Control device, vehicle lamp, control program, and vehicle lamp system

Abstract

A control device (10) controls an actuator (21) that displaces the irradiation direction of a light source unit (20) provided in a vehicle (1). The actuator (21) includes a fixed portion (30) fixed to the vehicle (1), and a movable portion (31) that is displaced with respect to the fixed portion (30) and on which the light source unit (20) is mounted. The control device (10) is configured to: acquire a detection value (S) from a sensor (22), which is fixed to the movable portion (31) and is capable of detecting inclination with respect to the direction of gravity; output an instruction value (I) relating to the inclination of the irradiation direction of the light source unit (20) to the actuator (21); and displace the movable portion (31). The control device (10) outputs a next instruction value (I) on the basis of the previous instruction value (I) and the amount of change in the detection value (S) of the sensor (22) before and after the driving of the actuator (21) according to the previous instruction value (I).

Description

Control device, vehicle lighting fixture, control program, and vehicle lighting fixture system

[0001] The present disclosure relates to a control device, a vehicle lamp, a control program, and a vehicle lamp system.

[0002] Conventionally, there are known techniques for adjusting the optical axis of a lamp provided in a vehicle. For example, Patent Document 1 discloses a device that determines the longitudinal acceleration of the vehicle detected by an acceleration sensor and adjusts the optical axis of the front headlight of the vehicle based on the determined acceleration.

[0003] Japan Special Table No. 2023-532642

[0004] Incidentally, a sensor may be mounted on a movable part of an actuator that adjusts the optical axis of the light source unit. It is conceivable to use such a sensor mounted on the movable part of the actuator to control the leveling of the light source unit. However, in this case, since the sensor itself rotates, the amount of change in the sensor's detection value may differ from the amount of change in the actual vehicle inclination, making it difficult to directly use the sensor's output value for leveling control.

[0005] The present disclosure aims to provide a control device, a vehicle lighting device, a control program, and a vehicle lighting device system that can control an actuator that displaces the illumination direction of a light source unit using a sensor mounted on a movable part of the actuator.

[0006] A control device according to one aspect of the present disclosure is a control device that controls an actuator that displaces the irradiation direction of a light source unit provided on a vehicle, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, and the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and is capable of detecting inclination relative to the direction of gravity; output an instruction value regarding the inclination of the irradiation direction of the light source unit to the actuator, and displace the movable part; and output the next instruction value based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0007] A vehicle lamp according to one aspect of the present disclosure comprises an actuator that displaces the illumination direction of a light source unit provided on a vehicle, and a control device that controls the actuator, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, and the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and is capable of detecting an inclination relative to the direction of gravity; output an instruction value regarding the inclination of the illumination direction of the light source unit to the actuator, and displace the movable part; and output the next instruction value based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0008] A control program according to one aspect of the present disclosure is a control program for controlling an actuator that displaces the irradiation direction of a light source unit provided in a vehicle, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, and the control program includes: an acquisition step for acquiring a detection value from a sensor that is fixed to the movable part and can detect an inclination relative to the direction of gravity; and a control step for outputting an instruction value regarding the inclination of the irradiation direction of the light source unit to the actuator and displacing the movable part, and wherein in the control step, the next instruction value is output based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0009] A vehicle lighting system according to one aspect of the present disclosure comprises: an actuator having a fixed part fixed to a vehicle body and a movable part displaceable relative to the fixed part and on which a light source unit is mounted, the actuator displacing the irradiation direction of the light source unit; a sensor fixed to the movable part and capable of detecting inclination relative to the direction of gravity; and a control device outputting an instruction value relating to the inclination of the irradiation direction of the light source unit to the actuator and displacing the movable part, wherein even if the amount of change in the detection value of the sensor during the period from the previous input of the instruction value to the next input of the instruction value is the same, the irradiation direction of the light source unit according to the next instruction value differs between when the movable part has displaced during the period and when the movable part has not displaced during the period.

[0010] According to the present disclosure, it is possible to control an actuator that displaces the irradiation direction of a light source unit using a sensor mounted on a movable part of the actuator.

