Vehicle headlamp system and vehicle lamp system

A vehicle headlight system that can be used together with a vehicle control unit (3) that switches from an autonomous driving mode to a manual driving mode on the basis of external information about a vehicle (1), wherein the system has a headlight (100) mounted on the vehicle (1), and a lamp control unit (4) that controls the headlight (100), the lamp control unit (4): controlling the headlight (100) so as to form a first light distribution pattern (P) when the vehicle control unit (3) is executing the autonomous driving mode; controlling the headlight (100) so as to form a second light distribution pattern (Q) when the vehicle control unit (3) is executing the manual driving mode; and controlling the headlight so as to form a third light distribution pattern (R) that irradiates at an illuminance equal to or greater than the illuminance of the first light distribution pattern (P) and/or irradiates a range equal to or greater than the irradiation region of the first light distribution pattern (P), when transitioning from the autonomous driving mode to the manual driving mode.

TECHNICAL FIELD

The present invention relates to a vehicle headlamp system and a vehicle lamp system.

BACKGROUND ART

Recently, study on automatic driving technology of automobiles has been actively conducted in countries, and legislation for enabling a vehicle to travel on a public road in an automatic driving mode has been considered in countries. Here, the automatic driving mode refers to a mode in which traveling of a vehicle is automatically controlled. On the other hand, a manual driving mode refers to a mode in which the traveling of the vehicle is controlled by a driver. In an autonomous driving vehicle, the traveling of the vehicle is automatically controlled by a computer.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, in a vehicle capable of executing both the manual driving mode and the automatic driving mode, a vehicle control unit may switch to the manual driving mode due to some reason during execution of the automatic driving mode. At this time, a user of the vehicle who is to drive manually should well grasp a surrounding situation when the manual driving is started.

Therefore, an object of the present invention is to provide a vehicle headlamp system or a vehicle lamp system in which a user can easily grasp a surrounding situation when switching from automatic driving to manual driving.

Solution to Problem

In order to achieve the above object, one aspect of the present invention provides A vehicle headlamp system that is used with a vehicle control unit configured to switch from an automatic driving mode to a manual driving mode based on external information of a vehicle, the vehicle headlamp system comprising:

a headlamp mounted on a vehicle; and

a lamp control unit configured to control the headlamp,

wherein the lamp control unit is configured to

control the headlamp to form a first light distribution pattern while the vehicle control unit is executing the automatic driving mode,

control the headlamp to form a second light distribution pattern while the vehicle control unit is executing the manual driving mode, and

control the headlamp to form a third light distribution pattern that illuminates at an illuminance equal to or higher than an illuminance of the first light distribution pattern and/or illuminates an area equal to or larger than an illumination area of the first light distribution pattern when transitioning from the automatic driving mode to the manual driving mode.

Another aspect of the present invention provides a vehicle lamp system that is used with a vehicle control unit configured to switch from an automatic driving mode to a manual driving mode based on external information of a vehicle, the vehicle lamp system including:

a lamp mounted on a vehicle; and

a lamp control unit configured to control the lamp,

wherein the lamp control unit emits light so as to point to an object that causes the vehicle control unit to switch from the automatic driving mode to the manual driving mode.

Another aspect of the present invention provides a vehicle lamp system that is used with a vehicle control unit configured to switch from an automatic driving mode to a manual driving mode based on external information of a vehicle, the vehicle lamp system including:

a lamp mounted on a vehicle; and

a lamp control unit configured to control the lamp,

wherein the lamp control unit illuminates a recommended route of the vehicle proposed by the vehicle control unit with the lamp before the vehicle control unit switches from the automatic driving mode to the manual driving mode.

Advantageous Effects of Invention

According to the present invention, it is possible to provide the vehicle headlamp system in which a user can easily grasp a surrounding situation when switching from automatic driving to manual driving.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present invention (hereafter, referred to as “the present embodiment”) will be described with reference to the drawings. Incidentally, members having the same reference numbers as members that have been described in the description of the present embodiment will be omitted for convenience of description.

In the description of the present embodiment, “left-right direction”, “front-rear direction”, and “upper-lower direction” will be appropriately referred to, for convenience of description. These directions are relative directions set for a vehicle1shown inFIGS. 1A and 1B. Here, the “upper-lower direction” is a direction including an “upper direction” and a “lower direction”. The “front-rear direction” is a direction including a “front direction” and a “rear direction”. The “left-right direction” is a direction including a “left direction” and a “right direction”.

FIGS. 1A and 1Bshow the vehicle1on which a vehicle headlamp system according to the present embodiment is mounted.FIG. 1Ashows a top view of the vehicle1, andFIG. 1Bshows a side view of the vehicle1. The vehicle1is an automobile that can travel in an automatic driving mode. The vehicle1is equipped with headlamps (HL)100at left and right front portions.

FIG. 2is a block diagram of a vehicle system2and a vehicle headlamp system20mounted on the vehicle1. First, the vehicle system2will be described with reference toFIG. 2. As shown inFIG. 2, the vehicle system2includes a vehicle control unit3, a sensor5, a camera6, a radar7, a human machine interface (HMI)8, a global positioning system (GPS)9, a wireless communication unit10, and a map information storage unit11. The vehicle system2further includes a steering actuator12, a steering device13, a brake actuator14, a brake device15, an accelerator actuator16, and an accelerator device17.

The vehicle control unit3is configured by an electronic control unit (ECU). The ECU includes a processor such as a central processing unit (CPU), a read only memory (ROM) in which various vehicle control programs are stored, and a random access memory (RAM) in which various vehicle control data is temporarily stored. The processor is configured to load a program designated by various vehicle control programs stored in the ROM on the RAM and execute various processes in cooperation with the RAM. The vehicle control unit3is configured to control the traveling of the vehicle1based on external information of the vehicle1.

The sensor5includes an acceleration sensor, a speed sensor, a gyro sensor, or the like. The sensor5is configured to detect a traveling state of the vehicle1and output traveling state information to the vehicle control unit3. The sensor5may also include a seating sensor that detects whether or not a driver is seated in a driver's seat, a face orientation sensor that detects a direction of a face of the driver, an external weather sensor that detects an external weather condition, a human sensor that detects whether or not there is a person in the vehicle, or the like. Further, the sensor5may include an illuminance sensor that detects an illuminance of a surrounding environment of the vehicle1.

For example, the camera6is a camera includes an image capturing element such as a charge-coupled device (CCD) or a complementary MOS (CMOS). The camera6is a camera that detects visible light or an infrared camera that detects an infrared ray. The radar7is a millimeter-wave radar, a microwave radar, a laser radar, or the like. The camera6and the radar7are configured to detect the surrounding environment (other vehicles, a pedestrian, a road shape, a traffic signs, an obstacle, or the like) of the vehicle1and output surrounding environment information to the vehicle control unit3.

The HMI8includes an input unit that receives an input operation from the driver, and an output unit that outputs traveling information or the like to the driver. The input unit includes a steering wheel, an accelerator pedal, a brake pedal, a driving mode switching switch that switches a driving mode of the vehicle1, or the like. The output unit is a display that displays various traveling information.

The GPS9is configured to acquire the current position information of the vehicle1and output the acquired current position information to the vehicle control unit3. The wireless communication unit10is configured to receive traveling information of another vehicle around the vehicle1from the other vehicle and transmit the traveling information of the vehicle1to the other vehicle (inter-vehicle communication). In addition, the wireless communication unit10is configured to receive infrastructure information from infrastructure equipment such as a traffic light or a sign lamp and transmit the traveling information of the vehicle1to the infrastructure equipment (road-to-vehicle communication). The map information storage unit11is an external storage device such as a hard disk drive in which map information is stored, and is configured to output the map information to the vehicle control unit3.

In a case where the vehicle1travels in a fully automatic driving mode or an advanced driving assistance mode, the vehicle control unit3automatically generates at least one of a steering control signal, an accelerator control signal, and a brake control signal based on the external information such as the traveling state information, the surrounding environment information, the current position information, and the map information. The steering actuator12is configured to receive the steering control signal from the vehicle control unit3and control the steering device13based on the received steering control signal. The brake actuator14is configured to receive the brake control signal from the vehicle control unit3and control the brake device15based on the received brake control signal. The accelerator actuator16is configured to receive the accelerator control signal from the vehicle control unit3and control the accelerator device17based on the received accelerator control signal. Thus, in these modes, the traveling of the vehicle1is automatically controlled by the vehicle system2.

In a case where the vehicle1travels in a driving assistance mode or a fully manual driving mode, the vehicle control unit3generates a steering control signal, an accelerator control signal, and a brake control signal according to a manual operation of the driver with respect to the accelerator pedal, the brake pedal, and the steering wheel. As described above, in these modes, since the steering control signal, the accelerator control signal, and the brake control signal are generated by the manual operation of the driver, the traveling of the vehicle1is controlled by the driver.

Next, the driving mode of the vehicle1will be described. The driving mode includes the fully automatic driving mode, the advanced driving assistance mode, the driving assistance mode, and the fully manual driving mode. In the fully automatic driving mode, the vehicle system2automatically performs all of traveling controls of a steering control, a brake control, and an accelerator control, and the driver is not in a state in which the vehicle1can be driven. In the advanced driving assistance mode, the vehicle system2automatically performs all of the traveling controls of the steering control, the brake control, and the accelerator control, and the driver does not drive the vehicle1although the vehicle1can be driven. In the driving assistance mode, the vehicle system2automatically performs a part of the traveling controls of the steering control, the brake control, and the accelerator control, and the driver drives the vehicle1under the driving assistance of the vehicle system2. On the other hand, in the fully manual driving mode, the vehicle system2does not automatically perform the traveling control, and the driver drives the vehicle1without the driving assistance of the vehicle system2.

