Vehicle periphery monitoring system, and device employed in same

Abstract

The objective of the present disclosure is to provide a vehicle periphery monitoring system capable of monitoring an appropriate range in accordance with the state of a traveling vehicle, and a device used in the same. A vehicle periphery monitoring system (A1) comprises one or more light emitting apparatuses (1), one or more imaging apparatuses (2), and a control apparatus (3). The light emitting apparatuses (1) are provided in a vehicle (8) and emit infrared light to the periphery of the vehicle (8). The imaging apparatuses (2) are provided in the vehicle (8), and capture images of an emission range into which the light emitting apparatuses (1) emit infrared light. The control apparatus (3) controls the light emitting apparatuses (1) and the imaging apparatuses (2). The control apparatus (3) controls the light emitting apparatuses (1) or the imaging apparatuses (2) so as to change at least one of the emission range of the light emitting apparatuses (1) and an imaging range of the imaging apparatuses (2) in accordance with the state of the traveling vehicle (8).

Description

Vehicle Surroundings Monitoring System and Device Used Therein

[0001] The present disclosure relates to a vehicle periphery monitoring system and a device used therein, and more particularly to a vehicle periphery monitoring system that captures images of the periphery of a vehicle to contribute to safe vehicle driving, and a device used therein.

[0002] An example of a conventional infrared camera system is described in Patent Document 1. The infrared camera system described in Patent Document 1 (hereinafter referred to as the conventional example) includes an infrared camera and an infrared irradiation unit mounted on the left and right C-pillars of a vehicle. Even when the vehicle is traveling in a dark environment, the conventional example can detect the surrounding environment to the sides of the vehicle by capturing an image of the reflected infrared light emitted from the infrared irradiation unit with the infrared camera.

[0003] Incidentally, the range of the surrounding environment to be detected differs depending on whether the vehicle is traveling straight ahead or turning right or left or changing lanes on a road with multiple lanes in each direction.

[0004] Special publication No. 2020-116239

[0005] An object of the present disclosure is to provide a vehicle surroundings monitoring system that can monitor an appropriate range depending on the state of a vehicle while it is running, and a device used therein.

[0006] A vehicle periphery monitoring system according to one aspect of the present disclosure includes one or more light-emitting devices, one or more image capturing devices, and a control device. The light-emitting devices are provided on a vehicle and irradiate infrared light around the vehicle. The image capturing device is provided on the vehicle and captures an image of an illumination range illuminated by the light-emitting devices with the infrared light. The control device controls the light-emitting devices and the image capturing device. The control device controls the light-emitting devices to change the illumination range of the light-emitting devices in accordance with the state of the vehicle while it is traveling. Alternatively, the control device controls the image capturing device to change the imaging range of the image capturing device in accordance with the state of the vehicle while it is traveling. Alternatively, the control device controls the light-emitting devices to change the illumination range of the light-emitting devices and controls the image capturing device to change the imaging range of the image capturing device in accordance with the state of the vehicle while it is traveling.

[0007] A device used in a vehicle surroundings monitoring system according to one aspect of the present disclosure includes at least one of the light emitting device, the imaging device, and the control device.

[0008] Fig. 1 is a system configuration diagram of a vehicle periphery monitoring system according to an embodiment of the present disclosure. Fig. 2 is a front view of a vehicle to which the vehicle periphery monitoring system of the same is applied. Fig. 3 is a side view of a vehicle to which the vehicle periphery monitoring system of the same is applied. Fig. 4 is a top view of a vehicle to which the vehicle periphery monitoring system of the same is applied. Fig. 5 is a flowchart for explaining the operation of the vehicle periphery monitoring system of the same. Fig. 6 is a block diagram of a control device in a modified example of the vehicle periphery monitoring system of the same.

[0009] A vehicle periphery monitoring system A1 and devices used therein according to embodiments of the present disclosure will be described in detail below with reference to the drawings. However, the figures described in the following embodiments are schematic diagrams, and the ratios of the sizes and thicknesses of the components do not necessarily reflect the actual dimensional ratios. Note that the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0010] (1) Overview A vehicle periphery monitoring system A1 according to an embodiment includes one or more light emitting devices 1, one or more image capturing devices 2, and a control device 3 (see FIG. 1).

