Light distribution control device, light distribution control method, and program

Abstract

A light distribution control device (100) for controlling a lighting device that emits visible light from a moving body toward the periphery of the moving body comprises: an emission target determining unit (120) that, if object information relating to an object at the periphery of the moving body does not satisfy a predetermined condition, the object information being a detection result based on a visible image, which is an image captured with visible light, and measurement data measured using light other than visible light with respect to a region including an imaging target region of the visible image, outputs emission target information indicating that the object indicated by the object information is an emission target; and an emission condition determining unit (140) that uses the emission target information to output an emission condition for gradually changing the emission state of the lighting device so that the object information satisfies the predetermined condition.

Description

Light distribution control device, light distribution control method, and program

[0001] The disclosed technology relates to a light distribution control technology for controlling lighting devices that irradiate light from a moving body to its surroundings.

[0002] Among conventional control technologies for controlling the light distribution from a moving body to its surroundings is the control technology disclosed in Patent Document 1. Patent Document 1 discloses a device for controlling the light distribution pattern of a headlight device in order to improve the accuracy of image recognition processing. Specifically, the device described in Patent Document 1 starts processing when "a condition for starting visible light irradiation is met," such as "when the ambient brightness falls below a predetermined threshold while the vehicle 101 is running" (paragraph

[0072] ), and "generates a visible light control signal for controlling visible light irradiation in a standard irradiation pattern, which is a pattern in which the light intensity of all unit areas is set to the same initial value" (paragraph

[0077] ), and "controls the visible light irradiation lamp 201 to irradiate visible light in the standard irradiation pattern based on the visible light control signal. As a result, visible light in the standard irradiation pattern is irradiated forward of the vehicle 101" (paragraph

[0074] ).

[0003] International Publication No. 2019 / 225349 (WO2019 / 225349)

[0004] However, the device of Patent Document 1 has the problem that when the surroundings become darker than a predetermined brightness, the set amount of light is suddenly emitted, which may cause unnecessary stimulation to the occupant who is emitting the light from the lighting device, or the person who is the target of the light.

[0005] The present disclosure is intended to solve the above-mentioned problem, and aims to reduce unnecessary stimulation to the side irradiating or receiving light from a lighting device.

[0006] The light distribution control device disclosed herein is a light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, and includes: an irradiation target determination unit that outputs irradiation target information related to an irradiation target from among objects in the surroundings of the moving body detected based on a visible image that is an image captured using visible light and measurement data that is measured using light other than visible light for an imaging area included in the visible image; and an irradiation condition determination unit that outputs irradiation conditions for the irradiation target using the irradiation target information, and if the irradiation target information does not satisfy a predetermined condition, outputs irradiation conditions that gradually change the irradiation state of the lighting device so as to satisfy the condition.

[0007] The present disclosure has the effect of reducing unnecessary stimulation to the side irradiating or receiving light from a lighting device.

[0008] FIG. 1 is a diagram illustrating an example of a basic configuration of a light distribution control device 100 (100A) according to a first embodiment of the present disclosure. FIG. 2 is a flowchart illustrating an example of processing by the light distribution control device 100 (100A) according to the first embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example of a configuration of a light distribution control device 100 (100B) according to a second embodiment of the present disclosure. FIG. 4 is a diagram illustrating an example of a configuration of a light distribution control system 1 (1B) including the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 5 is a flowchart illustrating an example of processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 6 is a flowchart illustrating a detailed example of object detection processing in the processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 7 is a flowchart illustrating a detailed example of irradiation target determination processing in the processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 8 is a flowchart illustrating a detailed example of irradiation target candidate determination processing in the processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 9 is a flowchart showing a detailed example of an irradiation condition determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 10 is a flowchart showing a detailed example of a light distribution control process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 11 is a flowchart showing another detailed example of the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 12 is a flowchart showing another detailed example of an irradiation target candidate determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 13 is a flowchart showing another detailed example of an irradiation target determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 14 is a conceptual diagram illustrating acquisition of object information according to the second embodiment of the present disclosure. FIG. 15 is a conceptual diagram illustrating determination of an irradiation target according to the second embodiment of the present disclosure. FIG. 16 is a flowchart showing another detailed example of an irradiation condition determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. FIG. 17 is a first conceptual diagram of a situation in which the light distribution control device 100 (100B) according to the second embodiment of the present disclosure changes the illumination state of the lighting device 400.FIG. 18 is a second conceptual diagram of a situation in which the light distribution control device 100 (100B) according to the second embodiment of the present disclosure changes the illumination state of the lighting device 400. FIG. 19 is a diagram illustrating an example configuration of a light distribution control system 1 (1C) including a light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 20 is a flowchart illustrating an example of processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 21 is a flowchart illustrating a detailed example of irradiation target determination processing in the processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 22 is a flowchart illustrating a detailed example of irradiation target candidate determination processing in the processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 23 is a flowchart illustrating an example of a part of illumination condition setting processing in the processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 24 is a flowchart illustrating another example of a part of irradiation target candidate determination processing in the processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 25 is a flowchart showing another detailed example of a part of the irradiation condition setting process in the processing by the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. FIG. 26 is a diagram showing an example configuration of a light distribution control system 1 (1D) including a light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. FIG. 27 is a flowchart showing an example of the processing by the light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. FIG. 28 is a flowchart showing an example of a section determination process in the processing by the light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. FIG. 29 is a flowchart showing an example of the irradiation condition determination process in the processing by the light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. FIG. 30 is a flowchart showing another example of the section determination process in the processing by the light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. FIG. 31 is a first image diagram of the reach section, illumination required section, illumination grace period section, and a situation in which the light distribution control device 100 (100D) changes the illumination state of the lighting device 400 according to the fourth embodiment of the present disclosure.Fig. 32 is a second conceptual diagram of a reachable section, an illumination-required section, and an illumination-grace section according to the fourth embodiment of the present disclosure, and a situation in which the light distribution control device 100 (100D) changes the illumination state of the lighting device 400. Fig. 33 is a diagram illustrating a first example of a hardware configuration for realizing functions according to the configuration of the present disclosure. Fig. 34 is a diagram illustrating a second example of a hardware configuration for realizing functions according to the configuration of the present disclosure.

[0009] In order to explain the present disclosure in more detail, embodiments of the present disclosure will be described below with reference to the accompanying drawings.

[0010] First Embodiment In the first embodiment, a basic form of the present disclosure will be described.

[0011] A light distribution control device according to a first embodiment of the present disclosure controls a lighting device that emits visible light from a moving body toward its surroundings. The light distribution control device sets an object that is likely to exist in the vicinity and that should be noticed by an occupant as an illumination target, and controls the lighting device to emit light toward the illumination target. The light distribution control device controls the lighting device to gradually change the illumination state when emitting light toward the illumination target. The lighting device is a lighting device that can emit light toward the illumination target, and is, for example, a lighting device mounted on a moving body. When the moving body is a vehicle, the lighting device is, for example, a headlight. The object that is the illumination target is a pedestrian that is likely to be present within a predetermined distance from the moving body.

[0012] An example configuration of a light distribution control device according to a first embodiment of the present disclosure will be described. Fig. 1 is a diagram illustrating an example basic configuration of a light distribution control device 100 (100A) according to the first embodiment of the present disclosure. The light distribution control device 100 (100A) shown in Fig. 1 includes an irradiation object determination unit 120 (120A) and an irradiation condition determination unit 140 (140A).

[0013] The illumination target determination unit 120A outputs illumination target information related to an object to be illuminated when object information related to an object likely to be present around the moving body, which is a detection result using a visible image and a light other than the visible image, does not satisfy a predetermined condition (hereinafter, "predetermined condition" will also be referred to as "predetermined condition" or "predefined condition"). Specifically, the illumination target determination unit 120A outputs illumination target information including object information related to an object around the moving body, which is a detection result based on a visible image, which is an image captured using visible light, and measurement data measured using light other than visible light for an area including the imaging target area of ​​the visible image, if the object information does not satisfy a predetermined condition. The illumination target information is information related to the object to be illuminated. The illumination target information is expressed in the form of, for example, the direction in which the object is likely to exist or the position in which the object is likely to exist. In this case, the object indicated in the illumination target information is indicated, for example, by an angle indicating the direction of the object relative to the lighting device of the moving body, or by position coordinates (depth, left / right) relative to the moving body. However, the illumination target information may be in a form other than the above, as long as it can determine the direction in which the object is likely to exist or the position in which the object is likely to exist. The illumination target information may also include the time when the object was detected. The illumination target information may also include the type of the object to be illuminated.

[0014] When the object information does not satisfy predetermined conditions, the illumination condition determination unit 140A outputs illumination conditions that gradually change the illumination state of the lighting device. Specifically, the illumination condition determination unit 140A uses the illumination target information to output illumination conditions that gradually change the illumination state of the lighting device so that the object information satisfies the predetermined conditions. The illumination conditions are, for example, conditions for the intensity of the light to be emitted. Specifically, the illumination conditions indicate an illumination state in which the illumination intensity of light changes over time to reach a target intensity value. Alternatively, the illumination conditions are, for example, conditions for the range into which light is emitted. Specifically, the illumination conditions indicate an illumination state in which the illumination range of light changes over time to reach a target range value. Alternatively, the illumination conditions are, for example, conditions for the intensity of the light to be emitted and the range into which light is emitted. Specifically, the illumination conditions indicate an illumination state in which the illumination intensity of light changes over time to reach a target intensity value and the illumination range of light changes over time to reach a target range value. The degree of change for gradually changing the illumination state is preset to a value such as a linear degree of change, a stepwise degree of change, etc. The degree of change is, for example, a degree of change based on the frame of the image, such as the amount of illumination intensity / area that changes in one frame (specific example: an increase by 1%) or the proportion of illumination intensity / area that changes in one frame (specific example: a change by 1.05 times).

[0015] In addition to the above components, the light distribution control device 100 also includes a control unit (not shown), a storage unit (not shown), and a communication unit (not shown). The control unit (not shown) controls the entire light distribution control device 100 and each of its components. The control unit (not shown), for example, starts up the light distribution control device 100 in accordance with an external command. The control unit (not shown) also controls the state of the light distribution control device 100 (operating state = startup, shutdown, sleep, etc.). The storage unit (not shown) stores various data used by the light distribution control device 100. For example, the storage unit (not shown) stores output (output data) from each component of the light distribution control device 100 and outputs data requested by each component to the requesting component. The communication unit (not shown) communicates with external devices. For example, communication is performed between the light distribution control device 100 (100A) and a peripheral device (e.g., a device mounted on a mobile object). For example, when the light distribution control device 100 and the mobile-mounted device are not connected by wire, the communication unit (not shown) has a function of communicating between the light distribution control device 100 and the mobile-mounted device. The communication unit (not shown) also has a function of communicating with a server device, which is an external device. The control unit (not shown), the storage unit (not shown), and the communication unit (not shown) each have the same functions in the embodiments described below.

[0016] Next, an example of processing by the light distribution control device will be described. Fig. 2 is a flowchart illustrating an example of processing by the light distribution control device 100 (100A) according to the first embodiment of the present disclosure. The processing illustrated in Fig. 2 is a light distribution control method by the light distribution control device that controls a lighting device that irradiates visible light from a moving object toward its surroundings. The light distribution control method includes the steps of: an irradiation target determination unit of the light distribution control device outputting irradiation target information including object information related to an object in the periphery of the moving object, the object information being a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light for an area including an imaging target area of ​​the visible image, when the object information does not satisfy a predetermined condition; and an irradiation condition determination unit of the light distribution control device outputting irradiation conditions that gradually change the irradiation state of the lighting device using the irradiation target information so that the object information satisfies the predetermined condition.

[0017] The light distribution control device 100A shown in FIG. 1 starts the process shown in FIG. 2 when a light distribution control start condition is satisfied, for example, when the moving object starts. The light distribution control device 100A then executes an irradiation target determination process (step ST1010). In the irradiation target determination process, the irradiation target determination unit 120A of the light distribution control device 100A determines an irradiation target around the moving object. The irradiation target determination unit 120A acquires, from outside the device, object information, which is a detection result based on a visible image captured with visible light and measurement data measured using light other than visible light for an area including the imaging target area of ​​the visible image. The irradiation target determination unit 120A determines whether the acquired object information satisfies predetermined conditions. The predetermined conditions include a condition in which the object information does not include information that can be obtained from the visible image, or a condition in which information that can be obtained from the visible image is unknown. If the object information does not satisfy the conditions, the irradiation target determination unit 120A outputs irradiation target information including the object information to the irradiation condition determination unit 140A. The irradiation target information indicates that the object indicated in the object information is the irradiation target. As already explained, the irradiation target information is information related to the object to be irradiated. The irradiation target information also includes the time when the object was detected. The irradiation target information may also include the type of the object to be irradiated.

[0018] Light distribution control device 100A then executes irradiation condition determination processing (step ST1020). In the irradiation condition determination processing, irradiation condition determination unit 140A of light distribution control device 100A acquires irradiation object information from irradiation object determination unit 120. Using the irradiation object information, irradiation condition determination unit 140A calculates irradiation conditions that gradually change the irradiation state of the object that is the irradiation object, and outputs irradiation condition information that indicates the irradiation conditions.