The driving mode of the vehicle1may be switched by operating the driving mode switching switch. In this case, the vehicle control unit3switches the driving mode of the vehicle1between four driving modes (the fully automatic driving mode, the advanced driving assistance mode, the driving assistance mode, and the fully manual driving mode) according to an operation of the driver with respect to the driving mode switching switch. In addition, the driving mode of the vehicle1may be automatically switched based on information on a travelable section in which an autonomous driving vehicle can travel or a travel-prohibited section in which the traveling of the autonomous driving vehicle is prohibited, or information on the external weather condition. In this case, the vehicle control unit3switches the driving mode of the vehicle1based on the external information. Further, the driving mode of the vehicle1may be automatically switched by using the seating sensor, the face orientation sensor, or the like. In this case, the vehicle control unit3switches the driving mode of the vehicle1based on the output signal from the seating sensor or the face orientation sensor.

Next, the vehicle headlamp system20of the vehicle1will be described with reference toFIG. 2. As shown inFIG. 2, the vehicle headlamp system20includes the headlamp100and a lamp control unit4that controls the headlamp100.

The lamp control unit4is connected to the vehicle control unit3, and is configured to control an operation of the headlamp100based on a signal transmitted from the vehicle control unit3. For example, the lamp control unit4can control the headlamp100based on the signal transmitted from the vehicle control unit3and emit light in a predetermined light distribution pattern.

FIG. 3is a vertical sectional view showing a schematic configuration of the headlamp100. As shown inFIG. 3, the headlamp100includes a housing101having an opening in front thereof, and an outer cover102that closes the opening to form a lamp chamber S together with the housing101. A light source unit120that emits light in an optical axis Ax direction extending in a front-rear direction of the lamp is provided inside the lamp chamber S. The light source unit120includes a light source121such as an LED, a reflector122that reflects light emitted from the light source121toward the front of the lamp, and a projection lens123provided in front of the reflector122.

The projection lens123emits the light emitted from the light source121and reflected by the reflector122to the front of the lamp. The headlamp100arranged on a right front portion of the vehicle forms a right light distribution pattern PR in front of the lamp. The headlamp100arranged on a left front portion of the vehicle forms a left light distribution pattern PL in front of the lamp.

The light source121and the reflector122are mounted on a base portion124. The projection lens123is fixed to a lens holder125fixed to the base portion124. The base portion124is displaceably supported by the housing101via a swivel mechanism126. The swivel mechanism126includes a motor126a. The swivel mechanism126is connected to the lamp control unit4. The lamp control unit4drives the swivel mechanism126according to a signal transmitted from the vehicle control unit3. The swivel mechanism126turns an optical axis Ax of the light source unit120in a left-right direction. As a result, the right light distribution pattern PR and the left light distribution pattern PL formed by the headlamp100can be displaced in a horizontal direction.

A shade127that can shade a part of the light emitted from the light source121is provided between the reflector122and the projection lens123. The shade127is fixed to the lens holder125. The shade127is movable between a position (a position indicated by a solid line inFIG. 3) at which a part of light incident on the projection lens123is blocked and a position (a position indicated by a broken line inFIG. 3) at which the light incident on the projection lens123is not blocked by a shade driving mechanism (not shown).

The headlamp100can form at least a first light distribution pattern P (seeFIG. 5), second light distribution pattern Q (seeFIG. 6) and a third light distribution pattern R (seeFIG. 7), which will be described later. The first light distribution pattern P is a light distribution pattern suitable for the automatic driving mode. The second light distribution pattern Q is a light distribution pattern suitable for the manual driving mode. The third light distribution pattern R is a light distribution pattern suitable for transition from the automatic driving mode to the manual driving mode. For example, the second light distribution pattern Q may be a so-called low beam light distribution pattern. In addition, the third light distribution pattern R may be a so-called high beam light distribution pattern.

When the shade127is moved to the position at which a part of the light incident on the projection lens123is blocked, the headlamp100illuminates the front of the headlamp100with the second light distribution pattern Q. When the shade127is moved to the position at which a part of the light incident on the projection lens123is not blocked, the headlamp100illuminates the front of the headlamp100with the third light distribution pattern R. The shade127can form a cut-off line CL (seeFIG. 6) of the second light distribution pattern Q.

Next, an operation of the vehicle headlamp system20will be described with reference toFIGS. 4 to 7.FIG. 4is a flowchart executed by the lamp control unit4of the vehicle headlamp system20.FIGS. 5 to 7show a situation in which the vehicle1traveling on a highway150approaches a target exit. In terms of time, this situation appears in front of the vehicle1in an order ofFIG. 5.FIG. 7, andFIG. 6. A side road160for getting off the highway150appears in front of a left side of a traveling lane.

InFIG. 5, the vehicle1travels in the automatic driving mode. At this time, the first light distribution pattern P is illuminated with the headlamp100to the front of the vehicle1. InFIG. 6, the vehicle1travels in the manual driving mode. At this time, the second light distribution pattern Q is illuminated with the headlamp100to the front of the vehicle1. InFIG. 7, the driving mode of the vehicle1is switched from the automatic driving mode to the manual driving mode. At this time, the third light distribution pattern R is illuminated with the headlamp100to the front of the vehicle1. Incidentally, a V line shown inFIGS. 5 to 7is a straight line extending in a vertical direction through a reference line AC extending horizontally to the front of the vehicle1from a center position of the headlamp100. In addition, an H line is a straight line extending in the horizontal direction through the reference line AC from the center position of the headlamp100. Further, inFIGS. 5 to 7, the light distribution patterns are shown using a contour line of an illuminance.

FIG. 5shows the first light distribution pattern P. In the present embodiment, the lamp control unit4controls the headlamp100so as to illuminate the first light distribution pattern P while the vehicle control unit3executes the automatic driving mode.

In the first light distribution pattern P, an inner area surrounded by a line P1aand an inner area surrounded by a line P1bare areas having the highest illuminance. In addition, an area below a line P2a, above a line P2b, and outside the inner areas surrounded by the line P1aand the line P1bis an area having the second highest illuminance. The areas having the highest illuminance in the first light distribution pattern P are formed so as to be divided into two parts separated in the left-right direction of the V line in the vicinity of the H line in the upper-lower direction.

Such a first light distribution pattern P can be formed, for example, by turning an optical axis direction of the left headlamp100and an optical axis direction of the right headlamp100to nearly parallel angles by the swivel mechanism126and moving the shade127to the position at which the light is not blocked by the shade driving mechanism.

FIG. 6shows the second light distribution pattern Q. The second light distribution pattern Q is also referred to as a low beam light distribution pattern. The second light distribution pattern Q is a light distribution pattern suitable when there is an oncoming vehicle. In the present embodiment, the lamp control unit4is configured to form the second light distribution pattern Q after switching to the manual driving mode.

In the second light distribution pattern Q, the cut-off line CL is formed in the vicinity of the H line. The cut-off line CL is formed by shading a part of the light incident on the projection lens123by the shade127. In the second light distribution pattern Q, an inner area surrounded by a line Q1is an area having the highest illuminance. An area surrounded by the line Q1and a line Q2is an area having the second highest illuminance. The area having the highest illuminance in the second light distribution pattern Q is formed as a single area at a central portion in the upper-lower direction and the left-right direction.

Such a second light distribution pattern Q can be formed by turning the optical axis direction of the left headlamp100and the optical axis direction of the right headlamp100by the swivel mechanism126so that the optical axis directions intersects at the front, and moving the shade127so as to block a part of the light by the shade driving mechanism.

FIG. 7shows the third light distribution pattern R. In the present embodiment, as will be described in detail later, the lamp control unit4is configured to form the third light distribution pattern R when switching from the automatic driving mode to the manual driving mode.

In the third light distribution pattern R, an inner area surrounded by a line R1is an area having the highest illuminance. An area surrounded by the line R1and a line R2is an area having the next highest illuminance. Similarly to the second light distribution pattern Q inFIG. 6, the area having the highest illuminance in the third light distribution pattern R is formed as a single area at a central portion in the upper-lower direction and the left-right direction. Unlike the second light distribution pattern Q inFIG. 6, the third light distribution pattern R is not formed with the cut-off line CL.

Such a third light distribution pattern R can be formed by turning the optical axis direction of the left headlamp100and the optical axis direction of the right headlamp100by the swivel mechanism126so that the optical axis directions intersects at the front, and moving the shade127so as not to block the light by the shade driving mechanism.

FIG. 8is a virtual diagram in which the first light distribution pattern P, the second light distribution pattern Q, and the third light distribution pattern R are superimposed and drawn in order to compare these P, Q, and R to each other. In practice, such superimposed light distribution patterns are not formed.FIG. 8is a diagram virtually created so that these light distribution patterns can be easily compared. InFIG. 8, contour lines of a first illuminance are indicated by P1a, P1b, Q1, and R1, and contour lines of a second illuminance lower than the first illuminance are indicated by P2a, P2b, Q2, and R2, respectively. InFIG. 8, the first light distribution pattern P is indicated by a solid line, the second light distribution pattern Q is indicated by a dash-dot line, and the third light distribution pattern R is indicated by a two-dot chain line.

