Control device, vehicle lamp system, and non-transitory computer-readable medium

Abstract

A control device (100) controls a vehicle lamp capable of emitting a light distribution pattern in an area in front of a vehicle. The control device (100) includes a control unit that controls the emission of the light distribution pattern. The control unit controls the driving of the vehicle lamp such that the light distribution pattern determined by the content of a road sign mark included in a captured image obtained by capturing an image of an area in front of the vehicle is emitted.

Description

Control device, vehicle lighting system and non-transitory computer-readable medium

[0001] The present disclosure relates to a vehicle lamp, a vehicle lamp system, and a non-transitory computer-readable medium having a program stored thereon.

[0002] Vehicles equipped with cameras that capture images of the area ahead of the vehicle have been proposed. Devices that use camera images to recognize road signs have also been developed. For example, Patent Document 1 discloses a road sign recognition device for a vehicle that determines whether or not a road sign is present in an image captured by the camera, calculates the position of the road sign if it is determined that a road sign is present, and controls the illumination direction of a vehicle lighting device so that illumination light is directed toward the calculated position of the road sign. This device makes it easier for the driver to see road signs.

[0003] Furthermore, a vehicle lamp has been devised that can warn pedestrians and other vehicles in the blind spot of a corner when the vehicle is entering the corner where a blind spot is created. For example, a vehicle lamp disclosed in Patent Document 2 includes a variable light distribution lamp unit, an object detection signal acquisition unit that acquires an object detection signal around the vehicle, and a variable light distribution control unit that adjusts the illumination area and illumination amount of the variable light distribution lamp unit based on the acquired object detection signal. The variable light distribution lamp unit is configured to illuminate a detected convex mirror around the vehicle based on the object detection signal of the convex mirror. This allows the reflected light for intrusion warning to be illuminated over a wider area of ​​the blind spot.

[0004] Japanese Patent Application Publication No. 2020-121615 International Publication No. 2023 / 054054

[0005] However, the road sign recognition device disclosed in Patent Document 1 can improve the visibility of road signs for drivers. However, in order to understand the sign content and to provide appropriate light distribution according to the vehicle driving environment, the driver must manually switch the light distribution of the vehicle lamp. In this case, the timing for switching the light distribution may be delayed or the switching operation may be complicated, so there is room for further improvement in terms of improving convenience for drivers.

[0006] A first object of the present disclosure is to provide a new technology that realizes appropriate light distribution control according to the driving environment.

[0007] Furthermore, in order for the vehicle lamp disclosed in Patent Document 2 to alert pedestrians and the like in the blind spot of a corner to the presence of the vehicle, it is necessary for there to be a convex mirror at the corner. In other words, this technology is difficult to use at corners where there are no convex mirrors or at intersections with poor visibility.

[0008] A second object of the present disclosure is to provide a technology that makes it easier for pedestrians to recognize the presence of a vehicle at intersections with poor visibility.

[0009] In order to solve the above problem, a control device according to one aspect of the present disclosure is a control device for controlling a vehicle lamp capable of irradiating a light distribution pattern ahead of the vehicle, and includes a control unit that controls the irradiation of the light distribution pattern. The control unit controls the driving of the vehicle lamp so that the light distribution pattern is determined based on the content of a road sign mark included in an image captured of the area ahead of the vehicle.

[0010] According to this aspect, it is possible to realize a control device capable of controlling the irradiation of an appropriate light distribution pattern according to the road conditions ahead of the vehicle that are estimated from the contents of the markings on the road signs.

[0011] Another aspect of the present disclosure is a vehicle lighting system including a vehicle lamp capable of irradiating a light distribution pattern ahead of the vehicle and a control unit that controls the irradiation of the light distribution pattern, the control unit controlling the driving of the vehicle lamp so as to irradiate a light distribution pattern determined by the content of a road sign mark included in an image captured of the area ahead of the vehicle.

[0012] According to this aspect, it is possible to emit a light distribution pattern appropriate for the road conditions ahead of the vehicle, which are estimated from the content of the markings on the road sign.

[0013] Yet another aspect of the present disclosure is a non-transitory computer-readable medium having a program stored thereon. When the program is executed, a control unit controls the illumination of a light distribution pattern formed by the vehicle lamp ahead of the vehicle. When the program is executed, the control unit controls the driving of the vehicle lamp so as to illuminate a light distribution pattern determined by the content of a road sign mark included in a captured image of the area ahead of the vehicle.

[0014] According to this aspect, the control unit that controls the driving of the vehicle lighting fixture can be made to emit an appropriate light distribution pattern according to the road conditions ahead of the vehicle that are inferred from the content of the markings on the road sign.

[0015] Any combination of the above components, or conversion of the expressions of the present disclosure into methods such as manufacturing methods and control methods, devices such as lighting fixtures, lighting, and control devices, light-emitting modules, light sources, programs, computer-readable recording media, etc., are also valid aspects of the present disclosure.

[0016] In order to solve the above problems, a control device according to another aspect of the present disclosure is a control device for controlling a vehicle lamp capable of illuminating a road surface drawing pattern ahead of the vehicle, and includes a control unit for controlling the illumination of the road surface drawing pattern. The control unit receives information indicating road conditions ahead of the vehicle, determines whether the road conditions are poor in visibility, determines a road surface drawing pattern, and, if it determines that visibility is poor, controls the drive of the vehicle lamp so that a second road surface drawing pattern is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions.

[0017] According to this aspect, when it is determined that the road conditions are poorly visible, the second road surface drawing pattern is projected over a long distance, making it easier for pedestrians to notice the vehicle even at intersections with poor visibility.