[0019] The light distribution control device 100A then proceeds to an end determination process (step ST1030). In the end determination process, a control unit (not shown) of the light distribution control device 100A determines whether to end the processing of the light distribution control device 100A. The control unit (not shown) determines whether to end the processing of the light distribution control device 100A in accordance with an external end command or an execution program, for example, when the power source of the mobile object stops. If the control unit (not shown) determines not to end the processing of the light distribution control device 100A ("NO" in step ST1030), the process proceeds to step ST1010 and repeats the processing from step ST1010. If the control unit (not shown) determines to end the processing of the light distribution control device 100A ("YES" in step ST1030), the light distribution control device 100A ends the processing.

[0020] In this embodiment, the above-described configuration allows the light distribution control device to irradiate light onto a detected object when the condition is not met, such as the object information related to the detected object not containing information that should be included.

[0021] This embodiment discloses the following configuration: A light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, comprising: an irradiation target determination unit that outputs irradiation target information including object information related to an object in the periphery of the moving body, the object information being a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light on an area including an imaging target area of ​​the visible image, when the object information does not satisfy a predetermined condition, and an irradiation condition determination unit that uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition. Thus, the present disclosure has an effect of providing a light distribution control device that makes it possible to reduce unnecessary stimulation to a side that emits light from a lighting device or a side that is irradiated with light from a lighting device.

[0022] This embodiment discloses the following configuration: a light distribution control method using a light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, wherein an irradiation target determination unit of the light distribution control device outputs irradiation target information including object information related to an object in the periphery of the moving body, the object information being a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light on an area including the imaging target area of ​​the visible image, if the object information does not satisfy a predetermined condition, and an irradiation condition determination unit of the light distribution control device uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition. This makes it possible to provide a light distribution control method that makes it possible to reduce unnecessary stimulation to a side irradiating or a side irradiated with light by a lighting device.

[0023] This embodiment discloses the following configuration: A light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, the light distribution control device including: an irradiation target determination unit that outputs irradiation target information including object information related to an object in the periphery of the moving body, the object information being a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light on an area including an imaging target area of ​​the visible image, when the object information does not satisfy a predetermined condition; and an irradiation condition determination unit that uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition. This disclosure thereby has the effect of providing a program that makes it possible to reduce unnecessary stimulation to a side that emits light from a lighting device or a side that is irradiated with light.

[0024] This embodiment further discloses the following configuration: A light distribution control device, wherein the object to be illuminated is a pedestrian who is likely to be present within a predetermined distance from the moving body. As a result, the present disclosure further achieves an effect of providing a light distribution control device that makes it possible to reduce unnecessary stimulation of pedestrians. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the above light distribution control method, the above program, or the like. Furthermore, the present disclosure achieves the same effect as the above by adopting the above configuration in other embodiments.

[0025] This embodiment further discloses the following configuration: A light distribution control device, characterized in that the illumination condition is a condition of the intensity of the illuminated light. As a result, the present disclosure further achieves the effect of providing a light distribution control device that makes it possible to reduce unnecessary stimulation caused by the illumination intensity of light. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the above light distribution control method, the above program, or the like. Furthermore, the present disclosure achieves the same effect as the above by adopting the above configuration in other embodiments.

[0026] This embodiment further discloses the following configuration: A light distribution control device, characterized in that the illumination condition is a condition of the range to be illuminated by light. As a result, the present disclosure further achieves the effect of providing a light distribution control device that makes it possible to reduce unnecessary stimulation caused by the illumination range of light. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the above light distribution control method, the above program, or the like. Furthermore, the present disclosure achieves the same effect as the above by adopting the above configuration in other embodiments.

[0027] This embodiment further discloses the following configuration: A light distribution control device, wherein the illumination conditions are conditions regarding the intensity of the illuminated light and the range of illumination of the light. This provides an advantage of providing a light distribution control device that can reduce unnecessary irritation caused by the illumination intensity and illumination range of light. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the above light distribution control method, the above program, or the like. Furthermore, the present disclosure achieves the same effect as the above by employing the above configuration in other embodiments.

[0028] Embodiment 2. In embodiment 2, a more detailed configuration example of the configuration according to embodiment 1 will be described. In embodiment 2, the following points will be included in the description: - An object detected using a sensor other than a visible light camera is illuminated by a lighting device such as a headlight, and the type of object is determined using the visible light camera. - The illumination conditions are gradually changed until a target intensity or range is achieved. In embodiment 2, duplicated descriptions of components according to embodiment 2 that are similar to the components according to embodiment 1 already described will be omitted as appropriate.

[0029] A light distribution control device according to a second embodiment of the present disclosure performs light distribution control of a headlight (lighting device) when, for example, there is an object to be illuminated ahead of a vehicle (mobile body). The illuminated object is an object that is estimated to be a visual target for an occupant of the vehicle. In the second embodiment, the occupant of the vehicle who visually recognizes the illuminated object is assumed to be the driver. Also, in this specification, the illuminated object is assumed to be a person such as a pedestrian. Note that this is merely an example, and the occupant of the vehicle who visually recognizes the illuminated object may include, for example, an occupant other than the driver. Furthermore, the illuminated object may be, for example, a moving object other than a person, or a stationary object such as a fallen object on the path of the vehicle, as long as it is an object that is estimated to be a visual target for an occupant of the vehicle. In the second embodiment, the light distribution control of the headlight performed by the light distribution control device specifically assumes control of the illumination intensity and illumination range of light illuminated by the headlight. An example configuration of a light distribution control device according to the second embodiment of the present disclosure will be described. Fig. 3 is a diagram illustrating a configuration example of a light distribution control device 100 (100B) according to embodiment 2 of the present disclosure. The light distribution control device 100 (100B) illustrated in Fig. 3 includes an object detection unit 110 (110B), an irradiation object determination unit 120 (120B), an irradiation condition determination unit 140 (140B), and a light distribution control unit 150 (150B).

[0030] The object detection unit 110B acquires first information output by the first object detection device 200 and second information output by the second object detection device 300, and outputs object information related to objects likely to exist in the vicinity of the mobile body using the first information and the second information. The object detection unit 110B acquires first information related to the detection from a first object detection device that detects objects likely to exist in the vicinity of the mobile body using a visible image, which is an image captured using visible light. The object detection unit 110B acquires second information related to the detection from a second object detection device that detects objects likely to exist in the vicinity of the mobile body based on measurement data measured using light other than visible light for an imaging area included in the visible image. The object detection unit 110B outputs object information related to objects likely to exist in the vicinity of the mobile body using the first information and the second information. The first information and the second information indicate objects detected in the vicinity of the mobile body and the time of detection. The objects indicated in the first information and the second information are expressed, for example, in the form of a direction in which the objects are likely to exist or a position in which the objects are likely to exist. In this case, the object indicated in the first information and the object indicated in the second information are indicated, for example, by an angle indicating the direction of the object relative to the lighting device of the moving body, or by position coordinates (depth, left / right) relative to the moving body. However, the first information and the second information may take other forms as long as they can acquire the direction or position where the object is likely to be located. If the object can be identified by image recognition, the first information includes the type of the object. The type of the object indicates, for example, a pedestrian, a moving body (such as a small vehicle, a large vehicle, or a motorcycle), a building, or a road structure (such as a traffic sign). If the type of the object cannot be detected, the first information indicates that the type of the object is unknown. If the type of the object is unknown, the information related to the object type indicates that the type of the object cannot be determined. Note that whether an object can be identified by image recognition is thought to depend on factors such as the brightness around the object in the image and the color of the background. The object information is generated using the first information and the second information, and may particularly include the above information contained in the first information and the second information.

[0031] The illumination target determination unit 120B outputs illumination target information related to an object to be illuminated when object information related to an object likely to exist around the moving body, which is a detection result using a visible image and a non-visible image, does not satisfy a predetermined condition. Specifically, the illumination target determination unit 120B outputs illumination target information including object information related to an object around the moving body, which is a detection result based on a visible image captured using visible light and measurement data measured using non-visible light for an area including the imaging target area of ​​the visible image, if the object information does not satisfy a predetermined condition. The illumination target information is information related to the object to be illuminated. The illumination target information is expressed in the form of, for example, the direction in which the object is likely to exist or the position in which the object is likely to exist. In this case, the object indicated in the illumination target information is expressed, for example, by an angle indicating the direction of the object relative to the lighting device of the moving body, or position coordinates (depth, left and right) relative to the moving body. However, the illumination target information may take other forms as long as it can determine the direction in which the object is likely to exist or the position in which the object is likely to exist. The illumination target information also includes the time at which the object was detected. The irradiation target information may also include the type of the object to be irradiated. In the irradiation target determination unit 120B, the predetermined condition is that the type of the object can be determined. The irradiation target determination unit 120B receives object information related to the object detected by the object detection unit 110B, and if the object information does not include the type of the object, outputs irradiation target information including the object information.

[0032] When the object information does not satisfy the predetermined conditions, the illumination condition determination unit 140B outputs illumination conditions that gradually change the illumination state of the lighting device. Specifically, the illumination condition determination unit 140B uses the illumination target information to output illumination conditions that gradually change the illumination state of the lighting device so that the object information satisfies the predetermined conditions. The illumination condition determination unit 140B determines illumination conditions for the illumination target using the illumination target information including the determination result by the illumination target determination unit 120B. When the object information included in the illumination target information satisfies the predetermined conditions, the illumination condition determination unit 140B determines illumination conditions for the illumination target using the illumination target information including the determination result by the illumination target determination unit 120B.

[0033] The light distribution control unit 150B outputs a control signal to the lighting device in accordance with the illumination conditions output by the illumination condition determination unit 140B.

[0034] A configuration example in which a light distribution control device according to a second embodiment of the present disclosure is applied to a light distribution control system will be described. That is, a configuration example of a light distribution control device according to the second embodiment of the present disclosure and a light distribution control system including the light distribution control device will be described. FIG. 4 is a diagram showing a configuration example of a light distribution control system 1 (1B) including a light distribution control device 100 (100B) according to the second embodiment of the present disclosure. The light distribution control system 1B shown in FIG. 4 is configured to include a first object detection device 200, a second object detection device 300, the light distribution control device 100B, and a lighting device 400. The first object detection device 200, the second object detection device 300, and the lighting device 400 are connected to the light distribution control device 100B.

[0035] The first object detection device 200 detects objects around a moving vehicle based on a visible image captured using visible light. The first object detection device 200 detects objects that may be present around the moving vehicle using the visible image, which is an image captured using visible light, and outputs first information related to the detection. Specifically, the first object detection device 200 acquires information about objects present around the vehicle (camera object information) using, for example, a monocular camera or a stereo camera that captures an image in front of the vehicle. The camera object information includes information about the type of object in addition to the presence of the object, the distance to the object, and the shape of the object.

[0036] The second object detection device 300 detects objects around the moving vehicle based on measurement results other than visible light. The second object detection device 300 detects objects that may be present around the moving vehicle based on measurement data obtained by measuring an imaging area included in a visible image using light other than visible light, and outputs second information related to the detection. Specifically, the second object detection device 300 measures, for example, the size of an object present in front of the vehicle, the shape of the object, the distance from the vehicle to the object, and other information (sensor information). The external sensor is, for example, a millimeter-wave radar or LiDAR (Light Detection and Ranging). In this specification, the external sensor is described as a millimeter-wave radar. Note that the external sensor does not necessarily have to be composed of only one sensor, and multiple sensors may be combined. The millimeter-wave radar acquires information about objects present around the vehicle (sensor object information). The sensor object information includes information about the presence of the object, the distance to the object, the shape of the object, and other information.

[0037] The lighting device 400 receives a control signal from the light distribution control device 100B and irradiates visible light from the moving body toward the surrounding area in accordance with the control signal. The lighting device 400 is, for example, a lighting fixture that illuminates the area ahead of the vehicle (moving body). The lighting device 400 is, for example, a headlight, and is a typical headlight configured with a driving headlight (high beam) and a passing headlight (low beam), so a detailed configuration example will not be described. In this specification, the high beam is assumed to be a variable light distribution type (ADB (Adaptive Driving Beam)) that can control the light distribution pattern. The ADB can block light from specific areas while illuminating other areas. The ADB controls the light distribution pattern using an LED array method in which multiple LEDs are arranged in an array, a scanning method using MEMS (Micro Electro Mechanical Systems), or the like. Note that the LED array method and the scanning method are well-known technologies and therefore will not be described here. In this specification, the headlights will be described as being configured with variable light distribution high beams and low beams, but this is merely an example. The headlights may be, for example, spotlight-type headlights that have a spotlight in addition to high beams and low beams. The headlights are mounted on the left and right sides of the vehicle in the direction of travel, and each is configured with a high beam unit that illuminates distant objects and a low beam unit that illuminates nearby objects. In this specification, illustrations of both the left and right high beams will be omitted.

