Patent Publication Number: US-11651684-B2

Title: Vehicle lighting system, vehicle, inter-vehicle communication system and vehicle system

Description:
TECHNICAL FIELD 
     The present disclosure relates to a vehicle lighting system, a vehicle and an inter-vehicle communication system. 
     BACKGROUND ART 
     Currently, research on an automated driving technology for an automobile is actively carried out in each country, and legislation for allowing a vehicle (Hereinafter, the “vehicle” refers to the automobile.) to travel on a public road in an automated driving mode is being studied in each country. Here, in the automated driving mode, a vehicle system automatically controls traveling of the vehicle. Specifically, in the automated driving mode, the vehicle system automatically performs at least one of steering control (control of a traveling direction of the vehicle), brake control and accelerator control (control of vehicle braking and acceleration/deceleration) based on information (surrounding environment information) indicating a surrounding environment of the vehicle obtained from a sensor such as a camera or a radar (for example, a laser radar or a millimeter wave radar). On the other hand, in a manual driving mode described below, a driver controls the traveling of the vehicle, as is a case with many related-art vehicles. Specifically, in the manual driving mode, the traveling of the vehicle is controlled in accordance with an operation of the driver (a steering operation, a brake operation and an accelerator operation), and the vehicle system does not automatically perform the steering control, the brake control and the accelerator control. A driving mode of the vehicle is not a concept that exists only in some vehicles, but a concept that exists in all vehicles including the related-art vehicles not having an automated driving function, and is classified according to, for example, a vehicle control method. 
     Therefore, the vehicle traveling in the automated driving mode (hereinafter, appropriately referred to as an “automated driving vehicle”) and the vehicle traveling in the manual driving mode (hereinafter, appropriately referred to as a “manual driving vehicle”) are expected to coexist on the public road in the future. 
     As an example of the automated driving technology, Patent Literature 1 discloses an automated following traveling system in which a following vehicle automatically follows a preceding vehicle. In the automated following traveling system, each of the preceding vehicle and the following vehicle includes a lighting system, and character information for preventing other vehicles from interrupting between the preceding vehicle and the following vehicle is displayed on the lighting system of the preceding vehicle, and character information indicating that the following vehicle automatically follows the preceding vehicle is displayed on the lighting system of the following vehicle. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: JP-A-H9-277887 
     SUMMARY OF INVENTION 
     Technical Problem 
     Communication between vehicles is expected to be important in order to ensure smooth traveling of the vehicles on the road where the automated driving vehicle and the manual driving vehicle coexist. For example, in a situation where two vehicles facing each other while traveling on a narrow road pass each other, communication between the two vehicles is an important factor in order to ensure smooth traveling of the two vehicles. In this respect, it is conceivable to realize the communication between the two vehicles by using a wireless communication function (an inter-vehicle communication function), but the communication between the two vehicles using the wireless communication function cannot be realized when one of the two vehicles does not have the wireless communication function. In this way, in a coming automated driving society, there is room for further consideration of the communication between the vehicles. 
     Therefore, a first object of the present disclosure is to provide a vehicle lighting system and a vehicle capable of realizing rich visual communication between vehicles. 
     Next, in the automated driving society where the automated driving vehicle travels everywhere in a city, visual communication between the vehicle and a pedestrian or the like present outside the vehicle is expected to be more important. Particularly, when a message from the vehicle is visually presented to the pedestrian, the pedestrian can visually recognize an intention or the like of the vehicle, and thus can feel safe. On the other hand, it is assumed that pedestrian does not notice the message from the vehicle, or that the pedestrian cannot determine whether the message from the vehicle is presented to the pedestrian. In this way, there is room for further consideration of the visual communication between the vehicle and an object. 
     Therefore, a second object of the present disclosure is to provide a vehicle lighting system and a vehicle capable of realizing rich visual communication between a vehicle and an object. 
     In addition, in the automated driving society where the automated driving vehicle travels everywhere in the city, the communication between the vehicles is expected to be important in order to ensure smooth traveling of the vehicle. Particularly, when a message of one vehicle is visually presented to an occupant of the other vehicle, the occupant of the other vehicle can visually recognize an intention or the like of the other vehicle, and thus can feel safe. On the other hand, it is assumed that the occupant of the other vehicle does not notice the visual message from one vehicle, or that the occupant of the other vehicle cannot determine whether the visual message from one vehicle is presented to the occupant of the other vehicle. In this way, there is room for further consideration of the visual communication between the vehicles. 