[0011] Fig. 1 is a diagram illustrating a configuration of a vehicle lighting system according to an embodiment of the present disclosure. Fig. 2 is a diagram illustrating detected values ​​by a sensor shown in Fig. 1. Fig. 3 is a diagram illustrating a specific example 1 of a method for determining an instruction value by a control unit shown in Fig. 1. Fig. 4 is a diagram illustrating a specific example 2 of a method for calculating an instruction value by a control unit shown in Fig. 1. Fig. 5 is a flowchart illustrating an operation flow when leveling control of a light source unit is performed by a control device according to the present disclosure.

[0012] 1 is a diagram showing the configuration of a vehicle lighting system 100 according to an embodiment of the present disclosure. The vehicle lighting system 100 is provided in a vehicle 1 and includes a control device 10 and a vehicle lamp 11. The vehicle lamp 11 includes a light source unit 20, an actuator 21 that displaces the illumination direction of the light source unit 20, and a sensor 22 that can detect an inclination with respect to the direction of gravity.

[0013] The actuator 21 has a fixed part 30 that is fixed to the vehicle 1 and a movable part 31 that has the light source unit 20 mounted thereon. The movable part 31 is displaceable relative to the fixed part 30.

[0014] The sensor 22 is an acceleration sensor or a six-axis sensor, etc., and is fixed to the movable part 31. The sensor 22 detects the inclination of the movable part 31 with respect to a reference direction, and outputs an output signal indicating a detection value S to the control device 10. The reference direction is, for example, a direction along the vertical direction, such as the direction of gravity.

[0015] The control device 10 acquires the tilt of the vehicle 1 based on the detection value S by the sensor 22, and determines the irradiation direction of the light source unit 20 according to the acquired tilt of the vehicle 1. More specifically, the control device 10 includes an acquisition unit 41, a control unit 42, and a storage unit 43. The acquisition unit 41 acquires an output signal from the sensor 22, and stores the detection value S indicated by the acquired output signal in the storage unit 43.

[0016] The control unit 42 acquires the inclination of the vehicle 1 based on the detection value S indicated by the output signal acquired by the acquisition unit 41. Then, the control unit 42 determines an instruction value I related to the inclination of the light source unit 20 according to the acquired inclination of the vehicle 1, and stores the determined instruction value I in the storage unit 43. The control unit 42 also outputs a control signal indicating the determined instruction value I to the actuator 21.

[0017] The instruction value I determined by the control unit 42 is the amount of change in tilt of the light source unit 20 from the current attitude, or the amount of tilt of the light source unit 20 with respect to a reference direction, etc. Here, a case will be described in which the instruction value I is the amount of change in tilt of the light source unit 20.

[0018] The actuator 21 is, for example, a leveling actuator that rotates the light source unit 20 around a leveling axis. When the actuator 21 acquires a control signal output from the control device 10, it is driven based on the control signal to displace the tilt of the movable part 31 and the light source unit 20 by the instruction value I. This makes it possible to adjust the irradiation direction of the light source unit 20 according to the tilt of the vehicle 1. In this example, the control device 10 realizes a so-called auto-leveling function. That is, the control device 10 displaces the movable part 31 relative to the fixed part 30 so that the irradiation direction of the light source unit 20 always extends in a constant vertical direction regardless of the tilt of the vehicle 1.

[0019] In FIG. 1, the control device 10 is provided as a separate unit from the vehicle lamp 11, but this is not limited to such a configuration, and the control device 10 may be provided in the vehicle lamp 11.

[0020] [Description of the Problem] Assuming that the sensor 22 is fixed to the vehicle 1, the amount of change in the detection value S from the sensor 22 corresponds to the amount of change in the inclination of the vehicle 1. In other words, the control unit 42 in the control device 10 can identify the amount of change in the inclination of the vehicle 1 by directly using the amount of change in the detection value S from the sensor 22, and can determine the indication value I according to the inclination of the vehicle 1.

[0021] Furthermore, even when the control device 10 performs leveling control of the light source unit 20 using the detection value S from the sensor 22, the amount of change in the detection value S from the sensor 22 can be used as is to repeatedly determine the instruction value I for performing leveling control.

[0022] 1 , when the sensor 22 is mounted on the movable portion 31, the detection value S from the sensor 22 is used for leveling control of the light source unit 20. In this case, the sensor 22 itself rotates every time leveling control is performed, and therefore the amount of change in the detection value S from the sensor 22 differs from the amount of change in the inclination of the vehicle 1, making it difficult to use the detection value S from the sensor 22 as is for leveling control. Therefore, the present disclosure solves the above-mentioned problem with the following configuration.