As shown inFIG. 8, areas having the first illuminance or higher in the first light distribution pattern P are the inner area surrounded by the line P1aand the inner area surrounded by the line P1b. An area having the first illuminance or higher in the second light distribution pattern Q is the area surrounded by the line Q1. An area having the first illuminance or higher in the third light distribution pattern R is the area surrounded by the line R1. When sizes of the areas having the first illuminance or higher are compared, the third light distribution pattern R, the second light distribution pattern Q, and the first light distribution pattern P are in a descending order of the sizes. That is, the area having the first illuminance or higher in the third light distribution pattern R is larger than the area having the first illuminance or higher in the first light distribution pattern P and the area having the first illuminance or higher in the second light distribution pattern Q.

Similarly, an area having the second illuminance or higher in the first light distribution pattern P is the area surrounded by the lines P2aand P2b. An area having the second illuminance or higher in the second light distribution pattern Q is the area surrounded by the line Q2. An area having the second illuminance or higher in the third light distribution pattern R is the area surrounded by the line R2. When sizes of the areas having the second illuminance or higher are compared, the third light distribution pattern R, the first light distribution pattern P, and the second light distribution pattern Q are in a descending order of the sizes. That is, the area having the second illuminance or higher in the third light distribution pattern R is larger than the area having the second illuminance or higher in the first light distribution pattern P and the area having the first illuminance or higher in the second light distribution pattern Q.

When the second illuminance is defined as the minimum brightness obtained by regulation, the contour line of the second illuminance can be defined as an outer edge of an illumination area. In this case, the third light distribution pattern is illuminated in a range equal to or larger than an illumination area of the first light distribution pattern. In addition, the third light distribution pattern is illuminated in a range equal to or larger than an illumination area of the second light distribution pattern.

When the third light distribution pattern R is formed, the optical axis direction of the left headlamp100is directed toward a center of the area surrounded by the line R1, and the optical axis direction of the right headlamp100is also directed toward the center of the area surrounded by the line R1. That is, the center of the area surrounded by the line R1has twice the illuminance illuminated by one headlamp100. Therefore, the center of the area surrounded by the line R1in the third light distribution pattern R is illuminated at an illuminance equal to or higher than the illuminance of the area surrounded by the line P1ain the first light distribution pattern P or the area surrounded by the line P1b. In addition, the center of the area surrounded by the line R1in the third light distribution pattern R is illuminated at an illuminance equal to or higher than the illuminance of the area surrounded by the line Q1in the second light distribution pattern Q.

When the driving mode is set to the automatic driving mode, the vehicle control unit3transmits an “automatic driving mode signal” indicating that the driving mode is the automatic driving mode to the lamp control unit4. In addition, when the driving mode is set to the manual driving mode, the vehicle control unit3transmits a “manual driving mode signal” indicating that the driving mode is the manual driving mode to the lamp control unit4.

The automatic driving mode here is a concept including the fully automatic driving mode and the advanced driving assistance mode. The manual driving mode is a concept including the driving assistance mode and the fully manual driving mode. The automatic driving mode and the manual driving mode here are distinguished by whether or not the driver has a sovereignty of driving the vehicle. In the fully automatic driving mode and the advanced driving assistance mode, the driver does not drive the vehicle. In the driving assistance mode and the fully manual driving mode, the driver drives the vehicle, and the vehicle control unit3assists the driving by the driver.

Returning toFIG. 4, the lamp control unit4determines whether or not the signal transmitted from the vehicle control unit3is the automatic driving mode signal (step S101).

In a case where it is determined that the signal is not the automatic driving mode signal (step S101: No), the lamp control unit4controls the headlamp100so as to form the second light distribution pattern Q (seeFIG. 6) suitable for the manual driving mode (step S102).

On the other hand, in a case where it is determined that the signal is the automatic driving mode signal, the lamp control unit4controls the headlamp100so as to form the first light distribution pattern P (seeFIG. 5) suitable for the automatic driving mode (step S103).

While the vehicle1is traveling in the automatic driving mode, the vehicle control unit3determines whether or not it is necessary to switch the driving mode from the automatic driving mode to the manual driving mode based on the external information on the vehicle1acquired by the sensor5, the camera6, the radar7, the GPS9, or the like. In this example, the highway is a road on which the vehicle can travel in the automatic driving mode, but is a road on which the vehicle cannot travel in the automatic driving mode from the side road160. In this example, the vehicle control unit3determines whether or not it is necessary to switch from the automatic driving mode to the manual driving mode when the vehicle1reaches a point (a target point) before a predetermined distance from the side road160of the highway exit.

For example, the vehicle control unit3can determine whether or not the target point has been reached based on the GPS signal. Alternatively, the vehicle control unit3can determine whether or not the target point has been reached based on the information acquired by the camera6or the radar7. Further, the vehicle control unit3can determine that the target point has been reached when the signal from a transmitter provided near an entrance of the side road160is received at a predetermined intensity or higher.

In a case where it is determined that it is not necessary to switch from the automatic driving mode to the manual driving mode, the vehicle control unit3maintains the automatic driving mode.

In a case where it is determined that it is necessary to switch from the automatic driving mode to the manual driving mode, the vehicle control unit3notifies the driver of the vehicle1that the manual driving mode is to be switched. The notification to the driver is performed by, for example, vibrating the steering wheel, turning on light in the vehicle, or the like. In addition, it may be notified by voice such as “please drive manually since automatic driving mode is ended”. There is a case where the user cannot immediately manually drive the vehicle while the vehicle is traveling in the automatic driving mode. Therefore, when switching from the automatic driving mode to the manual driving mode, the user is notified of a notice indicating that the driving mode is to be switched, instead of immediately switching.

In addition, in a case where it is determined that it is necessary to switch from the automatic driving mode to the manual driving mode, the vehicle control unit3transmits a “switching notice signal” indicating that the driving mode is switched to the manual driving mode to the lamp control unit4.

The lamp control unit4determines whether or not the switching notice signal has been transmitted from the vehicle control unit3(step S104).

In a case where it is determined that the switching notice signal has not been transmitted (step S104: No), the lamp control unit4repeats a process of step S104until the switching notice signal is transmitted.

In contrast, in a case where it is determined that the switching notice signal has been transmitted (step S104: Yes), the lamp control unit4controls the headlamp100so as to form the third light distribution pattern R (seeFIG. 7) (step S105).

The lamp control unit4continues to control the headlamp100so as to form the third light distribution pattern R until a mode switching completion signal is acquired (step S106). The lamp control unit4determines whether or not the switching completion signal has been transmitted from the vehicle control unit3(step S106). In a case where it is determined that the switching completion signal has not been transmitted (step S106: No), the lamp control unit4repeats a process of step S106until the switching completion signal is transmitted.

In contrast, in a case where it is determined that the switching completion signal has been transmitted (step S106: Yes), the lamp control unit4controls the headlamp100so as to form the second light distribution pattern Q (step S102).

The vehicle control unit3transmits the “switching completion signal” to the lamp control unit4when the driver who is notified of switching to the manual driving mode approves the switching. Whether or not the driver has approved the switching is determined based on whether or not the driver has made a predetermined response to the above-described notification. For example, the determination is made based on whether the driver has gripped the steering wheel for manual driving, whether or not the driver has performed a switching operation of the driving mode switch, or the like.

In a case where it is determined that the predetermined response has been made to the notification, the vehicle control unit3switches the driving mode to the manual driving mode, and transmits the “switching completion signal” indicating that the driving mode is switched to the manual driving mode to the lamp control unit4.

Effects

In the automatic driving mode, since an external situation can be grasped by means other than visible light such as the radar7, the first light distribution pattern P is often different from a light distribution pattern suitable for the manual driving mode. The light distribution pattern suitable for the manual driving mode may cause glare to another vehicle, and if a headlamp of a host vehicle is too bright, a camera of the other vehicle may be less likely to recognize the host vehicle. Therefore, the first light distribution pattern P suitable for the automatic driving mode is often darker than the second light distribution pattern Q suitable for the manual driving mode. In addition, since a dark light distribution pattern has a narrow area having an illuminance equal to or higher than a predetermined threshold, the first light distribution pattern P suitable for the automatic driving mode is often narrower than the second light distribution pattern Q suitable for the manual driving mode.

When the automatic driving mode is switched to the manual driving mode, the user wants to immediately grasp the surrounding situation. However, in a situation where the first light distribution pattern P suitable for the automatic driving mode is illuminated in this way, the surroundings are dark for the user, the area illuminated by a predetermined illuminance or higher is narrow, and it is difficult for the user to immediately grasp the surrounding situation.

However, according to the vehicle headlamp system20of the present embodiment, when the driving mode of the vehicle1is transitioned from the automatic driving mode to the manual driving mode, the third light distribution pattern R brighter or wider than the first light distribution pattern P is formed. Therefore, since the driver of the vehicle1can start the manual driving in a state in which the third light distribution pattern R is illuminated, it is easy for the driver to grasp the surrounding situation when the manual driving is started.

In the present embodiment, in particular, the third light distribution pattern is formed when the switching notice signal is input to the lamp control unit4. As a result, the third light distribution pattern R brighter and/or wider than the first light distribution pattern P is formed before the driving mode is actually switched. Therefore, the user can easily grasp the surrounding situation when the manual driving is started.

