Vehicle lighting equipment

Abstract

To provide a vehicle lighting device capable of more smoothly supporting lane change.SOLUTION: A vehicle lighting device 10 is provided with: an irradiation unit 12 irradiating a road surface around a host vehicle VH with light to draw an image on the road surface; a TS unit 30 blinking or lighting a TS lamp 32; and a controller 22 controlling drive of the irradiation unit 12. The controller 22 blinks or lights the TS lamp 32 on a lane changing side when the host vehicle VH changes the lane from a first lane 60F to a second lane 60S adjacent to the first lane 60F, and also makes the irradiation unit 12 draw a lane changing image 50 for notifying the behavior of the host vehicle VH to the surroundings. The controller 22 changes the form of the lane changing image 50 according to at least one of existence / absence of a subsequent vehicle VF travelling after the host vehicle VH and on the second lane 60S, and the position of the subsequent vehicle VF.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] This specification discloses a vehicle lighting device capable of rendering an image on the road surface around the vehicle. [Background technology]

[0002] Vehicle lighting devices capable of drawing an image on the road surface around a vehicle have been proposed. For example, Patent Document 1 discloses a vehicle driving assistance system that projects a route display image showing the vehicle's route onto the road surface. In Patent Document 1, if there is no other vehicle within a predetermined distance ahead of the vehicle, the route display image is projected ahead of the vehicle, but if there is another vehicle, the route display image is not projected ahead of the vehicle. Similarly, if there is another vehicle within a predetermined distance behind the vehicle, the route display image is not projected behind the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-79907 Summary of the Invention [Problem to be solved by the invention]

[0004] However, Patent Document 1 only takes into consideration the presence of other vehicles directly ahead or directly behind the vehicle. In other words, when a vehicle changes lanes from a first lane to a second lane, Patent Document 1 does not take into consideration any following vehicles traveling in the second lane. Therefore, the technology of Patent Document 1 has room for improvement to make lane changes smoother.

[0005] Therefore, this specification discloses a vehicle lighting device that assists in smoother lane changes. [Means for solving the problem]

[0006] The vehicle lighting device disclosed in this specification includes an illumination unit that projects an image onto a road surface around a vehicle by projecting light onto the road surface, a turn signal unit that flashes a turn signal lamp, and a controller that controls the operation of the illumination unit, wherein when the vehicle changes lanes from a first lane to a second lane adjacent to the first lane, the controller flashes the turn signal lamp on the lane-changing side and causes the illumination unit to draw a lane-changing image to notify surrounding areas of the vehicle's behavior, and the controller changes the form of the lane-changing image depending on at least one of the presence or absence of a following vehicle traveling behind the vehicle in the second lane and the position of the following vehicle.

[0007] This configuration makes it easier for the driver of a vehicle to notice the presence of a following vehicle when changing lanes. Also, it makes it easier for the driver of the following vehicle to recognize that the vehicle has started to change lanes. As a result, the vehicle lighting device supports smoother lane changes.

[0008] In this case, when the following vehicle is not present, the controller may draw the lane change image at a standard size and flash it at the same cycle as the turn signal lamp, and when the following vehicle is present, the controller may draw the lane change image at a size larger than the standard size and flash it at a shorter cycle than the turn signal lamp.

[0009] With this configuration, the driver of the vehicle can more easily notice the presence of a following vehicle, and the driver of the following vehicle can more easily recognize the start of a lane change. As a result, the vehicle lighting device can support smoother lane changes.

[0010] The controller may also gradually shorten the blinking cycle of the lane change image and gradually increase the size of the lane change image as the distance between the vehicle and the following vehicle becomes shorter.

[0011] With this configuration, an image is drawn that corresponds to the risk of changing lanes, and as a result, the vehicle lighting device supports smoother lane changes.

[0012] The controller may also estimate the position of the following vehicle when the lane change is completed, and gradually shorten the blinking period of the lane change image and gradually increase the size of the lane change image as the distance between the vehicle and the estimated position becomes shorter.

[0013] With this configuration, an image is drawn that corresponds to the risk of changing lanes, and as a result, the vehicle lighting device supports smoother lane changes.