[0023] [Method of determining indicated value by control device] Fig. 2 is a diagram for explaining the detected value S by the sensor 22 shown in Fig. 1. As shown in Fig. 2, when the movable part 31 is tilted by an angle θ with respect to the direction of gravity, the sensor 22 mounted on the movable part 31 is also tilted by the angle θ with respect to the direction of gravity.

[0024] The sensor 22 periodically measures, for example, an X value = 1 G × cos θ and a Y value = 1 G × sin θ. Then, the sensor 22 obtains the angle θ, which is the tilt of the movable part 31, based on the measured X value and Y value, and outputs the angle θ to the control device 10 as a detection value S.

[0025] The sensor 22 may be configured to output the X and Y values, which are the measurement values, to the control device 10. In this case, the acquisition unit 41 in the control device 10 acquires the detection value S corresponding to the angle θ based on the X and Y values ​​received from the sensor 22.

[0026] The detection value S of the sensor 22 changes when the inclination of the vehicle 1 changes, and also when the inclination of the light source unit 20 changes. In other words, the fluctuation in the detection value S of the sensor 22 includes the fluctuation in the inclination M of the movable part 31 caused by the drive of the actuator 21, and therefore the change in the inclination of the vehicle 1 cannot be identified based on the detection value S of the sensor 22 alone.

[0027] However, in the configuration of the present disclosure, the actuator 21 is configured to detect the tilt M of the movable part 31 relative to the fixed part 30 using, for example, an encoder built into the actuator 21, and transmit an output signal indicating the detected tilt M to the control device 10. In other words, the acquisition unit 41 in the control device 10 can acquire the tilt M of the movable part 31 directly from the actuator 21 that drives the light source unit 20.

[0028] The acquisition unit 41 in the control device 10 stores the detection value S acquired from the sensor 22 or the detection value S acquired based on the X value and Y value from the sensor 22 in the storage unit 43. The acquisition unit 41 also stores the tilt M acquired from the actuator 21 in the storage unit 43.

[0029] The control unit 42 outputs the next instruction value I based on the previous instruction value I and the amount of change in the detection value S of the sensor 22 before and after driving the actuator 21 according to the previous instruction value I. More specifically, the control unit 42 first refers to the inclination M of the movable part 31 relative to the fixed part 30, which is stored in the memory unit 43, and obtains the amount of displacement of the movable part 31 before and after the previous driving of the actuator 21.

[0030] Here, the inclination M of the movable part 31 before the previous drive of the actuator 21 is defined as "M ｎ ,” and the tilt M of the movable part 31 after the previous drive of the actuator 21 is “M ｎ＋１ ”, the displacement of the movable part 31 before and after the previous driving of the actuator 21 is “M ｎ＋１ -M ｎ " is equivalent to

[0031] Furthermore, the control unit 42 refers to the detection value S stored in the storage unit 43 to obtain the amount of change in the detection value S before and after the previous drive of the actuator 21. The detection value S of the sensor 22 before the previous drive of the actuator 21 is referred to as "S ｎ ", and the detection value S of the sensor 22 after the previous drive of the actuator 21 is "S ｎ＋１ ", the amount of change in the detection value S before and after the previous drive of the actuator 21 is "S ｎ＋１ -S ｎ " is equivalent to

[0032] Then, the control unit 42 calculates the change amount (S ｎ＋１ -S ｎ ) to obtain the displacement of the movable part 31 (M ｎ＋１ -M ｎ ) to calculate a correction value C for canceling the amount of change in the inclination of the vehicle 1 before and after the previous drive of the actuator 21. That is, the control unit 42 calculates the correction value C using the following equation (1): C=(S ｎ＋１ -S ｎ )-(M ｎ＋１ -M ｎ ) ... (1)

[0033] Then, the control unit 42 calculates the instruction value I previously output to the actuator 21. ｎ The sum of the correction value C and the next instruction value I to be output to the actuator 21 ｎ＋１ That is, the control unit 42 determines the next instruction value I ｎ＋１ Determine. ｎ＋１ =I ｎ +C =I ｎ + (S ｎ＋１ -S ｎ )-(M ｎ＋１ -M ｎ ) ... (2)

[0034] In addition, the previous indication value I ｎ is the amount of change in the slope M before and after the previous drive of the actuator 21 (M ｎ＋１ -M ｎ ) is the same value as the previous instruction value I instead of using the tilt M of the movable part 31 detected by the actuator 21. ｎ Next indication value I ｎ＋１ may be obtained.