[0038] The light distribution control device 100B controls the illumination or blocking of high beams by, for example, turning on or off light sources (not shown), such as multiple LED light sources, that make up the headlight (lighting device 400). In this way, the light distribution control device 100B controls the illumination range of the light from the headlight (lighting device 400). The light distribution control device 100B not only turns on and off each light source, but is also capable of controlling the amount of light when it is turned on.

[0039] The light distribution control device 100B shown in Figure 4 is configured to include an object detection unit 110B, an irradiation object determination unit 120B, an irradiation condition determination unit 140B, and a light distribution control unit 150B, similar to the light distribution control device 100B already described.

[0040] As already described, the object detection unit 110B acquires the first information output by the first object detection device 200 and the second information output by the second object detection device 300, and outputs object information related to objects likely to exist around the moving body using the first information and the second information. Specifically, the object detection unit 110B acquires information (forward object information) related to objects existing ahead of the vehicle (around the moving body) based on, for example, camera object information (first information output by the first object detection device 200) acquired from a camera object detection device and sensor object information (second information output by the second object detection device 300) acquired from an external sensor object detection device. The object detection unit 110B compares the camera object information (first information) with the sensor object information (second information) to determine whether they are the same object. Because the determination method is a well-known technique, detailed description thereof will be omitted.

[0041] As already described, the irradiation target determination unit 120B receives object information related to the object detected by the object detection unit 110B, and if the object information does not include the object type, outputs irradiation target information including the object information. Specifically, the irradiation target determination unit 120B determines an irradiation target candidate based on, for example, forward object information acquired from the object detection unit 110B. Furthermore, the irradiation target determination unit 120B determines an irradiation target from the irradiation target candidates. The irradiation target determination unit 120B transmits information (irradiation target information) related to the determined irradiation target to the irradiation condition determination unit 140B. The irradiation target candidate is an object to be irradiated among the objects detected by the object detection unit 110B. Specifically, it is an object whose type has not been determined among the detected objects. For objects whose type has been determined, the object can be detected by a visible light camera, so it is determined that improvement by irradiation is not necessary. For objects whose type has not been determined, the object cannot be detected by a visible light camera, so it is determined that improvement by irradiation is necessary. The irradiation target is an object to be actually irradiated among the irradiation target candidates. Even if the irradiation target is a candidate, if it is necessary to narrow down the irradiation target due to restrictions on the irradiation device or the like, the irradiation target is selected from the irradiation target candidates.

[0042] As already explained, the illumination condition determination unit 140B uses illumination target information including the determination result by the illumination target determination unit 120B to determine illumination conditions for an illumination target when the object information included in the illumination target information does not satisfy predetermined conditions. The illumination conditions include information regarding the illumination intensity and illumination area when the headlights are used to illuminate the object. The illumination intensity refers to the amount of light emitted by the headlights. The illumination area refers to information regarding the vertical and horizontal angles of illumination by the headlights. The illumination condition determination unit 140B transmits the determined illumination conditions to the light distribution control unit 150B.

[0043] As already explained, the light distribution control unit 150B outputs a control signal to the lighting device 400 in accordance with the illumination conditions output by the illumination condition determination unit 140B. Specifically, the light distribution control unit 150B instructs the headlight (lighting device 400) to distribute light in accordance with the illumination conditions acquired from the illumination condition determination unit 140B.

[0044] Next, an example of processing by the light distribution control device will be described. Fig. 5 is a flowchart showing an example of processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. The processing shown in Fig. 5 is a light distribution control method by the light distribution control device. The light distribution control device 100B shown in Figs. 3 and 4 starts the processing shown in Fig. 5 when a light distribution control start condition is satisfied, for example, when the moving body starts.

[0045] The light distribution control device 100B then executes object detection processing (step ST2100). In the object detection processing, the object detection unit 110B of the light distribution control device 100B acquires first information output by the first object detection device 200 and second information output by the second object detection device 300, and outputs object information related to objects likely to be present in the vicinity of the moving object using the first information and the second information. The object detection unit 110B acquires first information related to the detection from the first object detection device 200, which detects objects likely to be present in the vicinity of the moving object using a visible image that is an image captured using visible light. The object detection unit 110B acquires second information related to the detection from the second object detection device 300, which detects objects likely to be present in the vicinity of the moving object based on measurement data measured using light other than visible light for an imaging area included in the visible image. The object detection unit 110B outputs object information related to objects likely to be present in the vicinity of the moving object to the irradiation target determination unit 120B using the first information and the second information.

[0046] Here, a detailed example of the object detection process will be described. Fig. 6 is a flowchart showing a detailed example of the object detection process in the processing of light distribution control device 100 (100B) according to embodiment 2 of the present disclosure. After starting the processing, object detection unit 110B then executes first object detection device drive processing (step ST2110). In the first object detection device drive processing, object detection unit 110B drives first object detection device 200.

[0047] Next, object detection unit 110B executes first information acquisition processing (step ST2111). In the first information acquisition processing, object detection unit 110B acquires first information from first object detection device 200.

[0048] Next, object detection unit 110B executes second object detection device drive processing (step ST2112). In the second object detection device drive processing, object detection unit 110B drives second object detection device 300.

[0049] Next, object detection unit 110B executes second information acquisition processing (step ST2113). In the second information acquisition processing, object detection unit 110B acquires second information from second object detection device 300. Note that although the first information acquisition processing and the second information acquisition processing are shown in different orders, they may be acquired simultaneously.

[0050] Next, object detection unit 110B executes object information generation processing (step ST2114). In the object information generation processing, object detection unit 110B generates object information related to objects that may be present around the moving object, using the first information and the second information.

[0051] Next, object detection unit 110B executes object information output processing (step ST2115). In the object information output processing, object detection unit 110B outputs the generated object information to irradiation target determination unit 120B.

[0052] The object detection unit 110B then proceeds to an end determination process (step ST2116). In the end determination process, the object detection unit 110B determines whether to end the processing of the object detection unit 110B. The object detection unit 110B determines whether to end the processing of the object detection unit 110B, for example, in accordance with an external end command or an execution program. If the object detection unit 110B determines not to end the processing of the object detection unit 110B ("NO" in step ST2116), the object detection unit 110B proceeds to the processing of step ST2110 and repeats the processing from the processing of step ST2110. If the object detection unit 110B determines to end the processing of the object detection unit 110B ("YES" in step ST2116), the object detection unit 110B ends the processing.

[0053] Returning to the description of FIG. 5 , the light distribution control device 100B then executes an irradiation target determination process (step ST2200). In the irradiation target determination process, the irradiation target determination unit 120B of the light distribution control device 100B outputs irradiation target information related to the object to be irradiated if the object information related to an object likely to be present around the moving object, which is a detection result using a visible image and a non-visible image, does not satisfy a predetermined condition. Specifically, the irradiation target determination unit 120B acquires the object information output by the object detection unit 110B. That is, the irradiation target determination unit 120B acquires object information related to the object around the moving object, which is a detection result based on a visible image, which is an image captured using visible light, and measurement data measured using non-visible light for an area including the imaging target area of ​​the visible image. The irradiation target determination unit 120B determines whether the object indicated in the object information is an irradiation target by determining whether the object information satisfies a predetermined condition. For example, if the object information does not satisfy a predetermined condition, the irradiation object determination unit 120B outputs irradiation object information including the object information to the irradiation condition determination unit 140B.

[0054] Here, a detailed example of the irradiation target determination process will be described. FIG. 7 is a flowchart showing a detailed example of the irradiation target determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. After starting the irradiation target determination process, the irradiation target determination unit 120B then starts an object confirmation loop process (step ST2210). The irradiation target determination unit 120B then executes an irradiation target candidate determination process (step ST2220). In the irradiation target candidate determination process, the irradiation target determination unit 120B identifies object information related to objects that are irradiation target candidates from the object information output by the object detection unit 110B. After executing the irradiation target candidate determination process for all object information acquired at the same time, the irradiation target determination unit 120B terminates the object confirmation loop process (step ST2230). The irradiation target determination unit 120B then executes an irradiation target candidate presence / absence determination process (step ST2240). In the irradiation target candidate presence / absence determination process, the irradiation target determination unit 120B determines whether or not there is an irradiation target candidate among the object information acquired at the same time. If the irradiation target determination unit 120B determines that there is no irradiation target candidate ("NO" in step ST2240), it terminates the process. If the irradiation target determination unit 120B determines that there is an irradiation target candidate ("YES" in step ST2240), it then executes irradiation target determination process (step ST2250). In the irradiation target determination process, the irradiation target determination unit 120B determines an irradiation target from among the irradiation target candidates. The irradiation target determination unit 120B determines an irradiation target from among the irradiation target candidates based on, for example, the number that can be illuminated by the lighting device 400. After executing the process of step ST2250, the irradiation target determination unit 120B terminates the process.

[0055] Returning to the description of Fig. 5, the light distribution control device 100B then executes an illumination condition determination process (step ST2300). In the illumination condition determination process, if the object information does not satisfy a predetermined condition, the illumination condition determination unit 140B of the light distribution control device 100B outputs illumination conditions that gradually change the illumination state of the lighting device 400. Specifically, the illumination condition determination unit 140B uses the illumination target information to output illumination conditions that gradually change the illumination state of the lighting device so that the object information satisfies the predetermined condition.

[0056] Here, detailed examples of the irradiation target candidate determination process and the irradiation condition determination process will be described. FIG. 8 is a flowchart showing a detailed example of the irradiation target candidate determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. After starting the processing, the irradiation target determination unit 120B then executes an object type determination process (step ST2221). In the object type determination process, the irradiation target determination unit 120B determines whether the object type has been determined. For example, the irradiation target determination unit 120B determines whether the object type has been determined based on whether the object type is included in the object information. Alternatively, the irradiation target determination unit 120B determines whether the object type has been determined based on information indicating whether the object type is distinguishable, for example. If the object type has not been determined in the object information (step ST2221 "NO"), the irradiation target determination unit 120B sets the object indicated in the object information as an irradiation target candidate (step ST2222). If the type of object is determined in the object information (step ST2221 "YES"), the irradiation object determination unit 120B does not set the object indicated in the object information as an irradiation object candidate (step ST2223). The irradiation object determination unit 120B outputs irradiation object information including object information related to the object set as an irradiation object candidate to the irradiation condition determination unit 140B.

[0057] FIG. 9 is a flowchart showing a detailed example of an irradiation condition determination process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. When the irradiation condition determination unit 140B starts the process, it then starts an irradiation target confirmation loop process (step ST2310). In the irradiation target confirmation loop process, the irradiation condition determination unit 140B sets irradiation conditions for each piece of irradiation target information. The irradiation condition determination unit 140B then executes an irradiation target information acquisition process (step ST2320). In the irradiation target information acquisition process, the irradiation condition determination unit 140B acquires the irradiation target information output by the irradiation target determination unit 120B. The irradiation condition determination unit 140B then executes an irradiation condition setting process (step ST2330). In the irradiation condition setting process, the irradiation condition determination unit 140B sets irradiation conditions based on the irradiation target information. The irradiation condition determination unit 140B outputs irradiation condition information indicating the irradiation conditions to the light distribution control unit 150B. When the irradiation condition determination unit 140B has confirmed all of the irradiation target information including the object information acquired at the same time, the irradiation condition determination unit 140B then ends the irradiation target confirmation loop process (step ST2340). When the irradiation condition determination unit 140B has not confirmed all of the irradiation target information including the object information acquired at the same time, the irradiation condition determination unit 140B then returns to the process of step ST2320 and repeats the irradiation target confirmation loop process.

[0058] Returning to the description of Fig. 5, the light distribution control device 100B then executes a light distribution control process (step ST2400). In the light distribution control process, the light distribution control unit 150B of the light distribution control device 100B outputs a control signal to the lighting device in accordance with the illumination conditions output by the illumination condition determination unit 140B.

[0059] Here, a detailed example of the light distribution control process will be described. FIG. 10 is a flowchart showing a detailed example of the light distribution control process in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. After starting the process, the light distribution control unit 150B then executes an irradiation condition acquisition process (step ST2410). In the irradiation condition acquisition process, the light distribution control unit 150B acquires the irradiation condition information output by the irradiation condition determination unit 140B. The light distribution control unit 150B then executes a control signal output process (step ST2420). In the control signal output process, the light distribution control unit 150B outputs a control signal to the lighting device 400 in accordance with the irradiation conditions indicated in the irradiation condition information. The light distribution control unit 150B then ends the process.

[0060] Returning to the description of FIG. 5 , the light distribution control device 100B then proceeds to an end determination process (step ST2500). In the end determination process, a control unit (not shown) of the light distribution control device 100B determines whether to end the processing of the light distribution control device 100B. The control unit (not shown) determines whether to end the processing of the light distribution control device 100B, for example, in accordance with an external end command or an execution program. If the control unit (not shown) determines not to end the processing of the light distribution control device 100B ("NO" in step ST2500), the process proceeds to step ST2100, and repeats the processing from step ST2100. If the control unit (not shown) determines to end the processing of the light distribution control device 100B ("YES" in step ST2500), the light distribution control device 100B ends the processing.