[0014] In addition, the lane change image includes a front image that is projected at a position directly visible to the driver of the vehicle, and a rear image that is projected to the side of the rear of the vehicle, and when the following vehicle is located in the projection area of ​​the rear image, the controller may stop drawing the rear image, while drawing the front image in a form different from when the following vehicle is not present.

[0015] With this configuration, the driver of the vehicle can easily observe the front image. By observing this front image, the driver of the vehicle can clearly recognize whether there is a following vehicle. As a result, the vehicle lighting device supports smoother lane changes. Furthermore, by stopping the display of the rear image when a following vehicle is located in the illumination area of ​​the rear image, the discomfort felt by the driver of the following vehicle can be reduced. [Effects of the Invention]

[0016] The vehicle lighting device disclosed in this specification allows for smoother lane changes. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a block diagram showing a configuration of a vehicle lighting device; [Figure 2]10 is a schematic diagram showing how a lane change image is drawn on the road surface using a vehicle lighting device in a state where no vehicle is detected; FIG. [Figure 3] 10 is a schematic diagram showing how a lane change image is drawn on the road surface using a vehicle lighting device in a vehicle detection state; FIG. [Figure 4] 10 is a table showing examples of changes in the form of the lane change image. [Figure 5] 10 is a table showing other examples of modifications to the form of the lane change image. DETAILED DESCRIPTION OF THE INVENTION

[0018] The vehicle lighting device 10 of the vehicle VH will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the vehicle lighting device 10. FIG. 2 is a schematic diagram showing how a lane change image 50 is projected onto the road surface using the vehicle lighting device 10. In the following description, the vehicle VH on which the vehicle lighting device 10 is mounted will be referred to as the "host vehicle VH."

[0019] The vehicle lighting device 10 irradiates light onto the surroundings of the host vehicle VH. The vehicle lighting device 10 can also draw an image on the road surface showing the behavior of the host vehicle VH by irradiating the road surface around the host vehicle VH with light. The following describes road surface drawing when the host vehicle VH changes lanes from a first lane 60F to a second lane 60S adjacent to the first lane 60F.

[0020] As shown in FIG. 1, the vehicle lighting device 10 includes an illumination unit 12, an environmental sensor 16, a turn signal unit 30 (hereinafter referred to as the "TS unit 30"), and a controller 22. The illumination unit 12 projects a pattern of light onto the road surface around the host vehicle VH, thereby drawing an image on the road surface. The illumination unit 12 includes a front light source 14F and a rear light source 14R. The front light source 14F projects a front image 50F forward or diagonally forward of the host vehicle VH. In other words, the front light source 14F projects the front image 50F at a position directly visible to the driver of the host vehicle VH. The front light source 14F may be incorporated into a headlamp unit (not shown) of the host vehicle VH. The headlamp unit is a lighting device mounted on the host vehicle VH to improve the visibility of the driver of the host vehicle VH and the visibility of the host vehicle VH from outside. The headlamp units are provided at the right and left ends of the front of the host vehicle VH. The front light source 14F may be incorporated into an adaptive high beam system unit (hereinafter referred to as "AHS"). The AHS is a lighting unit that automatically blocks only the portion of the high beam light beam that is irradiated onto a preceding vehicle or an oncoming vehicle.

[0021] The rear light source 14R irradiates a rear image 50R behind or diagonally behind the host vehicle VH. The rear light source 14R may be incorporated into a backup lamp unit (not shown) of the host vehicle VH. The backup lamp unit is a lighting device mounted on the host vehicle VH to alert surrounding vehicles to the presence or behavior of the host vehicle VH. The backup lamp unit includes, for example, a backup lamp and a tail lamp. One backup lamp unit is provided at each of the right and left rear ends of the host vehicle VH. An illumination unit having a configuration similar to that of the AHS may be incorporated into this backup lamp unit, and the rear light source 14R may be further incorporated into this illumination unit. Note that the configuration of the illumination unit 12 described here is merely an example and may be modified as appropriate. For example, the illumination unit 12 may be a projector provided independently of the head lamp unit and the backup lamp unit.