[0035] 3 and 4, a method for determining the instruction value I by the control unit 42 will be described using specific numerical values. Here, a case will be described in which the control device 10 drives the actuator 21 as an auto-leveling function so as to cancel out the amount of change in the inclination of the vehicle 1.

[0036] (a) Indication value I at time t12 １２ Fig. 3 is a diagram for explaining a specific example 1 of a method for determining the instruction value I by the control unit 42 shown in Fig. 1. Note that in Fig. 3 and Fig. 4 described later, for ease of understanding, a numerical value of the tilt of the vehicle 1 is shown, but the tilt of the vehicle 1 is a value that is not measured during the aiming control and leveling control of the vehicle lamp 11.

[0037] For example, as shown in FIG. 3, the tilt M of the movable part 31 with respect to the fixed part 30 before the actuator 21 is driven at time t11 is １１ is 5 deg, and the detection value S of the sensor 22 before the actuator 21 is driven at time t11 １１ is 7 deg, and the indication value I １１ It is assumed that the indicated value I at time t11 is 0 deg. １１ is 0 deg, so that the actuator 21 is not actually driven at time t11.

[0038] At time t12, which is later than time t11, a load acts unevenly on the front of the vehicle 1 from the state at time t11, causing the vehicle 1 to rotate forward by 1 degree. Also, at time t12 after the actuator 21 is driven at time t11, the inclination M of the movable part 31 with respect to the fixed part 30 is １２ is 5 deg, and the detection value S １２ was 8 deg.

[0039] In such a case, the control unit 42 shown in FIG. 1 calculates the detected value S stored in the storage unit 43 as shown in the following equation (3). １１ , S １２ and the slope M １１ , M １２ The next (at time t12) indication value I １２ The previous (at time t11) indicated value I １１ = 0 deg, and the amount of change in the detection value S before and after the previous driving of the actuator 21 (at time t11) (S １２ -S １１)=8 deg-7 deg=1 deg, and the displacement amount (M １２ -M １１ ) = 5 deg - 5 deg = 0 deg. １２ =I １１ +C =I １１ + (S １２ -S １１ )-(M １２ -M １１ ) =0deg+(8deg-7deg)-(5deg-5deg) =1deg...(3)

[0040] That is, in this example, since the vehicle 1 rotates forward by 1 degree at time t11, the control unit 42 sets the instruction value I to rotate the light source unit 20 backward by 1 degree at time t12 so that the irradiation direction of the light source unit 20 is constant. １２ The indicated value I here has a positive magnitude in the direction opposite to the direction in which the tilt of the vehicle 1 is measured.

[0041] When the actuator 21 receives the control signal output from the control device 10, the actuator 21 outputs an instruction value I １２ The movable part 31 is displaced by the amount of

[0042] The correction value C (=(S １２ -S １１ )-(M １２ -M １１ )) is 1 deg (=(8 deg-7 deg)-(5 deg-5 deg)). As shown in FIG. 3, the inclination of the vehicle 1 at time t11 is 2 deg, and the inclination of the vehicle 1 at time t12 is 3 deg. Therefore, the correction value C is calculated by multiplying the previous instruction value I １１ It can be seen that this coincides with the change in the tilt of the vehicle 1 before and after the actuator 21 is driven (1 deg (=3 deg-2 deg)).

[0043] (b) Indication value I at time t13 １３Furthermore, at time t13 after time t12, the tilt M of the movable part 31 with respect to the fixed part 30 after the actuator 21 is driven at time t12 is determined. １３ is 4 deg, and the detection value S of the sensor 22 after the actuator 21 is driven at time t12 １３ It is assumed that the angle is 7 deg.

