Vehicle lighting system

Abstract

The present invention enhances the visibility of a target, improves the noticeability of the target in bad weather, and better alerts the target.　The present invention provides a vehicle lighting system comprising a weather sensor, an object sensor, a right headlight, a left headlight, and a controller that controls the operations of the right headlight and the left headlight, wherein: when a detection result from the weather sensor indicates a precipitation amount equal to or greater than a first threshold value and / or a raindrop particle size equal to or greater than a second threshold value, the controller controls the right headlight and the left headlight such that when a specific target among objects detected by the object sensor is on the left side of a vehicle, light is emitted from the right headlight to a first range including the specific target, and when the specific target is on the right side of the vehicle, light is emitted from the left headlight to a second range including the specific target.

Description

Vehicle lighting system

[0001] The present disclosure relates to a vehicle lighting system.

[0002] Japanese Patent Application Laid-Open Publication No. 2024-005493 (Patent Document 1) describes a vehicle lighting system that includes a first lamp located on the left side of the front of the vehicle and a second lamp located on the right side, and when the vehicle is located in bad weather, the first light irradiation range is set to be above the horizon when viewed forward from the vehicle, within the irradiation range of the first lamp from the center of the front of the vehicle to the left side, and the second lamp irradiates light with a light distribution pattern that is set to a dimming range or non-irradiation range within the irradiation range of the second lamp.

[0003] The above-mentioned conventional technologies can improve the visibility of objects such as pedestrians and bicycles on the side of the road, i.e., the ease of recognizing the object when gazing at it, but this is premised on the driver of the vehicle gazing at the object. In other words, there is room for improvement in how easily the driver notices the object when they are looking away from the object. There is also room for improvement in how the object is alerted to make it easier for them to notice the approach of a vehicle.

[0004] JP 2024-005493 A

[0005] One of the objectives of a specific aspect of the present disclosure is to provide technology that increases the visibility of objects in bad weather, makes objects more noticeable, and raises the awareness of the objects.

[0006] A vehicle lighting system according to one aspect of the present disclosure includes: a weather sensor configured to detect weather conditions around a vehicle; an object sensor configured to detect objects present in front of the vehicle; right and left headlights, each capable of emitting a variable light distribution beam, and arranged spaced apart on the left and right sides in front of the vehicle; and a controller connected to the weather sensor, the object sensor, and the right and left headlights, and configured to control the operation of each of the right and left headlights, wherein, when the detection result of the weather sensor is a rainfall amount equal to or greater than a first threshold and / or a raindrop diameter equal to or greater than a second threshold, the controller controls the right and left headlights so that, when a specific object among the objects detected by the object sensor is on the left side of the vehicle, the right headlight emits light to a first range including the specific object, and when the specific object is on the right side of the vehicle, the left headlight emits light to a second range including the specific object.

[0007] According to the above configuration, it is possible to improve the visibility of the object in bad weather, improve the ease of noticing the object, and increase the attention of the object.

[0008] FIG. 1 is a block diagram showing the configuration of a vehicle lighting system according to an embodiment. FIG. 2 is a block diagram showing an example of the configuration of a computer system. FIGS. 3A and 3B are diagrams for explaining a specific example of a method for determining the position of a specific object. FIG. 4 is a plan view showing an example of the arrangement of a right headlight and a left headlight. FIGS. 5A and 5B are diagrams each showing a schematic view of light irradiated ahead of a vehicle as viewed from the driver's seat of the vehicle. FIGS. 6 are diagrams each showing a schematic view of light irradiated ahead of a vehicle as viewed from above the vehicle. FIG. 7 are diagrams each showing a schematic view of light irradiated ahead of a vehicle as viewed from above the vehicle. FIG. 8 is a flowchart showing the operation procedure of the vehicle lighting system. FIGS. 9A and 9B are diagrams each showing experimental conditions used to confirm the effects of the vehicle lighting system according to the embodiment.

[0009] 1 is a block diagram showing the configuration of a vehicle lighting system according to one embodiment. The illustrated vehicle lighting system includes a controller 1, an object sensor 2, a raindrop sensor 4, a pair of headlights, a right headlight 5R and a left headlight 5L, and a driver monitoring system (DMS) 6. The vehicle lighting system irradiates light ahead of the vehicle using the right headlight 5R and the left headlight 5L in response to the operation of a headlight switch 3 provided on the vehicle.