[0022] The TS unit 30 has a front TS lamp 32F and a rear TS lamp 32R. The front TS lamp 32F is incorporated into a headlamp unit, and the rear TS lamp 32R is incorporated into a backup lamp unit. When a turn signal signal Sts is input, the controller 22 causes the TS lamps 32F, 32R to flash at a predetermined standard interval. When changing lanes or turning, the driver operates a turn signal switch (not shown). In response to this operation, the turn signal signal Sts is output.

[0023] The environmental sensor 16 is a sensor that detects the state of the environment surrounding the host vehicle VH. To support smooth lane changes, the environmental sensor 16 detects at least the presence or absence of a following vehicle VF traveling behind the host vehicle VH in the second lane 60S. The "second lane 60S" is a lane adjacent to the first lane 60F in which the host vehicle VH is traveling. Hereinafter, the range sensed by the environmental sensor 16 to check the presence or absence of the following vehicle VF is referred to as the "target zone Zt." In FIG. 2, the hatched area is the target zone Zt.

[0024] The target zone Zt is not particularly limited as long as it includes a range behind the host vehicle VH. In the illustrated example, the front end tf of the target zone Zt is located slightly forward of the rear end of the host vehicle VH. The rear end of the target zone Zt (not visible in FIG. 2) is located a predetermined distance behind the front end tf. The predetermined distance is determined by the performance of the environmental sensor 16 and is, for example, around 50 m.

[0025] The environmental sensor 16 includes, for example, a camera 18 that captures images of the surroundings of the host vehicle VH and a LiDAR 20 that uses a laser to detect the surrounding environment of the host vehicle VH. The environmental sensor 16 may include other sensors in addition to or instead of the camera 18 and the LiDAR 20. For example, the environmental sensor 16 may include at least one of an ultrasonic sonar, an infrared sensor, and a millimeter-wave radar. The environmental sensor 16 may also be a sensor dedicated to the vehicle lighting device 10. A sensor 16 installed for driving assistance of the host vehicle VH may also be used as the environmental sensor 16 of the vehicle lighting device 10.

[0026] The controller 22 is physically a computer having a processor 24 and a memory 26. This "computer" also includes a microcontroller in which a computer system is integrated into a single integrated circuit. Note that FIG. 1 illustrates a single processor 24 and a single memory 26. However, the controller 22 may include two or more processors 24 and two or more memories 26. The controller 22 may also be configured by combining multiple physically separated computers. For example, part or all of the controller 22 may be located outside the host vehicle VH. In this case, the controller 22 communicates with the illumination unit 12 and the environmental sensor 16 wirelessly.

[0027] In order to draw an image on the road surface, the controller 22 controls the driving of the projection unit 12 and the TS unit 30. For example, the controller 22 determines the shape and projection position of the image based on the detection results of various sensors and control information of the host vehicle VH.

[0028] More specifically, the controller 22 identifies lane markings drawn on the road surface based on the detection results of the environmental sensor 16. The lane markings are lines that indicate the boundaries of lanes. The lane markings include a lane boundary line 62a that indicates the boundary between two lanes traveling in the same direction, a road outer edge line 62b that indicates the widthwise edge of the road, and a road center line 62c that indicates the boundary between the driving lane and the oncoming lane. Hereinafter, when there is no need to distinguish between these, they will simply be referred to as "lane markings 62."

[0029] The controller 22 determines whether the host vehicle VH will change lanes based on the dividing line 62 and control information of the host vehicle VH. The control information includes, for example, a turn signal signal Sts, a vehicle speed Vv, and a steering angle AR. For example, the controller 22 determines that the host vehicle VH will change lanes when the vehicle speed Vv is equal to or higher than a certain level, either the left or right turn signal signal Sts is input, the direction indicated by the steering angle AR matches the direction indicated by the turn signal signal Sts, and a second lane 60S is located in the direction indicated by the turn signal signal Sts.