[0061] Another example of processing by the light distribution control device according to the second embodiment of the present disclosure will now be described. Fig. 11 is a flowchart showing another detailed example of processing by the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. In the description of Fig. 11, it is assumed that the first object detection device 200 is a camera object detection device, the second object detection device 300 is an outside-vehicle sensor object detection device, and the object information is forward object information.

[0062] First, the camera object detection device and the vehicle exterior sensor object detection device are driven (step ST2601). The camera object detection device transmits camera object information to object detection unit 110B. The vehicle exterior sensor object detection device transmits sensor object information to object detection unit 110B.

[0063] Next, object detection section 110B acquires forward object information based on the sensor object information and camera object information (step ST2602).

[0064] Next, the irradiation object determination unit 120B determines whether or not to select the object as an irradiation object candidate based on the forward object information acquired from the object detection unit 110B (step ST2603). This process is repeated the number of times, the number of times being the number of pieces of forward object information acquired from the object detection unit 110B, i.e., the number of objects detected by the object detection unit 110B.

[0065] The irradiation object determining unit 120B determines an object whose type has not been determined as an irradiation object candidate based on the type information included in the forward object information acquired from the object detecting unit 110B.

[0066] A detailed flow of the processing of step ST2603 is shown in FIG. 12 . FIG. 12 is a flowchart showing another example of the detailed irradiation target candidate determination processing in the processing of the light distribution control device 100 (100B) according to the second embodiment of the present disclosure. The irradiation target determination unit 120B determines whether the type of the object has been determined based on the type information included in the forward object information acquired from the object detection unit 110B (step ST26031). If the type has not been determined (step ST26031 “NO”), the object is determined to be an irradiation target candidate because irradiation is necessary to improve detection by the visible light camera (step ST26032). If the type has been determined (step ST26031 “YES”), the object can be detected by the visible light camera without irradiation, so it is not determined to be an irradiation target candidate (ST26033).

[0067] In this specification, the determination is based on whether the object type is confirmed, but reliability may also be used. For example, if the detection reliability (score) included in the forward object information is below a threshold, the object type is deemed to be inconclusive. Furthermore, whether the object type is confirmed may be determined using information from multiple frames, rather than just one frame. For example, if the object type remains the same for multiple frames, the object type may be determined to be confirmed, but if there is a change within the multiple frames, the object type may be deemed to be inconclusive because the detection is not stable.

[0068] In this specification, the determination in step ST2603 is performed for all forward object information acquired from the object detection unit 110B, but risk determination may also be performed in advance. The risk determination may, for example, determine the possibility of a collision between the host vehicle and the detected object based on information included in the forward object information. Objects that are unlikely to be detected in the host vehicle's direction of travel may be excluded. For example, an object that is likely to exist within a predetermined range from the moving object is determined to be an object to be illuminated. In this case, specifically, for example, the illumination object determination unit 120B determines and extracts objects (e.g., pedestrians) that are likely to exist within a predetermined distance from the moving object from all detected objects, and then performs a process to determine illumination object candidates.

[0069] Next, the irradiation object determining unit 120B determines whether there is an irradiation object candidate (step ST2604). If there is no object determined to be an irradiation object candidate in step ST2603 ("NO" in step ST2604), there is no need to irradiate, and therefore this process ends. If there is an object determined to be an irradiation object candidate in step ST2603 ("YES" in step ST2604), the process proceeds to step ST2605.

[0070] Next, the irradiation object determining unit 120B determines an irradiation object (step ST2605). The irradiation object determining unit 120B extracts an object that can be irradiated by using information included in the forward object information of the object determined as an irradiation object candidate in step ST2603.

[0071] A detailed flow of step ST2605 is shown in Fig. 13. Fig. 13 is a flowchart showing another example of the detailed illumination target determination process in the processing of light distribution control device 100 (100B) according to embodiment 2 of the present disclosure. Illumination target determination unit 120B determines whether the number of illumination target candidates is greater than the maximum illumination number (step ST26051). The maximum illumination number is the maximum number of objects that can be illuminated using the headlights in use, and is determined in advance.

[0072] If the number of irradiation target candidates is greater than the maximum number of irradiations ("YES" in step ST26051), the irradiation target determination unit 120B extracts irradiation targets from the irradiation target candidates (step ST26052). One method for extraction is to use the distance to the irradiation target candidate. The irradiation target determination unit 120B determines the irradiation target candidates as many times as the maximum number of irradiations, in order of the distance from the closest irradiation target candidate. This is just one example, and information other than distance may be used.

[0073] If the number of irradiation target candidates is less than the maximum number of irradiation targets (step ST26051 "NO"), the irradiation target determination unit 120B determines all irradiation target candidates as irradiation targets since it is possible to irradiate all irradiation target candidates (step ST26053).

[0074] FIG. 14 is an image diagram illustrating how object information is acquired according to the second embodiment of the present disclosure. FIG. 14 illustrates an example of the processing of steps ST2601, ST2602, and ST2605. Each of FIG. 14 illustrates how an object appears when viewed from the host vehicle. FIG. 14 is a diagram (object information acquisition image diagram 2000) illustrating how forward object information is acquired in the object detection unit 110B. Pedestrians (objects 2010a and 2010b) are present on the near side and far side of the left side as viewed from the host vehicle, and an oncoming vehicle (object 2010c) is present on the right side. The object detection unit 110B combines radar detection and visible light camera detection to determine the type (object type) 2020 (2020a, 2020b, 2020c) of each object (object detection result) 2010 (2010a, 2010b, 2010c). In the example of FIG. 14, the pedestrian at the back left has poor visibility with the visible light camera, and therefore the type of pedestrian is not determined.

[0075] FIG. 15 is an image diagram illustrating how an irradiation target is determined according to the second embodiment of the present disclosure. FIG. 15 illustrates the result of selecting an irradiation target in the irradiation target determination unit 120B (illumination target determination image 2100). The irradiation target determination unit 120B determines, as an irradiation target candidate, an object whose type is unknown and acquired by the object detection unit 110B, i.e., an object whose type was not determined in FIG. 15. Then, an irradiation target (irradiation target object) 2110 is selected from the irradiation target candidates. If there are multiple irradiation target candidates and a maximum number of irradiations is set, the irradiation target candidates are selected so that the number is equal to or less than the maximum number of irradiations. In the example of FIG. 15, there is one irradiation target candidate, so the object selected as the irradiation target candidate is determined as the irradiation target.

[0076] Next, the irradiation condition determination unit 140B sets the irradiation conditions based on the information on the irradiation object acquired from the irradiation object determination unit 120B (step ST2606). This process is repeated the number of times corresponding to the number of irradiation objects acquired from the irradiation object determination unit 120B, i.e., the number of objects that need to be irradiated.

[0077] The irradiation condition determination unit 140B changes the irradiation conditions based on the information about the irradiation object acquired from the irradiation object determination unit 120B and the current irradiation state.

[0078] A detailed flow of the processing of step ST2606 is shown in Figure 16. Figure 16 is a flowchart showing another example of the detailed illumination condition determination processing in the processing of the light distribution control device 100 (100B) according to embodiment 2 of the present disclosure. The illumination condition determination unit 140B acquires the current illumination state for the object determined by the illumination object determination unit 120B to be an illumination object (step ST26061). The illumination state refers to an illumination flag indicating whether or not the object is illuminated, the illumination intensity, and the illumination area. The illumination state is linked to the object ID of the illumination object and is updated each time processing is performed.

[0079] Next, the illumination condition determination unit 140B determines whether the target illumination conditions are reached (step ST26062). The target illumination conditions refer to the illumination intensity or illumination area required for the object. The illumination intensity of the target illumination conditions is, for example, the maximum illumination intensity that can be output by the headlights. The illumination area of ​​the target illumination conditions is, for example, the size of a pedestrian included in the forward object information. This is just an example, and the illumination area may be determined using other information.

[0080] If the target irradiation conditions are met ("YES" in step ST26062), the process proceeds to ST2607.

[0081] If the target irradiation conditions have not been reached ("NO" in step ST26062), the irradiation condition determination unit 140B acquires the degree of change (step ST26063). The degree of change refers to the degree to which the irradiation conditions are changed in the current frame. As already explained, the degree of change is, for example, based on the image frame, and is the amount of irradiation intensity / area that changes in one frame (specifically, an increase of 1%) or the proportion of irradiation intensity / area that changes in one frame (specifically, a change of 1.05 times). The degree of change is calculated for either the irradiation intensity or the irradiation area, or both. Next, the irradiation condition determination unit 140B changes the irradiation conditions (step ST26064). The irradiation condition determination unit 140B sets the changed irradiation conditions by taking the degree of change calculated in step ST26063 into account in the current irradiation conditions.

[0082] Here, a specific method for calculating the irradiation conditions will be described. In this embodiment, a predetermined value is used as the degree of change.

[0083] First, an example of increasing the illumination intensity will be described. Here, the current illumination intensity is 1% and the target illumination intensity is 100%. If the predetermined degree of change is 1, the degree of change calculated in step ST26063 is 1. Then, in step ST26064, the illumination intensity 2, which is the current illumination intensity of 1 plus the degree of change 1, is set as the illumination condition. This is repeated until the target illumination intensity is reached. An illustration of these processes is shown in FIG. 17. FIG. 17 is a first illustration of a situation in which the light distribution control device 100 (100B) according to embodiment 2 of the present disclosure changes the illumination state of the lighting device 400. In Figure 17, the situation 2200 before the irradiation target is determined indicates that the current irradiation intensity is 0%, the situation 2300 during the change in irradiation state indicates that the irradiation target area (irradiated light during intensity change) 2310 has an irradiation intensity of 50%, and the situation 2400 after the end of the irradiation state change indicates that the irradiation target area (irradiated light after intensity change has ended) 2320 has an irradiation intensity of 100%, showing that the irradiation state is gradually changed in this order.

[0084] As another example, an example of increasing the illumination area will be described. Here, the illumination area refers to the illumination height. Assume that the current illumination height is 0 m and the target illumination height is 1.5 m. If the predetermined degree of change is 0.1 m, the degree of change acquired in step ST26063 is 0.1 m. Then, in step ST26064, the illumination condition is set to an illumination height of 0.1 m, which is the current illumination area of ​​0 m plus the degree of change of 0.1 m. Here, the calculation is performed in meters, but since the illumination angle is required for headlight control, the calculated value is converted to an angle and set as the illumination area. An illustration of these processes is shown in FIG. 18 . FIG. 18 is a second illustration of a situation in which the light distribution control device 100 (100B) according to embodiment 2 of the present disclosure changes the illumination state of the lighting device 400. In Figure 18, situation 2500 before the irradiation target is determined indicates that the current irradiation range is at an irradiation height of 0 m, situation 2600 during the change in irradiation state indicates that the irradiation range is an irradiation target area (irradiation light during range change) 2610 at an irradiation height of 0.1 m, and situation 2700 after the end of the irradiation state change indicates that the irradiation range is an irradiation target area (irradiation light after range change) 2710 at an irradiation height of 1.5 m, showing that the irradiation state is gradually changing in this order.

[0085] As another example, we will explain the case of exponential increase. This is based on the well-known law that the greater the amount of stimulation, the greater the amount of change before a person notices the change in stimulation. In this document, the current illumination intensity is set to 1% and the target illumination intensity is set to 100%. The degree of change is calculated based on a predetermined magnification. If the predetermined magnification is 1.05, then the illumination condition is set to 1.05%, which is the current illumination intensity 1% x 1.05. This is repeated until the target illumination intensity of 100% is reached.

[0086] Returning to the description of Fig. 16, after setting the changed irradiation conditions, the irradiation condition determination unit 140B transmits the changed irradiation conditions to the light distribution control unit 150B.

[0087] Next, light distribution control unit 150B controls the headlights in accordance with the illumination conditions acquired from illumination condition determination unit 140B (step ST2607).

[0088] This embodiment further discloses the following configuration: a light distribution control device further comprising: an object detection unit that acquires first information related to the detection from a first object detection device that detects an object that may be present in the vicinity of the moving body using a visible image that is an image captured with visible light; acquires second information related to the detection from a second object detection device that detects an object that may be present in the vicinity of the moving body based on measurement data measured using light other than visible light for an imaging area included in the visible image; and outputs object information related to the object that may be present in the vicinity of the moving body based on the first information and the second information, wherein the illumination target determination unit accepts object information related to the object detected by the object detection unit, and, if the object information does not include the object type, outputs illumination target information including the object information. Thus, the present disclosure further provides an effect of being able to provide a light distribution control device that gradually changes the illumination state for an object when the type of the object that would normally be obtainable from the visible image is unknown, thereby reducing unnecessary stimulation. Furthermore, the present disclosure achieves the same effects as those described above by applying the above configuration to a light distribution control system, the above light distribution control method, or the above program.

[0089] This embodiment further discloses the following configuration: A light distribution control device further comprising: a light distribution control unit that outputs a control signal to the lighting device in accordance with the illumination conditions output by the illumination condition determination unit. As a result, the present disclosure further achieves the effect of being able to output a control signal to the lighting device, thereby providing a light distribution control device that can control a lighting device that does not have a control unit. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the above light distribution control method, the above program, or the like.

