Vehicle lighting fixture, control device, and program
Patent Information
- Application Number
- PCT/JP2026/008986
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-03-21
- Filing Date
- 2026-03-09
- Publication Date
- 2026-09-24
Smart Images
Figure JP2026008986_24092026_PF_FP_ABST
Abstract
Description
Vehicular lamp, control device, and program
[0001] The present invention relates to a vehicular lamp, a control device, and a program.
[0002] There is known a vehicular lamp in which the orientation of a light output portion can be changed by an actuator, and Patent Document 1 below discloses a headlamp that is such a vehicular lamp.
[0003] The headlamp of Patent Document 1 below includes a light output portion, left and right actuators, an up-and-down actuator, and a control device. The left and right actuators are capable of changing the orientation of the light output portion in the left-right direction. The up-and-down actuator is capable of changing the orientation of the light output portion in the up-down direction. The control device controls the left and right actuators and the up-and-down actuator. Therefore, according to this headlamp, the light output direction of the light output portion can be changed in the left-right direction and the up-down direction.
[0004] Japanese Patent No. 5947947
[0005] The up-and-down actuator of Patent Document 1 above integrally tilts the light output portion and the left and right actuators about a reference shaft extending in the left-right direction. In such an up-and-down actuator, for example, when the light output portion is tilted by a predetermined angle about the reference shaft in a state where the orientation of the light output portion is perpendicular to the reference shaft, the orientation of the light output portion changes by the predetermined angle in the up-down direction. However, when the light output portion is tilted by a predetermined angle about the reference shaft in a state where the light output portion is oriented in the left-right direction, the orientation of the light output portion changes in the up-down direction by only an angle smaller than the predetermined angle. Therefore, for example, when the light output portion is oriented in the left-right direction, if the up-and-down actuator is controlled in the same manner as in the state where the orientation of the light output portion is perpendicular to the reference shaft, the light output direction cannot be adjusted accurately.
[0006] Accordingly, an object of the present invention is to provide a vehicular lamp, a control device, and a program that can improve the accuracy of adjusting the light output direction.
[0007] To achieve the above objective, the vehicle lamp of the present invention comprises a light emitting section, left and right actuators capable of changing the left-right orientation of the light emitting section, up and down actuators capable of tilting the light emitting section about a reference axis extending in the left-right direction, and a control device for controlling the left and right actuators and the up and down actuator. The control device is characterized in that, when a signal of information relating to the amount of change in the tilt of the light emitting section about the reference axis is input, it determines a control change amount based on the angle of the left-right orientation of the light emitting section and the amount of change, and controls the up and down actuators so that the tilt angle of the light emitting section changes by the control change amount.
[0008] The present invention also relates to a control device for a vehicle lamp comprising a light emitting section, left and right actuators capable of changing the left-right orientation of the light emitting section, and up and down actuators capable of tilting the light emitting section about a reference axis extending in the left-right direction, characterized in that when a signal of information relating to the amount of change in the tilt of the light emitting section about the reference axis is input, a control change amount is determined based on the angle of the left-right orientation of the light emitting section and the amount of change, and the up and down actuator is controlled so that the tilt angle of the light emitting section changes by the control change amount.
[0009] The present invention also relates to a program executed by a control device that controls the left and right actuators and the up and down actuator in a vehicle lighting device comprising a light emitting unit, left and right actuators capable of changing the left and right orientation of the light emitting unit, and up and down actuators capable of tilting the light emitting unit about a reference axis extending in the left and right direction, characterized in that when a signal of information relating to the amount of change in the tilt of the light emitting unit about the reference axis is input to the control device, the program is executed by a step of determining a control change amount based on the left and right orientation of the light emitting unit and the amount of change, and a step of controlling the up and down actuator so that the tilt angle of the light emitting unit changes by the amount of the control change.
[0010] According to the above-described vehicle lighting device, control device, and program, when a signal is input containing information about the amount of change in the tilt of the light-emitting part around the reference axis, the tilt angle of the light-emitting part changes not by the amount of change, but by a control change amount determined from the angle in the left-right direction and the amount of change. Therefore, the tilt angle of the light-emitting part can be set to an angle that takes into account the influence of the angle in the left-right direction of the light-emitting part on the change in the up-down direction of the light-emitting part. Consequently, the accuracy of adjusting the direction of light emission can be improved compared to when the up-down actuator is controlled based only on the amount of change.
[0011] When the signal is input and the angle of the left-right orientation of the light emitting section is below a threshold, the control device may control the vertical actuator so that the tilt angle of the light emitting section changes by the amount of the change, without determining the amount of the control change.
[0012] The influence of the left-right orientation angle of the light emitter on the change in its up-down orientation is smaller the smaller the left-right orientation angle of the light emitter. Therefore, with the above configuration, when the left-right orientation angle of the light emitter is small and the influence on the change in its up-down orientation is small, the amount of control adjustment can be avoided. Thus, it is possible to suppress a decrease in the accuracy of adjusting the direction of light emission while suppressing an increase in the computational load of the control device.
[0013] The light emitting unit is capable of switching the emitted light between a low beam and a high beam. The control device may, when the signal is input when the light emitting unit emits the low beam, determine the control change amount and control the up and down actuator so that the tilt angle of the light emitting unit changes by the control change amount. Alternatively, when the signal is input when the light emitting unit emits the high beam, the control device may control the up and down actuator so that the tilt angle of the light emitting unit changes by the change amount without determining the control change amount.
[0014] Generally, the required precision for the vertical output direction of a low beam is higher than that for a high beam. Therefore, the above configuration can improve the precision of adjusting the low beam output direction, which requires high precision, while suppressing an increase in the computational load of the control device.
[0015] As described above, the present invention provides a vehicle lighting device, a control device, and a program that can improve the accuracy of adjusting the direction of light emission.
[0016] Figure 1 is a schematic diagram showing an adjustment system for adjusting the direction of light emission from a vehicle lamp according to an embodiment of the present invention. Figure 2 is a schematic diagram showing the lamp section in the embodiment. Figure 3 is a diagram showing the light distribution pattern of the low beam in the embodiment. Figure 4 is a flowchart showing an example of the operation of the control device in calibration mode in the embodiment. Figure 5 is a schematic plan view showing the lamp section with the light emission section facing left and right. Figure 6 is a flowchart showing an example of the operation of the control device in change mode in the embodiment.