[0030] When the host vehicle VH changes lanes, the controller 22 blinks the TS lamp 32 in the direction indicated by the turn signal signal Sts. The controller 22 also drives the illumination unit 12 to draw a lane change image 50 on the road surface indicating the lane change. As shown in FIG. 2, the lane change image 50 includes a front image 50F and a rear image 50R. Both the front image 50F and the rear image 50R have shapes that indicate the direction in which the host vehicle VH will change lanes. The front image 50F is drawn on the road surface in front of the host vehicle VH and in the lane change direction (to the right in the illustrated example). The rear image 50R is drawn on the road surface behind the host vehicle VH and in the lane change direction (to the right in the illustrated example). Both the front image 50F and the rear image 50R blink at a predetermined cycle.

[0031] The controller 22 changes the form of the lane change image 50 depending on whether or not a following vehicle VF is present in the target zone Zt. Hereinafter, a state in which a following vehicle VF is detected in the target zone Zt will be referred to as a "vehicle detected state," and a state in which a following vehicle VF is not detected will be referred to as a "vehicle non-detected state."

[0032] Fig. 2 is a schematic diagram showing how a lane-change image 50 is drawn on the road surface using the vehicle lighting device 10 in a vehicle non-detection state. Fig. 3 is a schematic diagram showing how a lane-change image 50 is drawn on the road surface using the vehicle lighting device 10 in a vehicle detection state.

[0033] 2 and 3, in the vehicle detected state (i.e., the state in FIG. 3), the controller 22 increases the size of the lane change image 50 compared to the vehicle non-detected state (i.e., the state in FIG. 2). Also, in the vehicle non-detected state, the controller 22 blinks the lane change image 50 at the same cycle as the TS lamp 32. On the other hand, in the vehicle detected state, the controller 22 blinks the lane change image 50 at a cycle shorter than that of the TS lamp 32.

[0034] With this configuration, the lane change image 50 becomes more noticeable in a vehicle detection state than in a vehicle non-detection state. As a result, the driver of the following vehicle VF traveling in the second lane 60S can easily notice the lane change of the host vehicle VH. This allows the driver of the following vehicle VF to be careful not to interfere with the lane change of the host vehicle VH, allowing the host vehicle VH to change lanes more smoothly.

[0035] Naturally, the driver of the host vehicle VH can directly visually confirm the front image 50F. As described above, the size and blinking cycle of the front image 50F change depending on whether or not a following vehicle VF is traveling in the second lane 60S. This allows the driver of the host vehicle VH to easily recognize whether or not a following vehicle VF is traveling in the second lane 60S. In particular, in the vehicle detection state, the blinking cycle of the lane change image 50 is shorter than the blinking cycle of the TS lamps 32F, 32R. Typically, when the TS lamps 32F, 32R are blinking, a rhythmic sound synchronized with the blinking cycle is output inside the vehicle. If the blinking cycle of the front image 50F is out of sync with the rhythmic sound, the driver is likely to feel uncomfortable. This allows the driver of the host vehicle VH to more clearly recognize the presence of the following vehicle VF. In this case, the driver of the host vehicle VH executes a lane change while paying sufficient attention to the following vehicle VF. As a result, the host vehicle VH can change lanes more smoothly.

[0036] In the explanation so far, the form of the lane change image 50 is changed depending on whether or not there is a following vehicle VF in the target zone Zt. However, in addition to or instead of the presence or absence of the following vehicle VF, the form of the lane change image 50 may be changed based on the position of the following vehicle VF.

[0037] For example, the controller 22 may continuously or stepwise shorten the blinking cycle of the lane change image 50 and continuously or stepwise increase the size of the lane change image 50 as the distance between the host vehicle VH and the following vehicle VF decreases. This will be described in detail. As shown in FIG. 3 , the controller 22 may manage the target zone Zt by dividing it into a danger zone Zd, a caution zone Zc, and a safety zone Zs. The danger zone Zd, the caution zone Zc, and the safety zone Zs are arranged in order from the front. The risk of changing lanes differs depending on which zone Zd, Zc, or Zs the front end of the following vehicle VF is located in. If the front end of the following vehicle VF is within the danger zone Zd, the host vehicle VH should refrain from changing lanes as much as possible. If the front end of the following vehicle VF is within the caution zone Zc, the driver of the host vehicle VH needs to exercise sufficient caution when changing lanes. If the leading edge of the following vehicle VF is in the safety zone Zs, the host vehicle VH can safely change lanes.