[0044] In such a case, the control unit 42 calculates the detected value S stored in the storage unit 43 as shown in the following equation (4). １２ , S １３ and the slope M １２ , M １３ Refer to the next indication value I １３ The previous (at time t12) indicated value I １２ = 1 deg, and the amount of change in the detection value S before and after the previous drive of the actuator 21 (at time t12) (S １３ -S １２ )=7 deg-8 deg=-1 deg, and the displacement amount (M １３ -M １２ ) = 4 deg - 5 deg = -1 deg. １３ =I １２ +C =I １２ + (S １３ -S １２ )-(M １３ -M １２ ) =1deg+(7deg-8deg)-(4deg-5deg) =1deg...(4)

[0045] That is, the inclination of the vehicle 1 does not change from time t12 to time t13, and the correction value C is 0 deg (=(7 deg-8 deg)-(4 deg-5 deg)). Therefore, the control unit 42 changes the instruction value I at time t13 to drive the actuator 21 by 1 deg so that the irradiation direction of the light source unit 20 remains constant. １３ Output.

[0046] (Specific Example 2) (a) Indication value I at time t22 ２２4 is a diagram for explaining a specific example 2 of the method of calculating the instruction value I by the control unit 42 shown in FIG. In the specific example 2, it is assumed that the movable unit 31 is displaced relative to the fixed unit 30 due to aiming adjustment from time t21 to time t22, and the inclination of the vehicle 1 also changes during the aiming adjustment. Then, a case will be described in which the control unit 42 adjusts the inclination of the light source unit 20 in accordance with the inclination of the vehicle 1 as an auto-leveling function from time t22 onwards, which is after time t21.

[0047] For example, at time t21 before the aiming adjustment, the tilt M of the movable part 31 with respect to the fixed part 30 is ２１ is 5 deg, and the detection value S ２１ During this aiming adjustment, the control unit 42 did not execute the leveling function, and the instruction value I ２１ was 0 deg.

[0048] Furthermore, at time t22 after the aiming adjustment, the inclination M of the movable part 31 relative to the fixed part 30 ２２ is 8 deg, and the detection value S ２２ was 11 deg.

[0049] In such a case, the control unit 42 calculates the detected value S stored in the storage unit 43 as shown in the following equation (5). ２１ , S ２２ and the slope M ２１ , M ２２ The next indicated value I at time t22 is ２２ The previous (at time t21) indicated value I ２１ = 0 deg, and the amount of change in the detection value S before and after the previous driving of the actuator 21 (at time t21) (S ２２ -S ２１ ) = 11 deg - 7 deg = 4 deg, and the displacement amount (M ２２ -M ２１ ) = 8 deg - 5 deg = 3 deg. ２２ =I ２１ +C =I ２１ + (S ２２ -S２１ )-(M ２２ -M ２１ ) =0deg+(11deg-7deg)-(8deg-5deg) =1deg...(5)

[0050] That is, the previous (at time t21) indication value I ２１ = 0 deg, but the inclination of the vehicle 1 changes by 1 deg (= 3 deg - 2 deg) from time t21 to time t22. Therefore, the control unit 42 changes the instruction value I ２２ Output.

[0051] (b) Indication value I at time t23 ２３ Furthermore, at time t23 after time t22, the tilt M of the movable part 31 is determined. ２３ is 7 deg, and the detection value S ２３ was 10 deg.

[0052] In such a case, the control unit 42 calculates the detected value S stored in the storage unit 43 as shown in the following equation (6). ２２ , S ２３ and the slope M ２２ , M ２３ The next (at time t23) indicated value I ２３ The previous (at time t22) indicated value I ２２ = 1 deg, and the amount of change in the detection value S before and after the previous driving of the actuator 21 (at time t22) (S ２３ -S ２２ )=10 deg-11 deg=-1 deg, and the displacement amount (M ２３ -M ２２ ) = 7 deg - 8 deg = -1 deg. ２３ =I ２２ +C =I ２２ + (S ２３ -S ２２ )-(M ２３ -M ２２) =1deg+(10deg-11deg)-(7deg-8deg) =1deg...(6)

[0053] That is, the inclination of the vehicle 1 does not change from time t22 to time t23, and the correction value C is 0 deg (=(10 deg-11 deg)-(7 deg-8 deg)). Therefore, the control unit 42 changes the instruction value I at time t23 to drive the actuator 21 by 1 deg so that the irradiation direction of the light source unit 20 remains constant. ２３ Output.

