Posture determination device, vehicle lamp system, posture determination method, and calibration method

Abstract

An posture determination device (22) outputs a notification signal (NTC) when, in an image (IMG) obtained by an imaging device (4) capturing a predetermined posture determination pattern formed by a variable light distribution lamp (2) that emits light in front of a vehicle, a position of the predetermined posture determination pattern in a direction about an optical axis (O4) of the imaging device (4) is deviated from a normal position by a prescribed amount or greater.

Description

Attitude determination device, vehicle lighting system, attitude determination method, and calibration method

[0001] The present invention relates to an attitude determination device, a vehicle lighting system, an attitude determination method, and a calibration method.

[0002] Adaptive Driving Beam (ADB) control has been proposed, which dynamically and adaptively controls the light distribution pattern based on the conditions around the vehicle. ADB control uses a camera to detect the presence or absence of a vehicle ahead that should avoid high-intensity light irradiation, and blocks the area corresponding to the vehicle ahead (see, for example, Patent Document 1). By blocking the area corresponding to the vehicle ahead, it is possible to reduce the glare given to the driver of the vehicle ahead and improve the visibility of the driver of the vehicle.

[0003] JP 2015-064964 A

[0004] In light distribution control using camera images such as the above-mentioned ADB control, it is necessary to align the lamp and the imaging device in advance. Generally, calibration between the lamp and the imaging device is performed using software on a lamp production line or the like. In particular, in the case of a lamp with a built-in camera in which the lamp and imaging device are housed in the same housing, it is desirable to perform this calibration on the lamp production line. From the viewpoints of reducing the cost of a system that performs light distribution control using camera images and improving production lead times, it is desirable to simplify this calibration.

[0005] The present invention has been made in view of the above circumstances, and one of its objects is to provide a technique for simplifying the calibration between a lamp and an imaging device.

[0006] To solve the above problems, one aspect of the present invention is an attitude determination device that outputs a warning signal when, in an image captured by an imaging device, a predetermined attitude determination pattern formed by a variable light distribution lamp that irradiates light ahead of a vehicle is shifted by a predetermined amount or more from a normal position around the optical axis of the imaging device.

[0007] Another aspect of the present invention is a vehicle lighting system including a variable light distribution lamp that emits light ahead of the vehicle, an imaging device that images the area ahead of the vehicle, and the attitude determination device of the above aspect.

[0008] Another aspect of the present invention is an attitude determination method, which includes forming an attitude determination pattern using a variable light distribution lamp that irradiates light ahead of the vehicle, capturing an image of the attitude determination pattern with an imaging device, and outputting a notification signal when, in the image captured by the imaging device, the position of the attitude determination pattern in a direction around the optical axis of the imaging device deviates from a normal position by a predetermined amount or more.

[0009] Another aspect of the present invention is a method for calibrating the light irradiation range of an adjustable light distribution lamp that irradiates light ahead of a vehicle and the imaging range of an imaging device that images the area ahead of the vehicle. This method includes excluding from calibration targets pairs of an imaging device and an adjustable light distribution lamp for which a notification signal has been output in the attitude determination method of the above aspect, and performing calibration for pairs of an imaging device and an adjustable light distribution lamp that are subject to calibration, omitting calibration of the attitude of the imaging device in a direction around the optical axis.

[0010] Any combination of the above components and conversion of the present invention into a method, device, system, etc. are also valid aspects of the present invention.

[0011] According to the present invention, it is possible to simplify the calibration between the lamp and the imaging device.

[0012] 3A and 3B are schematic diagrams for explaining rotational position deviation of the attitude determination pattern; and FIG. 3B is a flowchart for explaining an example of attitude determination.

[0013] The present invention will be described below with reference to the drawings based on preferred embodiments. The embodiments are illustrative and do not limit the invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention. The same or equivalent components, parts, and processes shown in the drawings are designated by the same reference numerals, and redundant descriptions are omitted where appropriate. The scale and shape of each part shown in the drawings are set for convenience to facilitate explanation and should not be interpreted as limiting unless otherwise specified. Furthermore, when terms such as "first" and "second" are used in this specification or claims, unless otherwise specified, these terms do not indicate any order or importance, but are used to distinguish one configuration from another. Furthermore, some components that are not important for explaining the embodiments are omitted in the drawings.