[0017] Hereinafter, preferred embodiments of the vehicle lighting device, control device, and program according to the present invention will be described in detail with reference to the drawings. The embodiments illustrated below are provided to facilitate understanding of the present invention and are not intended to limit its interpretation. The present invention can be modified and improved from the following embodiments within the scope of the claims. In the drawings referenced below, the dimensions of each component may be shown differently for the sake of clarity. Also, in the drawings, for the sake of readability, reference numerals may be assigned to only some of the similar components, and some reference numerals may be omitted.
[0018] Figure 1 is a schematic diagram showing an adjustment system for adjusting the direction of light emitted from a vehicle lamp according to an embodiment of the present invention. As shown in Figure 1, the adjustment system SY of this embodiment includes a vehicle 100 equipped with a vehicle headlight 1 as a vehicle lamp, and a measuring device 110 for measuring the direction of light emitted from the vehicle headlight 1. In this embodiment, the vehicle 100 is placed on a generally horizontal floor FL, and the measuring device 110 is placed on the floor FL in front of the vehicle 100 so as to be directly opposite the vehicle headlight 1 at a predetermined distance. Generally horizontal means, for example, a state that is horizontal, as well as a state that is tilted relative to the horizontal to such an extent that the effect on the adjustment of the direction of light emitted from the vehicle headlight 1, which will be described later, can be ignored. An example of this tilted state relative to the horizontal is a state that is tilted by 0.05 degrees or more relative to the horizontal.
[0019] First, the vehicle headlight 1 will be described. The vehicle headlight 1 according to this embodiment mainly comprises a lamp unit 10, a control device 80, and a memory 90.
[0020] Figure 2 is a schematic diagram showing the lighting unit 10 in this embodiment. As shown in Figure 2, the lighting unit 10 in this embodiment mainly comprises a housing 20 and a lighting unit 30. In Figure 2, the housing 20 is shown in cross-section. Also in Figure 2, the X-axis direction indicates the front of the vehicle, and the Z-axis direction indicates upward. The direction parallel to the X-axis direction is the front-rear direction of the vehicle 100, and the directions perpendicular to the X-axis direction and the Z-axis direction are the left-right direction of the vehicle 100.
[0021] The housing 20 has a lamp housing 21 and a front cover 22. The front of the lamp housing 21 is open, and the front cover 22 is fixed to the lamp housing 21 so as to close the opening. The space formed by the lamp housing 21 and the front cover 22 is a housing space, and the luminaire unit 30 is housed in this housing space. The front cover 22 transmits the light emitted from the luminaire unit 30.
[0022] The lighting unit 30 of this embodiment mainly comprises a light-emitting section 40 equipped with a light source (not shown), an actuator 50, and a support member 60. Note that the internal structure of the light-emitting section 40 and the actuator 50 is omitted in Figure 2.
[0023] The light emitting unit 40 emits light from the light source forward. The light emitted from the light emitting unit 40 is irradiated in front of the vehicle 100 via the front cover 22. In this embodiment, the light emitting unit 40 can switch the emitted light between low beam and high beam. The light emitting unit 40 may be equipped with a reflector that reflects light from the light source and a projection lens that transmits the light, and as a light source, for example, an LED array in which multiple LEDs (Light Emitting Diodes) are arranged in a matrix can be cited. Furthermore, the light emitted by the light emitting unit 40 is not limited. For example, the light emitting unit 40 does not need to be able to switch the emitted light.
[0024] The actuator 50 of this embodiment mainly comprises left and right actuators 51 and up and down actuators 56. The left and right actuators 51 of this embodiment mainly comprise a case 52, a motor 53, and an output shaft 54, and are positioned below the light emitting section 40. The case 52 is a box-shaped member having a housing space inside, and the motor 53 is housed in the housing space of the case 52. For example, the motor 53 can be a DC motor. The output shaft 54 is a rod-shaped member that protrudes upward from the housing space of the case 52, and the direction in which the output shaft 54 extends is generally parallel to a vertical plane extending in the front-rear direction. The upper end of the output shaft 54 is fixed to the light emitting section 40. The portion of the output shaft 54 located in the housing space of the case 52 is connected to the output shaft of the motor 53 via a gear (not shown). When the torque of the motor 53 is transmitted to the output shaft 54 via the gear (not shown), the output shaft 54 rotates around its central axis.
[0025] The vertical actuator 56 of this embodiment mainly comprises a case 57, a motor 58, and an output shaft 59, and is positioned behind the left and right actuators 51. The case 57 is a box-shaped member having an internal storage space and is fixed to the lamp housing 21. The motor 58 is housed in the storage space of the case 57. For example, the motor 58 can be a DC motor. The output shaft 59 is a rod-shaped member extending in the front-rear direction. The front end of the output shaft 59 has a ball shape, and a bracket 41, which is fixed to the case 52 of the left and right actuators 51, is connected to this front end. The orientation of the bracket 41 is changeable with respect to the longitudinal direction of the output shaft 59. The rear end of the output shaft 59 is housed in the storage space of the case 57 and is connected to the output shaft of the motor 58 via a gear (not shown). When the torque of the motor 58 is transmitted to the output shaft 59 via the gear (not shown), the output shaft 59 moves along the front-rear direction, which is the direction of extension, and the amount of the output shaft 59 protruding from the case 57 changes.
[0026] In this embodiment, the support member 60 is a rod-shaped member located above the light-emitting section 40 and extending in the front-rear direction. The front end of the support member 60 has a ball shape, and a bracket 42 is connected to this front end. The orientation of the bracket 42 is changeable with respect to the longitudinal direction of the support member 60. The bracket 42 is fixed to a plate section 43 that extends upward from the light-emitting section 40. The front end of the support member 60 connected to the bracket 42 coincides with the central axis of the output shaft 54 of the left and right actuators 51 in a direction along the central axis of the output shaft 54. The lighting unit 30 is then supported so as to be suspended from the front end of the support member 60.
[0027] In this type of lighting unit 30, when the output shaft 59 of the vertical actuator 56 moves forward and its protrusion increases, the light emitting section 40 and the left and right actuators 51 tilt forward with the front end of the support member 60 as the pivot point. The light emitting section 40 then tilts upward, and the direction of light emitted from the light emitting section 40 is changed to be more upward than before the movement. Also, when the output shaft 59 moves backward and its protrusion decreases, the light emitting section 40 and the left and right actuators 51 tilt backward with the front end of the support member 60 as the pivot point. The light emitting section 40 then tilts downward, and the direction of light emitted from the light emitting section 40 is changed to be more downward than before the movement. In other words, the vertical actuator 56 can tilt the light emitting section 40 around a reference axis RA that passes through the front end of the support member 60 and extends in the left and right directions by changing the amount of protrusion of the output shaft 59.