[0018] Another aspect of the present disclosure is a control device. The control device controls a vehicle lamp capable of illuminating a road surface drawing pattern ahead of the vehicle, and includes a control unit that controls the illumination of the road surface drawing pattern. When the control unit receives information indicating a first road condition ahead of the vehicle, it outputs first instruction information that causes the vehicle lamp to illuminate the first road surface drawing pattern. When the control unit receives information indicating a second road condition that is worse than the first road condition, it outputs second instruction information that causes the vehicle lamp to illuminate a second road surface drawing pattern that is illuminated over a longer distance than the first road surface drawing pattern.

[0019] According to this aspect, when the control unit receives a second road condition with worse visibility than the first road condition, the second road surface drawing pattern that is projected over a long distance is projected, making it easier for pedestrians to notice the vehicle even at intersections with poor visibility.

[0020] Yet another aspect of the present disclosure is a vehicle lighting system. The vehicle lighting system includes a vehicle lamp capable of illuminating a road surface drawing pattern ahead of the vehicle, and a control unit that controls driving of the vehicle lamp so that the road surface drawing pattern is illuminated. The control unit receives information indicating road conditions ahead of the vehicle, determines the poor visibility of the road conditions, and determines the road surface drawing pattern. If the control unit determines that visibility is poor, it controls driving of the vehicle lamp so that a second road surface drawing pattern is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions.

[0021] According to this aspect, when it is determined that the road conditions are poorly visible, the second road surface drawing pattern is projected over a long distance, making it easier for pedestrians to notice the vehicle even at intersections with poor visibility.

[0022] Yet another aspect of the present disclosure is a non-transitory computer-readable medium storing a program. When the program is executed, a control unit controls illumination of a road surface drawing pattern that the vehicle lamp can illuminate ahead of the vehicle. When the program is executed, the control unit receives information indicating road conditions ahead of the vehicle and determines whether the road conditions are poor. The control unit determines a road surface drawing pattern, and, if it determines that visibility is poor, controls the vehicle lamp to illuminate a second road surface drawing pattern that is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions.

[0023] According to this aspect, when it is determined that the road conditions are poorly visible, the control unit can be caused to control the driving of the vehicle lighting fixture so that the second road surface drawing pattern is projected over a long distance.

[0024] Any combination of the above components, or conversion of the expressions of the present disclosure into methods such as manufacturing methods and control methods, devices such as lighting fixtures, lighting, and control devices, light-emitting modules, light sources, programs, non-transitory computer-readable media, etc., are also valid aspects of the present disclosure.

[0025] According to the present disclosure, it is possible to realize appropriate light distribution control according to the driving environment.

[0026] Furthermore, according to the present disclosure, it is possible to make it easier for pedestrians to recognize the presence of the vehicle at intersections with poor visibility.

[0027] FIG. 1 is a block diagram of a vehicle lighting system according to a first embodiment. FIG. 2 is a diagram schematically illustrating an example of a first light distribution pattern formed by the vehicle lighting system. FIG. 3A is a diagram illustrating an example of a warning sign. FIG. 3B is a diagram illustrating an example of a warning sign. FIG. 3C is a diagram illustrating an example of a warning sign. FIG. 3D is a diagram illustrating an example of a warning sign. FIG. 4 is a diagram illustrating an example of a captured image including road conditions ahead of a vehicle. FIG. 5 is a diagram illustrating an example of a captured image including road conditions ahead of a vehicle. FIG. 6 is a block diagram of a vehicle lighting system according to a second embodiment. FIG. 7 is a schematic diagram illustrating a T-junction with poor visibility. FIG. 8A is a diagram illustrating an example of a road sign indicating poor visibility. FIG. 8B is a diagram illustrating an example of a road sign indicating poor visibility. FIG. 8C is a diagram illustrating an example of a road sign indicating poor visibility. FIG. 8D is a diagram illustrating an example of a road sign indicating poor visibility. FIG. 8E is a diagram illustrating an example of a road sign indicating poor visibility. FIG. 8F is a diagram illustrating an example of a road sign indicating poor visibility. Fig. 9A is a schematic diagram showing an example in which a road surface drawing pattern is projected in the direction in which the host vehicle is turning. Fig. 9B is a schematic diagram showing another example in which a road surface drawing pattern is projected in the direction in which the host vehicle is turning. Fig. 9C is a schematic diagram showing an example in which a road surface drawing pattern is projected in front of the host vehicle. Fig. 10 is a diagram showing an example of a captured image including road conditions ahead of the vehicle. Fig. 11 is a schematic diagram showing a vehicle parked between houses facing the road. Fig. 12 is a diagram showing an example of a captured image including road conditions ahead of the vehicle.

[0028] The present disclosure will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, parts, and processes shown in each drawing are designated by the same reference numerals, and redundant descriptions will be omitted where appropriate. Furthermore, 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.

[0029] (First embodiment) A vehicle lamp according to the first embodiment is a vehicle headlamp disposed in front of a vehicle, and constitutes a vehicle lamp system by being appropriately combined with various control units, sensors, etc. First, a schematic configuration of the vehicle lamp system according to the first embodiment will be described. Fig. 1 is a block diagram of the vehicle lamp system according to the first embodiment.

[0030] The vehicle lighting system 10 includes a camera unit 12 compatible with ADAS (Advanced Driver-Assistance Systems), a center ECU 14, and a lamp switch 20. The camera unit 12 includes a front camera 22 that captures images of the area ahead of the vehicle, and a camera ECU 24 that detects objects such as signs and vehicles in front of the vehicle based on information from images captured by the front camera 22. The center ECU 14 includes a processor (computing unit) 14a that executes programs required for various controls, and a memory (storage medium) 14b that stores the programs. Although the camera unit 12 and center ECU 14 according to the first embodiment are provided on the vehicle body, the camera unit 12 and center ECU 14 may be provided anywhere in the vehicle.