[0054] As described above, even when the sensor 22 is mounted on the movable part 31, the amount of change in the inclination of the vehicle 1 can be obtained by using the detection value S from the sensor 22 and the inclination M of the movable part 31 relative to the fixed part 30. Then, the leveling control of the light source unit 20 can be performed according to the amount of change in the inclination of the vehicle 1.

[0055] The actuator 21 may be configured not to detect the inclination M of the movable part 31 relative to the fixed part 30. In this case, the control part 42 in the control device 10 detects the previous instruction value I ｎ Based on this, the indicator value I ｎ The displacement amount (M ｎ＋１ -M ｎ ) can be obtained.

[0056] Specifically, the control unit 42 calculates the displacement amount (M ｎ＋１ -M ｎ In such a configuration, the control unit 42 calculates the next instruction value I from the equations (2) and (7) as shown in the equation (8). ｎ＋１ It is possible to calculate M ｎ＋１ -M ｎ =-I ｎ ... (7) I ｎ＋１ =I ｎ + (S ｎ＋１ -S ｎ )-(Mｎ＋１ -M ｎ ) = 2I ｎ + (S ｎ＋１ -S ｎ ) ... (8)

[0057] 5 is a flowchart for explaining the flow of operations when the control device 10 of the present disclosure performs leveling control of the light source unit 20. With reference to FIGS. 1 and 5, the control device 10 first acquires the previous instruction value I of the actuator, the detection value S of the sensor 22 before driving the actuator 21, and the tilt M of the movable part 31 with respect to the fixed part 30 before driving the actuator 21 (Step 11). Note that when the actuator is driven for the first time, 0 deg is acquired as the previous instruction value I of the actuator 21.

[0058] Next, the control device 10 calculates a correction value C corresponding to the inclination of the vehicle 1 based on the detection value S of the sensor 22 before and after driving the actuator 21, and the inclination M of the movable part 31 before and after driving the actuator 21 (Step 12).

[0059] Then, the control device 10 determines the sum of the previous instruction value I and the correction value C as the next instruction value I, and outputs a control signal indicating the next instruction value I to the control device 10 (Step 13).

[0060] Then, the operations from Step 11 onwards are performed again. That is, after the actuator 21 is driven based on the control signal indicating the next instruction value I, the control device 10 again acquires the previous instruction value of the actuator 21, the detection value S of the sensor 22 after the actuator 21 is driven, and the tilt M of the movable part 31 with respect to the fixed part 30 after the actuator 21 is driven (Step 11).

[0061] According to the control device 10 having the above-described configuration, the previous instruction value I ｎ The next indicated value I ｎ＋１ Even if the amount of change in the detection value S of the sensor 22 during the period up to the input of the instruction value I is the same, the next instruction value I will be different depending on whether the movable part 31 is displaced or not during that period. ｎ＋１That is, as described above, even if the amount of change in the detection value S of the sensor 22 is the same, the next instruction value I will be determined depending on the amount of change in the inclination M of the movable part 31 (M ｎ＋１ -M ｎ ) is also taken into consideration when calculating the next instruction value I ｎ＋１ The irradiation direction of the light source unit 20 varies accordingly.

[0062] In the above example, the instruction value I determined by the control device 10 is used for the leveling control of the light source unit 20 provided in the vehicle lamp 11. However, the instruction value I determined by the control device 10 may be used for purposes other than the leveling control of the light source unit 20.

[0063] Referring back to FIG. 1, for example, the light source unit 20 may be mounted on an image projection device 50 such as a road surface drawing device or a HUD (Head Up Display).

[0064] In such a case, as described above, the control device 10 calculates the correction value C by subtracting the amount of displacement of the tilt M of the movable part 31 relative to the fixed part 30 from the amount of change in the detection value S of the sensor 22, and determines the indication value I indicating the amount of change in the tilt of the light source unit 20 using the correction value C. Then, the control device 10 can output a control signal indicating the determined indication value I to the image projection device 50.

[0065] When a control signal output from the control device 10 is input to the image projection device 50, the image projection device 50 can adjust the inclination of the light source unit 20 in the image projection device 50 so that it is displaced by the angle of the instruction value I indicated by the control signal.