First Modification

In the embodiment described above, the lamp control unit4is configured to change from the first light distribution pattern P to the third light distribution pattern R when the mode switching notice signal is acquired (step S104). In addition, in the embodiment described above, the lamp control unit4is configured to change from the third light distribution pattern R to the second light distribution pattern Q when the mode switching completion signal is acquired (step S106). The present invention is not limited to this example.

Next, a first modification of the operation of the vehicle headlamp system20will be described with reference toFIG. 9. Incidentally, the description of the same operations as that described in the above embodiment will be appropriately omitted.

InFIG. 9, the operation process from step S111to step S113is the same as the operation process from step S101to step S103described with reference toFIG. 4of the above embodiment.

In the present modification, the vehicle control unit3does not transmit the switching notice signal to the lamp control unit4. When the vehicle control unit3determines that the driver has approved the switching, the vehicle control unit3switches the driving mode to the manual driving mode, and transmits a “mode switching signal” indicating that the driving mode is switched to the manual driving mode to the lamp control unit4.

The lamp control unit4is configured to change from the first light distribution pattern P to the third light distribution pattern R when the mode switching signal is acquired from the vehicle control unit3(step S114).

When it is determined that the lamp control unit4has acquired the mode switching signal from the vehicle control unit3(step S114: Yes), the lamp control unit4controls the headlamp100so as to form the third light distribution pattern R (step S115). The lamp control unit4repeats the process until the mode switching signal is acquired from the vehicle control unit3(step S114: No).

In the present modification, the lamp control unit4is configured to form the second light distribution pattern Q from the third light distribution pattern R when a predetermined time has elapsed since the start of a control of forming the third light distribution pattern R without acquiring a signal from the vehicle control unit3(step S116). That is, the vehicle control unit3determines whether or not the predetermined time has elapsed since the control of forming the third light distribution pattern R is started.

In a case where it is determined that the predetermined time has not elapsed (step S116: No), the lamp control unit4repeats the process of step S116until the predetermined time has elapsed.

In contrast, in a case where it is determined that the predetermined time has elapsed (step S116: Yes), the lamp control unit4controls the headlamp100so as to form the second light distribution pattern Q (step S112).

According to the vehicle headlamp system20of the first modification, it is possible to switch from the first light distribution pattern P to the third light distribution pattern R without outputting the mode switching notice signal from the vehicle control unit3. In addition, it is possible to switch from the third light distribution pattern R to the second light distribution pattern Q without requiring an input from the vehicle control unit3.

Second Modification

Although a configuration in which the vehicle control unit3outputs the mode switching signal indicating the driving mode of the vehicle and the mode switching notice signal, and these signals are acquired by the lamp control unit4has been described in the embodiment and the first modification described above, the present invention is not limited thereto.

Next, a second modification of the operation of the vehicle headlamp system20will be described with reference toFIG. 10. Incidentally, the description of the same operations as that described in the above embodiment will be appropriately omitted.

In the second modification, the vehicle control unit3is configured not to output a signal indicating the driving mode of the vehicle, and to output only a signal indicating whether or not the first light distribution pattern P is to be formed or the second light distribution pattern Q is to be formed.

The vehicle control unit3transmits a signal to the lamp control unit4so as to form a suitable light distribution pattern according to whether or not the vehicle1is executing the automatic driving mode or the manual driving mode. Alternatively, a signal indicating which light distribution pattern is to be formed is output to the lamp control unit4according to an output of a switch for the user to select whether or not to form the first light distribution pattern P or to form the second light distribution pattern Q.

When a second light distribution pattern formation signal indicating a command to form the second light distribution pattern Q is input (step S121: No), the lamp control unit4controls the headlamp100so as to form the second light distribution pattern Q (step S122). When a first light distribution pattern formation signal indicating a command to form the first light distribution pattern P is input (step S121: Yes), the lamp control unit4controls the headlamp100so as to form the first light distribution pattern P (step S123).

Next, the lamp control unit4configured to control to form the first light distribution pattern P continues the control for forming the first light distribution pattern P until the second light distribution pattern formation signal is input (step S124: No).

When the second light distribution pattern formation signal is input (step S124: Yes), the lamp control unit4configured to control to form the first light distribution pattern P controls the headlamp100so as to form the third light distribution pattern R without immediately forming the second light distribution pattern Q (step S125).

The process of changing the control so as to form the second light distribution pattern Q after the predetermined time has elapsed since the start of the control of forming the third light distribution pattern R is the same as that in step S116described in the first modification ofFIG. 9.

According to the vehicle headlamp system20of the second modification, the vehicle control unit3may not be configured to output the signal indicating the automatic driving mode or the mode switching notice signal. In addition, in a case where the switch for the user to select whether or not to form the first light distribution pattern P or the second light distribution pattern Q is mounted on the vehicle1, the present modification can be applied without modifying the vehicle1, which is preferable.

In the present invention, the headlamp100is not limited to one described inFIG. 3. Any lamp corresponds to the headlamp of the present invention as long as the lamp may illuminate the front of the vehicle1with light in order to improve a field of view of the driver. In addition, the first light distribution pattern P, the second light distribution pattern Q, and the third light distribution pattern R are not limited to those illustrated inFIGS. 5 to 7. For example, the second light distribution pattern Q may be a so-called low-beam light distribution pattern, a high-beam light distribution pattern, or an adaptive driving beam (ADB). A shape and size of the third light distribution pattern are not limited as long as the third light distribution pattern illuminates at an illuminance equal to or higher than the illuminance of the first light distribution pattern and/or illuminates the area equal to or larger than the illumination area of the first light distribution pattern.

An intensity of the illuminance of the light distribution pattern is compared with an average value of the illuminance in the illumination area having the predetermined illuminance or higher. For example, if the illuminance of the lines P2a, P2binFIG. 5is equal to the illuminance of the line R2inFIG. 7, an average illuminance of the area surrounded by the line R2inFIG. 7is larger than an average illuminance of the area surrounded by the line P2aand the line P2binFIG. 5.

In addition, a size of a range of the illumination area of the light distribution pattern is compared based on a size of the range having the predetermined illuminance or higher. For example, if the illuminance of the lines P2a, P2binFIG. 5is equal to the illuminance of the line R2inFIG. 7, the area surrounded by the line R2inFIG. 7is larger than the area surrounded by the line P2aand the line P2binFIG. 5.

In the above description, although the case of switching from the automatic driving mode to the manual driving mode has been described on an assumption that the vehicle enters the side road160from the highway, the case of switching from the automatic driving mode to the manual driving mode is not limited to thereto. For example, the present invention can be applied even when switching from the automatic driving mode to the manual driving mode during road construction. The present invention can be applied regardless of a cause of switching from the automatic driving mode to the manual driving mode.

In the above description, it is assumed that the lamp control unit4is mounted on the headlamp100, and the vehicle headlamp system20is configured as an independent system different from the vehicle system2. However, the present invention is not limited to this configuration. For example, the vehicle lamp system may be configured as a system including the vehicle control unit3. Alternatively, the vehicle lamp system may be configured as a system including, for example, a camera, a sensor, a radar, or the like connected to the vehicle system2. In addition, the lamp control unit4may be configured as a part of the ECU configuring the vehicle control unit3. In this case, the lamp control unit4is mounted on the vehicle1instead of the headlamp100.

Second Embodiment

Next, a vehicle lamp system1020according to a second embodiment of the present invention will be described.

In the vehicle capable of executing both the manual driving mode and the automatic driving mode, a vehicle control unit may switch to the manual driving mode due to some reason during the execution of the automatic driving mode. At this time, the user of the vehicle that is to be driven manually may not know what to pay attention to when driving.

Therefore, the present embodiment provides the vehicle lamp system1020that allows the user to easily grasp what to pay attention to when the driving from automatic driving to manual driving.

FIG. 11Ais a top view of a vehicle1001on which the vehicle lamp system1020according to the present embodiment is mounted.FIG. 11Bis a side view of the vehicle1001on which the vehicle lamp system1020according to the present embodiment is mounted. The vehicle1001is an automobile that can travel in the automated driving mode. The vehicle1001is equipped with lamp units1100having built-in headlamps (HL)1101at left and right front portions. Each of the lamp unit1100incorporates a road surface drawing lamp1102(an example of a lamp) together with the headlamp1101.

A block diagram of a vehicle lamp system1020of the present embodiment is the same as the block diagram of the vehicle headlamp system20of the first embodiment shown inFIG. 2. Therefore, members of the second embodiment are denoted by reference numerals obtained by adding 1000 to the reference numerals of the corresponding members of the first embodiment, and a repetitive description thereof will be omitted.

Next, the vehicle lamp system1020of the vehicle1001will be described with reference toFIG. 12. As shown inFIG. 12, the vehicle lamp system1020includes the headlamp1101, the road surface drawing lamp1102, and a lamp control unit1004that controls a lamp including the headlamp1101and the road surface drawing lamp1102.

The lamp control unit1004is connected to a vehicle control unit1003, and is configured to control an operation of the headlamp1101and the road surface drawing lamp1102based on a signal transmitted from the vehicle control unit1003. For example, the lamp control unit1004can control the headlamp1101based on the signal transmitted from the vehicle control unit1003, and cause the headlamp1101to emit light in a predetermined light distribution pattern. In addition, the lamp control unit1004can control the road surface drawing lamp1102based on the signal transmitted from the vehicle control unit1003, and cause the road surface drawing lamp1102to emit light so as to point to a predetermined object.