[0031] Furthermore, the vehicle lighting system 10 includes a lamp ECU 26, a low beam lamp 28 and a high beam lamp 30 whose light distribution is controlled by the lamp ECU 26, a high-definition ADB (Adaptive Driving Beam) controller 32, and a high-definition ADB LED unit 34 controlled by the controller 32. The lamp ECU 26 includes a processor 26a that executes programs required for various controls and a memory 26b that stores the programs. The lamp ECU 26 and the controller 32 according to the first embodiment are provided in any of the low beam lamp 28, the high beam lamp 30, or the LED unit 34, which are vehicle lighting fixtures.

[0032] Fig. 2 is a diagram schematically illustrating an example of a first light distribution pattern formed by the vehicle lighting system. The first light distribution pattern P1 shown in Fig. 2 is a pattern in which a low-beam light distribution pattern PL formed by the low-beam lamps 28, a high-beam light distribution pattern PH formed by the high-beam lamps 30, and an ADB light distribution pattern PHL formed by the LED unit 34 are superimposed. At night, the vehicle travels while the lamps provided in the vehicle lighting system 10 illuminate the area ahead of the vehicle with the first light distribution pattern P1 shown in Fig. 2.

[0033] The light source and optical members of the low beam lamp 28 are appropriately selected to illuminate a region near the vehicle below the H-H line. The light source and optical members of the high beam lamp 30 are appropriately selected to illuminate a distant region above the H-H line. The high beam lamp 30 has eight LEDs aligned in one direction, and by controlling the on / off of each LED, a light distribution pattern can be formed in which a portion of the high beam light distribution pattern PH is blocked or dimmed.

[0034] The LED unit 34 has light sources and optical members appropriately selected to illuminate an area centered on the intersection of the H-H line and the V line. The LED unit 34 is a vehicle lamp capable of illuminating the area ahead of the vehicle with light emitted from the LED unit 34. The ADB light distribution pattern PHL is a light distribution pattern that overlaps both the low-beam light distribution pattern PL and the high-beam light distribution pattern PH, centered on the intersection of the H-H line and the V line. The LED unit 34 is also configured to individually control the drive current of each LED, enabling the drive current of some LEDs to be zero or reduced. This allows some pixels in the matrix that constitute the ADB light distribution pattern PHL to be shielded or dimmed. As a result, the LED unit 34 is configured to minimize the shielded area when preventing glare on vehicles and pedestrians within the range of the ADB light distribution pattern PHL, while maintaining visibility in other areas.

[0035] The LED unit 34 has a light source in which 64 LEDs 34a (light-emitting areas) are arranged in a matrix, with 256 LEDs in each row. The driving of each LED 34a is individually controlled based on instructions from the controller 32. The LED unit 34 may be configured such that 20 or more light-emitting elements are arranged along the short side of a rectangle and 100 or more light-emitting elements are arranged along the long side. Furthermore, other than LEDs, organic EL elements, liquid crystal shutters, MEMS mirrors, and the like can also be used as light sources as long as they can individually turn on and off the matrix-shaped light-emitting areas.

[0036] The controller 32 is configured to be able to form multiple light distribution patterns with different brightnesses in partial regions by changing the illumination state of some of the multiple light-emitting regions. In other words, the controller 32 controls the vehicle lamp to illuminate a selected light distribution pattern by controlling the amount of light emitted from each of the multiple light-emitting regions. This allows a variety of light distribution patterns to be formed with a single LED unit 34. Furthermore, even if there are multiple partial regions where reflective objects exist, the controller 32 can form a light distribution pattern in which the brightness of each partial region is adjusted.

[0037] As shown in FIG. 1 , the control device 100 according to the first embodiment may include a center ECU 14, a camera ECU 24, and a lamp ECU 26. If the center ECU 14 alone can realize the desired function, the center ECU 14 alone can serve as the control device 100. In that case, the processor 14a corresponds to the control unit. If the lamp ECU 26 alone can realize the desired function, the lamp ECU 26 alone can serve as the control device 100. In that case, the processor 26a corresponds to the control unit. Note that there are no particular limitations on the combination of parts that constitute the control device and control unit according to the first embodiment.

[0038] The control device 100 controls vehicle lighting fixtures (low beam lamps 28, high beam lamps 30, and LED units 34) that can project a light distribution pattern ahead of the vehicle. In more detail, when the processor 26a receives instruction information X1 for the light distribution pattern determined by the processor 14a, the processor 26a outputs control signals (supply voltage and image data) corresponding to the instruction information X1 to each lamp and controller.

[0039] Meanwhile, the center ECU 14, which receives image information X2 of the area ahead of the vehicle captured by the camera unit 12, has a discrimination unit 15a and a determination unit 15b. The discrimination unit 15a determines the content of the road sign mark included in the image information X2. The determination unit 15b determines a predetermined light distribution pattern according to the content of the determined road sign mark, and transmits the aforementioned instruction information X1. This allows the control device 100 to control the drive of each lamp so that a desired light distribution pattern is emitted according to the content of the road sign mark present ahead of the vehicle. In other words, the control device 100 can control the emission of an appropriate light distribution pattern according to the road conditions ahead of the vehicle, which are inferred from the content of the road sign mark present ahead of the vehicle.