     Therefore, a third object of the present disclosure is to provide a vehicle system, a vehicle and an inter-vehicle communication system capable of realizing rich communication between vehicles through visual and auditory sense. 
     Solution to Problem 
     A vehicle lighting system according to an aspect of the present disclosure is provided in a vehicle capable of traveling in an automated driving mode, and includes: 
     a lighting unit configured to emit light toward outside of a vehicle; and 
     a lighting control unit configured to control the lighting unit such that the lighting unit visually presents, to an oncoming vehicle present ahead of the vehicle, predetermined information on traveling support of the oncoming vehicle, based on a vehicle width of the oncoming vehicle and a road width in a lateral region of the vehicle. 
     According to the above configuration, the predetermined information on the traveling support of the oncoming vehicle is visually presented to the oncoming vehicle based on the vehicle width of the oncoming vehicle present ahead of the vehicle and the road width in the lateral region of the vehicle. In this way, since an occupant of the oncoming vehicle can visually recognize the predetermined information on the traveling support of the oncoming vehicle, the vehicle lighting system capable of realizing rich visual communication between vehicles can be provided. 
     The predetermined information may include at least one of character information and graphic information. 
     According to the above configuration, since the occupant of the oncoming vehicle can visually recognize the predetermined information on the traveling support of the oncoming vehicle as the character information and/or the graphic information, the vehicle lighting system capable of realizing the rich visual communication between the vehicles can be provided. 
     When at least the vehicle width is equal to or greater than the road width, the lighting control unit may control the lighting unit such that the lighting unit visually present, to the oncoming vehicle, information urging the oncoming vehicle to stop. 
     According to the above configuration, when at least the vehicle width of the oncoming vehicle is equal to or greater than the road width in the lateral region of the vehicle, the information urging the oncoming vehicle to stop is visually presented to the oncoming vehicle. In this way, the occupant of the oncoming vehicle can visually recognize that the oncoming vehicle should be stopped in order for the two vehicles to pass each other without trouble (such as contact between the two vehicles). Therefore, the vehicle lighting system capable of realizing the rich visual communication between the vehicles can be provided. 
     The predetermined information may include the character information. 
     The lighting control unit is configured to
         determine a display language of the predetermined information based on a current position of the vehicle, and   control the lighting unit such that the lighting unit visually presents the predetermined information to the oncoming vehicle in the determined display language.       

     According to the above configuration, the display language of the predetermined information is determined based on the current position of the vehicle, and then the predetermined information is visually presented to the oncoming vehicle in the determined display language. In this way, since the display language of the character information constituting the predetermined information is associated with the current position of the vehicle, possibility that the occupant of the oncoming vehicle can understand the predetermined information on the traveling support of the oncoming vehicle can be increased. Therefore, the vehicle lighting system capable of realizing the rich visual communication between the vehicles can be provided. 
     The predetermined information may include the character information. 
     The lighting unit may be configured to visually present the predetermined information to the oncoming vehicle in a plurality of display languages. 
     According to the above configuration, the predetermined information is visually presented to the oncoming vehicle in the plurality of display languages. In this way, the possibility that the occupant of the oncoming vehicle can understand the predetermined information on the traveling support of the oncoming vehicle can be increased. Therefore, the vehicle lighting system capable of realizing the rich visual communication between the vehicles can be provided. 
     The lighting unit may be configured to visually present the predetermined information on a road surface ahead of the oncoming vehicle. 
     According to the above configuration, the predetermined information on the traveling support of the oncoming vehicle is visually presented on the road surface ahead of the oncoming vehicle. In this way, since the occupant of the oncoming vehicle can visually recognize the predetermined information by looking at the road surface ahead, the vehicle lighting system capable of realizing the rich visual communication between the vehicles can be provided. 
     The lighting control unit may be configured to wirelessly transmit the predetermined information to the oncoming vehicle. 
     According to the above configuration, the predetermined information on the traveling support of the oncoming vehicle is visually presented to the oncoming vehicle and is wirelessly transmitted to the oncoming vehicle. As described above, it is possible to increase the possibility that the occupant of the oncoming vehicle having the wireless communication function can recognize predetermined information, and it is possible to provide a vehicle lighting system capable of realizing rich communication between the vehicles. 