[0011] The light-emitting device 1 is provided on a vehicle 8 and irradiates the surroundings of the vehicle 8 with infrared light. The vehicle 8 is, for example, an automobile such as a passenger car. The automobile may be an automobile powered by an internal combustion engine such as a gasoline engine or a diesel engine, an electric automobile powered by a motor (electric motor), or a hybrid electric automobile equipped with two types of engines, an internal combustion engine and a motor. However, the automobile may also be a hydrogen engine powered automobile.

[0012] The imaging device 2 is provided on the vehicle 8 and captures an image of an irradiation range Q1-Q4 where the light emitting device 1 emits infrared light (see FIG. 4). The imaging device 2 includes an image sensor such as a CCD image sensor or a CMOS image sensor, a lens that focuses the infrared light onto the image sensor, an image generation circuit that generates and outputs an image (image data) from the output of the image sensor, and the like.

[0013] The control device 3 controls the light-emitting device 1 and the imaging device 2. The control device 3 also controls the light-emitting device 1 so as to change the illumination range Q1-Q4 of the light-emitting device 1 in accordance with the state of the traveling vehicle 8. Alternatively, the control device 3 controls the imaging device 2 so as to change the imaging range of the imaging device 2 in accordance with the state of the traveling vehicle 8. Alternatively, the control device 3 controls the light-emitting device 1 so as to change the illumination range Q1-Q4 of the light-emitting device 1, and controls the imaging device 2 so as to change the imaging range of the imaging device 2 in accordance with the state of the traveling vehicle 8.

[0014] Thus, the vehicle periphery monitoring system A1 according to the embodiment can monitor an appropriate range depending on the state of the vehicle 8 while it is running.

[0015] Furthermore, the device according to the embodiment is a device used in the vehicle periphery monitoring system A1 according to the embodiment, and includes at least one of the light emitting device 1, the imaging device 2, and the control device 3. Thus, when used in the vehicle periphery monitoring system A1 according to the embodiment, the device according to the embodiment can monitor an appropriate range depending on the state of the vehicle 8 while it is running.

[0016] (2) Details The vehicle periphery monitoring system A1 according to the embodiment (hereinafter referred to as the vehicle periphery monitoring system A1) is mounted on a vehicle 8 such as an automobile, monitors the periphery of the vehicle 8 while it is moving, and detects obstacles (particularly pedestrians, bicycles, etc.) present around the vehicle 8.

[0017] (2-1) Vehicle The vehicle 8 exemplified in the embodiment is a sedan-type automobile, as shown in Figures 2 to 4. However, the vehicle 8 may be an automobile other than a sedan-type automobile, such as a one-box type automobile, a commercial van-type automobile, or an SUV (Sport Utility Vehicle)-type automobile.

[0018] The vehicle 8 has a body 80. Two doors 81 are attached to each of the left and right sides of the body 80 so as to be able to open and close, and are arranged side by side (see FIG. 3 ). A door mirror 82 is attached to each of the two front doors 81.

[0019] A headlight (headlamp) 83 is provided on each of the left and right ends of the front of the vehicle body 80 (see FIG. 2). The headlight 83 is integrally configured with a cornering lamp (side-illuminating lamp) and a turn signal lamp (direction indicator).

[0020] A rear combination lamp 84 is provided on each of the left and right ends of the rear surface of the vehicle body 80 (see FIG. 3). The rear combination lamp 84 integrally includes a tail lamp, a stop lamp, a turn signal lamp, and a backup lamp.

[0021] The vehicle 8 also includes a plurality of ECUs (Electronic Control Units) (see FIG. 1). Automobiles currently on the market may be equipped with a dozen to a hundred or more ECUs, each with a different control function, such as an ECU for controlling the engine, an ECU for controlling the braking system such as the brakes, an ECU for controlling on-board equipment such as the air conditioner, and an ECU for ADAS (Advanced Driver Assistance Systems).

[0022] Of the multiple ECUs mounted on the vehicle 8 in this embodiment, representative ECUs involved in the operation of the vehicle periphery monitoring system A1 are shown in Figure 1. A first ECU 91 is an ECU for the ADAS. A second ECU 92 is an ECU that controls the prime mover. A third ECU 93 is an ECU that controls the braking system, such as the brakes. A fourth ECU 94 is an ECU that controls the power steering.