[0040] Road signs that allow the driver to infer road conditions ahead of the vehicle are, for example, warning signs. Warning signs are signs that notify the driver in advance of road dangers and things to be careful of. FIGS. 3A to 3D are diagrams showing examples of warning signs. The warning sign mark shown in FIG. 3A indicates that "animals may jump out into the road," the warning sign mark shown in FIG. 3B indicates that "road construction is underway," the warning sign mark shown in FIG. 3C indicates that "schools, kindergartens, daycare centers, etc. are nearby," and the warning sign mark shown in FIG. 3D indicates that "road surface is uneven." There are also warning signs that depict various types of marks, such as the shape of intersections and roads, and the road conditions ahead of the vehicle can be inferred in advance from each warning sign.

[0041] Fig. 4 is a diagram showing an example of a captured image including road conditions ahead of a vehicle. A road sign 36 shown in Fig. 4 has a mark depicting the warning that an animal may jump out, as shown in Fig. 3A.

[0042] The discrimination unit 15a of the control device 100 according to the first embodiment discriminates the content of the mark on the road sign 36 based on the captured image. Then, the determination unit 15b determines an appropriate light distribution pattern from the content of the discriminated mark on the road sign 36, and transmits instruction information X1 to the lamp ECU 26. In the situation shown in Fig. 4 , the discrimination unit 15a discriminates that the road sign 36 is a warning sign that alerts the driver to the risk of an object jumping out onto the road from the road shoulder.

[0043] Upon receiving the instruction information X1, the lamp ECU 26 controls the operation of the vehicle lamp so as to emit a road shoulder light distribution pattern P2, which has a wider range of illumination toward the road shoulder R1 than the low beam light distribution pattern PL or the high beam light distribution pattern PH. Specifically, the lamp ECU 26 controls the low beam lamp 28 to emit the low beam light distribution pattern PL. In addition, the lamp ECU 26 controls the operation of each LED of the high beam lamp 30 so as to emit a left region PH1 of the high beam light distribution pattern PH. The lamp ECU 26 also controls the operation of each LED 34a of the LED unit 34 so as to emit a triangular region PHL1 including the vanishing point D of the ADB light distribution pattern PHL, which is highly precise and can be varied in shape.

[0044] The left side area PH1 includes the slope of the mountain. The triangular area PHL1 includes an area including the road shoulder ahead of the vehicle. This makes it easier to quickly spot an object that runs down the mountain slope and jumps out onto the road from the road shoulder. Here, examples of objects include animals and falling rocks. An example of a situation in which an object jumps out onto the road from the road shoulder is a case in which there is a mountain or cliff outside the road shoulder, as shown in FIG. 4 . When the road sign shown in FIG. 3C is present ahead of the vehicle, a situation in which a child jumps out into the road at an intersection with poor visibility is anticipated. In this case, too, illuminating the area around the intersection with the road shoulder light distribution pattern P2 makes it easier to quickly spot a child jumping out onto the road from the road shoulder.

[0045] Furthermore, the lamp ECU 26 according to the first embodiment controls the operation of the high-beam lamps 30 and the LED units 34 so that the road shoulder light distribution pattern P2 is illuminated brighter than the low-beam light distribution pattern PL or the high-beam light distribution pattern PH. The LED units 34 have a large number of LEDs 34a arranged in a matrix, so that an area along the shape of the light distribution pattern corresponding to the content of the road sign mark can be selectively illuminated brighter than the surrounding area. For example, the controller 32 controls the operation of the LEDs 34a that illuminate the road center area C, including the vanishing point D, so that the brightness of the road center area C is increased. This allows the driver to more quickly and accurately recognize an object jumping out onto the road from the road shoulder R.

[0046] Fig. 5 is a diagram showing an example of a captured image including road conditions ahead of the vehicle. A road sign 38 shown in Fig. 5 depicts a mark indicating that road construction is underway, as shown in Fig. 3B.

[0047] The discrimination unit 15a discriminates the content of the mark on the road sign 38 based on the captured image. The determination unit 15b then determines an appropriate light distribution pattern from the content of the discriminated mark on the road sign 38 and transmits instruction information X1 related to the pattern to the lamp ECU 26. In the situation shown in Fig. 5, the discrimination unit 15a discriminates the road sign 38 as a warning sign that notifies the driver that caution is required when driving on the road ahead of the vehicle. Specifically, the situation is one in which the oncoming lane area R2 ahead of the vehicle is under construction.

[0048] Upon receiving the instruction information X1, the lamp ECU 26 controls the driving of the vehicle lamp so that a far-field light distribution pattern P3, which irradiates a farther area compared to the low-beam light distribution pattern PL, is emitted. Specifically, the lamp ECU 26 controls the low-beam lamp 28 to emit the low-beam light distribution pattern PL. In addition, the lamp ECU 26 controls the high-beam lamp 30 to emit the high-beam light distribution pattern PH. The lamp ECU 26 also controls the driving of each LED 34a of the LED unit 34 so that an elliptical region PHL2 including the vanishing point D of the ADB light distribution pattern PHL is irradiated.

[0049] The elliptical region PHL2 includes the boundary between the vehicle's driving lane and the oncoming lane. Furthermore, the lamp ECU 26 according to the first embodiment controls the driving of the LED units 34 so that the far-field light distribution pattern P3 is illuminated brighter than the low-beam light distribution pattern PL or the high-beam light distribution pattern PH. This allows the driver to more quickly recognize the oncoming lane area R2 under construction further ahead of the vehicle. Even when a road sign indicating road irregularities, as shown in FIG. 3D , is detected, the lamp ECU 26 controls each lamp to illuminate the far-field light distribution pattern P3 ahead of the vehicle.