[0014] Fig. 1 is a block diagram of a vehicle lighting system 1. In Fig. 1, some of the components of the vehicle lighting system 1 are depicted as functional blocks. These functional blocks are realized as a hardware configuration by elements and circuits such as a computer CPU and memory, and as a software configuration by a computer program or the like. Those skilled in the art will understand that these functional blocks can be realized in various ways by combining hardware and software.

[0015] The vehicle lighting system 1 includes a variable light distribution lamp 2, an image capturing device 4, an attitude determination device 22, a calibration device 6, and a light distribution control device 8. The variable light distribution lamp 2, the image capturing device 4, the attitude determination device 22, the calibration device 6, and the light distribution control device 8 may all be built into the same housing, or some of the components may be provided outside the housing.

[0016] For example, the variable light distribution lamp 2, the image capture device 4, the attitude determination device 22, the calibration device 6, and the light distribution control device 8 are housed in a lamp room. The lamp room is defined by a lamp body having an opening on the front side of the vehicle and a translucent cover attached to cover the opening of the lamp body. The image capture device 4, the attitude determination device 22, the calibration device 6, and the light distribution control device 8 may be disposed outside the lamp room, for example, on the vehicle side. In this case, the image capture device 4 may be an on-board camera. Furthermore, the attitude determination device 22, the calibration device 6, and the light distribution control device 8 may be configured, for example, in whole or in part, by a vehicle ECU.

[0017] The variable light distribution lamp 2 is capable of irradiating a visible light beam with a variable intensity distribution onto an area ahead of the vehicle. The variable light distribution lamp 2 is capable of individually changing the illuminance of light irradiated onto a plurality of individual areas R arranged in the area ahead. The plurality of individual areas R are arranged, for example, in a matrix. The variable light distribution lamp 2 receives information instructing a light distribution pattern PTN from a light distribution control device 8, and emits a visible light beam having an intensity distribution according to the light distribution pattern PTN. This forms the light distribution pattern PTN ahead of the vehicle. The light distribution pattern PTN can be understood as the two-dimensional illuminance distribution of an irradiation pattern 902 formed by the variable light distribution lamp 2 on a screen 900 (a virtual vertical screen) ahead of the vehicle.

[0018] The configuration of the variable light distribution lamp 2 is not particularly limited, and may include, for example, a plurality of light sources arranged in a matrix and a lighting circuit that independently drives and lights each light source. Preferred examples of the light source include semiconductor light sources such as LEDs (light-emitting diodes), LDs (laser diodes), and organic or inorganic ELs (electroluminescence). Each individual region R is associated with a light source, and each light source individually irradiates each individual region R with light. The resolution of the variable light distribution lamp 2, in other words, the light distribution resolution, is, for example, 1,000 to 2,000,000 pixels. The resolution of the variable light distribution lamp 2 refers to the number of unit regions whose illuminance can be independently changed in the light distribution pattern PTN.

[0019] In addition, the variable light distribution lamp 2 may include a matrix-type pattern forming device such as a DMD (Digital Mirror Device) or a liquid crystal device, or a scanning optical pattern forming device that scans the area ahead of the vehicle with light from a light source, in order to form an illuminance distribution according to the light distribution pattern PTN.

[0020] The imaging device 4 is sensitive to the visible light region and repeatedly captures images of the area ahead of the vehicle. The imaging device 4 captures images of visible light beams reflected by objects ahead of the vehicle. The imaging device 4 also captures images of light emitted by vehicles ahead, including leading and oncoming vehicles. The image IMG generated by the imaging device 4 is sent to at least the attitude determination device 22 when an attitude determination process is performed, to at least the calibration device 6 when calibration is performed, and to at least the light distribution control device 8 when light distribution control is performed.

[0021] The image IMG that the attitude determination device 22, the calibration device 6, and the light distribution control device 8 acquire from the imaging device 4 may be RAW image data, or may be image data that has been subjected to predetermined image processing by the imaging device 4. Furthermore, the case in which the attitude determination device 22, the calibration device 6, and the light distribution control device 8 receive image data in which RAW image data generated by the imaging device 4 has been subjected to image processing by a processing device other than the imaging device 4 also falls under the category of acquiring the image IMG from the imaging device 4. In the following description, the RAW image data and data that has been subjected to image processing will be referred to as "image IMG" without distinction between them.