[0090] Embodiment 3. In embodiment 3, an embodiment is described in which illumination conditions that change the illumination state are output using the type of object and the reliability of the object type. In embodiment 3, the following points are included in the description. If the type of object is determined to be a pedestrian, the current illumination conditions are maintained. If the reliability of the object is used to determine whether the type of object has been determined, if the reliability of the object decreases, the illumination conditions before the decrease are restored. If the type of object is determined not to be a pedestrian, the illumination intensity or range is gradually reduced until the original illumination conditions are restored. In embodiment 3, duplicated descriptions of components related to embodiment 3 that are the same as those related to embodiment 1 or embodiment 2 already described will be omitted as appropriate.

[0091] A configuration example of a light distribution control device according to a third embodiment of the present disclosure and a light distribution control system including the light distribution control device will be described. FIG. 19 is a diagram showing a configuration example of a light distribution control system 1 (1C) including a light distribution control device 100 (100C) according to the third embodiment of the present disclosure. The light distribution control system 1 (1C) shown in FIG. 19 is configured to include a first object detection device 200, a second object detection device 300, the light distribution control device 100 (100C), and a lighting device 400. The first object detection device 200 has the same configuration as the first object detection device 200 already described. The second object detection device 300 has the same configuration as the second object detection device 300 already described. The lighting device 400 has the same configuration as the lighting device 400 already described.

[0092] The light distribution control device 100C includes an object detection unit 110 (110C), an irradiation object determination unit 120 (120C), an irradiation condition determination unit 140 (140C), and a light distribution control unit 150 (150C).

[0093] The irradiation object determination unit 120C determines an irradiation object candidate based on object information (for example, forward object information) acquired from the object detection unit 110C, as in the embodiment already described. Furthermore, the irradiation object determination unit 120C determines an irradiation object from the irradiation object candidate. The irradiation object determination unit 120C transmits information about the determined irradiation object to the irradiation condition determination unit.

[0094] Illumination target candidates are objects detected by the object detection unit 110C that are to be either brightened, dimmed, or maintained. Hereinafter, whether to brighten, dim, or maintain illumination is referred to as the "change condition." Specifically, target objects to be brightened are detected objects whose type has not been determined. Illuminating an object whose type has not been determined makes it easier for the visible light camera to determine the type of the object. Target objects to be dimmed are objects whose type has been determined but do not require illumination. For example, if the object that requires illumination is a pedestrian, the object is an object other than a pedestrian (such as a road structure). Target objects to be maintained are objects (pedestrians) that are currently being illuminated and require illumination. Specifically, the pedestrian is a pedestrian whose type has been determined by illuminating it in the previous processing. If the object is currently being illuminated and its type is a pedestrian, the current illumination conditions are maintained, thereby maintaining detection by the visible light camera. If an object is detected by a visible light camera, that is, its type is confirmed, it is not currently being illuminated, and it is of a type that does not require illumination, it is not considered a candidate for illumination, and does not fall under any of the following: increase, decrease, or maintain illumination.

[0095] The illumination condition determination unit 140C determines illumination conditions (illumination intensity, illumination area) based on the current illumination state and the change conditions acquired from the illumination object determination unit. For an object whose change condition is "dimming" and is currently illuminated, the illumination conditions are changed by setting the change degree to the change degree for dimming. An object whose change condition is "dimming" is determined to not require illumination (e.g., a road structure, etc.), so if illuminated, dimming is required. If not illuminated, dimming is not possible, so the change degree for the illumination conditions is left unchanged. For an object whose change condition is "increasing illumination" and the illumination limit has not been reached, the illumination conditions are changed by setting the change degree to the change degree for increasing illumination. Since an object whose change condition is "increasing illumination" is an object requiring illumination (the type of object is unknown), further increasing the intensity or range makes it easier for the visible light camera to determine the type of object. In this case, a maximum value for headlight illumination is determined, and if that maximum value is reached, further illumination is not possible, so the illumination conditions are not changed. For objects whose change conditions are "maintained," the intensity and range are not changed, and therefore the degree of change is set to the same as that of the irradiation conditions.

[0096] Furthermore, in this embodiment, the above configuration is configured as follows. In the illumination target determination unit 120C of this embodiment, the predetermined condition is that the type of object can be determined from a visible image. The illumination target determination unit 120C outputs illumination target information that includes object information related to the object to be illuminated, and that includes whether the type of the object to be illuminated can be determined from a visible image. When the illumination condition determination unit 140C determines that the type of object can be determined from the visible image based on the illumination target information while the light distribution control unit is gradually changing the illumination state of the lighting device, it outputs illumination conditions that maintain the illumination state when the type of object can be distinguished from the visible image. When the type of object can be determined from the visible image while the illumination state of the lighting device 400 is gradually changing, the light distribution control unit 150C maintains the illumination state when the type of object can be determined from the visible image.

[0097] Furthermore, in this embodiment, the above configuration is configured as follows. In the object detection unit 110C of this embodiment, the first information acquired from the first object detection device 200 includes a reliability level related to the detection result of the object type. The object detection unit 110C outputs object information including whether or not the object type can be determined based on the reliability level included in the first information. In the illumination target determination unit 120C of this embodiment, the predetermined condition is that the object type is distinguishable from a visible image. The illumination target determination unit 120C determines whether the type of the object to be illuminated is distinguishable from a visible image using the object information output by the object detection unit 110C. If the illumination condition determination unit 140C determines that the type of the object to be illuminated is distinguishable from a visible image using the illumination target information output by the illumination target determination unit 120C, the illumination condition determination unit 140C outputs illumination conditions that gradually change the illumination state of the lighting device.

[0098] Furthermore, this embodiment is configured as follows: The first information acquired from the first object detection device 200 includes a reliability related to the detection result of the object type. The object detection unit 110C uses the reliability included in the first information to output object information including a determination result indicating whether the object type can be determined. If the reliability exceeds a predetermined reliability threshold, the object detection unit 110C outputs object information including a determination result indicating that the object type can be determined. Alternatively, if the number of times the reliability exceeds the predetermined reliability threshold exceeds a predetermined number threshold, the object detection unit 110C outputs object information including a determination result indicating that the object type can be determined.

[0099] Furthermore, this embodiment is configured as follows. The light distribution control device 100C has the following functions when the reliability of the detection result of the type of object illuminated by the lighting device 400 decreases while the illumination state of the lighting device 400 is being gradually changed. The illumination condition determination unit 140C outputs illumination conditions that gradually change the illumination state for the object to the illumination state before the reliability decreased. The light distribution control unit 150C gradually changes the illumination state for the object illuminated by the lighting device 400 to the illumination state before the reliability decreased.

[0100] A processing example of a light distribution control device according to embodiment 3 of the present disclosure will be described. Fig. 20 is a flowchart showing an example of processing by the light distribution control device 100 (100C) according to embodiment 3 of the present disclosure. The processing shown in Fig. 20 is a light distribution control method by the light distribution control device. The light distribution control device 100C shown in Fig. 19 starts the processing shown in Fig. 20 when a light distribution control start condition is satisfied, for example, when the moving body starts.

[0101] Light distribution control device 100C then executes object detection processing (step ST3100). In the object detection processing, object detection unit 110C of light distribution control device 100C executes object detection processing in the same manner as object detection unit 110B already described. Object detection unit 110C outputs object information related to the detected object to irradiation target determination unit 120C.

[0102] Light distribution control device 100C then executes irradiation target determination processing (step ST3200). In the irradiation target determination processing, irradiation target determination unit 120C of light distribution control device 100C determines whether an object is an irradiation target, and outputs irradiation target information including object information related to the object that is an irradiation target.

[0103] Here, a detailed example of the irradiation target determination process will be described. FIG. 21 is a flowchart showing a detailed example of the irradiation target determination process in the processing of the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. After starting the irradiation target determination process, the irradiation target determination unit 120C then starts an object confirmation loop process (step ST3210). The irradiation target determination unit 120C then executes an irradiation target candidate determination process (step ST3220). In the irradiation target candidate determination process, the irradiation target determination unit 120C identifies object information related to objects that are irradiation target candidates from the object information output by the object detection unit 110C. After executing the irradiation target candidate determination process for all object information acquired at the same time, the irradiation target determination unit 120C terminates the object confirmation loop process (step ST3230). The irradiation target determination unit 120C then executes an irradiation target candidate presence / absence determination process (step ST3240). In the irradiation target candidate presence / absence determination process, the irradiation target determination unit 120C determines whether or not there is an irradiation target candidate among the object information acquired at the same time. If the irradiation target determination unit 120C determines that there is no irradiation target candidate ("NO" in step ST3240), it terminates the process. If the irradiation target determination unit 120C determines that there is an irradiation target candidate ("YES" in step ST3240), it then executes irradiation target determination process (step ST3250). In the irradiation target determination process, the irradiation target determination unit 120C determines an irradiation target from among the irradiation target candidates. The irradiation target determination unit 120C determines an irradiation target from among the irradiation target candidates based on, for example, the number that can be illuminated by the lighting device 400. After executing the process of step ST3250, the irradiation target determination unit 120C terminates the process.

[0104] Here, a detailed example of the irradiation target candidate determination process and the irradiation condition determination process in the irradiation target determination process will be described. FIG. 22 is a flowchart showing a detailed example of the irradiation target candidate determination process in the processing of the light distribution control device 100 (100C) according to the third embodiment of the present disclosure. After starting the irradiation target candidate determination process, the irradiation target determination unit 120C then executes a process (step ST3221) to determine whether the "object type has been determined." In this process, the irradiation target determination unit 120C checks the object information and determines whether the object type has been determined. If the irradiation target determination unit 120C determines that the object type has not been determined ("NO" in step ST3221), it determines the object indicated in the object information as a candidate for enhanced light irradiation (step ST3222). The candidate for enhanced light irradiation is a candidate for a target object for which the light irradiation state is to be increased. When the irradiation target determination unit 120C determines that the object type has been confirmed (step ST3221 "YES"), it then executes a process of determining whether light is being "irradiated" onto the object indicated in the object information (step ST3223). The irradiation target determination unit 120C checks whether light is being irradiated onto the object indicated in the object information by the light distribution control unit 150C and determines whether light is being irradiated. When the irradiation target determination unit 120C determines that light is not being irradiated onto the object indicated in the object information (step ST3223 "NO"), it then decides not to make the object an irradiation target candidate (step ST3224). When the irradiation target determination unit 120C decides not to make the object an irradiation target candidate, it simply ends the process. When the irradiation target determination unit 120C determines that light is being irradiated onto the object indicated in the object information (step ST3223 "YES"), it then executes a process of determining whether "the object type is an irradiation required type" (step ST3225). In this process, the irradiation target determination unit 120C checks the object information and determines whether the type of object included in the object information is a predetermined type requiring irradiation. If the irradiation target determination unit 120C determines that the type of object included in the object information is a predetermined type requiring irradiation (step ST3223 "YES"), then it determines the object indicated in the object information as a candidate for continuous irradiation (step ST3226).The continued irradiation target candidate is a candidate for a target object for which the current irradiation conditions are to be maintained. If the irradiation target determination unit 120C determines that the type of object included in the object information is not a predetermined irradiation type (step ST3225 "NO"), it then determines the object indicated in the object information as a candidate for dimmed irradiation (step ST3227). The dimmed irradiation target candidate is a candidate for a target object for which the light irradiation state is to be reduced. Based on the results determined in step ST3222, step ST3224, step ST3226, or step ST3227, the irradiation target determination unit 120C generates and outputs irradiation target information including a change condition type for the irradiation target. The change condition type indicates a type such as "increase," "dimming," "continue," or no irradiation. After outputting the irradiation target information, the irradiation target determination unit 120C terminates processing.

[0105] Returning to the explanation of Fig. 20, the light distribution control device 100C then executes an irradiation condition determination process (step ST3400). In the irradiation condition determination process, the irradiation condition determination unit 140C of the light distribution control device 100C acquires the irradiation object information output by the irradiation object determination unit 120C, determines irradiation conditions using the irradiation object information, and outputs irradiation condition information indicating the determined irradiation conditions to the light distribution control unit 150C.

[0106] An example of an illumination condition setting process for setting illumination conditions in the illumination condition determination process will be described. FIG. 23 is a flowchart illustrating an example of a portion of the illumination condition setting process in the processing of the light distribution control device 100 (100C) according to embodiment 3 of the present disclosure. The illumination condition determination unit 140C then executes a process (step ST3331) for determining illumination conditions according to the change condition type of the illumination target candidate. In this process, the illumination condition determination unit 140C determines illumination conditions according to the change condition type of the illumination target included in the illumination target information or the illumination state. The illumination condition determination unit 140C outputs object information related to the object to be illuminated and illumination condition information indicating the illumination conditions to the light distribution control unit 150C, and ends the process.

[0107] Returning to the explanation of Fig. 20, the light distribution control device 100C then executes a light distribution control process (step ST3500). In the light distribution control process, upon receiving the illumination condition information output by the illumination condition determination unit 140C, the light distribution control unit 150C of the light distribution control device 100C generates a control signal to instruct the lighting device 400 to emit light in accordance with the illumination conditions toward the object indicated in the illumination condition information, and outputs the control signal to the lighting device 400.