[0050] As described above, the vehicle lighting system 10 according to the first embodiment can achieve appropriate light distribution control according to the driving environment.

[0051] The invention of the vehicle lighting system according to the first embodiment can be considered as an invention of a control device alone having a control unit. It can also be considered as an invention of a program to be executed by the control unit that controls the vehicle lighting. This program is executed by the lamp ECU 26 and the center ECU 14, which control the illumination of a light distribution pattern formed by the vehicle lighting in front of the vehicle. This program also causes the lamp ECU 26 and the center ECU 14 to execute steps of controlling the operation of the vehicle lighting so as to illuminate a light distribution pattern determined by the content of road sign marks included in a captured image of the area in front of the vehicle.

[0052] (Second embodiment) A vehicle lamp according to a second embodiment is a vehicle headlamp disposed in front of a vehicle, and is configured as a vehicle lamp system by being appropriately combined with various control units, sensors, etc. First, a schematic configuration of the vehicle lamp system according to the second embodiment will be described. Fig. 6 is a block diagram of the vehicle lamp system according to the second embodiment.

[0053] The vehicle lighting system 110 according to the second embodiment, like the vehicle lighting system 10 according to the first embodiment, has a center ECU 114 including a processor 114a and a memory 114b, and a lamp ECU 126 including a processor 126a and a memory 126b. The first light distribution pattern formed by the vehicle lighting system 110 according to the second embodiment is equivalent to the first light distribution pattern formed by the vehicle lighting system 10 according to the first embodiment, as illustrated in FIG.

[0054] The vehicle lighting system 110 according to the second embodiment differs from the vehicle lighting system 10 according to the first embodiment in that the processor 114a of the center ECU 114 does not have a discrimination unit 15a and a decision unit 15b, but instead the processor 126a of the lamp ECU 126 has a discrimination unit 127a and a decision unit 127b.

[0055] Furthermore, the vehicle lighting system 110 according to the second embodiment includes a speed sensor 140, a turn signal switch 142, a GPS (Global Positioning System) 144, and a LiDAR (Laser Imaging Detection and Ranging) 146. The vehicle lighting system 110 according to the second embodiment may include a millimeter wave radar in addition to or instead of the LiDAR 146. The speed sensor 140 outputs information about the speed of the vehicle to the center ECU 114. The turn signal switch 142 outputs information about the driver's right turn operation or left turn operation to the center ECU 114.

[0056] As shown in FIG. 6 , the control device 200 according to the second embodiment may include a center ECU 114, a camera ECU 24, and a lamp ECU 126. If the center ECU 114 alone can realize the desired function, the center ECU 114 alone can serve as the control device 200. In this case, the processor 114a corresponds to the control unit. If the lamp ECU 126 alone can realize the desired function, the lamp ECU 126 alone can serve as the control device 200. In this case, the processor 126a corresponds to the control unit. Note that there are no particular restrictions on the combination of parts that constitute the control device and control unit according to the second embodiment.

[0057] The control device 200 according to the second embodiment controls vehicle lighting fixtures (low-beam lamps 28, high-beam lamps 30, and LED units 34) capable of projecting a light distribution pattern ahead of the vehicle. In addition to various light distribution patterns, the LED units 34 according to the second embodiment can project road surface drawing patterns onto the road surface in front of and to the sides of the vehicle based on information to notify traffic participants, such as other vehicles and pedestrians, around the vehicle. Specifically, upon receiving road information X3 indicating road conditions determined by the processor 114a, the processor 126a outputs control signals (road surface drawing pattern instruction information X4, such as supply voltage and image data) according to the road information X3 to each lamp and controller. This allows areas conforming to the shape of various road surface drawing patterns to be selectively brightened more brightly than the surrounding areas.

[0058] FIG. 7 is a schematic diagram illustrating a T-junction with poor visibility. The vehicle lighting system 110 according to the second embodiment projects an arrow 148, which is a first road surface drawing pattern, ahead of the host vehicle 150 when making a right turn, to notify traffic participants that the vehicle will make a right turn. Under normal road conditions with good visibility, including the T-junction, a pedestrian 152 can easily notice the arrow 148. However, if a wall 154 to the right of the host vehicle 150 or a wall 156 to the left of the pedestrian 152 is high, the arrow 148 is difficult for the pedestrian 152 to recognize. Therefore, the pedestrian 152 has a hard time noticing the host vehicle 150 until both the host vehicle 150 and the pedestrian 152 approach the intersection.

[0059] Therefore, the processor 126a receives road information X3 indicating road conditions ahead of the vehicle, determines the poor visibility of the road conditions using a determination unit 127a, and determines road surface drawing pattern instruction information X4 using a determination unit 127b. If the processor 126a determines that visibility is poor, it controls the driving of the LED unit 34 so that an arrow 158 that is irradiated farther than the arrow 148 that is irradiated under normal road conditions is irradiated as the second road surface drawing pattern.

[0060] In this way, when the discrimination unit 127a determines that the road conditions are poor in visibility based on the road information X3, the control device 200 outputs instruction information X4 from the decision unit 127b. The controller 32, which has received the instruction information X4, controls the driving of the LED unit 34 so that the arrow 158 is projected farther than the arrow 148. This makes it easier for the pedestrian 152 to notice the host vehicle 150, even at an intersection with poor visibility as shown in FIG. 7. It is preferable that the arrow 158 is projected up to the intersecting road ahead of the stop line 160 (for example, about 2 m ahead). This makes it easier for the pedestrian 152 to notice the host vehicle 150.