[0022] The attitude determination device 22 is ４The attitude determination device 22 determines the attitude of the image capture device 4 in the direction of rotation around the axis (hereinafter referred to as the direction around the optical axis). The attitude determination device 22 can be configured with a digital processor, and may be configured, for example, by a combination of a microcomputer including a CPU and a software program, or may be configured with an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific IC). The attitude determination device 22 includes, for example, a determination unit 24 and a notification unit 26. Each unit operates when the integrated circuit constituting it executes a program stored in memory. The attitude determination performed by the attitude determination device 22 will be described in detail later.

[0023] The calibration device 6 calibrates the light irradiation range of the variable light distribution lamp 2 and the imaging range of the imaging device 4. The calibration device 6 generates calibration information for the light irradiation range and the imaging range and sends it to the light distribution control device 8. The calibration device 6 can be configured with a digital processor, and may be configured, for example, by combining a microcomputer including a CPU with a software program, or may be configured with an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific IC). The calibration performed by the calibration device 6 will be described in detail later.

[0024] The light distribution control device 8 performs ADB control, which dynamically and adaptively controls the light distribution of the variable light distribution lamp 2 in accordance with targets present in the forward area. The light distribution control device 8 can be configured with a digital processor, and may be configured, for example, by combining a microcomputer including a CPU with a software program, or may be configured with an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific IC). The light distribution control device 8 includes, for example, a pattern determination unit 16, a lamp control unit 18, and a memory 20. Each unit operates when the integrated circuit that constitutes it executes a program stored in the memory.

[0025] The calibration information generated by the calibration device 6 is stored in the memory 20. The pattern determination unit 16 performs known image processing or the like on the image IMG acquired from the imaging device 4 to detect a light-blocking target, such as a vehicle ahead. Then, it determines a light distribution pattern PTN having a light-blocking portion that overlaps with the detected light-blocking target. When determining the light distribution pattern PTN, the pattern determination unit 16 uses the calibration information stored in the memory 20 to identify the position coordinates of the light irradiation range of the variable light distribution lamp 2 that correspond to the position coordinates of the light-blocking target in the image IMG, and determines the light-blocking portion at the identified position coordinates. For example, if the variable light distribution lamp 2 is configured with an LED array, the position coordinates of the light irradiation range can be interpreted as the position coordinates of the LED array. The pattern determination unit 16 sends information about the determined light distribution pattern PTN to the lamp control unit 18.

[0026] The lamp control unit 18 instructs the variable light distribution lamp 2 to form the light distribution pattern PTN based on the information on the light distribution pattern PTN. As a result, the light distribution pattern PTN is formed in front of the vehicle.

[0027] Next, an attitude determination method and a calibration method according to this embodiment will be described. The attitude determination and calibration are performed in a state where a screen 900 is placed at an arbitrary distance from the variable light distribution lamp 2 and the image capture device 4, for example, on a production line or the like.

[0028] Attitude determination is performed prior to calibration. As an example, an instruction signal to perform attitude determination is sent from the outside to attitude determination device 22. Upon receiving the instruction signal, attitude determination device 22 instructs light distribution control device 8 to form a predetermined attitude determination pattern PTNp. In response to this, light distribution control device 8 controls the variable light distribution lamp 2 to form the attitude determination pattern PTNp. As a result, the variable light distribution lamp 2 forms the attitude determination pattern PTNp on screen 900.

[0029] The posture determination pattern PTNp formed on the screen 900 is captured by the imaging device 4. FIG. 2 is a schematic diagram of an image IMG captured from the posture determination pattern PTNp. Preferably, the posture determination pattern PTNp includes at least two light spots or at least one line. In this embodiment, the posture determination pattern PTNp includes a first light spot PTNp1 and a second light spot PTNp2. The first light spot PTNp1 and the second light spot PTNp2 are offset from each other in a first direction A and a second direction B. The first direction A and the second direction B are mutually orthogonal directions; for example, the first direction A is the up-down direction, and the second direction B is the left-right direction. Note that the posture determination pattern PTNp may include three or more light spots or multiple lines. For example, the posture determination pattern PTNp may have a shape such as a grid of multiple straight lines.

[0030] The image IMG captured by the imaging device 4 is sent to the determination unit 24. The determination unit 24 performs a predetermined image analysis on the image IMG capturing the posture determination pattern PTNp to identify the position of the posture determination pattern PTNp. Then, based on the identified position of the posture determination pattern PTNp, the determination unit 24 determines whether the posture of the imaging device 4 is abnormal in the direction around the optical axis, i.e., the roll direction. Specifically, the determination unit 24 determines whether the position of the posture determination pattern PTNp in the direction around the optical axis of the imaging device 4 deviates from its normal position by a predetermined amount or more. Hereinafter, the deviation of the posture determination pattern PTNp in the direction around the optical axis of the imaging device 4 is referred to as a rotational position deviation. FIGS. 3A and 3B are schematic diagrams illustrating the rotational position deviation of the posture determination pattern PTNp.