[0023] The second ECU 92, which controls the prime mover, adjusts the output (vehicle speed) of the prime mover in response to sensor signals acquired from a vehicle speed sensor, a throttle opening sensor, etc. The third ECU 93, which controls the braking system, activates an emergency brake if information from an on-board radar and / or camera indicates the possibility of a collision with a preceding vehicle or an obstacle. The fourth ECU 94, which controls the power steering, adjusts the steering assist force by driving a power steering solenoid in response to the steering angle detected by a steering angle sensor.

[0024] A first ECU 91 for ADAS communicates data with multiple ECUs, including a second ECU 92, a third ECU 93, and a fourth ECU 94, via an in-vehicle network. CAN (Controller Area Network) is a widely used in-vehicle network. Therefore, the first ECU 91, the second ECU 92, the third ECU 93, and the fourth ECU 94, including the other ECUs, can exchange various data with each other through a signal line called a CAN bus.

[0025] (2-2) Vehicle Surroundings Monitoring System (2-2-1) System Configuration of Vehicle Surroundings Monitoring System The vehicle surroundings monitoring system A1 comprises a plurality of light-emitting devices 1, a plurality of imaging devices 2, and a control device 3 that controls the plurality of light-emitting devices 1 and the plurality of imaging devices 2 (see Figure 1).

[0026] The plurality of light-emitting devices 1 all have the same configuration. Each light-emitting device 1 has an LED (Light Emitting Diode) that emits infrared light and a lens that controls the light distribution of the infrared light emitted from the LED. However, each light-emitting device 1 may have a light-emitting element other than an LED, such as an organic electroluminescence element or a laser diode. Furthermore, each light-emitting device 1 may use a reflector instead of or in addition to a lens to control the light distribution.

[0027] Two of the light-emitting devices 1 are attached to each of the door mirrors 82 so as to emit infrared light from the undersides of the two door mirrors 82 (see FIGS. 2 to 4). The remaining light-emitting devices 1 are attached to other locations on the vehicle body 80, for example, one each on the left and right C-pillars (rear pillars). The four regions indicated by dashed lines in FIG. 4 indicate the irradiation ranges Q1-Q4 of the infrared light emitted from the multiple light-emitting devices 1. However, the light-emitting devices 1 may be attached only to the left and right door mirrors 82. Alternatively, the light-emitting devices 1 may be attached to locations other than those mentioned above, for example, the A-pillars (front pillars), the front and rear bumpers, or the B-pillars.

[0028] All of the multiple imaging devices 2 have the same configuration. Each imaging device 2 includes an image sensor such as a CCD image sensor or a CMOS image sensor, a lens that focuses infrared light onto the image sensor, and an image generation circuit that generates and outputs an image (image data) from the output of the image sensor.

[0029] The multiple image capture devices 2 are attached to the vehicle 8 so that their imaging ranges include the irradiation ranges Q1-Q4 of the infrared light from the multiple light emitting devices 1. That is, the multiple image capture devices 2 are attached, one each to the two door mirrors 82 and the left and right C-pillars (see FIGS. 2-4). Therefore, an image of each irradiation range Q1-Q4 can be obtained from the image capture device 2 paired with each light emitting device 1.

[0030] The control device 3 has hardware including a microcontroller and an LDM (LED Driver Module), and software. The LDM supplies a drive current to each light-emitting device 1. For example, the LDM can adjust the amount of infrared light emitted from the light-emitting device 1 by PWM (Pulse Width Modulation) control of the drive current flowing through the light-emitting device 1. Note that the irradiation range Q1-Q4 of the infrared light emitted from the light-emitting device 1 also expands or contracts depending on the drive current of the light-emitting device 1. The microcontroller has one or more processors and memories, and realizes various functions by having the processor execute software.

[0031] The control device 3 synchronizes the timing of passing a drive current through the light emitting device 1 to emit infrared light with the timing of capturing images of each of the illumination ranges Q1-Q4 by controlling the image capturing device 2. The control device 3 also analyzes the images (image data) acquired from each image capturing device 2 to determine whether there are any obstacles (pedestrians and vehicles including bicycles) around the vehicle 8 (particularly on the left and right sides of the vehicle 8).