[0010] The controller 1 controls the light irradiation by the right headlight 5R and the left headlight 5L. The controller 1 can be configured using a computer system including a processor 201, a read-only memory (ROM) 202, a random access memory (RAM) 203, a storage device 204 such as a flash memory, an input / output unit 205, and the like, as shown in Fig. 2. That is, a program 206 stored in the storage device 204 is read and executed by the processor 201, thereby realizing each function described below.

[0011] The object sensor 2 detects objects present around the vehicle. The objects referred to here include, for example, pedestrians, bicycles (and their drivers), two-wheeled vehicles, preceding vehicles, oncoming vehicles, etc. The object sensor 2 of this embodiment includes a camera 21, a millimeter-wave radar 22, and a LiDAR (Light Detection And Ranging) 23. It is sufficient that the object sensor 2 includes at least one of the camera 21, the millimeter-wave radar 22, and the LiDAR 23.

[0012] The camera 21 detects the positions of the above-mentioned objects, their types (pedestrians, bicycles, preceding vehicles, oncoming vehicles, etc.), the distance between the objects and the vehicle, etc. by analyzing images obtained by capturing images of the space around the vehicle. Note that the function of analyzing images may be provided on the controller 1 side.

[0013] The millimeter wave radar 22 emits radio waves in a frequency band of, for example, 30 GHz to 300 GHz, and detects the position, type, and distance between objects based on the resulting reflected waves.

[0014] The LiDAR 23 emits laser light and detects the position, type, and distance between objects based on the resulting reflected light.

[0015] The raindrop sensor 4 detects the amount of rainfall and / or the size of raindrops in the area where the vehicle is located (around the vehicle).

[0016] The right headlight 5R and the left headlight 5L are mounted at predetermined positions on the left and right sides of the front of the vehicle, and operate in response to control signals given from the controller 1 to irradiate light in front of the vehicle in a desired light distribution pattern.

[0017] The right headlamp 5R includes an ADB unit 51R and a low beam unit 52R. The ADB unit 51R is configured to be able to freely set the light distribution pattern (light irradiation range and dimming range) within the high beam (driving light) irradiation range and emit light. In other words, the ADB unit 51R is configured to be able to emit a variable light distribution beam. The low beam unit 52R is configured to be able to emit a low beam (passing light).

[0018] Similarly, the left headlamp 5L includes an ADB unit 51L and a low beam unit 52L. The ADB unit 51L is configured to be able to freely set the light irradiation range and dimming range within the high beam (driving light) irradiation range and emit light. In other words, the ADB unit 51L is configured to be able to emit a variable light distribution beam. The low beam unit 52L is configured to be able to emit a low beam (passing light).

[0019] Each of the ADB units 51R, 51L may be, for example, a unit having a plurality of semiconductor light-emitting elements (e.g., light-emitting diodes (LEDs)) arranged in two directions and a lens, and configured to individually control the on / off state and luminous intensity of each semiconductor light-emitting element. Each of the ADB units 51R, 51L may be, for example, a unit configured by combining a light source bulb with a reflector or a shielding plate, or a unit including a light source, a liquid crystal element, a lens, etc., and configured to individually control the light transmission state of each pixel of the liquid crystal element. Each of the ADB units 51R, 51L may be, for example, a unit including a semiconductor light-emitting element such as a laser diode, a scanning element such as a mirror device that scans the light emitted from the semiconductor light-emitting element, and a lens, and configured to control the timing of turning on and off the semiconductor light-emitting element and the scanning timing of the scanning element. Furthermore, each ADB unit 51R, 51L may be configured to have multiple individual lamp units, each of which can emit a different fixed light distribution, and the light distribution pattern may be variably controlled by switching between these individual lamp units, or various other configurations may be adopted.

[0020] The driver monitoring system 6 detects the state of the driver by performing image processing based on an image obtained by capturing an image of the driver's face. The state of the driver can be detected, for example, by the direction of the face (e.g., whether the driver is looking aside), whether the eyes are open or closed (e.g., whether the driver is drowsy), the direction of the line of sight, etc.

[0021] The above-mentioned controller 1 includes an illumination state setting unit (illumination state setting function) 11, a light distribution control unit (light distribution control function) 12, an object position determination unit (object position determination function) 13, and an object determination unit (object determination function) 14, which are functions obtained by executing a program.