[0108] The light distribution control device 100C then proceeds to an end determination process (step ST3600). In the end determination process, a control unit (not shown) of the light distribution control device 100C determines whether to end the processing of the light distribution control device 100C. The control unit (not shown) determines whether to end the processing of the light distribution control device 100C, for example, in accordance with an external end command or an execution program. If the control unit (not shown) determines not to end the processing of the light distribution control device 100C ("NO" in step ST3600), the process proceeds to step ST3100, and repeats the processing from step ST3100. If the control unit (not shown) determines to end the processing of the light distribution control device 100C ("YES" in step ST3600), the light distribution control device 100C ends the processing.

[0109] Here, another example of a part of the irradiation target candidate determination process and another detailed example of a part of the irradiation condition setting process will be described. FIG. 24 is a flowchart showing another example of a part of the irradiation target candidate determination process in the processing of the light distribution control device 100 (100C) according to embodiment 3 of the present disclosure. After the processing of step ST2602, the irradiation target determination unit 120C determines whether the type of object has been determined (step ST26131), similar to step ST26031. If the type of object has not been determined (step ST26131 "NO"), the irradiation target determination unit 120C determines the object as an irradiation target candidate and also as a light-intensifying target (step ST26132). If the type of object has been determined (step ST26131 "YES"), the irradiation target determination unit 120C then determines whether irradiation is currently being performed (step ST26133). If the irradiation object determination unit 120C determines that the object is not currently being irradiated (step ST26133 "YES"), it determines that the object is a new object that is not an irradiation object and does not consider it an irradiation object candidate (step ST26134). For example, an object that was not initially considered an irradiation object candidate is determined not to be an irradiation object candidate in this process. If the irradiation object determination unit 120C determines that the object is currently being irradiated (step ST26133 "YES"), it then determines whether the object is a type of object that requires irradiation (step ST26135). If the object type is a type of object that requires irradiation (step ST26135 "YES"), the irradiation object determination unit 120C determines that the object is a type of object that requires irradiation and simultaneously determines that the object is an irradiation object candidate that is not to be brightened or dimmed (step ST26136). This allows the irradiation to be maintained, for example, when it is determined that the object should be irradiated by irradiation (e.g., a pedestrian). If the type of the object is not a type of object that requires illumination (e.g., a pedestrian) (step ST26135 "NO"), the illumination object determination unit 120C determines that the object is a candidate for illumination and also determines that the object is a dimming target (step ST26137). As a result, for example, if it is determined that the object does not require illumination, it can be dimmed.

[0110] An example of details of step ST26062 and step ST26063 in this embodiment will be described. FIG. 25 is a flowchart showing another example of details of a portion of the illumination condition setting process in the processing of the light distribution control device 100 (100C) according to embodiment 3 of the present disclosure. After processing step ST26061, the illumination condition determination unit 140C determines whether dimming is required (step ST26161). Specifically, if dimming is required, that is, if the change condition acquired from the illumination object determination unit 120C is "dimming" ("YES" in step ST26161), the illumination condition determination unit 140C determines that dimming is required and sets the degree of change to the degree of change for dimming (step ST26162). Here, in the case of exponential dimming, the degree of change may be used to perform a calculation that is the opposite of the calculation for exponential brightening. For example, in the case of brightening, multiplication is used for calculation, while in the case of dimming, division is used for calculation. Specifically, for example, when increasing the light intensity, the irradiation intensity is multiplied by 1.05, and when decreasing the light intensity, the irradiation intensity is divided by 1.05.

[0111] If the illumination condition determination unit 140C is not subject to dimming ("NO" in step ST26161), it determines whether or not it is subject to increasing the illumination (step ST26163). If the illumination condition determination unit 140C is subject to increasing the illumination, that is, if the change condition acquired from the illumination object determination unit 120C is "increasing the illumination" ("YES" in step ST26163), it determines whether or not it is at the illumination limit (step ST26164). If the illumination limit is not reached, that is, if the preset intensity or range has not been reached ("NO" in step ST26164), the illumination condition determination unit 140C sets the change degree to the change degree for increasing the illumination (step ST26165).

[0112] If the target is neither dimming nor brightening (step ST26163 "NO"), or if the target is brightening but is at the illumination limit (step ST26164 "YES"), the illumination condition determination unit 140C sets the degree of change so that there is no change in the illumination conditions (step ST26166).

[0113] When the irradiation condition determining unit 140C completes the process of any one of step ST26162, step ST26165, and step ST26166, it proceeds to the process of step ST26064.

[0114] The method for acquiring the degree of change is the same as that described in the embodiment already described. For example, the degree of change can be acquired in the same manner as the process in step ST26063 in the description of the process in embodiment 2 and used in the above process.

[0115] This embodiment further discloses the following configuration: A light distribution control device characterized in that the predetermined condition is a condition that the type of object can be determined from the visible image, and the light distribution control unit maintains the illumination state when the type of object can be determined from the visible image while gradually changing the illumination state of the lighting device. This further provides an effect of providing a light distribution control device that makes it possible to prevent unnecessary changes to the illumination state. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0116] This embodiment further discloses the following configuration: a light distribution control device, wherein the first information acquired from the first object detection device includes a reliability level associated with the detection result of the object type; the object detection unit outputs object information including whether the object type can be determined based on the reliability level included in the first information; and the illumination target determination unit outputs illumination conditions for gradually changing the illumination state of the lighting device when it determines that the type of the illumination target object can be determined from a visible image using the illumination target information output by the illumination target determination unit. This provides an advantage, for example, of providing a light distribution control device that utilizes information from an existing device that outputs information including a reliability level associated with the detection result of the object type. Furthermore, the present disclosure provides the same advantage as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0117] This embodiment further discloses the following configuration: The object detection unit uses the reliability included in the first information to output object information including a determination result indicating whether the type of the object can be determined, and outputs the object information including a determination result indicating that the type of the object can be determined when the reliability exceeds a predetermined reliability threshold, or when the number of times the reliability exceeds the predetermined reliability threshold exceeds a predetermined count threshold. This provides an advantage that the present disclosure can provide a light distribution control device that makes it possible to change the strength of the determination by adjusting the reliability threshold or the count threshold in advance. Furthermore, the present disclosure provides the same advantage as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0118] This embodiment further discloses the following configuration: A light distribution control device characterized in that, when the illumination state of the lighting device is gradually changed, if the reliability of the detection result of the type of object illuminated by the lighting device decreases, the light distribution control unit gradually changes the illumination state of the lighting device toward the object to the illumination state before the reliability decreased. This further provides an effect of providing a light distribution control device that can restore the illumination state before the illumination state was changed when changing the illumination state would result in a decrease in accuracy. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0119] Embodiment 4. In embodiment 4, an embodiment is described in which irradiation conditions are calculated using an irradiation section, which is a section to be irradiated. In embodiment 4, the following points are included in the description. - Gradual changes are made so as to satisfy the target irradiation conditions until a predetermined section that requires irradiation is reached. - If the section that requires irradiation has already been reached, immediate changes are made so as to satisfy the target irradiation conditions. In embodiment 4, duplicated descriptions of components according to embodiment 4 that are the same as the components according to embodiment 1, embodiment 2, or embodiment 3 already described will be omitted as appropriate.

[0120] A light distribution control device according to a fourth embodiment of the present disclosure calculates and uses an illumination section to be illuminated. A configuration example of a light distribution control device according to the fourth embodiment of the present disclosure and a light distribution control system including the light distribution control device will be described. FIG. 26 is a diagram showing a configuration example of a light distribution control system 1 (1D) including a light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. The light distribution control system 1 (1D) shown in FIG. 26 includes a first object detection device 200, a second object detection device 300, a light distribution control device 100 (100D), and a lighting device 400. The first object detection device 200 has the same configuration as the first object detection device 200 already described. The second object detection device 300 has the same configuration as the second object detection device 300 already described. The lighting device 400 has the same configuration as the lighting device 400 already described. The light distribution control device 100D is configured to include an object detection unit 110 (110D), an irradiation object determination unit 120 (120D), a section determination unit 130 (130D), an irradiation condition determination unit 140 (140D), and a light distribution control unit 150 (150D).

[0121] Object detection unit 110D detects an object in the same manner as object detection units 110B and 110C already described, and outputs object information relating to the object.

[0122] The irradiation object determining unit 120D outputs irradiation object information including object information relating to the object to be irradiated, similarly to the irradiation object determining units 120A, 120B, and 120C already described.

[0123] The section determination unit 130D outputs illumination section information indicating an illumination section, which is a section of the illumination target, to be illuminated. The section determination unit 130D uses the illumination target information output by the illumination target determination unit 120D to determine an illumination section, which is a section of the illumination target indicated in the illumination target information to be illuminated. The section determination unit 130D determines a reach section based on information about the illumination target acquired from the illumination target determination unit 120D. Furthermore, the section determination unit 130D determines an illumination grace period section based on the determined reach section and a predetermined illumination required section (= illumination required section). In this specification, the section refers to time. This is merely an example, and it may also refer to distance. The reach section is the time it takes for the current vehicle to reach the target. The illumination required section (= illumination required section) is the shortest section to reach the target, in which the target must be illuminated. For example, if the target is a pedestrian, even if illumination is performed to improve pedestrian detection using a visible light camera, if the section to reach the pedestrian at the time of illumination is too short, the pedestrian will not be detected at the required time (e.g., automatic braking operation). For this reason, the shortest section in which illumination is required is determined. Furthermore, to enable an occupant to notice an object at the appropriate timing, the illumination-required section may be determined as the shortest section in which an occupant of a moving vehicle should notice an object. This allows light to be emitted so that the occupant can notice the object in the section in which it is required. The illumination-required section is set from the perspective of improving detection by a visible light camera or enabling an occupant of a moving vehicle to notice an object, or both. The illumination-grace section refers to the time that illumination can be provided. If the reach section is longer than the illumination-required section, the difference becomes the illumination-grace section. If the reach section is shorter than the illumination-required section, the illumination-grace section becomes 0. The "illumination section" indicated in the illumination section information refers to a section in which illumination conditions are gradually changed. If there is an illumination-grace section, the "illumination section = illumination-grace section (the section during which the vehicle travels through the illumination-required section based on the current position)" is used. If there is no illumination-grace section, there is no illumination section (or the section that would be illuminated if the vehicle were instantaneously illuminated).

[0124] The illumination condition determination unit 140D further uses the illumination section determined by the section determination unit 130D to output illumination conditions that gradually change the illumination state of the lighting device in the illumination section.

[0125] The light distribution control unit 150D gradually changes the illumination state of the lighting devices in the illumination section determined by the section determination unit 130D.

[0126] Furthermore, the section determination unit 130D determines whether the arrival section, which is the section from the moving body to the irradiation target, is equal to or longer than the length of a predetermined irradiation-required section.

[0127] When the section determination unit 130D determines that the arrival section, which is the section from the moving body to the illumination target, is equal to or longer than the length of the predetermined illumination required section, the illumination condition determination unit 140D outputs illumination conditions that gradually change the illumination state of the lighting device 400 in the illumination deferral section, which is the difference section between the arrival section and the illumination required section, so that the illumination target information output by the illumination target determination unit 120D satisfies the predetermined conditions.

[0128] If the section determination unit 130D determines that the arrival section, which is the section from the moving body to the illumination target, is equal to or longer than the length of the predetermined illumination required section, the light distribution control unit 150D gradually changes the illumination state of the lighting device 400 in the illumination grace period section, which is the difference between the arrival section and the illumination required section, so that the illumination target information output by the illumination target determination unit 120D becomes an illumination state that satisfies the predetermined conditions.

[0129] If the section determination unit 130D determines that the arrival section, which is the section from the moving body to the illumination target, is less than the length of the predetermined illumination required section, the illumination condition determination unit 140D outputs illumination conditions that change the illumination state of the lighting device 400 at the maximum rate of change so that the illumination target information output by the illumination target determination unit 120D satisfies the predetermined conditions.

[0130] If the section determination unit 130D determines that the arrival section, which is the section from the moving body to the illumination target, is less than the length of the predetermined illumination target section, the light distribution control unit 150D changes the illumination state of the lighting device at the maximum rate of change so that the illumination target information output by the illumination target determination unit 120D satisfies the predetermined conditions.

[0131] A processing example of a light distribution control device according to embodiment 4 of the present disclosure will be described. Fig. 27 is a flowchart showing an example of processing by light distribution control device 100 (100D) according to embodiment 4 of the present disclosure. The processing shown in Fig. 27 is a light distribution control method by a light distribution control device. Light distribution control device 100D shown in Fig. 26 starts the processing shown in Fig. 26 when a light distribution control start condition is satisfied, for example, when a moving body starts.

[0132] Light distribution control device 100D then executes object detection processing (step ST4100). In the object detection processing, object detection unit 110D of light distribution control device 100D executes object detection processing in the same manner as object detection units 110B and 110C already described. Object detection unit 110D outputs object information related to the detected object to irradiation target determination unit 120D.