[0031] When the orientation of the image capture device 4 around the optical axis is normal as designed, the first light point PTNp1 and the second light point PTNp2 captured in the image IMG are in the normal positions shown in Fig. 2. In contrast, when the orientation of the image capture device 4 is rotated leftward with respect to the normal orientation, the first light point PTNp1 and the second light point PTNp2 captured in the image IMG are shifted in the counterclockwise direction from the normal positions (positions indicated by dashed lines) as shown in Fig. 3(A). Furthermore, when the orientation of the image capture device 4 is rotated rightward with respect to the normal orientation, the first light point PTNp1 and the second light point PTNp2 captured in the image IMG are shifted in the clockwise direction from the normal positions (positions indicated by dashed lines) as shown in Fig. 3(B).

[0032] The determination unit 24 stores in advance information regarding the correct position of the posture determination pattern PTNp and information regarding the threshold value for the deviation amount. The threshold value can be set appropriately based on experiments and simulations conducted by a designer. The threshold value may include zero. In other words, the determination unit 24 may not tolerate even the slightest deviation. The determination unit 24 then detects an abnormal posture of the image capture device 4 when the amount of deviation between the positions of the first light point PTNp1 and the second light point PTNp2 in the image IMG acquired from the image capture device 4 and their correct positions is equal to or greater than the threshold value. When the determination unit 24 detects an abnormal posture of the image capture device 4, it sends a signal indicating the abnormal posture to the notification unit 26.

[0033] The notification unit 26 outputs a notification signal NTC when it receives a signal indicating an attitude abnormality from the determination unit 24. As an example, the notification signal NTC is a signal that changes the lighting state of the variable light distribution lamp 2 corresponding to the imaging device 4 that output the notification signal NTC, that is, the imaging device 4 that detected the attitude abnormality, from the lighting state before the attitude determination. Examples of "changing the lighting state from the lighting state before the attitude determination" include switching from the attitude determination pattern PTNp to a predetermined notification pattern (for example, irradiating the entire illumination range of the variable light distribution lamp 2 with light), blinking the attitude determination pattern PTNp or the notification pattern, turning off the lamp from the state in which the attitude determination pattern PTNp is formed, etc.

[0034] In this case, the notification unit 26 sends a notification signal NTC to the light distribution control device 8. Upon receiving the notification signal NTC, the light distribution control device 8 controls the light emission by the variable light distribution lamp 2 in accordance with the content of the notification signal NTC. The notification signal NTC may be sent directly from the notification unit 26 to the variable light distribution lamp 2. The notification signal NTC may also be a signal that causes a predetermined external device to display an error message or output a notification sound or announcement.

[0035] 4 is a flowchart illustrating an example of posture determination. This flow is executed when an instruction to perform posture determination is given. First, the posture determination device 22 instructs the variable light distribution lamp 2 to form a posture determination pattern PTNp (S101). Next, the posture determination device 22 acquires an image IMG of the posture determination pattern PTNp (S102). Then, the position of the posture determination pattern PTNp is identified (S103).

[0036] Next, the posture determination device 22 determines whether the posture determination pattern PTNp in the image IMG is deviated from the normal position by a predetermined amount or more (S104). If the posture determination pattern PTNp is deviated from the normal position by a predetermined amount or more (Y in S104), the posture determination device 22 outputs a notification signal NTC (S105) and ends this routine. If the deviation of the posture determination pattern PTNp from the normal position is less than the predetermined amount (N in S104), the posture determination device 22 ends this routine without outputting the notification signal NTC.

[0037] In this way, if the position of the posture determination pattern PTNp in the direction around the optical axis of the imaging device 4 in the image IMG deviates from the normal position by more than a predetermined amount, the posture determination device 22 outputs an alarm signal NTC, allowing the operator to easily know of an abnormal posture of the imaging device 4.

[0038] After the attitude determination, a calibration is performed between the light irradiation range of the variable light distribution lamp 2 and the imaging range of the image capture device 4. In the calibration of this embodiment, the combination of the image capture device 4 and the variable light distribution lamp 2 for which the notification signal NTC was output in the attitude determination described above is excluded from the calibration targets. Then, the calibration device 6 performs a calibration on the combination of the image capture device 4 and the variable light distribution lamp 2 that was the subject of the calibration, omitting the calibration (alignment) of the attitude of the image capture device 4 in the direction around the optical axis.