[0022] The illumination state setting unit 11 sets the light distribution pattern within the high beam illumination range of each ADB unit 51R, 51L based on the position, type, and mutual distance of objects detected by the object sensor 2, and the amount of rainfall and / or raindrop particle size detected by the raindrop sensor 4.

[0023] The light distribution control unit 12 generates a control signal for realizing the light distribution pattern set by the irradiation state setting unit 11 and outputs the control signal to each of the ADB units 51R, 51L. The light distribution control unit 12 also outputs a control signal for causing the low beam units 52R, 52L to emit a low beam.

[0024] The object position determination unit 13 determines the position of a specific object among the objects detected by the object sensor 2. Determining the position of a specific object here means identifying whether the specific object is located on the right or left side of the vehicle. In this embodiment, the specific object is at least one of a pedestrian, a bicycle, or a two-wheeled vehicle. Note that, for simplicity of explanation, only pedestrians will be described as specific objects below, but similar light distribution control is also performed for bicycles and two-wheeled vehicles.

[0025] The object determination unit 14 determines whether the specific object is in proximity to the host vehicle in a state that satisfies a predetermined condition. Hereinafter, this predetermined condition will be referred to as the "proximity condition." For example, the proximity condition may be satisfied when the distance between the host vehicle and the specific object is within a predetermined threshold (e.g., 70 m). Furthermore, the proximity condition may be satisfied when the estimated time to collision (TTC: Time To Collision), calculated by dividing the distance between the host vehicle and the specific object by the relative speed between the host vehicle and the specific object, is within a predetermined threshold (e.g., 6 seconds). In this embodiment, the specific object is determined to be in proximity, i.e., the proximity condition is satisfied, when at least one of the following conditions is satisfied: the distance is within the threshold and the estimated time to collision is within the threshold.

[0026] 3A and 3B are diagrams for explaining a specific example of a method for determining the position of a specific object. Each diagram shows a schematic overhead view of the vehicle 100 and a pedestrian 101 as a specific object, as viewed from above.

[0027] 3A, for example, using a virtual axis c1 that is parallel to the vehicle longitudinal direction and passes through the position of the driver (driver's seat) of the vehicle 100 as a reference, if the pedestrian 101 is located to the right of the virtual axis c1, it can be determined (identified) that the position of the specific object is on the "right side," and if the pedestrian 101 is located to the left of the virtual axis c1, it can be determined (identified) that the position of the specific object is on the "left side." By making such a determination, the position of the specific object can be determined in a manner that is closer to the driver's perception.

[0028] As shown in Figure 3 (B), for example, using a virtual axis c2 that is parallel to the fore-and-aft direction of the vehicle and passes through the center position of the vehicle 100 in the vehicle width direction as a reference, if the pedestrian 101 is located to the right of the virtual axis c2, it can be determined (identified) that the position of the specific object is on the "right side," and if the pedestrian 101 is located to the left of the virtual axis c2, it can be determined (identified) that the position of the specific object is on the "left side."

[0029] 4 is a plan view showing an example of the arrangement of the right and left headlights. Here, the front of the vehicle is shown as viewed from above. In this example, the right headlight 5R has the ADB unit 51R disposed relatively inward (toward the center) of the vehicle, and the low beam unit 52R disposed relatively outward. Similarly, the left headlight 5L has the ADB unit 51L disposed relatively inward (toward the center) of the vehicle, and the low beam unit 52L disposed relatively outward.

[0030] 5A and 5B are schematic diagrams showing the state of light irradiated ahead of the vehicle as viewed from the driver's seat of the vehicle. Also, FIGS. 6 and 7 are schematic diagrams showing the state of light irradiated ahead of the vehicle as viewed from above the vehicle. Here, the illustrated light is irradiated when predetermined weather conditions (rainfall amount and / or raindrop size) are met and a pedestrian 101, as a specific object, is present on the left side of the vehicle. The driver's seat of the vehicle is assumed to be located on the right side.

[0031] 5A and 5B, low beams 110 formed by the low beam units 52R and 52L are projected ahead of the vehicle. Furthermore, high beams are not projected because the weather conditions are met.

[0032] Furthermore, light (highlight light) 111 is irradiated to the pedestrian 101 to alert the pedestrian 101 to the presence of the pedestrian 101. The irradiation range of the light 111 may be set to a minimum range including the position where the pedestrian 101 is present, as shown in Fig. 5(A), or may be set to a wider range including the position where the pedestrian 101 is present, as shown in Fig. 5(B).