[0028] In this embodiment, the upper limit of the angle range of the tilt of the light-emitting section 40 around the reference axis RA, which can be changed by the vertical actuator 56, is an angle tilted 5 degrees upward with respect to the front-to-back direction, and the lower limit is an angle tilted 5 degrees downward with respect to the front-to-back direction. However, this range is not limited.
[0029] Information relating to the first angle, which is within the above range, is stored in memory 90. In this embodiment, the first angle is different from the upper and lower limits within this range. Specifically, the first angle is the angle in the direction parallel to the front-back direction. The absolute value of the difference between the first angle and the upper and lower limits is preferably, for example, 3 degrees or more.
[0030] Furthermore, when the output shafts 54 of the left and right actuators 51 rotate around the central axis, the light emitting section 40 rotates left and right around the output shaft 54, and the direction of light emission from the light emitting section 40 is changed left and right. In other words, the left and right actuators 51 can change the left and right orientation of the light emitting section 40 by rotating the output shafts 54.
[0031] In this embodiment, the upper limit of the angle range of the left-right orientation of the light-emitting section 40, which can be changed by the left and right actuators 51, is an angle tilted 5 degrees to the right with respect to the front-to-back direction, and the lower limit is an angle tilted 5 degrees to the left with respect to the front-to-back direction.
[0032] Information relating to the second angle, which is within the above range, is stored in memory 90. In this embodiment, the second angle is different from the upper and lower limits within this range. Specifically, the second angle is an angle in a direction parallel to the front-back direction. The absolute value of the difference between the second angle and the upper and lower limits is preferably, for example, 3 degrees or more.
[0033] Returning to Figure 1, the control device 80 consists of, for example, an integrated circuit such as a microcontroller, IC (Integrated Circuit), LSI (Large-scale Integrated Circuit), or ASIC (Application Specific Integrated Circuit), or an NC (Numerical Control) device. The control device 80 may or may not use a machine learning machine. In this embodiment, the control device 80 is switchable between a calibration mode and a mode other than the calibration mode. The control device 80 is electrically connected to the light emission unit 40, the actuator 50, the memory 90, the vehicle control device 101 provided in the vehicle 100, and the transmitting / receiving unit 120 provided in the vehicle 100.
[0034] The memory 90 is configured to store information and to be readable. The memory 90 is, for example, a non-transitory recording medium, and semiconductor recording media such as RAM (Random Access Memory) or ROM (Read Only Memory) are preferred, but any type of recording medium such as optical recording media or magnetic recording media may be included. Note that a "non-transitory" recording medium includes all computer-readable recording media except transient propagation signals, and does not exclude volatile recording media. The memory 90 stores programs for controlling the light emission unit 40 and the actuator 50, as well as information necessary for such control. The control device 80 reads the programs and information stored in the memory 90. The memory 90 also stores information based on instructions from the control device 80.
[0035] In this embodiment, the control device 80 reads a program for controlling the light emission unit 40 and the actuator 50 from the memory 90, and outputs control signals to the light emission unit 40 and the actuator 50 to control them.
[0036] In this embodiment, the control device 80 and the memory 90 are located outside the housing 20. However, at least one of the control device 80 and the memory 90 may be housed in the housing space of the housing 20, or the control device 80 and the memory 90 may be provided in an integrated package. Furthermore, the control device 80 may be included in a vehicle control device 101 provided in the vehicle 100.
[0037] The vehicle control device 101 has a configuration similar to, for example, the control device 80 of the lighting unit 30. The vehicle control device 101 controls several components of the vehicle 100, such as the engine. The vehicle control device 101 in this embodiment is electrically connected to a steering sensor (not shown) that detects the steering angle, a vehicle speed sensor (not shown) that detects the vehicle speed, and a tilt sensor (not shown) that detects the tilt angle of the vehicle 100 in the longitudinal direction.
[0038] The transceiver unit 120 provided in the vehicle 100 is configured to transmit signals to the outside and receive signals from the outside. An antenna is an example of the transceiver unit 120. In this embodiment, the transceiver unit 120 transmits signals input from the control device 80 as electromagnetic waves to an external device, and receives signals transmitted from the external device as electromagnetic waves and outputs them to the control device 80.
[0039] Next, the measuring device 110 will be described. The measuring device 110 according to this embodiment mainly comprises a control device 111, a memory 112, a light receiving unit 113, a calculation unit 114, a monitor 115, and a transmitting / receiving unit 117.
[0040] The control device 111 has a configuration similar to, for example, the control device 80 of the lighting unit 30, and controls several components of the measuring device 110. The control device 111 is electrically connected to a memory 112, a light receiving unit 113, a calculation unit 114, a monitor 115, and a transmitting / receiving unit 117.
[0041] Memory 112 has a configuration similar to, for example, the memory 90 of the lighting unit 30. Memory 112 stores programs for controlling several components of the measuring device 110, as well as information necessary for such control. The control device 111 reads the programs and information stored in memory 112. Memory 112 also stores information based on instructions from the control device 111.
[0042] The light-receiving unit 113 of this embodiment has a light-receiving surface 113s that receives light, and generates image information showing the image of the light irradiated onto the light-receiving surface 113s. The generated image information is output to the calculation unit 114 via the control device 111. As an example of the configuration of the light-receiving unit 113, a configuration in which semiconductor light-receiving elements are arranged in a matrix can be cited. The measuring device 110 is positioned on the floor FL such that the light-receiving surface 113s faces the vehicle headlight 1 at a predetermined distance, and the left-right center of the vehicle 100 and the left-right center of the light-receiving surface 113s overlap in the front-rear direction of the vehicle 100. When a low beam is emitted from the vehicle headlight 1, the low beam is irradiated onto the light-receiving surface 113s, and image information showing the light distribution pattern of the low beam, which is an image of the low beam, is output to the calculation unit 114 and the monitor 115 via the control device 111.
[0043] Figure 3 is a diagram showing the low beam light distribution pattern in this embodiment, and is a diagram showing the low beam light distribution pattern formed on the light-receiving surface 113s when the low beam is irradiated onto the light-receiving surface 113s. The low beam light distribution pattern PL in this embodiment is for countries and regions where vehicles drive on the left side of the road, and the cutoff line CL, which is the upper edge of the low beam light distribution pattern PL, includes a first line CL1, a second line CL2, and a third line CL3. The first line CL1 extends generally horizontally, the second line CL2 extends to the left and upward from the left end of the first line CL1, and the third line CL3 extends generally horizontally to the left from the left end of the second line CL2. The connection point between the first line CL1 and the second line CL2 is the elbow point EP, and a hot zone (not shown), which is the region with the highest light intensity, is located near the elbow point EP.