[0133] The light distribution control device 100D then executes irradiation target determination processing (step ST4200). In the irradiation target determination processing, the irradiation target determination unit 120D of the light distribution control device 100D executes the irradiation target determination processing in the same manner as the irradiation target determination units 120B and 120C already described. The irradiation target determination unit 120D acquires object information output by the object detection unit 110D. The irradiation target determination unit 120D identifies object information related to the object to be irradiated from the object information output by the object detection unit 110D. The irradiation target determination unit 120D determines whether the object indicated in the object information is an irradiation target by determining whether the object information satisfies predetermined conditions. Furthermore, the irradiation target determination unit 120D determines the type of irradiation target for each irradiation target based on the object information and the irradiation state. The irradiation target determination unit 120D generates irradiation target information including object information related to the object to be irradiated. When the irradiation object determination unit 120D is configured in the same manner as the irradiation object determination unit 120C already described, it generates irradiation object information including object information relating to the object to be irradiated and the type of the irradiation object. The irradiation object determination unit 120D outputs the generated irradiation object information to the section determination unit 130D.

[0134] Light distribution control device 100D then executes section determination processing (step ST4300). In the section determination processing, section determination unit 130D of light distribution control device 100D uses the irradiation target information output by irradiation target determination unit 120D to determine an irradiation section, which is a section to be irradiated with light for the irradiation target indicated in the irradiation target information.

[0135] Here, a detailed example of the section determination process will be described. FIG. 28 is a flowchart showing an example of the section determination process in the processing of the light distribution control device 100 (100D) according to embodiment 4 of the present disclosure. When the section determination unit 130D starts the section determination process, it executes an irradiation target information acquisition process (step ST4310). In the irradiation target information acquisition process, the section determination unit 130D acquires irradiation target information. The section determination unit 130D then executes an irradiation required section setting process (step ST4320). In the irradiation required section setting process, the section determination unit 130D sets the irradiation required section using a pre-stored irradiation required section. The section determination unit 130D may further set the irradiation required section using irradiation target information. For example, the irradiation required section may be set using a pre-stored irradiation required section according to information such as the direction of the object, the distance to the object, and the type of object indicated in the irradiation target information. The section determination unit 130D then executes a reach section calculation process (step ST4330). In the reach section calculation process, the section determination unit 130D calculates the reach section to the object to be irradiated using the irradiation target information. The section determination unit 130D then executes reach section determination process (step ST4340). In the reach section determination process, the section determination unit 130D determines whether the reach section is longer than the irradiation required section (irradiation required section < reach section). If the section determination unit 130D determines that the reach section is longer than the irradiation required section ("YES" in step ST4340), it then executes irradiation grace period calculation process (step ST4350). In the irradiation grace period calculation process, the section determination unit 130D calculates the irradiation grace period by subtracting the irradiation required section from the reach section (irradiation grace period = reach section - irradiation required section). If the section determination unit 130D determines that the arrival section is not longer than the irradiation section ("NO" in step ST4340), it then executes a process (step ST4360) to set the current position to the irradiation section start position (current position = irradiation section start position). The section determination unit 130D then executes an irradiation section information output process (step ST4370). In the irradiation section information output process, the section determination unit 130D outputs irradiation section information indicating the irradiation section to the irradiation condition determination unit 140D.The section determination unit 130D may output the irradiation target information together with the irradiation section information to the irradiation condition determination unit 140D. After executing the process of step ST4370, the section determination unit 130D ends the process.

[0136] Returning to the description of Fig. 27 , the light distribution control device 100D then executes an illumination condition determination process (step ST4400). In the illumination condition determination process, the illumination condition determination unit 140D of the light distribution control device 100D uses the illumination target information to output illumination conditions that gradually change the illumination state of the lighting device so that the object information satisfies the predetermined conditions. The illumination condition determination unit 140D further uses the illumination section determined by the section determination unit 130D to output illumination conditions that gradually change the illumination state of the lighting device in the illumination section.

[0137] Here, a detailed example of the illumination condition determination process will be described. FIG. 29 is a flowchart showing an example of the illumination condition determination process in the processing of the light distribution control device 100 (100D) according to embodiment 4 of the present disclosure. When the illumination condition determination unit 140D starts the illumination condition determination process, it then starts an illumination target confirmation loop process (step ST4410). The illumination condition determination unit 140D then executes an illumination target information acquisition process (step ST4420). In the illumination target information acquisition process, the illumination condition determination unit 140D acquires the illumination target information output by the illumination target determination unit 120D. The illumination condition determination unit 140D then executes an illumination section information acquisition process (step ST4430). In the illumination section information acquisition process, the illumination condition determination unit 140D acquires the illumination section information output by the section determination unit 130D. The illumination condition determination unit 140D then executes a change degree determination process (step ST4440). In the change degree determination process, the illumination condition determination unit 140D calculates the change degree of the illumination state according to the illumination section indicated by the illumination section information output by the section determination unit 130D. The illumination condition determination unit 140D then executes an illumination condition setting process (step ST4450). In the illumination condition setting process, the illumination condition determination unit 140D sets the illumination conditions using the change degree of the illumination state.

[0138] The illumination condition determination unit 140D outputs illumination condition information indicating the illumination conditions to the light distribution control unit 150D, and then executes an illumination target confirmation loop termination determination process. In the illumination target confirmation loop termination determination process, the illumination condition determination unit 140D determines whether to terminate the illumination target confirmation loop process of the illumination condition determination unit 140D. If the illumination target confirmation process has been performed for all illumination targets, the illumination condition determination unit 140D determines to terminate the illumination target confirmation loop process. If the illumination condition determination unit 140D determines not to terminate the illumination target confirmation loop process of the illumination condition determination unit 140D, it returns to the process of step ST4420 and repeats the process from step ST4420. If the illumination condition determination unit 140D determines to terminate the illumination target confirmation loop process of the illumination condition determination unit 140D, it terminates the illumination target confirmation loop process of the illumination condition determination unit 140D (step ST4460).

[0139] Here, another example of the section determination process and the illumination condition determination process will be described. Fig. 30 is a flowchart showing another example of the section determination process and the illumination condition determination process in the processing of the light distribution control device 100 (100D) according to the fourth embodiment of the present disclosure. In the processing of step ST26062, if the illumination condition determination unit 140D determines that the target illumination condition has not been reached in step ST26062 ("NO" in step ST26062), it then sets an illumination-required section (step ST26261). A fixed value may be set in advance for the illumination-required section, or a table may be stored according to the type of object, etc.

[0140] Next, the illumination condition determination unit 140D calculates the arrival range (step ST26262). To calculate the arrival range, first, the distance to the object included in the information about the illumination target (illumination target information) is obtained. Next, the vehicle speed of the host vehicle is obtained. The distance to the object is then divided by the vehicle speed of the host vehicle to determine the arrival range. However, the calculation of the arrival range is not limited to this method. For example, the arrival range can be calculated using not only the distance and the vehicle speed, but also the moving speed and moving direction of the object (pedestrian).

[0141] Next, irradiation condition determining unit 140D determines whether the reachable section is longer than the irradiation-required section (step ST26263).

[0142] If the reachable section is longer than the irradiation required section ("YES" in step ST26263), the irradiation condition determination unit calculates an irradiation-deferred section (step ST26264). The irradiation-deferred section is calculated by subtracting the irradiation required section from the reachable section.

[0143] Next, the irradiation condition determination unit 140D calculates the degree of change based on the target irradiation conditions and the current irradiation conditions (step ST26265). The degree of change is the irradiation condition (intensity or range) that needs to be changed per frame.

[0144] For example, if the remaining intensity of the target irradiation condition is 50% and the irradiation grace period is 5 seconds, first the number of frames to be processed in the irradiation grace period is calculated. If the frame rate is 10 fps, the number of frames to be processed is 100 frames per second x 5 seconds = 500 frames. Next, the degree of change per frame is calculated. If the degree of change increases linearly, the degree of change per frame is 50% divided by 500 frames = 0.1%. In other words, the degree of change is set to 0.1%.

[0145] Next, the irradiation condition determination unit 140D determines the irradiation conditions (step ST26266). If the degree of change increases linearly, the irradiation conditions are set by taking the degree of change into account in the current irradiation conditions. For example, if the intensity of the current irradiation conditions is 50%, the degree of change is added to set the irradiation conditions to 50.1%.

[0146] This example shows a case where the irradiation condition to be changed is intensity, and the degree of change increases exponentially. The degree of change per frame is calculated based on the recurrence formula of a geometric progression. The value to be calculated, i.e., the degree of change per frame (magnification) is "r", and the current irradiation condition (intensity) is the initial value α １When "r" is 1 and "n", the number of frames to be processed in the irradiation grace period, is 500, the degree of change r times is calculated using the following formula: The calculated "r" is multiplied by the current irradiation intensity and set as the irradiation condition.

[0147] If the reachable section is equal to or shorter than the irradiation required section ("NO" in step ST26263), the irradiation condition determining unit 140D does not calculate the degree of change, but sets the target irradiation condition as the irradiation condition (step ST26267).

[0148] After the irradiation conditions are determined in step ST26266 or step ST26267, the irradiation condition determining unit 140D proceeds to the process of step ST26064.

[0149] The illumination-required section, the reach section, and the illumination-grace section are shown in Figures 30 and 31. Figure 31 is a first conceptual diagram of the reach section, the illumination-required section, and the illumination-grace section according to the fourth embodiment of the present disclosure, and a situation in which the light distribution control device 100 (100D) changes the illumination state of the lighting device 400. Figure 32 is a second conceptual diagram of the reach section, the illumination-required section, and the illumination-grace section according to the fourth embodiment of the present disclosure, and a situation in which the light distribution control device 100 (100D) changes the illumination state of the lighting device 400. Figure 31 shows a state in which a moving body (vehicle) 4000 is traveling in a traveling direction 4001, an object (pedestrian) 4010 is present in the traveling direction, and a reach section 4120 to the object (pedestrian) 4010 is longer than an illumination-required section 4140. In this case, the light distribution control device 100D has an illumination grace period 4150, and in the illumination grace period 4150, the illumination state is gradually changed over time from the illumination light 4110 at the start of the illumination state change to the illumination light 4130 after the illumination state change has ended, like an illumination state 4160. Figure 32 shows a state in which a moving body (vehicle) 4000 is traveling in a traveling direction 4001, an object (pedestrian) 4010 is present in the traveling direction, and a reach section 4120 to the object (pedestrian) 4010 is longer than the illumination required section 4140. In this case, the light distribution control device 100D has an illumination grace period 4250, and in the illumination grace period 4250, the illumination state is gradually changed over time from the illumination light 4210 at the start of the illumination state change to the illumination light 4230 after the illumination state change has ended, like an illumination state 4260. However, the irradiation grace period 4250 shown in Fig. 32 is shorter than the irradiation grace period 4150, and the rate of change of the irradiation state 4260 over time shown in Fig. 32 is more rapid than the irradiation state 4160 over time shown in Fig. 31. Therefore, in Fig. 31, the time required for gradual change to reach the target irradiation condition (intensity or range), i.e., the slope of the graph, is gentle, and the degree of change per frame is small.

[0150] Returning to the description of Fig. 27, the light distribution control device 100D then executes a light distribution control process (step ST4500). In the light distribution control process, the light distribution control unit 150D of the light distribution control device 100D gradually changes the illumination state of the lighting device 400 in the illumination section determined by the section determination unit 130D.

[0151] The light distribution control device 100D then proceeds to an end determination process (step ST4600). In the end determination process, a control unit (not shown) of the light distribution control device 100D determines whether to end the processing of the light distribution control device 100D. The control unit (not shown) determines whether to end the processing of the light distribution control device 100D, for example, in accordance with an external end command or an execution program. If the control unit (not shown) determines not to end the processing of the light distribution control device 100D ("NO" in step ST4600), the process proceeds to step ST4100, and repeats the processing from step ST4100. If the control unit (not shown) determines to end the processing of the light distribution control device 100D ("YES" in step ST4600), the light distribution control device 100D ends the processing.

[0152] This embodiment further discloses the following configuration: A light distribution control device further comprising: a section determination unit that determines an illumination section, which is a section in which the illumination target indicated in the illumination target information is to be illuminated, using the illumination target information output by the illumination target determination unit; and the light distribution control unit gradually changes the illumination state of the lighting device in the illumination section determined by the section determination unit. This further provides an effect of providing a light distribution control device that makes it possible to change the illumination state in an effective illumination section. Furthermore, the present disclosure provides the same effect as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0153] This embodiment further discloses the following configuration: the section determination unit determines whether a reach section, which is a section from the moving body to the illumination target, is equal to or longer than a predetermined illumination-required section; and if the reach section, which is a section from the moving body to the illumination target, is equal to or longer than the predetermined illumination-required section, the light distribution control unit gradually changes the illumination state of the lighting device in an illumination grace period, which is the difference between the reach section and the illumination-required section, so that the illumination state of the illumination target information satisfies a predetermined condition. This provides a light distribution control device that can improve object detection by a visible light camera. For example, the present disclosure can improve the detection of an object by a visible light camera at the required timing when activating an automatic brake. Furthermore, the present disclosure provides a light distribution control device that can set an illumination-required section to a section in which an occupant of a moving body should notice an object and irradiate light so that the occupant can notice the object in the section in which the occupant should notice the object. Furthermore, the present disclosure achieves the same effects as those described above by applying the above configuration to a light distribution control system, the above light distribution control method, or the above program.