[0032] For example, the control device 3 compares images acquired from each imaging device 2 (hereinafter referred to as target images) with templates. The templates are represented by feature points of shapes extracted in advance for each type of obstacle (e.g., pedestrians, vehicles including bicycles, etc.). Note that it is desirable to extract the feature points of shapes for each type of obstacle using machine learning.

[0033] The control device 3 performs image processing of template matching for each type of obstacle on the target image of each imaging device 2. If there is a portion in the target image of any imaging device 2 (for example, the imaging device 2 installed on the left door mirror 82 of the vehicle 8) that matches the template, the control device 3 can determine that an obstacle (for example, a bicycle) is present on the left side of the vehicle 8.

[0034] (2-2-2) Operation of Vehicle Surroundings Monitoring System Next, the operation of the vehicle surroundings monitoring system A1 will be described in detail with reference to the flowchart in Fig. 5. Note that the operation described below is the operation performed while the vehicle 8 is traveling (including while the vehicle is temporarily stopped, such as when waiting at a traffic light).

[0035] The control device 3 inquires of the ECU controlling the headlights 83 via the CAN bus whether the headlights 83 are on or not (step S1). Here, the ECU controlling the headlights 83 turns on the headlights 83 when the ambient illuminance of the vehicle 8 is equal to or lower than a lower limit based on a sensor signal from an illuminance sensor mounted on the vehicle 8. That is, the control device 3 can determine whether the ambient illuminance of the vehicle 8 is equal to or lower than a lower limit based on whether the headlights 83 are on or not (vehicle state information). Note that the vehicle 8 normally turns on the headlights 83 while traveling at night and during the day in a tunnel. However, the control device 3 may determine whether the ambient illuminance of the vehicle 8 is equal to or lower than a lower limit based on the brightness of an image captured by a camera mounted on the vehicle 8 (the amount of light input to the image sensor of the camera) instead of the sensor signal from the illuminance sensor.

[0036] If the headlights 83 are on, the control device 3 causes the LEDs of the light-emitting devices 1 to emit light by supplying a rated current thereto, and causes the imaging devices 2 to capture an image (step S2). Note that the amount of light when the rated drive current is supplied to the LEDs of the light-emitting devices 1 is set to 100% (rated).

[0037] Next, the control device 3 inquires of the ECU that controls the turn signal lamps (direction indicators) via the CAN bus about whether or not either the left or right direction indicator is on (flashing) (vehicle state information) (step S3). Here, the ECU that controls the direction indicators lights up (flashes) either the left or right direction indicator depending on the state of the turn signal switch (so-called blinker lever) operated by the driver. In other words, the control device 3 can predict the next action (right turn, left turn, lane change to the right, lane change to the left, etc.) that the driver of the vehicle 8 is about to take based on whether either the left or right direction indicator is on (flashing).

[0038] When any of the direction indicators is lit (flashing), the control device 3 inquires, via the CAN bus, of the fourth ECU 94 that controls the power steering, about the steering angle (vehicle state information) detected by the steering angle sensor. The fourth ECU 94 replies to the control device 3 via the CAN bus with data on the detected value (operation angle) of the steering angle sensor at the time of receiving the inquiry.

[0039] The control device 3 calculates the steering angle (also referred to as the rudder angle) of the vehicle 8 from the detection value data (steering operation angle) received from the fourth ECU 94 and compares the steering angle with a threshold value (step S4). The steering angle (steering angle) represents the turning angle of the front wheels (steered wheels) of the vehicle 8 (the angle of the axle when the angle when the vehicle 8 is traveling straight is set to zero). For example, when the vehicle 8 turns right or left, the steering angle is considered to be greater than approximately 45 degrees. On the other hand, when the vehicle 8 changes lanes on an ordinary road or merges into a lane from the shoulder, the steering angle is considered to be approximately 31 degrees to 45 degrees. Furthermore, when the vehicle 8 changes lanes while traveling on an expressway or a motorway, the steering angle is considered to be approximately 30 degrees or less. That is, the control device 3 can estimate that the vehicle 8 is turning right or left if the steering angle is equal to or greater than the threshold value (45 degrees), and can estimate that the vehicle 8 is changing lanes or merging into lanes if the steering angle is less than the threshold value. However, the above-mentioned threshold values ​​for the steering angle are merely examples, and the present invention is not limited to these.