[0044] In the present embodiment, the calculation unit 114 has, for example, the same configuration as that of the control device 80 of the lamp unit 30. The calculation unit 114 calculates the emission direction of the low beam with respect to the longitudinal orientation of the vehicle 100 from input image information and information stored in advance in the memory 112. Examples of the information stored in the memory 112 include the distance between the vehicle 100 and the measurement device 110, the height from the floor FL to the vehicle headlamp 1, and the like. In the present embodiment, the calculation unit 114 extracts a position representing the elbow point EP in the above image, and calculates the angle of the emission direction of the low beam in the vertical direction and the angle of the emission direction of the low beam in the horizontal direction from the position. Information of these calculated angles is output to the monitor 115 and the transmission / reception unit 117 via the control device 111. In the present embodiment, the angle of the emission direction in the vertical direction is based on a reference horizontal plane HP passing through the vertical center of the front cover 22. An angle formed between a direction directed upward from the reference horizontal plane HP and the reference horizontal plane HP is defined as a positive angle, and an angle formed between a direction directed downward from the reference horizontal plane HP and the reference horizontal plane HP is defined as a negative angle. Further, the angle of the emission direction in the horizontal direction is based on a reference vertical plane VP passing through the center of the vehicle 100 and extending in the longitudinal direction. An angle formed between a direction directed rightward from the reference vertical plane VP and the reference vertical plane VP is defined as a positive angle, and an angle formed between a direction directed leftward from the reference vertical plane VP and the reference vertical plane VP is defined as a negative angle. In the present embodiment, the emission direction of the low beam is a direction from the lamp unit 30 toward the elbow point EP. The emission direction is changed when the orientation of the light emission unit 40 with respect to the orientation of the vehicle 100 is changed by the actuator 50.
[0045] It should be noted that the calculation unit 114 only needs to be able to detect the emission direction of the light emitted from the light emitting unit 40, and the method for detecting the emission direction is not limited. For example, the calculation unit 114 may extract a position representing a hot zone in the low-beam light distribution pattern in the above image, and calculate the angle of the low-beam emission direction in the vertical direction and the horizontal direction from the position. Further, when the light emitted from the lamp unit 30 is a high beam, for example, the calculation unit 114 may extract a position representing a hot zone in the high-beam light distribution pattern, and calculate the angle of the high-beam emission direction in the vertical direction and the horizontal direction from the position. Further, the control device 111 may also serve as the calculation unit 114.
[0046] The monitor 115 displays information corresponding to a signal input from the control device 111. For example, the monitor 115 displays the angle of the light emission direction in the vertical direction and the horizontal direction calculated by the calculation unit 114, and an image of the low-beam light distribution pattern. It should be noted that the monitor 115 is not an essential component.
[0047] The transmission / reception unit 117 has, for example, the same configuration as the transmission / reception unit 120 provided in the vehicle 100. In the present embodiment, when the transmission / reception unit 117 receives a control signal transmitted from the transmission / reception unit 120, it transmits the control signal to the control device 111. Further, when information on the angle of the emission direction calculated by the calculation unit 114 is input from the control device 111, the transmission / reception unit 117 transmits a signal of angle information related to the angle to the outside.
[0048] Next, the operation of the control device 80 in the calibration mode will be described.
[0049] Figure 4 is a flowchart showing an example of the operation of the control device 80 in calibration mode in this embodiment. The program that executes the operation of the flowchart is stored in memory 90. Therefore, the control device 80 executes the flowchart in Figure 4 by reading the program from memory 90. In other words, the program causes the control device 80 to execute the flowchart. As shown in Figure 4, the operation of the control device 80 in this embodiment comprises steps S11 to S18. In the initial state of Figure 4, as shown in Figure 1, the vehicle 100 is placed on the floor FL, and the measuring device 110 is placed on the floor FL in front of the vehicle 100, facing the vehicle headlight 1 at a predetermined distance.
[0050] <Step S11> This step is to emit light from the light emitting unit 40. In this step, first, the control device 80 controls the up and down actuator 56 of the actuator 50 so that the angle of inclination of the light emitting unit 40 with respect to the reference axis RA becomes a first angle stored in the memory 90. The control device 80 also stores information related to the first angle as first information in the memory 90. If information as first information is already stored in the memory 90, the memory 90 overwrites that information with information related to the first angle. The control device 80 also controls the left and right actuators 51 of the actuator 50 so that the angle of the left and right orientation of the light emitting unit 40 with respect to the front and back direction becomes a second angle stored in the memory 90. The control device 80 also stores information related to the second angle as second information in the memory 90. If information as second information is already stored in the memory 90, the memory 90 overwrites that information with information related to the second angle. Furthermore, the control device 80 controls the light emission unit 40 to emit light from the light emission unit 40. In this embodiment, the control device 80 emits a low beam from the light emission unit 40. Note that the order of controlling the vertical actuator 56, the left and right actuator 51, and the light emission unit 40 is not limited. For example, the control device 80 may control the vertical actuator 56 and the left and right actuator 51 simultaneously, or it may control the light emission unit 40 to emit a low beam before controlling the vertical actuator 56 and the left and right actuator 51. After this step, the control device 80 proceeds to step S12.
[0051] <Step S12> This step is to acquire information on the angle of the direction of emission of light emitted from the light emission unit 40 in the vertical and horizontal directions. In this step, the control device 80 outputs a control signal to the transmitting / receiving unit 120 that instructs the measuring device 110 to perform the measurement, causing the transmitting / receiving unit 120 to transmit the control signal. The control signal is received by the transmitting / receiving unit 117 of the measuring device 110 and sent to the control device 111. The control device 111 measures the direction of emission of light emitted from the vehicle headlight 1 in response to the input of the control signal. Specifically, the control device 111 causes the light receiving unit 113 to generate image information showing the image of the light irradiated onto the light receiving surface 113s, and outputs the image information to the control device 111. Next, the control device 111 outputs the information to the calculation unit 114. The calculation unit 114 extracts the position representing the elbow point EP in the above image, calculates the angle of the low beam's emission direction in the vertical and horizontal directions from that position, and outputs the calculated angle information to the control device 111. The control device 111 outputs the angle information to the monitor 115 and the transmitting / receiving unit 117. The monitor 115 displays the angle information, and the transmitting / receiving unit 117 outputs an angle information signal related to each angle. This signal is received by the transmitting / receiving unit 120 and sent to the control device 80. In this way, the control device 80 receives angle information signals related to the angle of the emission direction relative to the orientation of the vehicle 100 in the vertical and horizontal directions. The control device 80 stores this angle information in the memory 90, but it is not necessary to store this angle information in the memory 90. After this step, the control device 80 proceeds to step S13.
