecting surface, depending on road conditions around the vehicle.

3. The light control mechanism further comprises: a first reflecting surface designed to reflect the light for detecting the detection object emitted by the light source and transmit the light to a second detection range that is wider than the first detection range; The vehicular lamp according to claim 1 , further comprising: a second actuator that changes the inclination of the first reflecting surface in accordance with road conditions around the vehicle.

4. The optical control mechanism further comprises:

2. The vehicle lamp according to claim 1, further comprising a first reflecting surface designed to reflect the light emitted by the light source for detecting the detection object and transmit it to a second detection range that is wider than the first detection range.

5. The light control mechanism includes: a first reflecting surface designed to reflect the light for detecting the detection object emitted by the light source and transmit the light to a second detection range that is wider than the first detection range; 2. The vehicular lamp according to claim 1, further comprising: an optical element that is arranged on an optical path of the light for detecting the detection target that is reflected by the first reflecting surface, and that is switchable between a first state in which the light for detecting the detection target that is reflected by the first reflecting surface is transmitted, or a second state in which the light for detecting the detection target that is reflected by the first reflecting surface is reflected, depending on road conditions around the vehicle.

6. A light source that emits light for detecting a detection target that is transmitted to a first detection range; A LiDAR device having a light receiving element that outputs an electrical signal according to the intensity of return light when return light, which is reflected light of the light for detecting the detection object reflected by the detection object, is incident; a light control mechanism that controls a transmission range of the light for detecting the detection object in accordance with road conditions around the vehicle, The light control mechanism includes: a first reflecting surface designed to reflect the light for detecting the detection object emitted by the light source and transmit the light to a second detection range that is wider than the first detection range; a reflector arranged on an optical path of the light for detecting the detection object reflected by the first reflecting surface; Depending on the road conditions around the vehicle, and an optical element that can be switched between a first state in which the light for detecting the detection target reflected by the first reflecting surface is transmitted, and a second state in which the light for detecting the detection target reflected by the first reflecting surface is reflected.

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