[0040] When the steering angle is equal to or greater than the threshold value (when the vehicle 8 is turning right or left), the control device 3 increases the light intensity of the light-emitting device 1 by 50% from the rated value and causes the image capture device 2 to capture an image (step S5). Note that the control device 3 can increase the light intensity by 50% by increasing the drive current flowing through the light-emitting device 1 to 150% of the rated value. In other words, by increasing the light intensity of the light-emitting device 1, the control device 3 expands the irradiation range Q1-Q4 of the infrared light and effectively expands the image capture range of the image capture device 2. However, the control device 3 may expand the image capture range by increasing the image capture sensitivity (the amplification degree of the amplifier that amplifies the output of the image sensor) of the image capture device 2 in addition to or instead of increasing the light intensity of the light-emitting device 1.

[0041] When the control device 3 analyzes the image captured by the imaging device 2 and detects a pedestrian, a bicycle, or the like, it notifies the first ECU 91 of this information. The first ECU 91 estimates the risk of contact between the pedestrian, the vehicle, or the like and the vehicle 8 based on the information received from the control device 3 (vehicle periphery monitoring system A1). When the first ECU 91 determines that the risk of contact is high, it assists the driver in taking action (avoidance operation) to avoid contact with the pedestrian, the like. For example, the first ECU 91 instructs the second ECU 92 to reduce the output of the engine to slow down the vehicle speed. Furthermore, the first ECU 91 may instruct the third ECU 93 to apply the brakes to stop the vehicle 8.

[0042] On the other hand, if the steering angle is less than the threshold value (e.g., if the vehicle 8 is changing lanes), the control device 3 increases the light output of the light-emitting device 1 by 30% from the rated value and causes the image capture device 2 to capture an image (step S6). In other words, by increasing the light output of the light-emitting device 1, the control device 3 expands the infrared light irradiation range Q1-Q4 and effectively expands the image capture range of the image capture device 2. The control device 3 then analyzes the image captured by the image capture device 2, and if it detects a following vehicle (such as an automobile, motorcycle, or moped) traveling in the lane to which the vehicle 8 is to be changed, it notifies the first ECU 91 of this information. The first ECU 91 estimates the risk of contact, etc. between the following vehicle and the vehicle 8 (contact or causing the following vehicle to take action (avoidance action) to avoid contact), based on the information received from the control device 3 (vehicle periphery monitoring system A1). If the first ECU 91 determines that there is a high risk of contact, etc., it assists the driver in taking action (avoidance action) to avoid contact, etc. with the following vehicle. For example, the first ECU 91 may instruct the second ECU 92 to increase the output of the prime mover to increase the vehicle speed, or the first ECU 91 may instruct the fourth ECU 94 to limit the steering operation to delay the timing of lane changes.

[0043] Furthermore, if none of the direction indicators are lit (flashing), the control device 3 compares the vehicle speed of the vehicle 8 with a threshold value (step S7). Here, the legal speed limits on expressways and motorways are typically 80 km / h to 100 km / h, and the legal speed limits on ordinary roads are typically 30 km / h to 60 km / h. Therefore, the control device 3 sets the threshold value to 70 km / h, and when the vehicle speed is equal to or greater than the threshold value, the control device 3 presumes that the vehicle is traveling on an expressway or motorway, and when the vehicle speed is less than the threshold value, the control device 3 presumes that the vehicle is traveling on an ordinary road. However, the above-mentioned vehicle speed threshold values ​​are merely examples, and are not intended to be limiting.

[0044] When the vehicle speed of the vehicle 8 is below the threshold (when the vehicle 8 is traveling on a public road), the control device 3 maintains the rated light output of the light-emitting device 1 and causes the image capture device 2 to capture an image (step S2). The control device 3 then analyzes the image captured by the image capture device 2 and notifies the first ECU 91 of the detection results for obstacles (other vehicles, pedestrians, etc.) present around the vehicle 8. The first ECU 91 estimates the risk of contact with the obstacle based on the information received from the control device 3 (vehicle periphery monitoring system A1). When the first ECU 91 determines that there is a high risk of contact with the obstacle, it assists the driver in taking an action (avoidance operation) to avoid contact with the obstacle. For example, the first ECU 91 instructs the second ECU 92 to reduce the output of the engine to reduce the vehicle speed. Furthermore, the first ECU 91 may instruct the third ECU 93 to apply the brakes to stop the vehicle 8.