[0038] FIG. 4 is a table showing modified examples of the form of the lane-changing image 50. As shown in FIG. 4, consider a case where the size and blinking cycle of the front image 50F when there is no following vehicle VF are set to "standard." In this case, the size of the front image 50F is "standard" when the front end position Pvf of the following vehicle VF is in the safety zone Zs, "medium" (larger than "standard") when the front end position Pvf is in the caution zone Zc, and "large" (larger than "medium") when the front end position Pvf is in the danger zone Zd. Similarly, the blinking cycle of the front image 50F is "standard" when the front end position Pvf is in the safety zone Zs, "short" (shorter than "standard") when the front end position Pvf is in the caution zone Zc, and also "short" when the front end position Pvf is in the danger zone Zd.

[0039] The shape change of the rear image 50R is substantially the same as the shape change of the front image 50F. However, if the front end position Pvf of the following vehicle VF is in the danger zone Zd, a part of the rear image 50R may interfere with the following vehicle VF. In this case, surrounding vehicles, including the following vehicle VF, may not be able to properly grasp the shape of the rear image 50R. Furthermore, if the rear image 50R interferes with the following vehicle VF, it may cause discomfort to the driver of the following vehicle VF. Therefore, if the front end position Pvf of the following vehicle VF is located in the danger zone Zd, the rear image 50R is not drawn.

[0040] In this way, by changing the form of the lane change image 50 according to the distance between the host vehicle VH and the following vehicle VF, the driver of the host vehicle VH can more clearly grasp the position of the following vehicle VF, which allows the host vehicle VH to change lanes more smoothly.

[0041] Furthermore, as another embodiment, the form of the lane change image 50 may be changed based on the future position of the following vehicle VF in addition to or instead of the current position of the following vehicle VF. For example, consider a case where the host vehicle VH completes a lane change in N seconds. In this case, the controller 22 may change the blinking cycle and size of the lane change image 50 based on the current front end position Pvf of the following vehicle VF and the front end position Pvf* of the following vehicle VF N seconds from now. Note that the front end position Pvf* of the following vehicle VF N seconds from now is estimated based on the current front end position Pvf of the following vehicle VF and the relative speed of the following vehicle VF with respect to the host vehicle VH. Furthermore, the relative speed of the following vehicle VF with respect to the host vehicle VH is estimated from changes over time in the detection results of the environmental sensor 16.

[0042] Fig. 5 is a table showing another example of changing the form of the lane change image 50. As shown in Fig. 5, consider a case where the size and blinking cycle of the front image 50F are set to "standard" when there is no following vehicle VF. In the example of Fig. 5, the form of the lane change image 50 is changed based on the current front end position Pvf of the following vehicle VF and the front end position Pvf* N seconds later.

[0043] Specifically, if the front end position Pvf* of the following vehicle VF N seconds from now is in the danger zone Zd, the size of the front image 50F will be "large" and the blinking cycle will be "short," regardless of the current front end position Pvf. This allows the driver of the host vehicle VH to clearly recognize that there is a high risk of changing lanes. Furthermore, if the front end position Pvf* of the following vehicle VF N seconds from now is in the danger zone Zd, the rear image 50R will not be drawn, regardless of the current front end position Pvf. This prevents the rear image 50R from interfering with the following vehicle VF.

[0044] Furthermore, if the front end position Pvf* of the following vehicle VF N seconds later is in the caution zone Zc, the size of the lane change image 50 will be "medium" or "large" and the blinking cycle will be "short." Here, if the current front end position Pvf is in the safety zone Zs and the front end position Pvf* N seconds later will be in the caution zone Zc, it can be determined that the following vehicle VF is accelerating and approaching the host vehicle VH. In this case, the risk of changing lanes is high. Therefore, in this case, the size of the lane change image 50 will be "large" and the blinking cycle will be "short."