[0052] <Step S13> This step calculates a first change amount, which is the amount of change in the tilt of the light emitting unit 40 with respect to the reference axis RA, and a second change amount, which is the amount of change in the angle of the left-right direction of the light emitting unit 40, from the angle information acquired in step S12. In this embodiment, the memory 90 stores information on a first target angle, which is the angle of the emission direction relative to the orientation of the vehicle 100 in the vertical direction, and a second target angle, which is the angle of the emission direction relative to the orientation of the vehicle 100 in the left-right direction. The control device 80 calculates the difference between the angle of the emission direction relative to the orientation of the vehicle 100 in the vertical direction and the first target angle, acquired in step S12, as the first change amount. The control device 80 also calculates the difference between the angle of the emission direction relative to the orientation of the vehicle 100 in the left-right direction and the second target angle, acquired in step S12, as the second change amount. In this way, the control device 80 calculates the first change amount and the second change amount from the angle information acquired in step S12 and the first target angle and the second target angle. For this reason, the angle information acquired in step S12 is information related to the first change amount and the second change amount, and in step S12, a signal related to this information is input to the control device 80. After this step, the control device 80 proceeds to step S14.
[0053] <Step S14> This step involves changing the angle of the left-right orientation of the light emitting unit 40 by the second change amount calculated in step S13. The control device 80 controls the left and right actuators 51 so that the angle of the left-right orientation of the light emitting unit 40 changes by the second change amount. The control device 80 also rewrites the second information stored in the memory 90 with information relating to the angle of the left-right orientation of the light emitting unit 40 relative to the front-rear orientation after this control. If the second change amount is zero, the left and right actuators 51 are not controlled and the second information is not rewritten. After this step, the control device 80 proceeds to step S15.
[0054] <Step S15> This step is a step in which the next step is determined by second information, which is information about the angle of the left-right orientation of the light emitting unit 40. In this step, if the angle of the left-right orientation of the light emitting unit 40 is less than or equal to a threshold, the control device 80 proceeds to step S16. Also, if the angle of the left-right orientation of the light emitting unit 40 with respect to the front-back direction exceeds a threshold, the control device 80 proceeds to step S17. In this embodiment, the threshold is 1.0 degree, but the threshold is not limited.
[0055] <Step S16> This step involves changing the tilt angle of the light emission unit 40 around the reference axis RA by the first change amount calculated in step S13. The control device 80 controls the up and down actuators 56 so that the tilt angle of the light emission unit 40 around the reference axis RA changes by the first change amount. The control device 80 also rewrites the first information stored in the memory 90 with information relating to the tilt angle of the light emission unit 40 around the reference axis RA after this control. If the first change amount is zero, the up and down actuators 56 are not controlled and the first information is not rewritten. The control device 80 then stops the emission of low beam from the light emission unit 40 and ends the calibration mode.
[0056] <Step S17> This step determines the control change amount based on the second information, which is information about the angle of the left-right orientation of the light emitting section 40, and the first change amount calculated in step S13. Figure 5 is a schematic plan view showing the lamp section 10 in a state where the light emitting section 40 is facing left-right. Note that the support member 60 is not shown in Figure 5. Also, in Figure 5, the Y-axis direction is to the right and is perpendicular to the X-axis and Z-axis directions. The direction parallel to this Y-axis direction is the left-right direction of the vehicle 100. As shown in Figure 5, when the light emitting section 40 is tilted by a predetermined angle around the reference axis RA while the light emitting section 40 is facing left-right, the orientation of the light emitting section 40 changes by an angle less than the predetermined angle in the vertical direction. This is because the orientation of the light emitting section 40 is not perpendicular to the reference axis RA, so the change in the orientation of the light emitting section 40 in the vertical plane that is perpendicular to the reference axis RA and extends in the front-rear direction becomes small. Furthermore, the larger the angle between the left-right orientation of the light-emitting section 40 and the front-back direction, the smaller the amount of angle change.
[0057] In this embodiment, a table is stored which associates the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction, the first change amount, and a correction value. The correction value is a value added to the first change amount, and the value obtained by adding the correction value to the first change amount is the control change amount. Furthermore, for correction values that are the same as the first change amount associated with the correction value, the larger the angle of the left-right orientation of the light emitting unit 40 with respect to the associated front-rear direction, the larger the correction value. The control device 80 of this embodiment determines the correction value by referring to this table based on the second information and the first change amount calculated in step S13, and determines the control change amount by adding the correction value to the first change amount.
[0058] In this embodiment, for example, when the angle in the left-right direction is 0.5 degrees and the first change amount is 0.5 degrees, 1.0 degrees, 2.0 degrees, and 3.0 degrees, the respective correction values are 0.001 degrees, 0.001 degrees, 0.001 degrees, and 0.001 degrees. These correction values are within the range of error when the up-down actuator 56 changes its angle. Also, when the angle in the left-right direction is 1.0 degrees and the first change amount is 0.5 degrees, 1.0 degrees, 2.0 degrees, and 3.0 degrees, the respective correction values are 0.001 degrees, 0.001 degrees, 0.003 degrees, and 0.004 degrees. These correction values are also within the range of error when the up-down actuator 56 changes its angle. Therefore, in this embodiment, if the threshold in step S15 is set to 1.0 degrees and the angle in the left-right direction is 1.0 degrees or less, the control device 80 controls the up-down actuator 56 without determining the control change amount.
[0059] Furthermore, when the angle in the left-right direction is 2.0 degrees, the correction values for the first change amounts of 0.5 degrees, 1.0 degrees, 2.0 degrees, and 3.0 degrees are 0.003 degrees, 0.006 degrees, 0.011 degrees, and 0.016 degrees, respectively. Also, when the angle in the left-right direction is 3.0 degrees, the correction values for the first change amounts of 0.5 degrees, 1.0 degrees, 2.0 degrees, and 3.0 degrees are 0.006 degrees, 0.013 degrees, 0.026 degrees, and 0.035 degrees, respectively. These correction values generally exceed the error range when the vertical actuator 56 changes its angle. The table in this embodiment is provided in a range where the angle in the left-right direction exceeds 1.0. Such a table can be created, for example, by testing using the adjustment system SY of this embodiment. Note that the table is not limited. For example, there may be a table that associates the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction, the first change amount, and the control change amount. Alternatively, the control device 80 may calculate the control change amount using an equation in which the variables are the angle of the left-right orientation and the first change amount, and this equation may be an approximate formula obtained from the values in the table above. After this step, the control device 80 proceeds to step S18.