[0033] When the pedestrian 101 is located on the "left side" as shown in Figure 6, the light 111 is emitted by the ADB unit 51R of the right headlight 5R, which is located on the opposite "right side." At this time, when the driver in the driver's seat looks ahead of the vehicle, a light veil 112 is generated in the driver's field of vision when the light 111 is irradiated onto moisture in the air due to rain. Note that the light veil in this embodiment refers to light that is scattered and becomes hazy when strong light hits raindrops present in the space ahead of the vehicle.

[0034] In this way, intentionally generating the light screen 112 can alert the driver to the presence of the pedestrian 101. Even if the driver is not gazing in the direction of the pedestrian 101 but is gazing ahead of the vehicle, the light screen 112 can be sensed by the driver, thereby enhancing the effect of alerting the driver. The light 111 may be continuously irradiated (continuous light), but the effect of alerting the driver can be further enhanced by using a flashing light. When using a flashing light, it is preferable to flash the light at a cycle of several Hz, for example.

[0035] When the above-mentioned light 111 is irradiated onto the pedestrian 101, the ADB unit 51L of the left headlight 5L, which is located on the same "left side" as the pedestrian 101, may be controlled to be dimmed or turned off, or may be controlled to emit light that illuminates the pedestrian 101.

[0036] When a pedestrian 101 is present on the right side of the vehicle, as shown in Fig. 7, the ADB unit 51L of the left headlight 5L emits light 111 toward the pedestrian 101. As a result, a light screen 112 is generated in the driver's field of vision to draw attention to the pedestrian, as in the case described above. In this case, the light 111 may be a continuous light or a flashing light.

[0037] 8 is a flowchart showing the operation procedure of the vehicle lighting system. Note that the order of the processes shown here can be changed as long as no contradictions or inconsistencies occur in the results of the information processing, and other processes not explicitly shown here can also be added.

[0038] When the headlamp switch 3 is turned on (a state instructing the headlamp to be turned on) (step S11; YES), if predetermined weather conditions are met based on the detection result of the raindrop sensor 4 (step S12; YES), the illumination state setting unit 11 of the controller 1 sets a light distribution pattern for light distribution control in bad weather mode (step S13). Specifically, the light distribution pattern is set so that high beam illumination is stopped and low beam illumination is activated.

[0039] In step S12, if at least one of the following conditions is met: the amount of rainfall detected by the raindrop sensor 4 is equal to or greater than a predetermined threshold (e.g., 20 mm / h or greater), or the raindrop particle size is equal to or greater than a predetermined threshold (e.g., 0.1 mm or greater), the irradiation condition setting unit 11 determines that the weather conditions are met.

[0040] Based on the light distribution pattern set by the illumination state setting unit 11, the light distribution control unit 12 generates control signals to stop the emission of high beams (variable light distribution beams) by the ADB units 51R, 51L and to activate the emission of low beams by the low beam units 52R, 52L, and outputs the control signals to the right headlight 5R and the left headlight 5L. This prevents the occurrence of a light curtain that can occur in most of the driver's field of vision when high beams are emitted, thereby improving forward visibility.

[0041] If a specific object (a pedestrian in this embodiment) is present among the objects detected by the object sensor 2 (step S14; YES), the object position determination unit 13 determines the position of the specific object, i.e., whether the specific object is present on the left or right side of the vehicle (step S15).

[0042] Furthermore, if the object determination unit 14 determines that the specific object satisfies the above-mentioned proximity condition (step S16; YES), the irradiation state setting unit 11 sets the light distribution pattern of the variable light distribution beam so that light is irradiated onto the specific object (step S17).

[0043] Specifically, the illumination state setting unit 11 sets a light distribution pattern depending on the position (right or left) of the specific object determined in step S15 so that light is irradiated onto the specific object from the headlight located on the opposite side of this position. For example, if the specific object is located on the "left side," the illumination state setting unit 11 sets a light distribution pattern so that light is irradiated onto the specific object by the ADB unit 51R of the right headlight 5R (see FIG. 6). On the other hand, if the specific object is located on the "right side," the illumination state setting unit 11 sets a light distribution pattern so that light is irradiated onto the specific object by the ADB unit 51L of the left headlight 5L (see FIG. 7).