[0045] Furthermore, if the front end position Pvf* of the following vehicle VF N seconds from now is within the safety zone Zs, it is predicted that the host vehicle VH will be able to change lanes safely. Therefore, if the front end position Pvf* of the following vehicle VF N seconds from now is within the safety zone Zs, the size and flashing period of the lane change image 50 will be "standard" regardless of the current front end position Pvf. In this way, changing the shape of the lane change image 50 in consideration of the future front end position Pvf* of the following vehicle VF enables smoother lane changes.

[0046] The configuration described above is merely an example. The vehicle lighting device 10 may be modified as appropriate as long as it has the configuration described in claim 1. For example, in addition to or instead of the size and blinking cycle of the lane change image 50, the color and drawing position of the lane change image 50 may be changed. The lane change image 50 may be drawn continuously without blinking. Either the front image 50F or the rear image 50R may be omitted. The shape of the lane change image 50 is not limited to the illustrated example and may be modified as appropriate. The above description has been given of an example of manual driving in which the driver controls the acceleration / deceleration and steering of the host vehicle VH. However, the technology disclosed in this specification may also be applied during advanced driving assistance or automated driving in which a system installed in the host vehicle VH automatically controls the acceleration / deceleration and steering of the host vehicle VH. In this case, the vehicle system controlling the acceleration / deceleration and steering of the host vehicle VH determines whether to execute a lane change. The controller 22 may determine whether to execute a lane change based on a notification from the vehicle system. [Explanation of symbols]

[0047] 10 vehicle lighting device, 12 irradiation unit, 14F front light source, 14R rear light source, 16 environment sensor, 16 sensor, 18 camera, 20 Lidar, 22 controller, 24 processor, 26 memory, 30 turn signal unit, 50 lane change image, 50F front image, 50R rear image, 60F first lane, 60S second lane, 62a lane boundary line, 62b roadway outer line, 62c roadway center line, VF following vehicle, VH host vehicle, Zc caution zone, Zd danger zone, Zs safety zone, Zt target zone.

Claims

1. an illumination unit that illuminates a road surface around the vehicle with light to draw an image on the road surface; A turn signal unit that flashes and lights up a turn signal lamp; a controller for controlling the driving of the irradiation unit; Equipped with when the vehicle changes lanes from a first lane to a second lane adjacent to the first lane, the controller causes the turn signal lamp on the lane change side to flash and lights up, and causes the illumination unit to draw a lane change image for notifying surroundings of the behavior of the vehicle; the controller changes the form of the lane change image in accordance with at least one of the presence or absence of a following vehicle traveling behind the vehicle in the second lane and the position of the following vehicle; The controller When there is no following vehicle, the lane change image is drawn in a standard size and flashes at the same cycle as the turn signal lamp; When the following vehicle is present, the lane change image is drawn in a size larger than the standard size and is flashed at a cycle shorter than that of the turn signal lamp. The turn signal unit outputs a rhythmic sound synchronized with the blinking cycle of the turn signal lamp into the vehicle. A vehicle lighting device characterized by:

2. 2. The vehicle lighting device according to claim 1, the controller gradually shortens the blinking cycle of the lane change image and gradually increases the size of the lane change image as the distance between the vehicle and the following vehicle becomes shorter; A vehicle lighting device characterized by:

3. 3. The vehicle lighting device according to claim 1, the controller estimates the position of the following vehicle at the time of completing the lane change, and gradually shortens the blinking cycle of the lane change image and gradually increases the size of the lane change image as the distance between the following vehicle and the estimated position becomes shorter; A vehicle lighting device characterized by:

4. 2. The vehicle lighting device according to claim 1, the lane change image includes a front image projected onto a position directly visible to the driver of the vehicle, and a rear image projected onto a side of a rear portion of the vehicle, When the following vehicle is located in an illumination area of ​​the rear image, the controller stops drawing the rear image, while drawing the front image in a form different from that when the following vehicle is not present. A vehicle lighting device characterized by:

Images