[0061] Examples of information indicating road conditions ahead of the vehicle include image information acquired by the camera unit 12, vehicle position information acquired by the GPS 44, and distance measurement information to objects around the vehicle acquired by the LiDAR 146. The control device 200 controls the driving of the vehicle lamps so that a road surface drawing pattern selected according to the degree of poor visibility determined based on the information indicating the road conditions is projected. This improves the accuracy of determining the degree of poor visibility in road conditions.

[0062] Specifically, at the T-junction shown in Fig. 7, when the camera unit 12 captures an image of the area ahead of the vehicle 150, the captured image includes a convex mirror 162. The convex mirror 162 is an object that indicates poor visibility, and when the processor 126a detects the convex mirror 162 from the road information X3 that includes the captured image, the discrimination unit 127a determines that visibility is poor. This makes it possible to determine poor visibility through general object recognition by the camera.

[0063] There are other objects besides the convex mirror 162 that indicate poor visibility. Figures 8A to 8F are diagrams showing examples of road signs that indicate poor visibility. The mark of the warning sign shown in Figures 8A to 8C indicates "Road intersection of a specified shape ahead." The mark of the regulatory sign shown in Figure 8D indicates "Stop before departure." The mark of the directional sign shown in Figure 8E indicates "Stop line." The mark of the directional sign shown in Figure 8F indicates "Pedestrian crossing."

[0064] When such a road sign is included in the captured image, it is estimated that the road conditions ahead of the vehicle are poor in visibility, and therefore the processor 126a determines that visibility is poor using the determination unit 127a. Furthermore, the processor 126a may determine that visibility is poor near walls or houses if there is an area where the height of a wall or house beside the road is 2 m or more by image analysis using the captured image.

[0065] Next, other examples of road surface drawing patterns will be described. Fig. 9A is a schematic diagram showing an example in which a road surface drawing pattern is projected in the direction in which the host vehicle is turning. Fig. 9B is a schematic diagram showing another example in which a road surface drawing pattern is projected in the direction in which the host vehicle is turning. Fig. 9C is a schematic diagram showing an example in which a road surface drawing pattern is projected in front of the host vehicle.

[0066] 9A shows a typical first road drawing pattern 164 in which identical triangles 164a are arranged at equal intervals. When the control device 200 determines that road conditions are poor, it controls the driving of the LED unit 34 to project a second road drawing pattern 165, which includes a triangle 165a larger than the triangle 164a, over a longer distance. By projecting the second road drawing pattern 165, whose shape is modified from the first road drawing pattern 164, the second road drawing pattern 165 is projected over a longer distance, making it easier for pedestrians to notice the vehicle 150. Note that a change in shape includes not only the size, length, aspect ratio, and number of constituent shapes, but also changes and modifications to patterns and characters.

[0067] The typical first road surface drawing pattern 166 shown in FIG. 9B is a straight line of rectangular shapes 166a, 166b, and 166c, each longer in length than the other. When the control device 200 determines that road conditions are poor, it controls the driving of the LED unit 34 to project a second road surface drawing pattern 167, including rectangular shapes 167a, 167b, and 167c, over a longer distance, similar to the rectangular shapes 166a, 166b, and 166c. Additionally, the second road surface drawing pattern 167 is illuminated sequentially from the host vehicle side (sequential lighting). In this way, the dynamic second road surface drawing pattern 167 is projected over a longer distance than the static first road surface drawing pattern 166, making it easier for pedestrians to notice the host vehicle 150.

[0068] Other examples of dynamic representation of the second road surface pattern include periodic changes in the intervals between lights on and off, changes in color, and changes in shape.

[0069] 9C shows a typical first road drawing pattern 168 in which identical arc shapes 168a are arranged at equal intervals in front of the host vehicle 150. When the control device 200 determines that road conditions are poor, it controls the driving of the LED unit 34 to project a second road drawing pattern 169, which is composed of arc shapes 169a similar to the arc shapes 168a, over a longer distance. Projecting the second road drawing pattern 169 farther away than the first road drawing pattern 168 in this way makes it easier for pedestrians to notice the host vehicle 150. Furthermore, the second road drawing pattern 169 can make pedestrians at the intersection with poor visibility more aware of the presence of the host vehicle 150, for example, when the host vehicle 150 is traveling straight through an intersection with poor visibility.

[0070] In the second embodiment, the first road surface drawing pattern is projected 2 to 4 m ahead of the vehicle, and the second road surface drawing pattern is projected 3 to 5 m ahead of the vehicle, but the road surface drawing patterns in the present disclosure may be projected at positions other than these ranges.

[0071] Note that when it is determined that visibility is poor and the control device 200 receives from the speed sensor 140 a signal indicating that the vehicle is traveling at or below a predetermined speed (a speed at which it is possible to safely turn right or left) and from the blinker switch 142 a signal indicating that the turn signal should be turned on, the control device 200 may control the driving of the vehicle lamps so that the second road drawing pattern 165 or the second road drawing pattern 167 is irradiated. This allows the second road drawing pattern to be irradiated at the right time when a vehicle traveling straight slows down to make a right or left turn.

[0072] FIG. 10 is a diagram illustrating an example of a captured image including road conditions ahead of the vehicle. The captured image shown in FIG. 10 includes several features for determining poor visibility. For example, in addition to the aforementioned convex mirror 162 and stop line 160, features for determining poor visibility include the sign "STOP" painted on the road surface, a crosswalk 161, and an intersection 172 between walls 154 and houses 170 on both sides of the road. The signs "STOP" and the crosswalk 161 are identified from the image information acquired from the camera unit 12. The intersection 172 is detected as a gap in the wall 154 by the LiDAR 146. Alternatively, the position of the intersection 172 is detected by the GPS 144. In this way, the control device 200 determines poor visibility from multiple pieces of information, thereby improving the accuracy of determining poor visibility in road conditions.