[0044] The light distribution control unit 12 generates control signals to cause each ADB unit 51R, 51L to irradiate light onto a specific object based on the light distribution pattern set by the irradiation state setting unit 11, and outputs the control signals to the right headlight 5R and the left headlight 5L. Then, the process returns to step S11.

[0045] On the other hand, if the weather conditions are not satisfied in step S12 (step S12; NO), the illumination state setting unit 11 sets a light distribution pattern based on light distribution control in normal mode (step S18). Specifically, if a preceding vehicle or an oncoming vehicle is detected by the object sensor 2, the illumination state setting unit 11 sets a light distribution pattern of a variable light distribution beam including a dimming range according to their positions, and if a preceding vehicle or the like is not detected, the illumination state setting unit 11 sets a light distribution pattern of a high beam not including a dimming range. In addition, the illumination state setting unit 11 sets a light distribution pattern to perform low beam irradiation.

[0046] Based on the light distribution pattern set by the illumination state setting unit 11, the light distribution control unit 12 generates control signals to cause the ADB units 51R, 51L to emit high beams (variable light distribution beams) and the low beam units 52R, 52L to emit low beams, and outputs the control signals to the right headlight 5R and the left headlight 5L. Then, the process returns to step S11.

[0047] Regarding the illumination of the specific object with light, the illumination may be continued while the specific object is detected and stopped when it is no longer detected, or the illumination may be stopped after a certain time has passed since the specific object was detected. Furthermore, the illumination of the specific object with light may be stopped when it is determined that the driver is gazing at the specific object based on the detection results of the driver monitoring system 6. When the driver is gazing at the specific object, there is little need for illumination of light, and therefore stopping the illumination of light can avoid causing annoyance to the driver.

[0048] If the headlight switch is not on in step S11 (step S11; NO), the process returns to step S11. Also, if a specific object is not present in step S14 (step S14; NO), the process returns to step S11. Also, if the proximity condition is not satisfied in step S16 (step S16; NO), the process returns to step S11.

[0049] 9A is a diagram illustrating experimental conditions used to confirm the effects of the vehicle lighting system according to the embodiment. As shown in the figure, a subject sat in the driver's seat of the vehicle 100 and gazed at the shoulder position P on the oncoming lane. In this state, a light was emitted from the headlight farthest from the pedestrian 101 toward a pedestrian 101 located 30 m ahead of the vehicle 100, and five subjects were asked to subjectively evaluate the ease of noticing the pedestrian 101. As a result, by generating a streak of light using a light curtain generated by light at a position close to the central vision of the subject in the driver's seat, it was possible to improve the ease of noticing the pedestrian 101 compared to conventional methods, even when the subject's gaze was not directed toward the pedestrian 101.

[0050] FIG. 9B is a diagram illustrating experimental conditions used to confirm the effects of the vehicle lighting system according to the embodiment. As shown in the figure, five subjects were stationary with their backs to the pedestrian 101, and subjectively evaluated the perceived distance to the vehicle 100 behind them and the ease of crossing the lane. Furthermore, the shadow of the pedestrian 101 cast by the light from the left headlight 5L was partially thinned by the light from the ADB unit 51R of the right headlight 5R, creating a significant difference in brightness in the pedestrian's field of vision. This reduced the perceived distance to the vehicle 100 felt by the subject as the pedestrian 101, leading to the evaluation that crossing was more difficult than before. The effect of the brightness and darkness of the light was further enhanced when the light directed at the pedestrian 101 was flashing.

[0051] According to the above-described embodiment, it is possible to improve the visibility of an object in bad weather, improve the ease of noticing the object, and increase the attention of the object.

[0052] The present disclosure is not limited to the above-described embodiment, and various modifications can be made within the scope of the gist of the present disclosure. For example, in the above-described embodiment, light is irradiated onto a specific object when both the weather condition and the proximity condition are met. However, the proximity condition determination may be omitted. In this case, when the weather condition is met and a specific object is detected, a beam is irradiated onto the specific object regardless of its relative distance.

[0053] In the above-described embodiment, the weather conditions are determined by detecting the amount of rainfall and / or the size of raindrops using a raindrop sensor as a weather sensor, but the weather conditions may also be determined using a device configured to acquire weather information (weather data) from outside the vehicle via communication. In this case, the device corresponds to the weather sensor.