[0066] In this way, even when the sensor 22 is mounted on the movable part 31, the correction value C, which is the amount of change in the inclination of the vehicle 1, can be obtained based on the detection value S from the sensor 22. Then, the irradiation direction of the light source unit 20 in the image projection device 50 can be adjusted according to the amount of change in the inclination of the vehicle 1.

[0067] As described above, the control device 10 according to the embodiment of the present disclosure acquires the detection value S from the sensor 22 that is fixed to the movable part 31 and can detect the tilt with respect to the direction of gravity. In addition, the control device 10 acquires the instruction value I ｎ to the actuator 21 to displace the movable part 31. The control device 10 also outputs the previous instruction value I ｎ and the previous indication value I ｎ The next instruction value I is calculated based on the change in the detection value S of the sensor 22 before and after the actuator 21 is driven in accordance with the ｎ＋１ In this way, even when the sensor 22 is mounted on the movable part 31, the previous indicated value I ｎ and the amount of change in the detected value S of the sensor 22, the indicated value taking into account the change in the tilt of the sensor 22 itself is calculated. ｎ＋１ Therefore, the actuator 21 can be controlled using the sensor 22 mounted on the movable part 31 of the actuator 21.

[0068] Furthermore, the control device 10 according to the embodiment of the present disclosure uses the previous instruction value I ｎ The displacement amount of the movable part 31 based on the detected value S of the sensor 22 is obtained, and the correction value C is obtained by subtracting the displacement amount of the movable part 31 from the change amount of the detected value S of the sensor 22. The next instruction value I ｎ＋１ With this configuration, it is possible to obtain a correction value C corresponding to the amount of change in the inclination of the vehicle 1 after the actuator 21 is driven, and therefore the next instruction value I ｎ＋１ can be determined.

[0069] Furthermore, the control device 10 according to the embodiment of the present disclosure uses the previous instruction value I ｎ The sum of the correction value C and the next instruction value I ｎ＋１ With this configuration, the irradiation direction of the light source unit 20 can be appropriately adjusted.

[0070] In the control device 10 according to the embodiment of the present disclosure, the actuator 21 is a leveling actuator that rotates the light source unit 20 about the leveling axis. With this configuration, the leveling control of the light source unit 20 can be performed using the detection value S by the sensor 22 mounted on the movable part 31.

[0071] Moreover, the light source unit 20 according to the embodiment of the present disclosure is used in an image projection device 50 that displays an image, and an instruction value I from the control device 10 is input to the image projection device 50. In this way, with the configuration in which the instruction value I determined based on the detection value S of the sensor 22 mounted on the movable part 31 is input to the image projection device 50, the irradiation direction of the light source unit 20 in the image projection device 50 can be adjusted according to the amount of displacement of the inclination of the vehicle 1.

[0072] As described above, the present specification discloses the following:

[0073] (1) A control device that controls an actuator that displaces the irradiation direction of a light source unit provided in a vehicle, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and can detect an inclination with respect to the direction of gravity; output an instruction value regarding the inclination of the irradiation direction of the light source unit to the actuator, and displace the movable part; and output the next instruction value based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0074] (2) The control device according to item (1), which acquires a displacement amount of the movable part based on the previous instruction value, acquires a correction value by subtracting the displacement amount of the movable part from the change amount of the detection value, and outputs the next instruction value.

[0075] (3) The control device according to item (2), wherein the sum of the previous instruction value and the correction value is determined as the next instruction value.

[0076] (4) The control device according to any one of items (1) to (3), wherein the actuator is a leveling actuator that rotates the light source unit around a leveling axis.

[0077] (5) The control device according to any one of items (1) to (4), wherein the light source unit is used in an image projection device that displays an image, and the instruction value is input to the image projection device.