[0073] FIG. 11 is a schematic diagram showing a vehicle parked between houses facing a road. Vehicle 174 shown in FIG. 11 is parked in a parking lot between houses 178 and 180 facing road 176. Therefore, when vehicle 174 attempts to exit onto road 176, the driver of vehicle 174 is unlikely to notice the vehicle traveling on road 176. Therefore, the vehicle traveling on road 176 uses LiDAR 146 to identify the disconnected space between house 178 and house 180 and project a road surface drawing pattern in front of the parking lot. An example of the road surface drawing pattern is the second road surface drawing pattern 169 shown in FIG. 9C , which is projected when traveling straight ahead. This makes it easier for the driver of vehicle 174 to notice the presence of a vehicle traveling on road 176.

[0074] 12 is a diagram showing an example of a captured image including road conditions ahead of the vehicle. As described above, the captured image includes information indicating road conditions, such as convex mirrors and signs. Convex mirrors and signs are examples of objects indicating poor visibility. In addition, the control device 200 can infer the presence of an intersection with poor visibility by detecting the movement of other vehicles ahead of the vehicle.

[0075] For example, at an intersection with good visibility, captured images of the area ahead of the vehicle show a preceding vehicle appearing inward from the outer edge of the captured image P, or disappearing outward from the outer edge of the captured image P. On the other hand, at an intersection 181 with poor visibility as shown in FIG. 12 , a preceding vehicle 182 suddenly appears in the captured image P, and a preceding vehicle 184 suddenly disappears from the captured image P.

[0076] Therefore, when the preceding vehicle 184 disappears within the range of the captured image P before moving out of the range of the captured image P, or when the preceding vehicle 182 appears within the range of the captured image P before moving from outside the range of the captured image P, the control device 200 determines that there is an area within the range of the captured image P where the preceding vehicle is hidden. Therefore, the control device 200 determines that visibility is poor on the road that appears within that area in the captured image P. Furthermore, the vehicle lighting system 110 can determine areas with poor visibility even without including the LiDAR 146.

[0077] As described above, the vehicle lighting system 110 according to the second embodiment can make it easier for pedestrians to recognize the presence of the vehicle at an intersection with poor visibility.

[0078] The invention of the control device according to the second embodiment can be considered to be an invention of an entire vehicle lighting system including the control device and the vehicle lamp. It can also be considered to be an invention of a computer-readable medium storing a program executed by a control unit that controls the vehicle lamp. When the program is executed, the control unit controls the illumination of a road surface drawing pattern that the vehicle lamp can illuminate ahead of the vehicle. When the program is executed, the lamp ECU 126 and the center ECU 114 receive information indicating road conditions ahead of the vehicle, determine the degree of poor visibility in the road conditions, and determine a road surface drawing pattern. If it is determined that visibility is poor, they control the operation of the vehicle lamp so that a second road surface drawing pattern that illuminates farther than the first road surface drawing pattern illuminated under normal road conditions is illuminated.

[0079] The control device according to the second embodiment can also be understood as follows. The control device 200 is a control device that controls a vehicle lamp capable of illuminating a road surface drawing pattern ahead of the vehicle, and includes a processor 126a that controls the illumination of the road surface drawing pattern. When the processor 126a receives information indicating a first road condition ahead of the vehicle, it outputs first instruction information that causes the LED unit 34 to illuminate the first road surface drawing pattern. When the processor 126a receives information indicating a second road condition that is worse than the first road condition, it outputs second instruction information that causes the LED unit 34 to illuminate a second road surface drawing pattern that is illuminated over a longer distance than the first road surface drawing pattern.

[0080] That is, the control device 200 that receives information from the camera unit 12 and the LiDAR 146 can change the road surface drawing pattern to be projected onto the road surface when the respective road conditions differ. Also, when the processor 126a receives a second road condition that is worse than the first road condition, the second road surface drawing pattern that is projected over a long distance is projected, making it easier for pedestrians to notice the vehicle even at intersections with poor visibility.

[0081] Although the present invention has been described above with reference to the first and second embodiments, the present invention is not limited to the examples of the first and second embodiments, and appropriate combinations or substitutions of the configurations of the first and second embodiments are also included in the present invention. Furthermore, it is possible to appropriately rearrange the combinations and processing orders in the embodiments based on the knowledge of a person skilled in the art, and to make modifications such as various design changes to the first and second embodiments, and such modified forms are also included in the scope of the present invention.

[0082] This application appropriately incorporates the contents disclosed in the Japanese patent application (Patent Application No. 2023-122851) filed on July 27, 2023 and the Japanese patent application (Patent Application No. 2023-128129) filed on August 4, 2023.

Claims

1. A control device for controlling a vehicle lamp capable of emitting a light distribution pattern ahead of the vehicle, the control device having a control unit that controls the emission of the light distribution pattern, the control unit controlling the drive of the vehicle lamp so as to emit a light distribution pattern determined based on the content of a road sign mark contained in an image captured of the area ahead of the vehicle.

2. The control device according to claim 1, further comprising a discrimination unit that discriminates the content of a mark on a road sign based on the captured image.

3. A control device as described in claim 1 or claim 2, wherein the control unit, when identifying a road sign that alerts the driver to the risk of an object jumping out onto the road from the shoulder, controls the driving of the vehicle lamp so that a shoulder light distribution pattern having a wider range of illumination toward the shoulder side is irradiated compared to a low beam light distribution pattern or a high beam light distribution pattern.