[0054] The present disclosure has the following additional features. (Supplementary Note 1) A vehicular lighting system comprising: a weather sensor configured to detect weather conditions around a vehicle; an object sensor configured to detect objects present in front of the vehicle; right and left headlights each capable of emitting a variable light distribution beam and arranged spaced apart on the left and right sides at the front of the vehicle; and a controller connected to the weather sensor, the object sensor, and the right and left headlights, and configured to control the operation of each of the right and left headlights, wherein, when the detection result of the weather sensor is a rainfall amount equal to or greater than a first threshold and / or a raindrop diameter equal to or greater than a second threshold, the controller controls the right and left headlights so that, when a specific object among the objects detected by the object sensor is on the left side of the vehicle, the right headlight emits light to a first range including the specific object, and when the specific object is on the right side of the vehicle, the left headlight emits light to a second range including the specific object. (Supplementary Note 2) The vehicle lighting system according to Supplementary Note 1, wherein the light irradiated into the first range and the second range is flashing light. (Supplementary Note 3) The vehicle lighting system according to Supplementary Note 1 or 2, wherein the object sensor is configured to detect a distance between the specific object and the vehicle, and the controller controls the right headlight and the left headlight to irradiate light into the first range or the second range when the distance is equal to or less than a third threshold and / or when an estimated time of collision between the specific object and the vehicle calculated based on the distance is equal to or less than a fourth threshold. (Supplementary Note 4) The vehicle lighting system according to any of Supplements 1 to 3, wherein the left and right positions of the specific object are identified based on a virtual axis that is parallel to the fore-and-aft direction of the vehicle and passes through a position of a driver's seat of the vehicle. (Supplementary Note 5) The vehicle lighting system according to any one of Supplementary Notes 1 to 3, wherein the left and right positions of the specific object are identified based on a virtual axis that is parallel to the longitudinal direction of the vehicle and passes through a center position of the vehicle in a width direction. (Supplementary Note 6) The vehicle lighting system according to any one of Supplementary Notes 1 to 5, wherein the specific object includes at least one of a pedestrian, a bicycle, and a two-wheeled vehicle.

[0055] 1: Controller, 2: Object sensor, 3: Headlight switch, 4: Raindrop sensor, 5R: Right headlight, 5L: Left headlight, 11: Illumination state setting unit, 12: Light distribution control unit, 13: Object position determination unit, 14: Object determination unit, 21: Camera, 22: Millimeter wave radar, 23: LIDAR, 51R, 51L: ADB unit, 52R, 52L: Low beam unit

Claims

1. A vehicle lighting system comprising: a weather sensor configured to detect weather conditions around a vehicle; an object sensor configured to detect objects present in front of the vehicle; right and left headlights each capable of emitting a variable light distribution beam and arranged spaced apart on the left and right sides at the front of the vehicle; and a controller connected to the weather sensor, the object sensor, and the right and left headlights, and controlling the operation of each of the right and left headlights, wherein, when the detection result of the weather sensor is a rainfall amount equal to or greater than a first threshold and / or a raindrop diameter equal to or greater than a second threshold, the controller controls the right and left headlights so that, when a specific object among the objects detected by the object sensor is on the left side of the vehicle, the right headlight emits light to a first range including the specific object, and when the specific object is on the right side of the vehicle, the left headlight emits light to a second range including the specific object.

2. The vehicle lighting system according to claim 1, wherein the light irradiated to the first area and the second area is a flashing light.

3. The vehicle lighting system of claim 1, wherein the object sensor is configured to detect the distance between the specific object and the vehicle, and the controller controls the right headlight and the left headlight so that light in the first range or the second range is emitted when the distance is equal to or less than a third threshold and / or when the estimated time of collision between the specific object and the vehicle calculated based on the distance is equal to or less than a fourth threshold.

4. The vehicle lighting system according to claim 1, wherein the left and right positions of the specific object are identified based on an imaginary axis that is parallel to the longitudinal direction of the vehicle and passes through the position of the driver's seat of the vehicle.

5. The vehicle lighting system according to claim 1, wherein the left and right positions of the specific object are identified based on a virtual axis that is parallel to the longitudinal direction of the vehicle and passes through the center position of the vehicle in the width direction.

6. The vehicle lighting system according to claim 1, wherein the specific object includes at least one of a pedestrian, a bicycle, and a two-wheeled vehicle.

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