[0039] As an example, a calibration execution instruction signal is sent to the calibration device 6 from an external device. Upon receiving the execution instruction signal, the calibration device 6 instructs the light distribution control device 8, which controls the variable light distribution lamp 2 that is the target of calibration, to form a predetermined calibration pattern. This makes it possible to eliminate pairs of image capture devices 4 and variable light distribution lamps 2 that are not the target of calibration via software. The calibration device 6 can determine whether or not a pair of image capture devices 4 and variable light distribution lamps 2 is the target of calibration by receiving a signal indicating the determination result or a notification signal NTC from the attitude determination device 22. Note that pairs of image capture devices 4 and variable light distribution lamps 2 that are not the target of calibration may be physically removed from the production line by an operator.

[0040] The light distribution control device 8, which has received instructions from the calibration device 6, controls the variable light distribution lamps 2 to form a calibration pattern. As a result, the variable light distribution lamps 2 form a calibration pattern on the screen 900. A conventionally known calibration pattern can be used. The calibration pattern formed on the screen 900 is captured by the imaging device 4. The image IMG captured by the imaging device 4 is sent to the calibration device 6.

[0041] The calibration device 6 uses the calibration pattern in the image IMG as a position index to calibrate the position coordinates of the image IMG with the position coordinates of the light irradiation range of the variable light distribution lamp 2. At this time, calibration related to the attitude of the imaging device 4 in the direction around the optical axis is omitted, and calibration in the up-down and left-right directions is performed. As a result, calibration information is generated. The generated calibration information is stored in the memory 20.

[0042] As described above, the attitude determination device 22 of this embodiment outputs an alarm signal NTC when, in an image IMG captured by the imaging device 4 of a predetermined attitude determination pattern PTNp formed by the variable light distribution lamp 2 that irradiates light ahead of the vehicle, the position of the attitude determination pattern PTNp in the direction around the optical axis of the imaging device 4 deviates from the normal position by more than a predetermined amount.

[0043] When the imaging device 4 is attached to the housing, the imaging device 4 may be attached in an orientation that is rotated around the optical axis relative to the correct orientation. Attempting to correct this rotational attachment error using software during calibration may result in excessively complicated calibration calculations. This increased complexity of the calibration process may lead to increased costs for the vehicle lighting system 1. To avoid this increased complexity of the calibration calculations, a method could be considered in which an operator visually checks the attachment orientation of all imaging devices 4 and manually corrects them. However, this increases the time and effort required for calibration, potentially resulting in a decrease in the production lead time and throughput of the vehicle lighting system 1.

[0044] In contrast, the attitude determination device 22 of this embodiment outputs a notification signal NTC when the mounting error in the rotational direction of the imaging device 4 exceeds the allowable range. This allows the worker to easily know about the abnormal attitude of the imaging device 4 and quickly deal with the abnormal attitude. This simplifies the calibration between the variable light distribution lamp 2 and the imaging device 4. Furthermore, since the attitude determination only determines abnormal attitude of the imaging device 4 in the direction around the optical axis, it is possible to prevent the attitude determination from becoming too complicated.

[0045] Furthermore, the calibration method according to this embodiment includes excluding from the calibration target the pair of image capture device 4 and variable light distribution lamp 2 for which the notification signal NTC has been output, and performing calibration for the pair of image capture device 4 and variable light distribution lamp 2 that has been subject to calibration without calibration of the attitude of the image capture device 4 in the direction around the optical axis. This makes it possible to further simplify the calibration.

[0046] The attitude determination pattern PTNp according to this embodiment includes at least two light dots or at least one line. This allows for more accurate detection of rotational position deviations in the attitude determination pattern PTNp, and ultimately, posture abnormalities of the image capture device 4. The notification signal NTC is a signal that changes the lighting state of the variable light distribution lamp 2 corresponding to the image capture device 4 that output the notification signal NTC from its lighting state before attitude determination. This makes it possible to notify of posture abnormalities of the image capture device 4 using existing equipment (variable light distribution lamp 2).