[0045] On the other hand, if the vehicle speed of the vehicle 8 is above the threshold (if the vehicle 8 is traveling on a highway or a motorway), the control device 3 increases the light output of the light-emitting device 1 by 50% from the rated value and causes the image capture device 2 to capture an image (step S5). In other words, by increasing the light output of the light-emitting device 1, the control device 3 expands the infrared light irradiation range Q1-Q4 and effectively expands the image capture range of the image capture device 2. If the control device 3 analyzes the image captured by the image capture device 2 and detects an obstacle, it notifies the first ECU 91 of this information. The first ECU 91 estimates the risk of the obstacle based on the information received from the control device 3 (vehicle periphery monitoring system A1). If the first ECU 91 determines that the risk of the obstacle is high, it assists the driver in taking action to reduce the risk of the obstacle. For example, the first ECU 91 instructs the second ECU 92 to reduce the output of the engine to reduce the vehicle speed.

[0046] (2-3) Advantages of the Vehicle Surroundings Monitoring System As described above, the vehicle periphery monitoring system A1 can monitor an appropriate range by expanding or reducing the illumination ranges Q1-Q4 of each light-emitting device 1 and the imaging range of each imaging device 2 according to the state of the traveling vehicle 8 (vehicle speed, right turn, left turn, lane change, etc.). As a result, by expanding the range that can be monitored around the vehicle 8, the vehicle periphery monitoring system A1 can avoid hitting pedestrians or cyclists, for example, when turning right or left.

[0047] In the embodiment, the vehicle 8 equipped with the vehicle periphery monitoring system A1 is assumed to be an automobile with driving automation level 1 or 2, but the vehicle periphery monitoring system A1 may also be equipped in a vehicle 8 with driving automation level 3 or higher.

[0048] Furthermore, in the vehicle periphery monitoring system A1, the control device 3 acquires vehicle state information regarding the state of the vehicle 8 from an electronic device mounted on the vehicle 8, and controls at least one of the light-emitting device 1 and the image capturing device 2 according to the acquired vehicle state information. For example, the control device 3 acquires the steering angle (vehicle state information) detected by a steering angle sensor (corresponding to an electronic device) or the illumination status of the turn signals, and changes (expands) the illumination range Q1-Q4 of the light-emitting device 1 and the imaging range of the image capturing device 2 according to the acquired steering angle or the illumination status of the turn signals. As a result, the vehicle periphery monitoring system A1 can adjust the illumination range Q1-Q4 of the light-emitting device 1 and the imaging range of the image capturing device 2 to appropriate ranges according to the state of the vehicle 8, and can monitor an even more appropriate range.

[0049] Furthermore, the vehicle periphery monitoring system A1 detects the driving behavior (steering angle) of the driver of the vehicle 8 using an electronic device (steering angle sensor), and causes the detected driving behavior (steering angle) to be acquired as vehicle state information by the control device 3. As a result, the vehicle periphery monitoring system A1 can adjust the illumination range Q1-Q4 of the light-emitting device 1 and the imaging range of the imaging device 2 to appropriate ranges according to the state of the vehicle 8 in response to the driving behavior of the driver of the vehicle 8, and can monitor an even more appropriate range.

[0050] (3) Modification of the vehicle periphery monitoring system according to the embodiment Next, a modification of the vehicle periphery monitoring system A1 will be described. The vehicle periphery monitoring system A1 of the modification is characterized by the control device 3, and the configuration other than the control device 3 is common to the vehicle periphery monitoring system A1 according to the embodiment. Therefore, the same reference numerals are used for the configuration common to the vehicle periphery monitoring system A1 according to the embodiment, and illustrations and descriptions thereof will be omitted as appropriate.

[0051] The control device 3 in the modified example includes a drive circuit 31 that drives the light-emitting device 1, and an ECU 30 that controls the drive circuit 31 and the imaging device 2 and executes a variety of processes, including image analysis (see FIG. 6 ). That is, the control device 3 in the modified example configures the drive circuit 31 and the ECU 30 as a single device, thereby reducing manufacturing costs and simplifying the system configuration. Note that the ECU 30 of the control device 3 in the modified example may also serve as at least one of the first ECU 91, second ECU 92, third ECU 93, and fourth ECU 94 mounted on the vehicle 8.