     A vehicle lighting system according to another aspect of the present disclosure is provided in a vehicle capable of traveling in an automated driving mode, and includes: 
     a first lighting unit configured to visually present a message to outside of a vehicle; 
     a first lighting control unit configured to control the first lighting unit; 
     a second lighting unit configured to emit a light pattern toward an object present outside the vehicle; and 
     a second lighting control unit configured to control the second lighting unit. 
     The second lighting control unit is configured to control the second lighting unit such that the second lighting unit emits the light pattern toward the object when the first lighting unit visually presents the message to the outside of the vehicle. 
     According to the above configuration, when the first lighting unit visually presents the message to the outside of the vehicle, the second lighting unit emits the light pattern toward the object. Therefore, the object (for example, a pedestrian or other vehicles) present outside the vehicle can notice presence of the message presented by the vehicle by the light pattern emitted from the second lighting unit toward the object, and can recognize that the message is a message presented from the vehicle to the object. In this way, the vehicle lighting system capable of realizing rich visual communication between the vehicle and the object can be provided. 
     The second lighting unit may be configured to draw the light pattern on a road surface around the object. 
     The second lighting control unit may be configured to control the second lighting unit such that the second lighting unit draws the light pattern on the road surface around the object when the first lighting unit visually presents the message to the outside of the vehicle. 
     According to the above configuration, when the first lighting unit visually presents the message to the outside of the vehicle, the second lighting unit draws the light pattern on the road surface around the object. Therefore, the object present outside the vehicle can notice the presence of the message presented by the vehicle by the light pattern, and can recognize that the message is a message presented from the vehicle to the object. 
     The light pattern may be a light pattern that visually associates the object with the vehicle. 
     According to the above configuration, when the first lighting unit visually presents the message to the outside of the vehicle, the light pattern that visually associates the object with the vehicle is drawn on the road surface around the object. Therefore, the object present outside the vehicle can intuitively recognize that the message is presented from the vehicle to the object by the light pattern. 
     The message may be a message related to an action of the vehicle or a message urging the object to perform a predetermined action. 
     According to the above configuration, the object present outside the vehicle can recognize an intention of the vehicle and can feel safe by looking at the message related to the action of the vehicle (for example, a stop message) or the message urging the object to perform the predetermined action (for example, a message urging passage of a crosswalk). 
     A vehicle including the vehicle lighting system is provided. 
     According to the above configuration, the vehicle capable of realizing rich visual communication can be provided. 
     A vehicle system according to another aspect of the present disclosure is provided in a vehicle capable of traveling in an automated driving mode, and includes: 
     a lighting unit configured to visually present a first message to outside of a vehicle; 
     a lighting control unit configured to control the lighting unit; 
     a light transmission unit configured to emit a first light in a first wavelength band associated with a predetermined auditory message toward a light reception unit mounted on another vehicle present outside the vehicle; and 
     a light transmission control unit configured to control the light transmission unit. 
     The light transmission control unit is configured to control the light transmission unit such that the light transmission unit emits the first light toward the light reception unit when the lighting unit visually presents the first message to the outside of the vehicle. 
     According to the above configuration, when the lighting unit visually presents the first message to the outside of the vehicle, the first light is emitted toward the light reception unit mounted on another vehicle. When the light reception unit receives the first light, the predetermined auditory message associated with the first wavelength band of the first light is output to inside of another vehicle. Therefore, an occupant of another vehicle can visually recognize the first message from the vehicle, and can aurally recognize the predetermined auditory message from the vehicle. That is, the occupant of another vehicle can visually and aurally recognize an intention of the vehicle. Therefore, the vehicle system capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
     The lighting unit may be configured to visually present the first message to the outside of the vehicle by drawing a light pattern on a road surface. 
     According to the above configuration, the occupant of another vehicle can visually recognize the first message from the vehicle by looking at the light pattern drawn on the road surface. 
     The lighting unit may be configured to display the first message on a windshield of the vehicle. 
     According to the above configuration, the occupant of another vehicle can visually recognize the first message displayed on the windshield. 
     The lighting unit may be configured to visually present the first message to the outside of the vehicle by changing a lighting feature of the lighting unit. 
     According to the above configuration, the occupant of another vehicle can visually recognize the first message from the vehicle by looking at a change in the lighting feature of the lighting unit. 
     The light transmission control unit may be configured to
         determine the first light from a plurality of different lights in different wavelength bands based on the first message, and   control the light transmission unit such that the first light is emitted toward the light reception unit.       