FIG. 13is a vertical sectional view showing a schematic configuration of the road surface drawing lamp1102incorporated in the lamp unit1100. As shown inFIG. 13, the lamp unit1100includes a lamp body1111having an opening portion at a front side of the vehicle, and a transparent front cover1112attached so as to cover the opening portion of the lamp body1111. The road surface drawing lamp1102, the lamp control unit1004, or the like are accommodated inside a lamp chamber1113formed by the lamp body1111and the front cover1112. Although not shown in the sectional view ofFIG. 13, the headlamp1101is also accommodated inside the lamp chamber1113like the road surface drawing lamp1102.

The road surface drawing lamp1102includes a light source unit1120and a light distribution unit1130that reflects light from the light source unit1120. The light source unit1120and the light distribution unit1130are supported at predetermined positions in the lamp chamber1113by a support plate1141. The support plate1141is attached to the lamp body1111via an aiming screw1142.

The light source unit1120includes a plurality of (three in this example) light sources1121, a heat sink1122, a plurality of (four in this example) lenses1123, and a light collection unit1124. The light source unit1120is fixed to a front surface of the support plate1141. Each of the light sources1121is electrically connected to the lamp control unit1004.

The light distribution unit1130includes a terminal portion1137and a reflection mirror1138. A positional relationship between the light distribution unit1130and the light source unit1120is determined such that laser light emitted from the light source unit1120can be reflected forward of the road surface drawing lamp1102via the reflection mirror1138. The light distribution unit1130is fixed to a tip end of a protruding portion1143protruding forward from the front surface of the support plate1141. The terminal portion1137is electrically connected to the lamp control unit1004.

The lamp control unit1004is fixed to the lamp body1111on a rear side of the support plate1141. Incidentally, a position where the lamp control unit1004is provided is not limited to the above position. The road surface drawing lamp1102is configured such that the optical axis can be adjusted in the horizontal and vertical directions by rotating the aiming screw1142to adjust an attitude of the support plate1141.

FIG. 14is a side view of the light source unit1120configuring the road surface drawing lamp1102. As shown inFIG. 14, the light source unit1120includes a first light source1121a, a second light source1121b, a third light source1121c, the heat sink1122, a first lens1123a, a second lens1123b, a third lens1123c, a fourth lens1123d, and the light collection unit1124.

The first light source1121ais a light source that emits red laser light R, and is configured by a light emitting element including a red laser diode. Similarly, the second light source1121bis configured by a green laser diode that emits green laser light G, and the third light source1121cis configured by a blue laser diode that emits blue laser light B. The first light source1121a, the second light source1121b, and the third light source1121care arranged such that a laser light emitting surface1125a, a laser light emitting surface1125b, and a laser light emitting surface1125c, which are light emitting surfaces, are parallel to each other. Incidentally, the light emitting element of each of the light sources is not limited to the laser diode.

The first to third light sources1121ato1121care arranged such that the respective laser light emitting surfaces1125ato1125cface the front of the road surface drawing lamp1102, and are attached to the heat sink1122. The heat sink1122is formed of a material having a high thermal conductivity such as aluminum, and is attached to the light source unit1120in a state in which a rear surface of the heat sink1122is in contact with the support plate1141(seeFIG. 13).

The first to fourth lenses1123ato1123dare formed of, for example, a collimating lens. The first lens1123ais provided on an optical path of the red laser light R between the first light source1121aand the light collection unit1124, converts the red laser light R emitted from the first light source1121ainto parallel light, and emits the parallel light to the light collection unit1124. The second lens1123bis provided on an optical path of the green laser light G between the second light source1121band the light collection unit1124, converts the green laser light G emitted from the second light source1121binto parallel light, and emits the parallel light to the light collection unit1124.

The third lens1123cis provided on an optical path of the blue laser light B between the third light source1121cand the light collection unit1124, converts the blue laser light B emitted from the third light source1121cinto parallel light, and emits the parallel light to the light collection unit1124. The fourth lens1123dis fitted into an opening provided at an upper portion of a box body1126of the light source unit1120. The fourth lens1123dis provided on an optical path of white laser light W (described later) between the light collection unit1124and the light distribution unit1130(seeFIG. 13), converts the white laser light W emitted from the light distribution unit1124into parallel light, and emits the parallel light to the light distribution unit1130.

The light collection unit1124collects the red laser light R, the green laser light G, and the blue laser light B to generate the white laser light W. The light collection unit1124includes a first dichroic mirror1124a, a second dichroic mirror1124b, and a third dichroic mirror1124c.

The first dichroic mirror1124ais a mirror that reflects at least red light and transmits the blue light and the green light, and is arranged so as to reflect the red laser light R passing through the first lens1123atoward the fourth lens1123d. The second dichroic mirror1124bis a mirror that reflects at least green light and transmits the blue light, and is arranged so as to reflect the green laser light G passing through the second lens1123btoward the fourth lens1123d. The third dichroic mirror1124cis a mirror that reflects at least blue light, and is arranged so as to reflect the blue laser light B passing through the third lens1123ctoward the fourth lens1123d.

A positional relationship between the first dichroic mirror1124ato the third dichroic mirror1124cis determined such that the optical paths of the respective reflected laser light are parallel to each other, and the respective laser light is collected and incident on the fourth lens1123d. In this example, the first dichroic mirror1124ato the third dichroic mirror1124care arranged such that areas (a reflection point of the laser light) in the dichroic mirrors1124ato1124cthat are irradiated with the laser light are aligned in a straight line.

The blue laser light B emitted from the third light source1121cis reflected by the third dichroic mirror1124cand proceeds to a second dichroic mirror1124bside. The green laser light G emitted from the second light source1121bis reflected by the second dichroic mirror1124btoward a first dichroic mirror1124aside, and is superimposed on the blue laser light B transmitted through the second dichroic mirror1124b. The red laser light R emitted from the first light source1121ais reflected by the first dichroic mirror1124atoward a fourth lens1123dside, and is superimposed on the aggregated light of the blue laser light B and the green laser light G transmitted through the first dichroic mirror1124a. As a result, the white laser light W is formed, and the formed white laser light W passes through the fourth lens1123dand proceeds toward the light distribution unit1130.

In the first light source1121ato the third light source1121c, the first light source1121athat emits the red laser light R is arranged at a position closest to the light collection unit1124, and the third light source1121cthat emits the blue laser light B is arranged at a position farthest from the light collection unit1124, and the second light source1121bthat emits the green laser light G is arranged at an intermediate position. That is, the first light source1121ato the third light source1121care arranged at positions closer to the light collection unit1124as a wavelength of the emitted laser light becomes longer.

FIG. 15is a perspective view when the light distribution unit1130forming the road surface drawing lamp1102is observed from the front side. As shown inFIG. 15, the light distribution unit1130includes a base1131, a first rotating body1132, a second rotating body1133, first torsion bars1134, second torsion bars1135, permanent magnets1136a,1136b, the terminal portion1137, and the reflection mirror1138. The light distribution unit1130is configured by a galvanometer mirror, for example. Incidentally, the light distribution unit1130may be configured by a MEMS (MEMS) mirror, for example.

The base1131is a frame body having an opening portion1131aat a center thereof, and is fixed to the protruding portion1143(seeFIG. 13) in a state of being inclined in the front-rear direction of the road surface drawing lamp1102. The first rotating body1132is arranged on the opening portion1131aof the base1131. The first rotating body1132is a frame body having an opening portion1132aat a center thereof, and is supported by the first torsion bars1134extending from a rear lower side to a front upper side of the road surface drawing lamp1102so as to be rotatable in the left-right direction (a vehicle width direction) with respect to the base1131.

The second rotating body1133is arranged on the opening portion1132aof the first rotating body1132. The second rotating body1133is a rectangular flat plate and is supported by the second torsion bars1135extending in the vehicle width direction so as to be rotatable in the upper-lower direction (the vertical direction) with respect to the first rotating body1132. When the first rotating body1132rotates left and right about the first torsion bars1134as a rotation axis, the second rotating body1133rotates right and left together with the first rotating body1132. The reflection mirror1138is provided on a surface of the second rotating body1133by plating, vapor deposition, or the like.

The base1131is provided with a pair of permanent magnets1136aat positions orthogonal to extending directions of the first torsion bars1134. Each of the permanent magnets1136aforms a magnetic field orthogonal to the corresponding first torsion bar1134. A first coil (not shown) is wired to the first rotating body1132, and the first coil is connected to the lamp control unit1004via the terminal portion1137. In addition, the base1131is provided with a pair of permanent magnets1136bat positions orthogonal to extending directions of the second torsion bars1135. Each of the permanent magnets1136bforms a magnetic field orthogonal to the corresponding second torsion bar1135. A second coil (not shown) is wired to the second rotating body1133, and the second coil is connected to the lamp control unit1004via the terminal portion1137.

By controlling a mount and a direction of current flowing through the first coil and the second coil, the first rotating body1132and the second rotating body1133perform reciprocating rotation in the left-right directions, and the second rotating body1133independently performs the reciprocating rotation in the upper-lower direction. This causes the reflection mirror1138to perform the reciprocating rotation in the upper-lower and left-right directions.