[0052] (4) Summary A vehicle periphery monitoring system (A1) according to a first aspect of the present disclosure includes one or more light-emitting devices (1), one or more image capturing devices (2), and a control device (3). The light-emitting device (1) is provided on a vehicle (8) and irradiates the periphery of the vehicle (8) with infrared light. The image capturing device (2) is provided on the vehicle (8) and captures an image of an irradiation range (Q1-Q4) in which the light-emitting device (1) irradiates the infrared light. The control device (3) controls the light-emitting device (1) and the image capturing device (2). The control device (3) controls the light-emitting device (1) to change the irradiation range (Q1-Q4) of the light-emitting device (1) in accordance with the state of the vehicle (8) while the vehicle is traveling. Alternatively, the control device (3) controls the image capturing device (2) to change the imaging range of the image capturing device (2) in accordance with the state of the vehicle (8) while the vehicle is traveling. Alternatively, the control device (3) controls the light emitting device to change the illumination range of the light emitting device and controls the imaging device to change the imaging range of the imaging device depending on the state of the vehicle (8) while it is running.

[0053] The vehicle periphery monitoring system (A1) according to the first aspect can monitor an appropriate range by changing at least one of the illumination range (Q1-Q4) of the light emitting device (1) and the imaging range of the imaging device (2) according to the state of the vehicle (8) while it is moving (vehicle speed, right turn, left turn, lane change, etc.).

[0054] A vehicle periphery monitoring system (A1) according to a second aspect of the present disclosure can be realized in combination with the first aspect. In the vehicle periphery monitoring system (A1) according to the second aspect, it is preferable that the control device (3) acquires vehicle state information relating to the state of the vehicle (8) from an electronic device mounted on the vehicle (8), and controls at least one of the light emitting device (1) and the imaging device (2) according to the acquired vehicle state information.

[0055] The vehicle surroundings monitoring system (A1) according to the second aspect can monitor a more appropriate range.

[0056] A vehicle periphery monitoring system (A1) according to a third aspect of the present disclosure can be realized in combination with the second aspect. In the vehicle periphery monitoring system (A1) according to the third aspect, it is preferable that the electronic device detects driving behavior by a driver of the vehicle (8). It is preferable that the control device (3) acquires the driving behavior detected by the electronic device as vehicle state information.

[0057] The vehicle surroundings monitoring system (A1) according to the third aspect can monitor a more appropriate range.

[0058] A vehicle periphery monitoring system (A1) according to a fourth aspect of the present disclosure can be realized in combination with the third aspect. In the vehicle periphery monitoring system (A1) according to the fourth aspect, the electronic device preferably detects at least one of a steering angle of the vehicle (8) and illumination of a turn signal. The control device (3) preferably controls at least one of the light-emitting device (1) and the imaging device (2) according to the detection result of the electronic device.

[0059] The vehicle surroundings monitoring system (A1) according to the fourth aspect can monitor an even more appropriate range by changing at least one of the illumination range (Q1-Q4) and the imaging range depending on whether the vehicle (8) turns right, left, or changes lanes.

[0060] A vehicle periphery monitoring system (A1) according to a fifth aspect of the present disclosure can be realized by combining it with any of aspects 1 to 4. In the vehicle periphery monitoring system (A1) according to the fifth aspect, it is preferable that the control device (3) changes the illumination range (Q1-Q4) by adjusting a drive current that drives the light-emitting device (1).

[0061] The vehicle periphery monitoring system (A1) according to the fifth aspect can easily change the illumination range (Q1-Q4) of the light emitting device (1) by causing the control device (3) to adjust the drive current.

[0062] A vehicle periphery monitoring system (A1) according to a sixth aspect of the present disclosure can be realized by combining it with any of aspects 1 to 5. In the vehicle periphery monitoring system (A1) according to the sixth aspect, it is preferable that the control device (3) changes the imaging range by adjusting the imaging sensitivity of the imaging device (2).

[0063] The vehicle periphery monitoring system (A1) according to the sixth aspect can easily change the illumination range (Q1-Q4) of the light emitting device (1) by causing the control device (3) to adjust the imaging sensitivity.