[0060] <Step S18> This step involves changing the tilt angle of the light emission unit 40 around the reference axis RA by the control change amount determined in step S17. The control device 80 controls the up and down actuators 56 so that the tilt angle of the light emission unit 40 around the reference axis RA changes by the control change amount. The control device 80 also rewrites the first information stored in the memory 90 with information relating to the tilt angle of the light emission unit 40 around the reference axis RA after this control. If the first change amount is zero, the control of the up and down actuators 56 and the rewriting of the first information are not performed. The control device 80 then stops the emission of low beam from the light emission unit 40 and ends the calibration mode.
[0061] In this way, in the calibration mode of this embodiment, the actuator 50 is controlled based on the angle information acquired in step S12. The angle of the exit direction relative to the orientation of the vehicle 100 in the vertical direction becomes the first target angle, and the angle of the exit direction relative to the orientation of the vehicle 100 in the horizontal direction becomes the second target angle.
[0062] Next, we will describe the operation of the control device 80 in the change mode, which is a mode other than calibration mode.
[0063] Figure 6 is a flowchart illustrating an example of the operation of the control device 80 in the change mode in this embodiment. The program that executes the operations shown in the flowchart is stored in the memory 90. Therefore, the control device 80 executes the flowchart in Figure 6 by reading the program from the memory 90.
[0064] As shown in Figure 6, the operation of the control device 80 in this embodiment comprises steps S21 to S28. This mode is a mode in which the direction of light emission from the light emission unit 40 is changed in accordance with a signal of information regarding the change angle of the emission direction input from the vehicle control device 101. The information regarding the change angle is information of a first change target angle, which is the angle of the emission direction relative to the orientation of the vehicle 100 in the vertical direction, and a second change target angle, which is the angle of the emission direction relative to the orientation of the vehicle 100 in the horizontal direction. The vehicle control device 101 in this embodiment determines the change angle based on signals from a steering sensor, a vehicle speed sensor, and a tilt sensor (not shown), and outputs a signal of information regarding the change angle to the control device 80. Upon input of the signal of information regarding the change angle, the control device 80 starts this mode and stores the information regarding the change angle in the memory 90.
[0065] In the initial state shown in Figure 6, a signal indicating either low beam or high beam is input to the control device 80 from a light switch (not shown) of the vehicle 100, and either low beam or high beam is emitted from the light emission unit 40. The angle of the emission direction relative to the orientation of the vehicle 100 in the vertical direction is the first target angle, and the angle of the emission direction relative to the orientation of the vehicle 100 in the horizontal direction is the second target angle.
[0066] <Step S21> This step involves calculating a first change amount, which is the amount of change in the tilt of the light emitting unit 40 around the reference axis RA, and a second change amount, which is the amount of change in the angle of the left-right direction of the light emitting unit 40, from the change angle input from the vehicle control device 101. In this embodiment, the control device 80 calculates the difference between the first target change angle input from the vehicle control device 101 and the first target angle stored in the memory 90 as the first change amount. The control device 80 also calculates the difference between the second target change angle input from the vehicle control device 101 and the second target angle stored in the memory 90 as the second change amount. In this way, the control device 80 calculates the first change amount and the second change amount from the change angle input from the vehicle control device 101 and the first and second target angles. For this reason, the change angle input from the vehicle control device 101 is information related to the first change amount and the second change amount. After this step, the control device 80 proceeds to step S22.
[0067] <Step S22> This step is one in which the next step is determined by the signal from the light switch. In this step, if the signal input from the light switch is a signal related to the output of the high beam, the control device 80 proceeds to step S23. If the signal input from the light switch is a signal related to the output of the low beam, the control device 80 proceeds to step S24.
[0068] <Step S23> This step involves changing the tilt angle of the light emitting unit 40 with respect to the reference axis RA by a first change amount calculated in step S21, and changing the angle of the left-right direction of the light emitting unit 40 by a second change amount calculated in step S21. The control device 80 controls the up-down actuator 56 so that the tilt angle of the light emitting unit 40 with respect to the reference axis RA changes by the first change amount, and rewrites the first information stored in the memory 90 with information relating to the tilt angle of the light emitting unit 40 with respect to the reference axis RA after this control. If the first change amount is zero, the up-down actuator 56 is not controlled and the first information is not rewritten. The control device 80 also controls the left-right actuator 51 so that the angle of the left-right direction of the light emitting unit 40 changes by a second change amount, and rewrites the second information stored in the memory 90 with information relating to the angle of the left-right direction of the light emitting unit 40 with respect to the front-back direction after this control. If the second change amount is zero, the control of the left and right actuators 51 and the rewriting of the second information are not performed. The control device 80 then exits the change mode. For this reason, when the light emission unit 40 is emitting a high beam, the control device 80 controls the up and down actuator 56 and the left and right actuators 51 based on the first and second change amounts calculated in step S21 to change the direction of light emission from the light emission unit 40.
[0069] <Step S24> This step involves changing the angle of the left-right orientation of the light emitting unit 40 by the second change amount calculated in step S21. The control device 80 controls the left and right actuators 51 so that the angle of the left-right orientation of the light emitting unit 40 changes by the second change amount, and rewrites the second information stored in the memory 90 with information relating to the angle of the left-right orientation of the light emitting unit 40 relative to the front-rear orientation after this control. If the second change amount is zero, the left and right actuators 51 are not controlled and the second information is not rewritten. After this step, the control device 80 proceeds to step S25.
[0070] <Step S25> This step, like step S15, is a step in which the next step is determined by second information, which is information about the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction. In this step, if the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction is below a threshold, the control device 80 proceeds to step S26. If the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction exceeds a threshold, the control device 80 proceeds to step S27.