[0154] This embodiment further discloses the following configuration: The section determination unit determines whether a reach section, which is a section from the moving body to the illumination target, is equal to or longer than a predetermined illumination-required section; and if the reach section, which is a section from the moving body to the illumination target, is shorter than the predetermined length of the illumination-required section, the light distribution control unit changes the illumination state of the lighting device at the maximum rate of change so that the illumination target information output by the illumination target determination unit satisfies a predetermined condition. This further provides an advantage of providing a light distribution control device that can set an illumination-required section to a section in which an occupant of a moving body should notice an object and can quickly emit light so that the occupant can notice the object within the section in which the object should be noticed. Furthermore, the present disclosure achieves the same effect as the above by applying the above configuration to a light distribution control system, the light distribution control method, the program, or the like.

[0155] Here, a hardware configuration for realizing the functions of the present disclosure will be described. Fig. 33 is a diagram showing a first example of a hardware configuration for realizing the functions of the configuration of the present disclosure. Fig. 34 is a diagram showing a second example of a hardware configuration for realizing the functions of the configuration of the present disclosure. The light distribution control devices 100, 100A, 100B, 100C, and 100D of the present disclosure are each realized by hardware such as that shown in Fig. 32 or Fig. 33.

[0156] As shown in Fig. 33 , each of the light distribution control devices 100, 100A, 100B, 100C, and 100D includes, for example, a processor 10001, a memory 10002, an input / output interface 10003, and a communication circuit 10004. The processor 10001 and the memory 10002 are mounted on, for example, a computer. The memory 10002 stores programs that cause the computer to function as an object detection unit 110 (110B, 110C, 110D), an irradiation object determination unit 120 (120A, 120B, 120C, 120D), a section determination unit 130 (130D), an irradiation condition determination unit 140 (140A, 140B, 140C, 140D), a light distribution control unit 150 (150B, 150C, 150D), and a control unit (not shown). The processor 10001 reads and executes the programs stored in the memory 10002, thereby realizing the functions of the object detection unit 110 (110B, 110C, 110D), the irradiation object determination unit 120 (120A, 120B, 120C, 120D), the section determination unit 130 (130D), the irradiation condition determination unit 140 (140A, 140B, 140C, 140D), the light distribution control unit 150 (150B, 150C, 150D), and a control unit (not shown). Furthermore, the memory 10002 or another memory (not shown) realizes a storage unit (not shown). Furthermore, the communication circuit 10004 realizes a communication unit (not shown).

[0157] The processor 10001 is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor). The memory 10002 may be a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable Read Only Memory) or flash memory, or a magnetic disk such as a hard disk or flexible disk, or an optical disk such as a CD (Compact Disc) or DVD (Digital Versatile Disc), or a magneto-optical disk. The processor 10001 and the memory 10002 or the communication circuit 10004 are connected in a state capable of transmitting data to each other. The processor 10001, memory 10002, and communication circuit 10004 are connected via an input / output interface 10003 so as to be capable of transmitting data to and from other hardware.

[0158] Alternatively, the functions of the object detection unit 110 (110B, 110C, 110D), irradiation object determination unit 120 (120A, 120B, 120C, 120D), section determination unit 130 (130D), irradiation condition determination unit 140 (140A, 140B, 140C, 140D), light distribution control unit 150 (150B, 150C, 150D), and a control unit (not shown) in the light control device 100, 100A, 100B, 100C, 100D, 100E, 100F, 100G may be realized by a dedicated processing circuit 20001, as shown in FIG. 34 .

[0159] The processing circuit 20001 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), a SoC (System-on-a-Chip), or a system LSI (Large-Scale Integration), etc. In addition, a storage unit (not shown) is realized by the memory 20002 or another memory (not shown). The memory 20002 may be a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable Read Only Memory), or flash memory, or a magnetic disk such as a hard disk or flexible disk, or an optical disk such as a CD (Compact Disc) or DVD (Digital Versatile Disc), or a magneto-optical disk. The communication circuit 20004 implements a communication unit (not shown). The processing circuit 20001 and the memory 20002 or the communication circuit 20004 are connected in a state where they can transmit data to each other. In addition, the processing circuit 20001, the memory 20002, and the communication circuit 20004 are connected in a state where they can transmit data to other hardware via the input / output interface 20003. In the light distribution control devices 100, 100A, 100B, 100C, 100D, the functions of the object detection unit 110 (110B, 110C, 110D), irradiation object determination unit 120 (120A, 120B, 120C, 120D), section determination unit 130 (130D), irradiation condition determination unit 140 (140A, 140B, 140C, 140D), light distribution control unit 150 (150B, 150C, 150D), and a control unit not shown may be realized by separate processing circuits, or may be realized together by a processing circuit.Similarly, the functions of the server device (not shown) may be realized by separate processing circuits, or may be realized collectively by a processing circuit.

[0160] Alternatively, in the light distribution control devices 100, 100A, 100B, 100C, 100D, some of the functions of the object detection unit 110 (110B, 110C, 110D), irradiation object determination unit 120 (120A, 120B, 120C, 120D), section determination unit 130 (130D), irradiation condition determination unit 140 (140A, 140B, 140C, 140D), light distribution control unit 150 (150B, 150C, 150D), and a control unit not shown may be realized by the processor 10001 and memory 10002, and the remaining functions may be realized by the processing circuit 20001.

[0161] It should be noted that, within the scope of this disclosure, the embodiments may be freely combined, any component of each embodiment may be modified, or any component of each embodiment may be omitted.

[0162] The present disclosure can reduce unnecessary stimulation to the side that emits light or the side that is illuminated by the lighting device, and is therefore suitable for use in, for example, a light distribution control device that controls the lighting device of a moving body.

[0163] 1 (1A, 1B, 1C, 1D) Light distribution control system, 100 (100A, 100B, 100C, 100D) Light distribution control device, 110 (110B, 110C, 110D) Object detection unit, 120 (120A, 120B, 120C, 120D) Irradiation object determination unit, 130 (130D) Section determination unit, 140 (140A, 140B, 140C, 140D) Irradiation condition determination unit, 150 (150B, 150C, 150D) Light distribution control unit 150, 200 First object detection device, 300 Second object detection device, 400 Lighting device, 2000 Object information acquisition image diagram, 2010 (2010a, 2010b, 2010c) Object (object detection result), 2020 (2020a, 2020b, 2020c) Type (object type), 2100 Irradiation target determination image, 2110 Irradiation target (irradiation target object), 2200 Situation before irradiation target determination, 2300 Situation during irradiation state change, 2310 Irradiation target area (irradiated light during intensity change), 2400 Situation after irradiation state change ends, 2320 Irradiation target area (irradiated light after intensity change ends), 2500 Situation before irradiation target determination, 2600 Situation during irradiation state change, 2610 Irradiation target area (irradiated light during range change), 2700 Situation after irradiation state change ends, 2710 Irradiation target area (irradiated light after range change ends), 4000 Moving object (vehicle), 4001 Direction of travel, 4010 Object (pedestrian), 4110 Irradiated light at start of irradiation state change, 4120 Reaching section, 4130 Irradiation light after irradiation state change has ended, 4140 irradiation required section, 4150 irradiation grace period section, 4160 irradiation state according to the passage of time, 4210 irradiation light at the start of irradiation state change, 4220 arrival section, 4230 irradiation light after irradiation state change has ended, 4240 irradiation required section, 4250 irradiation grace period section, 4260 irradiation state according to the passage of time, 10001 processor, 10002 memory, 10003 input / output interface, 10004 communication circuit, 20001 processing circuit, 20002 memory, 20003 input / output interface, 20004 communication circuit.

Claims

1. A light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, comprising: an irradiation target determination unit that outputs irradiation target information including object information relating to an object in the periphery of the moving body, the object information being a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light in an area including the imaging target area of ​​the visible image, when the object information does not satisfy a predetermined condition; and an irradiation condition determination unit that uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition.

2. A light distribution control device as described in claim 1, further comprising an object detection unit that acquires first information related to the detection from a first object detection device that detects objects that may be present in the vicinity of the moving body using a visible image that is an image captured using visible light, acquires second information related to the detection from a second object detection device that detects objects that may be present in the vicinity of the moving body based on measurement data measured using light other than visible light for an imaging area included in the visible image, and outputs object information related to objects that may be present in the vicinity of the moving body based on the first information and the second information, wherein the illumination target determination unit accepts object information related to objects detected by the object detection unit, and outputs illumination target information including the object information if the object information does not include the type of object.

3. The light distribution control device according to claim 2, further comprising a light distribution control unit that outputs a control signal to the lighting device in accordance with the illumination conditions output by the illumination condition determination unit.

4. A light distribution control device according to claim 3, further comprising a section determination unit that uses the irradiation target information output by the irradiation target determination unit to determine an irradiation section, which is a section in which the irradiation target indicated in the irradiation target information is to be irradiated, and wherein the light distribution control unit gradually changes the irradiation state of the lighting device in the irradiation section determined by the section determination unit.

5. A light distribution control device as described in claim 4, wherein the section determination unit determines whether a reach section, which is the section from the moving body to the illumination target, is equal to or longer than a predetermined length of a section that needs to be illuminated, and if the reach section, which is the section from the moving body to the illumination target, is equal to or longer than the length of the predetermined length of the section that needs to be illuminated, the light distribution control unit gradually changes the illumination state of the lighting device in an illumination grace period section, which is the difference between the reach section and the section that needs to be illuminated, so that the illumination state of the illumination target information satisfies a predetermined condition.

6. A light distribution control device according to claim 4, wherein the section determination unit determines whether a reach section, which is a section from the moving body to the illumination target, is equal to or longer than a predetermined length of an illumination-requiring section, and if the reach section, which is a section from the moving body to the illumination target, is shorter than the length of the predetermined illumination-requiring section, the light distribution control unit changes the illumination state of the lighting device at a maximum rate of change so that the illumination target information output by the illumination target determination unit satisfies a predetermined condition.

7. A light distribution control device as claimed in claim 3, wherein the predetermined condition is a condition that the type of object can be determined from the visible image, and wherein the light distribution control unit, when the type of object becomes determinable from the visible image while the illumination state of the lighting device is being gradually changed, maintains the illumination state in which the type of object becomes determinable from the visible image.

8. A light distribution control device as described in claim 3, wherein the first information acquired from the first object detection device includes a reliability of the detection result of the type of object, the object detection unit outputs object information including whether or not the type of object can be determined based on the reliability included in the first information, and the irradiation target determination unit uses the object information output by the object detection unit to determine whether the type of object to be irradiated can be determined from a visible image.

9. The light distribution control device described in claim 8, wherein the object detection unit uses the reliability included in the first information to output object information including a determination result indicating whether the type of object can be determined, and outputs object information including a determination result indicating that the type of object can be determined when the reliability exceeds a predetermined reliability threshold, or when the number of times the reliability exceeds the predetermined reliability threshold exceeds a predetermined number threshold.

10. A light distribution control device as described in claim 8, wherein, when the reliability of the detection result of the type of object illuminated by the lighting device decreases while the illumination state of the lighting device is being gradually changed, the light distribution control unit gradually changes the illumination state of the lighting device for the object to the illumination state before the reliability decreased.

11. A light distribution control device according to any one of claims 1 to 10, wherein the object to be illuminated is a pedestrian who is likely to be present within a predetermined range from the moving body.

12. The light distribution control device according to any one of claims 1 to 10, wherein the illumination condition is a condition regarding the intensity of the illuminated light.

13. The light distribution control device according to any one of claims 1 to 10, wherein the illumination condition is a condition of an area to be illuminated with light.

14. A light distribution control device according to any one of claims 1 to 10, wherein the illumination conditions are conditions regarding the intensity of the light to be irradiated and the range over which the light is irradiated.

15. A light distribution control method using a light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, wherein an irradiation target determination unit of the light distribution control device outputs irradiation target information indicating that the object indicated in the object information is an irradiation target, when object information relating to an object in the periphery of the moving body that is a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light for an area including the imaging target area of ​​the visible image does not satisfy a predetermined condition, and an irradiation condition determination unit of the light distribution control device uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition.

16. A program for causing a computer to operate as a light distribution control device that controls a lighting device that irradiates visible light from a moving body toward its surroundings, comprising: an irradiation target determination unit that outputs irradiation target information indicating that an object indicated in the object information is an irradiation target when object information relating to an object in the periphery of the moving body, which is a detection result based on a visible image that is an image captured with visible light and measurement data measured using light other than visible light in an area including the imaging target area of ​​the visible image, does not satisfy a predetermined condition; and an irradiation condition determination unit that uses the irradiation target information to output irradiation conditions that gradually change the irradiation state of the lighting device so that the object information satisfies the predetermined condition.

Images