[0047] The above describes the embodiments of the present invention in detail. The above-described embodiments merely illustrate specific examples of implementing the present invention. The content of the embodiments does not limit the technical scope of the present invention, and many design modifications, such as changes, additions, and deletions of components, are possible within the scope of the inventive concept defined in the claims. A new embodiment incorporating design modifications will combine the effects of the combined embodiments and modifications. In the above-described embodiments, design modifications that are possible are emphasized by using notations such as "in this embodiment" or "in this embodiment," but design modifications are also permitted even in areas without such notation. Any combination of the above components is also valid as an aspect of the present invention. Hatching in cross sections in the drawings does not limit the materials of the hatched objects.

[0048] The invention according to the above-described embodiment may be specified by the following items: [Item 1] In an image (IMG) captured by an imaging device (4) of a predetermined attitude determination pattern (PTNp) formed by a light distribution variable lamp (2) that irradiates light ahead of a vehicle, the optical axis (O) of the imaging device (4) is ４ ) a position of the attitude determination pattern (PTNp) in the rotational direction deviates from a normal position by a predetermined amount or more; and outputs a notification signal (NTC). [Item 2] The attitude determination device (22) according to Item 1, wherein the attitude determination pattern (PTMp) includes at least two light points (PTNp1, PTNp2) or at least one line. [Item 3] The attitude determination device (22) according to Item 1 or Item 2, wherein the notification signal (NTC) is a signal that changes the lighting state of the variable light distribution lamp (2) corresponding to the imaging device (4) that output the notification signal (NTC) from its lighting state before the attitude determination. [Item 4] A vehicle lighting system (1) comprising: a variable light distribution lamp (2) that irradiates light ahead of the vehicle; an imaging device (4) that images the area ahead of the vehicle; and the attitude determination device (22) according to any one of Items 1 to 3. [Item 5] A posture determination pattern (PTNp) is formed by a variable light distribution lamp (2) that irradiates light in front of a vehicle, the posture determination pattern (PTNp) is captured by an imaging device (4), and in an image (IMG) captured by the imaging device (4), the optical axis (O) of the imaging device (4) is ４ Item 6: A calibration method for calibrating the light irradiation range of an adjustable light distribution lamp (2) that irradiates light ahead of the vehicle and the imaging range of an imaging device (4) that images the area ahead of the vehicle, the calibration method including excluding from the calibration target a pair of the imaging device (4) and the adjustable light distribution lamp (2) for which the notification signal (NTC) was output in the attitude determination method described in Item 5, and performing calibration for the pair of the imaging device (4) and the adjustable light distribution lamp (2) that was the subject of calibration, omitting calibration of the attitude of the imaging device (4) in the direction around the optical axis.

[0049] The present invention can be used in an attitude determination device, a vehicle lighting system, an attitude determination method, and a calibration method.

[0050] REFERENCE SIGNS LIST 1 Vehicle lighting system, 2 Variable light distribution lamp, 4 Imaging device, 6 Calibration device, 22 Attitude determination device, IMG Image, NTC Notification signal, PTNp Attitude determination pattern.

Claims

1. outputting a notification signal when, in an image captured by an imaging device, a predetermined attitude determination pattern formed by a variable light distribution lamp that irradiates light ahead of the vehicle is deviated by a predetermined amount or more from a normal position in a direction around an optical axis of the imaging device; Posture determination device.

2. the posture determination pattern includes at least two light points or at least one line; The posture determination device according to claim 1 .

3. the notification signal is a signal that changes the lighting state of the variable light distribution lamp corresponding to the imaging device from which the notification signal is output, from the lighting state before the attitude determination. The posture determination device according to claim 1 or 2.

4. a variable light distribution lamp that irradiates light in front of the vehicle; an imaging device that captures an image of the area ahead of the vehicle; The posture determination device according to claim 1 or 2, Vehicle lighting system.

5. A variable light distribution lamp that projects light ahead of the vehicle forms a posture determination pattern, capturing an image of the posture determination pattern with an imaging device; outputting a notification signal when a position of the attitude determination pattern in a direction around the optical axis of the imaging device deviates from a normal position by a predetermined amount or more in an image captured by the imaging device. Posture determination method.

6. A method for calibrating a light irradiation range of a variable light distribution lamp that irradiates light ahead of a vehicle and an imaging range of an imaging device that images the area ahead of the vehicle, comprising: the posture determination method according to claim 5, further comprising excluding the combination of the image capture device and the variable light distribution lamp to which the notification signal has been output from a calibration target; performing calibration of a set of the imaging device and the variable light distribution lamp that is the subject of calibration, omitting calibration of the attitude of the imaging device in a direction around the optical axis; Calibration method.