[0078] (6) A vehicle lamp comprising: an actuator that displaces the irradiation direction of a light source unit provided on a vehicle; and a control device that controls the actuator, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted; the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and can detect an inclination with respect to the direction of gravity; output an instruction value related to the inclination of the irradiation direction of the light source unit to the actuator; and displace the movable part; and output the next instruction value based on the previous instruction value and an amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0079] (7) A control program for controlling an actuator that displaces the irradiation direction of a light source unit provided in a vehicle, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, the control program includes: an acquisition step for acquiring a detection value from a sensor that is fixed to the movable part and can detect an inclination with respect to the direction of gravity; and a control step for outputting an instruction value regarding the inclination of the irradiation direction of the light source unit to the actuator and displacing the movable part, wherein in the control step, the next instruction value is output based on the previous instruction value and an amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

[0080] (8) A vehicle lighting system comprising: an actuator having a fixed part fixed to a vehicle body and a movable part displaceable relative to the fixed part and on which a light source unit is mounted, the actuator displacing the irradiation direction of the light source unit; a sensor fixed to the movable part and capable of detecting tilt with respect to the direction of gravity; and a control device outputting an instruction value relating to the tilt of the irradiation direction of the light source unit to the actuator and displacing the movable part, wherein even if the amount of change in the detection value of the sensor during the period from the previous input of the instruction value to the next input of the instruction value is the same, the irradiation direction of the light source unit according to the next instruction value differs between when the movable part is displaced during the period and when the movable part is not displaced during the period.

[0081] Although the embodiments of the present disclosure have been described above, it goes without saying that the technical scope of the present disclosure should not be interpreted as being limited by the description of the present embodiments. The present embodiments are merely examples, and it will be understood by those skilled in the art that various modifications of the embodiments are possible within the scope of the invention described in the claims. The technical scope of the present disclosure should be determined based on the scope of the invention described in the claims and its equivalents.

[0082] This application is based on Japanese Patent Application No. 2024-042579, filed on March 18, 2024, the contents of which are incorporated herein by reference.

Claims

1. A control device that controls an actuator that displaces the irradiation direction of a light source unit provided on a vehicle, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted, the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and can detect inclination relative to the direction of gravity; output an instruction value related to the inclination of the irradiation direction of the light source unit to the actuator, and displace the movable part; and output the next instruction value based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

2. The control device according to claim 1, which obtains the displacement amount of the movable part based on the previous instruction value, obtains a correction value by subtracting the displacement amount of the movable part from the change in the detected value, and outputs the next instruction value.

3. The control device according to claim 2, wherein the sum of the previous command value and the correction value is determined as the next command value.

4. The control device according to claim 1, wherein the actuator is a leveling actuator that rotates the light source unit about a leveling axis.

5. The control device according to claim 1, wherein the light source unit is used in an image projection device that displays an image, and the instruction value is input to the image projection device.

6. A vehicle lamp comprising: an actuator that displaces the irradiation direction of a light source unit provided on a vehicle; and a control device that controls the actuator, wherein the actuator has a fixed part that is fixed to the vehicle and a movable part that is displaceable relative to the fixed part and on which the light source unit is mounted; the control device is configured to: acquire a detection value from a sensor that is fixed to the movable part and can detect inclination with respect to the direction of gravity; output an instruction value related to the inclination of the irradiation direction of the light source unit to the actuator; and displace the movable part; and output the next instruction value based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

7. A control program for controlling an actuator that displaces the irradiation direction of a light source unit provided on a vehicle, wherein the actuator has a fixed part fixed to the vehicle and a movable part that displaces relative to the fixed part and on which the light source unit is mounted, the control program including: an acquisition step for acquiring a detection value from a sensor that is fixed to the movable part and can detect inclination relative to the direction of gravity; and a control step for outputting an instruction value related to the inclination of the irradiation direction of the light source unit to the actuator and displacing the movable part, wherein in the control step, the next instruction value is output based on the previous instruction value and the amount of change in the detection value of the sensor before and after driving the actuator in accordance with the previous instruction value.

8. A vehicle lighting system comprising: an actuator having a fixed part fixed to a vehicle body and a movable part displaceable relative to the fixed part and on which a light source unit is mounted, the actuator displacing the irradiation direction of the light source unit; a sensor fixed to the movable part and capable of detecting tilt with respect to the direction of gravity; and a control device outputting an instruction value relating to the tilt of the irradiation direction of the light source unit to the actuator and displacing the movable part, wherein even if the amount of change in the detection value of the sensor during the period from the previous input of the instruction value to the next input of the instruction value is the same, the irradiation direction of the light source unit according to the next instruction value differs between when the movable part has been displaced during the period and when the movable part has not been displaced during the period.

Images