     According to the above configuration, the first light is determined from the plurality of different lights in different wavelength bands based on the first message, and then the first light is emitted toward the light reception unit mounted on another vehicle. When the light reception unit receives the first light, the predetermined auditory message associated with the first wavelength band of the first light is output to inside of another vehicle. Thus, the occupant of another vehicle can visually recognize the first message and can aurally recognize the predetermined auditory message associated with the first message (or corresponding to the first message). 
     A vehicle including the vehicle system is provided. 
     According to the above configuration, the vehicle capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
     An inter-vehicle communication system according to an aspect of the present disclosure includes: 
     a first vehicle; and 
     a second vehicle. 
     The first vehicle includes:
         a lighting unit configured to visually present a first message toward outside of the first vehicle;   a lighting control unit configured to control the lighting unit;   a light transmission unit configured to emit a first light in a first wavelength band toward the second vehicle; and   a light transmission control unit configured to control the light transmission unit.       

     The second vehicle includes:
         a light reception unit configured to receive the first light;   a light reception control unit configured to specify a predetermined auditory message associated with the first wavelength band from among a plurality of auditory messages; and   an in-vehicle speaker configured to output the specified predetermined auditory message to an occupant of the second vehicle.       

     The light transmission control unit is configured to control the light transmission unit such that the light transmission unit emits the first light toward the light reception unit when the lighting unit visually presents the first message to the outside of the first vehicle. 
     According to the above configuration, when the lighting unit visually presents the first message to the outside of the vehicle, the first light is emitted toward the light reception unit mounted on the second vehicle. When the light reception unit receives the first light, the predetermined auditory message associated with the first wavelength band of the first light is output from the in-vehicle speaker toward an occupant of the second vehicle. Therefore, the occupant of the second vehicle can visually recognize the first message from the first vehicle, and can aurally recognize the predetermined auditory message from the first vehicle. That is, the occupant of the second vehicle can visually and aurally recognize an intention of the first vehicle. Therefore, the inter-vehicle communication system capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a plan view of a vehicle equipped with a vehicle lighting system according to a first embodiment of the present invention. 
         FIG.  2    is a block diagram of a vehicle system including the vehicle lighting system according to the first embodiment. 
         FIG.  3    is a flowchart showing an example of processing for visually presenting, to an oncoming vehicle, information urging the oncoming vehicle to stop. 
         FIG.  4    is a view showing a subject vehicle and the oncoming vehicle traveling on a narrow road. 
         FIG.  5    is a view showing an example of character information for prompting the stop of the oncoming vehicle. 
         FIG.  6    is a view showing an example of graphic information for prompting the stop of the oncoming vehicle. 
         FIG.  7    is a front view of a vehicle equipped with a vehicle lighting system according to a second embodiment of the present invention. 
         FIG.  8    is a block diagram of a vehicle system including the vehicle lighting system according to the second embodiment. 
         FIG.  9    is a block diagram showing a left communication support lamp and a right communication support lamp. 
         FIG.  10    is a flowchart showing an example of an operation flow of the vehicle lighting system according to the second embodiment. 
         FIG.  11    is a view showing how a vehicle emits a light pattern toward a pedestrian present in vicinity of a crosswalk. 
         FIG.  12    is a view showing how the vehicle emits the light pattern toward the pedestrian present in vicinity of the crosswalk. 
         FIG.  13 A  is a view showing the vehicle and the pedestrian stopped before the crosswalk. 
         FIG.  13 B  is a view showing a lighting state of the left communication support lamp and the right communication support lamp in a situation shown in  FIG.  13 A . 
         FIG.  14    is a view showing another example of the light pattern emitted from the vehicle. 
         FIG.  15    is a view showing an example of a message visually presented to a pedestrian from a first lighting unit according to a modification of the second embodiment. 
         FIG.  16    is a view showing another example of a message visually presented to the pedestrian from the first lighting unit according to the modification of the second embodiment. 
         FIG.  17    is a view showing how the vehicle emits a light pattern toward the other vehicle about to turn right. 
         FIG.  18    is a view showing an example of a message visually presented from the first lighting unit to the other vehicle according to the modification of the second embodiment. 
         FIG.  19 A  is a front view of a vehicle equipped with a vehicle system according to a third embodiment of the present invention. 
         FIG.  19 B  is a rear view of the vehicle. 
         FIG.  20    is a block diagram of the vehicle system according to the third embodiment. 
         FIG.  21    is a sequence diagram showing an example of operation of an inter-vehicle communication system according to the third embodiment. 