[0064] A vehicle periphery monitoring system (A1) according to a seventh aspect of the present disclosure can be realized by combining it with any one of aspects 1 to 6. In the vehicle periphery monitoring system (A1) according to the seventh aspect, it is preferable that the control device (3) has a drive circuit (31) that drives the light-emitting device (1) and an ECU (30) that executes multiple types of processing including control of the drive circuit (31) and the imaging device (2).

[0065] The vehicle periphery monitoring system (A1) according to the seventh aspect can reduce manufacturing costs and simplify the system configuration by configuring the drive circuit (31) and the ECU (30) as a single device.

[0066] A vehicle periphery monitoring system (A1) according to an eighth aspect of the present disclosure can be realized by combining with any one of aspects 1 to 7. In the vehicle periphery monitoring system (A1) according to the eighth aspect, it is preferable that the control device (3) analyzes an image of the illumination range (Q1-Q4) captured by the imaging device (2) to determine whether or not an avoidance operation is necessary, and notifies the vehicle (8) of the execution of driving assistance for the driver of the vehicle (8) when it determines that an avoidance operation is necessary.

[0067] The vehicle surroundings monitoring system (A1) according to the eighth aspect can improve the safety of the vehicle (8).

[0068] A device according to a ninth aspect of the present disclosure is used in the vehicle periphery monitoring system (A1) according to any one of the first to eighth aspects. The device according to the ninth aspect includes at least one of a light emitting device (1), an imaging device (2), and a control device (3).

[0069] The device according to the ninth aspect can monitor an appropriate range depending on the state of the vehicle while it is running by being used in the vehicle surroundings monitoring system (A1) according to any one of the first to eighth aspects.

[0070] A1 Vehicle Surroundings Monitoring System 1 Light Emitting Device 2 Imaging Device 3 Control Device 8 Vehicle 30 ECU 31 Drive Circuit Q1-Q4 Illumination Range

Claims

1. A vehicle surroundings monitoring system comprising: one or more light-emitting devices mounted on a vehicle for irradiating infrared light around the vehicle; one or more image capturing devices mounted on the vehicle for capturing an image of an illumination range into which the light-emitting devices irradiate the infrared light; and a control device for controlling the light-emitting devices and the image capturing devices, wherein the control device controls the light-emitting devices to change the illumination range of the light-emitting devices in accordance with the state of the vehicle while traveling, or the control device controls the image capturing device to change the imaging range of the image capturing device in accordance with the state of the vehicle while traveling, or the control device controls the light-emitting devices to change the illumination range of the light-emitting devices and controls the image capturing device to change the imaging range of the image capturing device in accordance with the state of the vehicle while traveling.

2. The vehicle surroundings monitoring system according to claim 1, wherein the control device acquires vehicle status information relating to the status of the vehicle from an electronic device mounted on the vehicle, and controls at least one of the light emitting device and the imaging device in accordance with the acquired vehicle status information.

3. The vehicle surroundings monitoring system according to claim 2, wherein the electronic device detects driving behavior by a driver of the vehicle, and the control device acquires the driving behavior detected by the electronic device as the vehicle state information.

4. A vehicle surroundings monitoring system as described in claim 3, wherein the electronic device detects at least one of the steering angle of the vehicle and the illumination of a direction indicator, and the control device controls at least one of the light emitting device and the imaging device according to the detection result of the electronic device.

5. A vehicle surroundings monitoring system according to any one of claims 1 to 4, wherein the control device changes the illumination range by adjusting a drive current that drives the light emitting device.

6. The vehicle surroundings monitoring system according to any one of claims 1 to 5, wherein the control device changes the imaging range by adjusting the imaging sensitivity of the imaging device.

7. A vehicle surroundings monitoring system as claimed in any one of claims 1 to 6, wherein the control device comprises: a drive circuit that drives the light emitting device; and an ECU that executes multiple types of processing including control of the drive circuit and the imaging device.

8. A vehicle surroundings monitoring system as described in any one of claims 1 to 7, wherein the control device analyzes images of the illumination range captured by the imaging device to determine whether or not an avoidance operation is required, and when it determines that the avoidance operation is required, notifies the vehicle to perform driving assistance for the driver of the vehicle.

9. A device used in the vehicle surroundings monitoring system according to any one of claims 1 to 8, comprising at least one of the light emitting device, the imaging device and the control device.

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