[0071] <Step S26> This step involves changing the tilt angle of the light emitting unit 40 with respect to the reference axis RA by the first change amount calculated in step S21. The control device 80 controls the up and down actuator 56 so that the tilt angle of the light emitting unit 40 with respect to the reference axis RA changes by the first change amount, and rewrites the first information stored in the memory 90 with information relating to the tilt angle of the light emitting unit 40 with respect to the reference axis RA after this control. If the first change amount is zero, the control device 80 does not control the up and down actuator 56 or rewrite the first information. Then the control device 80 ends the change mode. For this reason, if the light emitting unit 40 emits a low beam and the angle of the left and right orientation of the light emitting unit 40 with respect to the front and rear directions is below a threshold, the control device 80 controls the up and down actuator 56 and the left and right actuator 51 based on the first and second change amounts calculated in step S21 to change the direction of light emission from the light emitting unit 40.
[0072] <Step S27> This step, like step S17, determines the control change amount based on the second information, which is information about the angle of the left-right orientation of the light emitting unit 40 relative to the front-rear direction, and the first change amount calculated in step S21. The control device 80 of this embodiment, like in step S17, refers to a table stored in the memory 90 based on the second information and the first change amount calculated in step S21, and determines the control change amount. After this step, the control device 80 proceeds to step S28.
[0073] <Step S28> This step involves changing the tilt angle of the light emitting unit 40 around the reference axis RA by the control change amount determined in step S27. The control device 80 controls the up and down actuator 56 so that the tilt angle of the light emitting unit 40 around the reference axis RA changes by the control change amount, and rewrites the information relating to the tilt angle of the light emitting unit 40 around the reference axis RA after this control. If the first change amount is zero, the control of the up and down actuator 56 and the rewriting of the first information are not performed. The control device 80 then ends the change mode. For this reason, when the light emitting unit 40 emits a low beam and the angle of the left and right orientation of the light emitting unit 40 with respect to the front and rear direction exceeds a threshold, the control device 80 controls the up and down actuator 56 and the left and right actuator 51 based on the control change amount determined in step S27 and the second change amount calculated in step S21 to change the direction of light emission from the light emitting unit 40.
[0074] In this way, in the modification mode of this embodiment, the actuator 50 is controlled based on the modification angle input from the vehicle control device 101. The angle of the exit direction relative to the orientation of the vehicle 100 in the vertical direction becomes the first modification target angle, and the angle of the exit direction relative to the orientation of the vehicle 100 in the horizontal direction becomes the second modification target angle.
[0075] As described above, one aspect of the present invention according to this embodiment is a vehicle headlight 1 comprising a light emitting unit 40, left and right actuators 51 capable of changing the left-right orientation of the light emitting unit 40, up and down actuators 56 capable of tilting the light emitting unit 40 about a reference axis RA extending in the left-right direction, and a control device 80 that controls the left and right actuators 51 and the up and down actuators 56. When the control device 80 receives a signal of information relating to a first change amount of the tilt of the light emitting unit 40 about the reference axis RA, it determines a control change amount based on the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction and the first change amount. The control device 80 then controls the up and down actuators 56 so that the tilt angle of the light emitting unit 40 changes by the control change amount.
[0076] Another aspect of the present invention according to the above embodiment is a control device 80 for controlling the left and right actuators 51 and the up and down actuator 56 in a vehicle headlight 1, which comprises a light emitting unit 40, left and right actuators 51 capable of changing the left and right orientation of the light emitting unit 40, and an up and down actuator 56 capable of tilting the light emitting unit 40 about a reference axis RA extending in the left and right direction. When the control device 80 receives a signal of information relating to a first change amount of the tilt of the light emitting unit 40 about the reference axis RA, it determines a control change amount based on the angle of the left and right orientation of the light emitting unit 40 with respect to the front and rear direction and the first change amount, and controls the up and down actuator 56 so that the tilt angle of the light emitting unit 40 changes by the control change amount.
[0077] Furthermore, yet another aspect of the present invention according to the above embodiment is a program executed by a control device 80 that controls the left and right actuators 51 and the up and down actuator 56 in a vehicle headlight 1 comprising a light emitting unit 40, left and right actuators 51 capable of changing the left and right orientation of the light emitting unit 40, and up and down actuators 56 capable of tilting the light emitting unit 40 about a reference axis RA extending in the left and right direction. When the control device 80 receives a signal of information relating to a first change amount of the tilt of the light emitting unit 40 about the reference axis RA, the program causes the control device 80 to execute steps S17 and S27, which determine a control change amount based on the angle of the left and right orientation of the light emitting unit 40 with respect to the front and rear direction and the first change amount, and steps S18 and S28, which control the up and down actuator 56 so that the tilt angle of the light emitting unit 40 changes by the control change amount.
[0078] According to the vehicle headlight 1, control device 80, and program of this embodiment, when a signal of information relating to the first change amount is input, the tilt angle of the light emitting unit 40 changes not by the first change amount, but by a control change amount determined from the angle of the left-right direction relative to the front-rear direction and the first change amount. Therefore, the tilt angle of the light emitting unit 40 can be set to an angle that takes into account the influence of the left-right direction angle of the light emitting unit 40 on the change in the up-down direction of the light emitting unit 40. Accordingly, the accuracy of adjusting the direction of light emission can be improved compared to the case where the up-down actuator 56 is controlled based only on the first change amount.
[0079] The influence of the left-right orientation angle of the light-emitting unit 40 on the change in the up-down orientation of the light-emitting unit 40 is smaller the smaller the left-right orientation angle of the light-emitting unit 40. When the above signal is input and the left-right orientation angle of the light-emitting unit 40 with respect to the front-rear direction is below a threshold, the control device 80 of this embodiment controls the up-down actuator 56 so that the tilt angle of the light-emitting unit 40 changes by a first change amount without determining the control change amount. Therefore, according to the vehicle headlight 1, control device 80, and program of this embodiment, the control change amount can be avoided when the left-right orientation angle of the light-emitting unit 40 is small and the influence on the change in the up-down orientation of the light-emitting unit 40 is small. Thus, it is possible to suppress a decrease in the accuracy of adjusting the direction of light emission while suppressing an increase in the computational load of the control device 80. The control device 80 may determine the control change amount regardless of the magnitude of the angle of the left-right orientation of the light emitting unit 40 with respect to the front-rear direction, and control the up-down actuator 56 so that the tilt angle of the light emitting unit 40 changes by the control change amount.