A positional relationship between the light source unit1120and the light distribution unit1130is determined such that the white laser light W emitted from the light source unit1120is reflected by the reflection mirror1138toward the front of the road surface drawing lamp1102. The light distribution unit1130scans the front of the vehicle1001with the white laser light W by the reciprocating rotation of the reflection mirror1138. For example, the light distribution unit1130scans an area of a drawing pattern to be formed with the white laser light W. As a result, the white laser light W is distributed to a forming area of the drawing pattern, and a predetermined drawing pattern is formed in front of the vehicle1001(for example, toward a predetermined object).

Next, the vehicle lamp system1020will be described with reference toFIGS. 16 and 17.FIG. 16is a flow chart executed by the lamp control unit1004.FIG. 17shows an example of road surface drawing drawn by the road surface drawing lamp1102.

The vehicle control unit1003when executing the automatic driving mode is configured to switch from the automatic driving mode to the manual driving mode in a specific situation. For example, in a case where the road is wider constriction, there are many people who perform irregular movement as compared with a normal road. Therefore, there is a high possibility that a situation other than the situation assumed in advance may occur, and the automatic driving mode is not suitable. In the situation in which a sudden situation is highly likely to occur, the manual driving mode in which judgment is made freely is suitable. Based on this idea, the vehicle control unit1003is configured to switch from the automatic driving mode to the manual driving mode when the road is under construction.

The automatic driving mode here is the concept including the fully automatic driving mode and the advanced driving assistance mode. The manual driving mode is the concept including the driving assistance mode and the fully manual driving mode. The automatic driving mode and the manual driving mode here are distinguished by whether or not the driver has a sovereignty of driving the vehicle. In the fully automatic driving mode and the advanced driving assistance mode, the driver does not drive the vehicle, in the driving assistance mode and the fully manual driving mode, the driver drives the vehicle, and the vehicle control unit1003assists the driving by the driver.

FIG. 17shows a road1200during construction. InFIG. 17, a depression1201is formed on the road1200, and construction for repairing the depression1201is performed. For this construction, color cones1202(registered trademark) are lined up, and for example, a signboard1203indicating that the road is under construction is installed. Hereinafter, a situation in which the vehicle1001traveling on the road1200in the automatic driving mode approaches a place during construction will be described.

The vehicle control unit1003of the vehicle1001recognizes that the signboard1203is installed on the road based on external information on the vehicle1001acquired by the sensor1005, the camera1006, the radar1007, or the like. When the signboard1203is recognized, the vehicle control unit1003is configured to determine to switch the driving mode of the vehicle1001from the automatic driving mode to the manual driving mode. As described above, the one (the signboard1203in the present embodiment) specified as the cause by which the vehicle control unit1003switches the driving mode of the vehicle1001from the automatic driving mode to the manual driving mode is referred to as a “switching object”.

When the switching object is recognized, the vehicle control unit1003transmits a “switching signal” indicating that the driving mode of the vehicle1001is switched from the automatic driving mode to the manual driving mode, to the lamp control unit1004. In addition, the vehicle control unit1003transmits information on the signboard1203that is the switching object to the lamp control unit1004together with the switching signal or transmits the information on the signboard1203so as to be continuous after transmitting the switching signal.

The information on the signboard1203includes, for example, information on a direction of the signboard1203, a distance to the signboard1203, a height at which the signboard1203is installed, a size of the signboard1203, or the like, as viewed from the host vehicle. Incidentally, the vehicle control unit1003may transmit all of a plurality of pieces of information acquired about the signboard1203to the lamp control unit1004, or may be configured to transmit only a part of the information to the lamp control unit1004.

As shown inFIG. 16, first, the lamp control unit1004determines whether or not the switching signal has been transmitted from the vehicle control unit1003(step S1101).

In a case where it is determined that the switching signal has not been transmitted (step S1101: No), the lamp control unit1004repeats the process of step S1101until the switching signal is transmitted.

In contrast, in a case where it is determined that the switching signal has been transmitted (step S1101: Yes), the lamp control unit1004acquires the information on the signboard1203transmitted together with the switching signal (step S1102). Here, the lamp control unit1004is configured to acquire at least information on the direction of the signboard1203from the vehicle control unit1003.

The lamp control unit1004specifies a position of the signboard1203based on the acquired information. The lamp control unit1004controls the road surface drawing lamp1102to emit light toward the identified signboard1203. For example, the lamp control unit1004controls the road surface drawing lamp1102to draw an arrow1030on the road surface so as to point to the signboard1203as shown inFIG. 17(step S1103).

The information on the signboard1203transmitted from the vehicle control unit1003to the lamp control unit1004is updated in accordance with traveling of the vehicle1001. Therefore, the lamp control unit1004continues to control the road surface drawing lamp1102based on the updated information, and changes a drawing form (for example, a length and a direction of the arrow, or the like) of the arrow1030indicating the road surface drawing lamp1102pointing to the signboard1203every moment.

The lamp control unit1004is configured to continue to execute the road surface drawing described above until a stop signal is acquired from the vehicle control unit1003(step S1104). When the stop signal is acquired from the vehicle control unit1003(step S1104: Yes), the lamp control unit1004stops executing the road surface drawing. In the present embodiment, the road surface drawing lamp1102is turned off (step S1105).

In the present embodiment, the vehicle control unit1003is configured to transmit the stop signal to the lamp control unit at a later timing of a timing after a predetermined time has elapsed since after switching from the automatic driving mode to the manual driving mode, or a timing when the switching object is out of a detection range of the sensor1005, the camera1006, and the radar1007according to the traveling of the vehicle.

When the vehicle control unit1003determines to switch the driving mode from the automatic driving mode to the manual driving mode, the vehicle control unit1003notifies the driver (the user) of the vehicle1001of the switching. The notification to the driver is performed, for example, by vibration of the steering wheel, display of characters or patterns on a display device in the vehicle interior such as an instrument panel or a navigation screen, or an output of voice. When the driver performs a response operation to the notification, for example, gripping the steering wheel, pressing a driving mode switching button, or the like, and the switching of the driving mode is approved, the driving mode of the vehicle1001is switched from the automatic driving mode to the manual driving mode. After a lapse of the predetermined time from the switching, the vehicle control unit1003is configured to transmit the stop signal to the lamp control unit1004.

The vehicle control unit1003determines whether or not the signboard1203can be detected from the vehicle1001based on the external information on the vehicle1001acquired by the sensor1005, the camera1006, the radar1007, or the like. In a case where it is determined that the signboard1203cannot be detected from the vehicle1001, that is, in a case where it is determined that the vehicle1001has moved to a position at which the signboard1203cannot be detected, the vehicle control unit1003is configured to transmit the stop signal to the lamp control unit1004.

However, the timing at which the vehicle control unit1003starts transmission of the stop signal may be, for example, when the vehicle1001has traveled a predetermined distance from a position at which the signboard1203is first detected or when the predetermined time has elapsed from when the signboard1203is first detected, or the like.

Effects

As described above, when a situation different from the normal situation is encountered, the vehicle control unit1003switches from the automatic driving mode to the manual driving mode. At this time, although the driver suddenly drives himself/herself, it is difficult for the driver to immediately judge what to pay attention to, or what the attention needs to be taken. However, according to the vehicle lamp system1020according to the present embodiment, when the driving mode of the vehicle1001is switched from the automatic driving mode to the manual driving mode, the road surface drawing lamp1102illuminates the switching object that causes the switching of the driving mode. For example, then arrow1030is drawn on the road surface to point to the signboard1203indicating that the road is under construction. At this time, since the driver pays attention to an object pointed naturally, the driver can easily grasp what to pay attention to when driving. In addition, by emitting the light so as to extend to the switching object as in the present embodiment, the driver can easily move a line of sight along a beam of the light, and can more easily grasp the switching object.

Although an example in which a single object is used has been described in the embodiment described above, the present invention may include a plurality of objects.

For example, as shown inFIG. 18, in a case where the vehicle control unit1003detects a plurality of objects1203a,1203b, and1203cthat cause the vehicle control unit1003to switch from the automatic driving mode to the manual driving mode, the lamp control unit1004may be configured to emit light so as to point to the object1203bclosest to the vehicle1001among the plurality of objects1203a,1203b, and1203c. In the shown example, the arrow1030pointing to the object1203bclosest to the host vehicle1001is drawn. The driver is more likely to grasp the object1203bclosest to the vehicle1001among the plurality of objects1203a,1203b, and1203c.

Alternatively, as shown inFIG. 19, in a case where the vehicle control unit1003detects the plurality of objects1203a,1203b, and1203cthat cause the vehicle control unit1003to switch from the automatic driving mode to the manual driving mode, the lamp control unit1004may be configured to emit light so as to point to the plurality of objects1203a,1203b, and1203cin an ascending order of a distance from the vehicle1001to the plurality of objects1203a,1203b, and1203c. In the shown example, after an arrow1030bis drawn to point to the object1203b, the arrow1030bis erased and an arrow1030ais drawn to point to the object1203a, and then the arrow1030ais erased and an arrow1030cis drawn to point to the object1203c. Alternatively, the drawing may be performed such that the arrows are sequentially added without erasing the arrows. As a result, this allows the driver to easily grasp the current entire situation including the plurality of objects1203a,1203b, and1203c. In addition, since the plurality of objects are pointed in the ascending order of the distance, it is easy to understand a priority to be grasped.