4. The control device according to claim 3, wherein the control unit controls the driving of the vehicle lamp so that the roadside light distribution pattern is illuminated brighter than a low beam light distribution pattern or a high beam light distribution pattern.

5. A control device as described in any one of claims 1 to 4, wherein the control unit controls the driving of the vehicle lamp so that a far-field light distribution pattern that illuminates a more distant area than a low beam light distribution pattern is emitted when a road sign that alerts the driver to a situation in which caution is required when driving on the road ahead of the vehicle is identified.

6. The control device according to claim 5, wherein the control unit controls the driving of the vehicle lamp so that the distant light distribution pattern is illuminated brighter than a low beam light distribution pattern or a high beam light distribution pattern.

7. A vehicle lighting system comprising: a vehicle lamp capable of emitting a light distribution pattern ahead of the vehicle; and a control unit that controls the emission of the light distribution pattern, wherein the control unit controls the driving of the vehicle lamp so that a light distribution pattern determined by the contents of a road sign mark contained in an image captured in front of the vehicle is emitted.

8. The vehicle lamp system according to claim 7, wherein the vehicle lamp has a light source in which a plurality of light-emitting regions are arranged in a matrix, and the control unit is configured to be capable of forming a plurality of light distribution patterns by changing the illumination state of some of the plurality of light-emitting regions.

9. A computer-readable medium storing a program to be executed by a control unit that controls the illumination of a light distribution pattern formed by a vehicle lamp in front of the vehicle, wherein, when the program is executed, the control unit executes a step of controlling the operation of the vehicle lamp so that a light distribution pattern determined by the content of a road sign mark contained in an image captured in front of the vehicle is illuminated.

10. A control device for controlling a vehicle lamp capable of illuminating a road surface drawing pattern ahead of a vehicle, the control device having a control unit that controls the illumination of the road surface drawing pattern, the control unit receiving information indicating road conditions ahead of the vehicle, determining the poor visibility of the road conditions, determining a road surface drawing pattern, and if it is determined that visibility is poor, controlling the drive of the vehicle lamp so that a second road surface drawing pattern that is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions is illuminated.

11. The control device according to claim 10, wherein the control unit controls the driving of the vehicle lamp so that the second road surface drawing pattern is projected up to an intersecting road ahead of the vehicle.

12. A control device as described in claim 10 or claim 11, wherein the control unit controls the driving of the vehicle lamp so as to illuminate a road surface drawing pattern selected according to the poor visibility determined based on at least one of information indicating the road conditions ahead of the vehicle, including imaging information, vehicle position information, and distance measurement information to objects around the vehicle.

13. A control device as described in any one of claims 10 to 12, wherein the control unit, when determining that visibility is poor, controls the driving of the vehicle lamp so that the second road surface drawing pattern, the shape of which has been modified relative to the first road surface drawing pattern, is projected.

14. A control device as described in any one of claims 10 to 13, wherein the control unit, when determining that visibility is poor, controls the driving of the vehicle lamp so that a pattern that dynamically expresses the second road surface drawing pattern is irradiated.

15. The control device according to claim 12, wherein the control unit determines that visibility is poor when an object indicating poor visibility is detected from a camera image.

16. A control device as described in claim 12, wherein the control unit determines that visibility is poor when a preceding vehicle disappears within the range of the camera image before moving out of the range of the camera image, or when a preceding vehicle appears within the range of the camera image before moving from outside the range of the camera image.

17. A control device as described in any one of claims 10 to 16, wherein when the control unit receives a signal indicating driving at or below a predetermined speed and a signal indicating an operation to turn on a turn signal when visibility is determined to be poor, it controls the driving of the vehicle lamp so that the second road surface drawing pattern is illuminated.

18. A control device for controlling a vehicle lamp capable of illuminating a road surface drawing pattern ahead of a vehicle, the control device having a control unit for controlling the illumination of the road surface drawing pattern, the control unit outputting first instruction information for the vehicle lamp to illuminate the first road surface drawing pattern when information indicating a first road condition ahead of the vehicle is received, and outputting second instruction information for the vehicle lamp to illuminate a second road surface drawing pattern that is illuminated farther than the first road surface drawing pattern when information indicating a second road condition with worse visibility than the first road condition is received.

19. A vehicle lighting system comprising: a vehicle lamp capable of illuminating a road surface drawing pattern ahead of the vehicle; and a control unit that controls the driving of the vehicle lamp so that the road surface drawing pattern is illuminated, wherein the control unit receives information indicating road conditions ahead of the vehicle, determines whether the road conditions are poorly visible, decides on a road surface drawing pattern, and if it determines that visibility is poor, controls the driving of the vehicle lamp so that a second road surface drawing pattern that is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions is illuminated.

20. The vehicle lighting system according to claim 19, wherein the vehicle lighting has a light source having a plurality of light-emitting areas arranged in a matrix, and the control unit is configured to be capable of forming a plurality of light distribution patterns by changing the illumination state of some of the plurality of light-emitting areas.

21. A computer-readable medium storing a program to be executed by a control unit that controls the illumination of a road surface drawing pattern that a vehicle lamp can illuminate ahead of the vehicle, wherein when the program is executed, the control unit executes the steps of receiving information indicating road conditions ahead of the vehicle, determining the poor visibility of the road conditions, and determining a road surface drawing pattern, and, if it is determined that visibility is poor, controlling the operation of the vehicle lamp so that a second road surface drawing pattern that is illuminated farther than a first road surface drawing pattern that is illuminated under normal road conditions is illuminated.

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