[0080] Generally, the required precision for the vertical emission direction of a low beam is higher than that for a high beam. In the vehicle headlight 1 of this embodiment, the light emission unit 40 can switch the emitted light between a low beam and a high beam. Furthermore, when the above signal is input when the light emission unit 40 emits a low beam, the control device 80 determines a control change amount and controls the vertical actuator 56 so that the tilt angle of the light emission unit 40 changes by the control change amount. Furthermore, when the above signal is input when the light emission unit 40 emits a high beam, the control device 80 does not determine a control change amount, but controls the vertical actuator 56 so that the tilt angle of the light emission unit 40 changes by a first change amount.Therefore, according to the vehicle headlight 1, control device 80, and program of this embodiment, it is possible to improve the precision of adjusting the low beam emission direction, which requires high precision, while suppressing an increase in the computational load of the control device 80. Furthermore, even when the light emission unit 40 emits a high beam, the control device 80 may determine a control change amount and control the vertical actuator 56 so that the tilt angle of the light emission unit 40 changes by the control change amount.
[0081] Although the present invention has been described above with reference to the above embodiments, the present invention is not limited thereto.
[0082] For example, in the above embodiment, left and right actuators 51 that can change the left-right orientation of the light emission unit 40 by rotating the output shaft 54 were described as an example. However, the left and right actuators 51 are not limited to those that can change the left-right orientation of the light emission unit 40.
[0083] Furthermore, in the above embodiment, an up-and-down actuator 56 capable of tilting the light-emitting section 40 around a reference axis RA extending in the left-right direction by changing the amount of protrusion of the output shaft 59 was described as an example. However, the up-and-down actuator 56 is not limited to the extent that it can tilt the light-emitting section 40 around a reference axis RA extending in the left-right direction.
[0084] Furthermore, in the above embodiment, in calibration mode, angular information relating to the angle of the exit direction relative to the orientation of the vehicle 100 in the vertical and horizontal directions was input from the measuring device 110 to the control device 80 as information relating to the first and second change amounts. The control device 80 then calculated the first and second change amounts. However, it is sufficient for the control device 80 to receive signals of information relating to the first and second change amounts. For example, the control device 111 of the measuring device 110 may calculate the first and second change amounts based on the angular information relating to the angle of the exit direction relative to the orientation of the vehicle 100 in the vertical and horizontal directions, and the signals of information relating to the first and second change amounts may be input to the control device 80.
[0085] Furthermore, in the above embodiment, in calibration mode, the control device 80 output a control signal to instruct the measuring device 110 to perform a measurement. However, a control signal to instruct the measuring device 110 to perform a measurement may also be output from a switch provided on the measuring device 110 to the control device 111 of the measuring device 110.
[0086] Furthermore, in the above embodiment, the control device 80 and the measuring device 110 exchanged signals via the transmitting / receiving unit 117 of the measuring device 110 and the transmitting / receiving unit 120 of the vehicle 100. However, the control device 80 and the measuring device 110 only need to be connected in a way that enables signal input and output; for example, they may be electrically connected by a cable.
[0087] Furthermore, in the above embodiment, in the change mode, information relating to the first change amount and the second change amount, which is the angle of the exit direction relative to the orientation of the vehicle 100 in the vertical and horizontal directions, is input from the vehicle control device 101 to the control device 80 as information relating to the first change amount and the second change amount. The control device 80 then calculates the first change amount and the second change amount. However, it is sufficient for the control device 80 to receive signals of information relating to the first change amount and the second change amount. For example, the vehicle control device 101 may calculate the first change amount and the second change amount based on the information relating to the first change target angle and the second change target angle, and the signals of the calculated information relating to the first change amount and the second change amount may be input from the vehicle control device 101 to the control device 80.
[0088] Furthermore, in the above embodiment, the vehicle control device 101 determined the first target angle of change and the second target angle of change based on signals from the steering sensor, vehicle speed sensor, and tilt sensor, etc. However, the signals from the above sensors may be input to the control device 80 as signals of information related to the first amount of change and the second amount of change, and the control device 80 may determine the first target angle of change and the second target angle of change.
[0089] Furthermore, in the above embodiment, a vehicle headlight 1 was described as an example of a vehicle lighting device. However, the vehicle lighting device is not limited to a vehicle headlight, and may also be, for example, a road surface drawing device that draws a predetermined image on the road surface with emitted light.
[0090] According to the present invention, a vehicle lighting device, a control device, and a program are provided that can improve the accuracy of adjusting the direction of light emission, and can be used in fields such as vehicle lighting devices for automobiles.
Claims
1. A vehicle lighting device comprising: a light emitting section; left and right actuators capable of changing the left-right orientation of the light emitting section; up and down actuators capable of tilting the light emitting section about a reference axis extending in the left-right direction; and a control device for controlling the left and right actuators and the up and down actuator, wherein when a signal of information relating to the amount of change in the tilt of the light emitting section about the reference axis is input to the control device, the control device determines a control change amount based on the angle of the left-right orientation of the light emitting section with respect to the front-rear direction and the amount of change, and controls the up and down actuators so that the tilt angle of the light emitting section changes by the control change amount.
2. The vehicle lighting device according to claim 1, characterized in that when the control device receives the signal and the angle of the left-right orientation of the light emitting portion with respect to the front-rear direction is below a threshold, the control device controls the up-down actuator so that the tilt angle of the light emitting portion changes by the amount of change, without determining the amount of change for control.
3. The vehicle lighting device according to claim 1 or 2, characterized in that the light emitting unit is switchable between low beam and high beam, and the control device determines the control change amount when the signal is input when the light emitting unit emits the low beam, and controls the up and down actuator so that the tilt angle of the light emitting unit changes by the control change amount, and when the signal is input when the light emitting unit emits the high beam, the control device does not determine the control change amount, but controls the up and down actuator so that the tilt angle of the light emitting unit changes by the change amount.
4. A control device for controlling the left and right actuators and the up and down actuator in a vehicle lamp, comprising a light emitting section, left and right actuators capable of changing the left and right orientation of the light emitting section, and an up and down actuator capable of tilting the light emitting section about a reference axis extending in the left and right direction, characterized in that, when a signal of information relating to the amount of change in the tilt of the light emitting section about the reference axis is input, a control change amount is determined based on the left and right orientation of the light emitting section and the amount of change, and the up and down actuator is controlled so that the tilt angle of the light emitting section changes by the control change amount.
5. A program executed by a control device that controls the left and right actuators and the up and down actuator in a vehicle lamp comprising a light emitting unit, left and right actuators capable of changing the left and right orientation of the light emitting unit, and up and down actuators capable of tilting the light emitting unit about a reference axis extending in the left and right direction, characterized in that when a signal of information relating to the amount of change in the tilt of the light emitting unit about the reference axis is input to the control device, the program executes the steps of determining a control change amount based on the left and right orientation of the light emitting unit and the amount of change, and controlling the up and down actuator so that the tilt angle of the light emitting unit changes by the control change amount.