Alternatively, in a case where the plurality of objects that cause the vehicle control unit1003to switch from the automatic driving mode to the manual driving mode are detected, the lamp control unit1004may be configured to emit light so as to simultaneously point to the plurality of objects. The driver is more likely to grasp the current entire situation including the plurality of objects.

The lamp control unit1004may be configured to draw arrows having different lengths and thicknesses according to distances between the plurality of objects and the vehicle1001and relative speeds of the plurality of objects and the host vehicle. Alternatively, the lamp control unit1004may be configured to draw different shapes such as an arrow, a star, a circle, a triangle, and a square depending on the distances between the plurality of objects and the vehicle1001and the relative speeds of the plurality of objects and the host vehicle.

In the present embodiment, the signboard1203is exemplified as the switching object pointed to by the arrow1030, but the present invention is not limited thereto. For example, the switching object may be a depression of the road surface itself, a fallen tree on the road surface, a fallen object, water submergence on the road surface, a suddenly sick person who is falling on the road surface, an injured person, a worker who performs traffic control at the time of a power outage, or the like. Further, the switching object may be, for example, a fire truck, an ambulance, a snow removing vehicle, a cleaning vehicle, an oncoming vehicle traveling on a bottleneck where no two-way traffic is possible, a side road provided at the exit of the highway, or the like.

A form of pointing to the switching object is not limited to the arrow1030directed to the switching object. For example, the switching object itself may be illuminated in a spot manner or may be illuminated so as to surround the switching object with a circle. Further, the light may be irradiated in a different form according to a type of the switching object. For example, in a case where the switching object is a person, feet of the person may be surrounded by a circle so that no light is applied to a head, and in a case where the switching target is an fallen tree or the like, a long area is illuminated with light so as to point to the entire fallen tree.

The lamp used to point to the signboard1203is not limited to the road surface drawing lamp1102described above. For example, a road surface drawing lamp having a configuration different from the above-described configuration may be used. Alternatively, light may be emitted by the headlamp1101generally mounted on the vehicle1001so as to point to the switching object. Alternatively, a lamp different from the headlamp or the road surface drawing lamp may be used.

Third Embodiment

Next, a vehicle lamp system according to a third embodiment will be described.

In the vehicle capable of executing both the manual driving mode and the automatic driving mode, a vehicle control unit may switch to the manual driving mode due to some reason during the execution of the automatic driving mode. At this time, the user of the vehicle that is to be manually driven may be confused about the traveling direction of the vehicle when starting the manual driving.

Therefore, the present embodiment provides a vehicle lamp system2020in which the user is less likely to confuse the traveling direction of the vehicle when switching from the automatic driving to the manual driving. Similarly, the vehicle lamp system2020of the present embodiment is also mounted on the vehicle shown inFIGS. 11A and 11Bused in the description of the second embodiment. In addition, a block diagram of the vehicle lamp system2020and the vehicle system of the third embodiment is the same as that of the second embodiment. Members of the third embodiment are denoted by reference numerals obtained by adding 1000 to the reference numerals of the corresponding members of the second embodiment, and a repetitive description thereof will be omitted.

The vehicle lamp system2020of a vehicle2001will be described with reference toFIG. 20. As shown inFIG. 20, the vehicle lamp system2020includes a headlamp2101, a road surface drawing lamp2102, and a lamp control unit2004that controls these lamps.

The lamp control unit2004is connected to a vehicle control unit2003, and is configured to control operations of the headlamp2101and the road surface drawing lamp2102based on a signal transmitted from the vehicle control unit2003. For example, the lamp control unit2004can control the headlamp2101based on the signal transmitted from the vehicle control unit2003to emit light in a predetermined light distribution pattern. In addition, the lamp control unit2004can control the road surface drawing lamp2102based on the signal transmitted from the vehicle control unit2003to display a recommended route of the vehicle2001.

The vehicle lamp system2020of the present embodiment is configured as a system independent from the vehicle system2002, but is not limited to this configuration. For example, the vehicle lamp system may be configured as a system including the vehicle control unit2003and may be used together with the vehicle control unit2003. Alternatively, the vehicle lamp system may be configured as a system including, for example, a camera, a sensor, a radar, or the like connected to the vehicle system2002, and may be used together with the vehicle control unit2003. In addition, the lamp control unit2004of the present embodiment is provided as an independent control unit different from the vehicle control unit2003, but may be provided as a part of an ECU configuring the vehicle control unit2003, for example.

Next, an operation example of the vehicle lamp system2020will be described with reference toFIGS. 21 and 22.FIG. 21is a flow chart executed by the lamp control unit2004of the road surface drawing lamp2102. In addition,FIG. 22shows an example of the road surface drawing drawn by the road surface drawing lamp2102.

FIG. 22is a front view seen from the driver's seat of the vehicle2001, and shows a situation in which the vehicle2001traveling on a highway2150in the automatic driving mode approaches a target exit. A side road2160for getting off the highway2150appears in front of a left side of a traveling lane. Incidentally, the H line indicates a horizontal direction of the vehicle2001, and the V line indicates a vertical direction of the vehicle2001.

InFIG. 21, the vehicle control unit2003of the vehicle2001determines whether or not (whether or not the automatic driving mode is to be ended) the driving mode is switched from the automatic driving mode to the manual driving mode (step S2101), based on external information on the vehicle2001acquired by a sensor2005, a camera2006, a radar2007, a GPS2009, or the like.

In this example, the highway is a road on which the vehicle can travel in the automatic driving mode, but is a road on which the vehicle cannot travel in the automated driving mode from the side road2160. The vehicle control unit2003determines whether or not it is necessary to switch from the automatic driving mode to the manual driving mode when the vehicle2001reaches a point (a target point) before a predetermined distance from the side road2160of the highway exit. As described above, the one (the side road2160in the present embodiment) specified as a cause by which the vehicle control unit2003switches the driving mode of the vehicle2001from the automatic driving mode to the manual driving mode is referred to as a “switching object”.

The automatic driving mode here is the concept including the fully automatic driving mode and the advanced driving assistance mode. The manual driving mode is the concept including the driving assistance mode and the fully manual driving mode. The automatic driving mode and the manual driving mode here are distinguished by whether or not the driver has a sovereignty of driving the vehicle. In the fully automatic driving mode and the advanced driving assistance mode, the driver does not drive the vehicle. In the driving assistance mode and the fully manual driving mode, the driver drives the vehicle, and the vehicle control unit2003assists the driving by the driver.

For example, the vehicle control unit2003can determine whether or not the target point has been reached based on the GPS signal. Alternatively, the vehicle control unit2003can determine whether or not the target point has been reached based on the information acquired by the camera2006or the radar2007. Further, the vehicle control unit2003can determine that the target point has been reached when the signal from a transmitter provided near an entrance of the side road2160is received at a predetermined intensity or higher.

In a case where it is determined that the automatic driving mode is not to be ended (step S2101: No), the vehicle control unit2003repeats a process of step S2101while maintaining the automatic driving mode until it is determined that the automatic driving mode is to be ended.

In contrast, in a case where it is determined that the automatic driving mode is to be ended (step S2101: Yes), the vehicle control unit2003notifies the driver of the vehicle2001that the automatic driving mode is to be ended (end notice: step S2102). The notification to the driver is performed by, for example, vibrating the steering wheel, turning on light in the vehicle, or the like. In addition, it may be notified by voice such as “please drive manually since automatic driving mode is ended”.

The vehicle control unit2003determines whether or not the driver who has received the notification of the end notice has approved end of the automatic driving mode (whether or not the switching to the manual driving mode has been approved). Whether or not it has been approved is determined based on whether or not the driver has made a predetermined response to the end notice (step S2103). For example, the determination is made based on whether the driver has gripped the steering wheel for manual driving, whether or not the driver has performed a switching operation of the driving mode switch, or the like.

In a case where it is determined that the predetermined response has not been made to the end notice (step S2103: No), the vehicle control unit2003repeats a determination process of step S2103.

In contrast, in a case where it is determined that the predetermined response has been made to the end notice (step S2103: Yes), the vehicle control unit2003switches the driving mode to the manual driving mode (step S2104).

In the case where it is determined in step S2101that the automatic driving mode is to be ended (step S2101: Yes), the vehicle control unit2003calculates the recommended route of the vehicle2001to be traveled when the driving mode is switched to the manual driving mode based on the external information on the vehicle2001(recommended route calculation: step S2105). In this example, a route toward the side road2160is the recommended route. The vehicle control unit2003transmits calculated recommended route data to the lamp control unit2004(recommended route notification: step S2106).

The lamp control unit2004that has receives the recommended route data from the vehicle control unit2003, the lamp control unit2004controls the road surface drawing lamp2102to draw the recommended route proposed by the vehicle control unit2003on the road surface (step S2110). The recommended route is drawn in an area in front of the vehicle traveling when the driving mode is switched to the manual driving mode (a scheduled area to be traveled). For example, the recommended route is drawn as an arrow2030that extends from the traveling lane of the vehicle2001toward an exit of the side road2160(seeFIG. 22). Incidentally, the drawing form is not limited to the arrow. In addition, the recommended route is drawn at a time point before a time point when the driving mode is actually switched from the automatic driving mode to the manual driving mode. For example, the recommended route is preferably drawn substantially at the same time as the end notice of step S2102.

The recommended route data transmitted from the vehicle control unit2003to the lamp control unit2004is updated according to a change in a position or a speed at which the vehicle2001is traveling. Therefore, a control of the road surface drawing lamp2102by the lamp control unit2004is also sequentially updated, and a form of the arrow2030(for example, a length and a direction of the arrow, or the like) drawn on the road surface by the road surface drawing lamp2102changes every moment.

The vehicle control unit2003determines whether or not the vehicle2001has traveled a predetermined distance after the recommended route is drawn on the road surface based on the external information on the vehicle2001acquired by the sensor2005, the camera2006, the radar2007, the GPS2009, or the like. In a case where it is determined that the vehicle has traveled the predetermined distance, the vehicle control unit2003transmits a “traveling signal” indicating that the traveling of the vehicle to the lamp control unit2004. In the present embodiment, the predetermined distance means a distance that the vehicle2001would have already entered and traveled to the side road2160from the highway2150if the vehicle2001is traveling with the driving mode switched to the manual driving mode.

The lamp control unit2004determines whether or not the traveling signal has been transmitted from the vehicle control unit2003(step S2111).

In a case where it is determined that the traveling signal has not been transmitted (step S2111: No), that is, in a case where it is determined that the vehicle2001has not traveled the predetermined distance, the lamp control unit2004repeats a process of step S2111until the traveling signal is transmitted.

In contrast, in a case where it is determined that the traveling signal has been transmitted (step S2111: Yes), that is, in a case where it is determined that the vehicle2001has traveled the predetermined distance, the lamp control unit2004controls the road surface drawing lamp2102to end the drawing of the recommended route (step S2112).

The determination of whether or not to end the display of the recommended route, that is, the determination in step S2111may be performed based on, for example, whether or not a predetermined time has elapsed since the recommended route is drawn on the road surface. Alternatively, the determination may be performed based on whether or not the vehicle2001has traveled the predetermined distance after the driver has approved the switching to the manual driving mode, or may be performed based on whether or not the predetermined time has elapsed since the driver has approved the switching to the manual driving mode.

Effects

When the driving mode is switched from the automatic driving mode to the manual driving mode, the user may suddenly feel as if he/she is forced to drive. For example, during the execution of the fully automatic driving mode, the user may not be able to drive, and thus may be resting. At this time, the vehicle2001may enter an area where the vehicle cannot travel in the automatic driving mode. Then, the user who is in rest is suddenly forced to perform the manual driving, and it may be difficult to select a driving operation to be performed at the next moment.

However, according to the vehicle lamp system2020of the present embodiment, before the driving mode is switched from the automatic driving mode to the manual driving mode, the recommended route on which the vehicle2001is to travel in the manual driving mode is drawn by the road surface drawing lamp2102. Therefore, the driver who has started the manual driving only needs to advance the vehicle2001along the recommended route drawn by the road surface drawing lamp2102, and the driver can make the vehicle2001to travel without hesitation.

In the embodiment described above, an example has been described in which the automatic driving mode is switched from the automatic driving mode to the manual driving mode when entering the side road2160from the highway, but the present invention is not limited to this example. Next, the operation example of the vehicle lamp system2020will be described with reference toFIGS. 21 and 23.FIG. 23shows another example of the road surface drawing drawn by the road surface drawing lamp2102. Incidentally, the description of the same operations as the above operation example described with reference toFIG. 22will be appropriately omitted.

FIG. 23shows a situation in which a depression2201is formed on a road2200, a lane is regulated and color cones2202(registered trademark) are lined up in order to perform construction of the depression2201, and for example, a signboard2203indicating that the road is under construction is installed. Further, a situation in which the vehicle2001traveling on the road2200in the automatic driving mode approaches a place during construction is shown.

The vehicle control unit2003of the vehicle2001determines whether to the driving mode is switched from the automatic driving mode to the manual driving mode based on the external information (whether to the automatic driving mode is to be ended) (step S2101). In this example, it is determined whether or not the signboard2203that is the switching object installed on the road is detected.

In the case where it is determined that the automatic driving mode is to be ended, the vehicle control unit2003notifies the driver of the end notice (step S2102), and after receiving the response from the driver (step S2103), the driving mode of the vehicle2001is switched to the manual driving mode (step S2104). In addition, the vehicle control unit2003calculates the recommended route of the vehicle2001(step S2105), and notifies the lamp control unit2004of the calculated recommended route data (step S2106).

The lamp control unit2004controls the road surface drawing lamp2102to draw the recommended route proposed by the vehicle control unit2003on the road surface (step S2110). The recommended route is drawn, for example, as an arrow2040(avoidance course) guides the vehicle to avoid the signboard2203and the color cones2202and make a detour to an oncoming lane (seeFIG. 23).

The lamp control unit2004determines whether or not the traveling signal has been transmitted from the vehicle control unit2003as in the operation example described above (step S2111). Incidentally, in this operation example, the predetermined distance determined to transmit the traveling signal by the vehicle control unit2003means the distance traveled by the vehicle2001in order to pass through a construction section (seeFIG. 23). In the case where it is determined that the vehicle has traveled the predetermined distance, the lamp control unit2004ends the drawing of the recommended route (step S2112).

Even in such a case, the present invention is applied, and the vehicle2001can be caused to travel without hesitation of the user who has switched from the automatic driving mode to the manual driving mode.

There may be a plurality of recommended routes. In this case, the lamp control unit2004may be configured such that the plurality of recommended routes are illuminated.FIG. 24shows a state in which a plurality of recommended routes are illuminated.

As shown inFIG. 24, in a case where there is a road surface the depression2201on a road surface in the middle lane of three lanes, there is a right detour passing through a right side of the depression2201and a left detour passing through a left side of the depression2201. Therefore, the lamp control unit2004controls the road surface drawing lamp2102to illuminate an arrow2040R indicating the right detour as the recommended route and an arrow2040L indicating the left detour as the recommended route. In the shown situation, the vehicle control unit2003sets the right detour as a first recommended route and the left detour as a second recommended route based on navigation information that the vehicle turns right at a preceding intersection. Therefore, the arrow2040R is drawn thicker than the arrow2040L, which indicates the recommended route indicated by the arrow2040R has a higher degree of recommendation than the recommended route indicated by the arrow2040L.

Unlike the shown example, a number “1” may be drawn in the arrow2040R and a number “2” may be drawn in the arrow2040L in order to indicate the degree of recommendation. Alternatively, the arrow2040R may be drawn brighter than the arrow2040L in order to indicate the degree of recommendation. In addition, in order to indicate the degree of recommendation, a shape, brightness, color, a blinking cycle, or the like of the display indicating the recommended route may be made different.

All recommended routes may be drawn in the same manner without indicating the degree of recommendation.

Although the embodiments of the present invention have been described above, it goes without saying that the technical scope of the present invention should not be interpreted as being limited by the description of the present embodiments. It is to be understood by those skilled in the art that the present embodiment is merely an example, and various modifications can be made within the scope of the invention described in the claims. The technical scope of the present invention should be determined based on the scope of the invention described in the claims and an equivalent scope thereof.

In the above description, the side road2160and the signboard2203are exemplified as the switching objects when the recommended route is drawn, but the present invention is not limited thereto. For example, the switching object may be an fallen tree on the road surface, a fallen object, a water submergence on the road surface, a fire truck, an ambulance, a snow removing vehicle, a cleaning vehicle, an oncoming vehicle traveling on a bottleneck where no two-way traffic is possible, or the like. In a case where the switching object is a fire truck or an ambulance, a recommended route is displayed so as to evacuate the vehicle and cause the fire truck or the ambulance travel first. In a case where the switching object is a snow removing vehicle, a recommended route is displayed so as to follow the snow removing vehicle. In addition, in a case where the switching object is an oncoming vehicle traveling on a bottleneck, a recommended route for instructing the host vehicle to wait or a recommended route to which the host vehicle should move first is displayed.

In the above description, it is assumed that the lamp control unit2004is mounted on a lamp unit2100, and the vehicle lamp system2020is configured as an independent system different from the vehicle system2002. However, the present invention is not limited to this configuration. For example, the vehicle lamp system may be configured as a system including the vehicle control unit2003. Alternatively, the vehicle lamp system may be configured as a system including, for example, a camera, a sensor, a radar, or the like connected to the vehicle system2002. In addition, the lamp control unit2004may be configured as a part of the ECU configuring the vehicle control unit2003. In this case, the lamp control unit2004is mounted on the vehicle2001instead of the lamp unit2100.

In the present embodiment, the driving mode of the vehicle has been described as including the fully automatic driving mode, the advanced driving assistance mode, the driving assistance mode, and the fully manual driving mode, but the driving mode of the vehicle should not be limited to these four modes.

A classification and a display form of the driving mode of the vehicle may be appropriately changed according to laws or regulations related to the automatic driving in each country. Similarly, the definitions of the “fully automatic driving mode”, the “advanced driving assistance mode”, and the “driving assistance mode” described in the description of the present embodiment are merely examples, and these definitions may be appropriately changed according to laws or regulations related to the automatic driving in each country.

The present application is based on a Japanese Patent Application No. 2017-207465 filed on Oct. 26, 2017, a Japanese Patent Application No. 2017-207466 filed on Oct. 26, 2017, and a Japanese Patent Application No. 2017-207467 filed on Oct. 26, 2017, the contents of which are incorporated herein by reference.

INDUSTRIAL APPLICABILITY

According to an aspect of the present invention, there is provided the vehicle headlamp system and the vehicle lamp system in which the user can easily grasp the surrounding situation when switching from the automatic driving to the manual driving.