         FIG.  22    is a view showing a transmission side vehicle drawing a light pattern on a road surface corresponding to a parking section, and a reception side vehicle traveling on a parking lot. 
         FIG.  23    is a view showing a transmission side vehicle and the reception side vehicle about to leave the parking section. 
         FIG.  24    is a front view of a vehicle equipped with a lighting unit according to a first modification of the third embodiment. 
         FIG.  25    is a front view of a vehicle equipped with a lighting unit according to a second modification of the third embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. Description of members having the same reference numerals as those already described in the description of the present embodiment will be omitted for convenience of description. Dimensions of members shown in the drawings may be different from those of actual members for convenience of description. 
     In the description of the embodiment, a “left-right direction”, a “front-rear direction” and an “upper-lower direction” will be appropriately referred to for convenience of description. These directions are relative directions set for a vehicle  1  shown in  FIG.  1   . Here, 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”. The “upper-lower direction” is a direction including an “upper direction” and a “lower direction”. Although not shown in  FIG.  1   , the upper-lower direction is the direction orthogonal to the left-right direction and the front-rear direction. 
     First, a vehicle lighting system  4  (hereinafter, simply referred to as “lighting system  4 ”) according to the present embodiment will be described below with reference to  FIGS.  1  and  2   .  FIG.  1    is a plan view of a vehicle  1  equipped with the lighting system  4 . The vehicle  1  is a vehicle (an automobile) capable of traveling in an automated driving mode, and includes the lighting system  4 . The lighting system  4  includes a lighting unit  42  and a lighting control unit  43  (see  FIG.  2   ). The lighting unit  42  is disposed on a vehicle body roof  110 A of the vehicle  1 , for example, and is configured to emit a light pattern (particularly, a light pattern formed on a road surface by laser light) toward outside of the vehicle  1 . 
     The lighting unit  42  includes, for example, a laser light source configured to emit laser light, a light deflection device configured to deflect the laser light emitted from the laser light source, and an optical system such as a lens. The laser light source is, for example, an RGB laser light source configured to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a micro electro mechanical systems (MEMS) mirror, a galvanometer mirror, a polygon mirror or the like. As will be described below, the lighting unit  42  visually presents the light pattern (for example, a light pattern M 1  indicating character information shown in  FIG.  5    or a light pattern M 2  indicating graphic information shown in  FIG.  6   ) to other vehicles (particularly, an oncoming vehicle) by scanning with the laser light. Particularly, the lighting unit  42  visually presents the light pattern on the road surface ahead of the oncoming vehicle by scanning with the laser light. When the laser light source is the RGB laser light source, the lighting system  4  can draw the light pattern of various colors on a road. 
     Although a single lighting unit  42  is disposed on the vehicle body roof  110 A in the present embodiment, the number, arrangement, shape and the like of the lighting unit  42  are not particularly limited as long as the lighting unit  42  can emit the light pattern toward an object. For example, when two lighting units  42  are provided, one of the two lighting units  42  may be mounted in a left headlamp  20 L, and the other may be mounted in a right headlamp  20 R. When four lighting units  42  are provided, one lighting unit  42  may be mounted in each of the left headlamp  20 L, the right headlamp  20 R, a left rear combination lamp  30 L and a right rear combination lamp  30 R. A drawing method of the lighting unit  42  may be a digital light processing (DLP) method or a liquid crystal on silicon (LCOS) method. In this case, an LED is used as a light source instead of laser. 
     Next, a vehicle system  2  of the vehicle  1  will be described with reference to  FIG.  2   .  FIG.  2    shows a block diagram of the vehicle system  2 . As shown in  FIG.  2   , the vehicle system  2  includes a vehicle control unit  3 , the lighting system  4 , a sensor  5 , a camera  6 , a radar  7 , a human machine interface (HMI)  8 , a global positioning system (GPS)  9 , a wireless communication unit  10  and a storage device  11 . The vehicle system  2  further includes a steering actuator  12 , a steering device  13 , a brake actuator  14 , a brake device  15 , an accelerator actuator  16  and an accelerator device  17 . 
     The vehicle control unit  3  is configured to control traveling of the vehicle  1 . The vehicle control unit  3  is formed of, for example, at least one electronic control unit (ECU). The electronic control unit includes a computer system (for example, a system on a chip (SoC)) including one or more processors and one or more memories, and an electronic circuit including an active element such as a transistor and a passive element. The processor is, for example, a central processing unit (CPU), a micro processing unit (MPU), a graphics processing unit (GPU) and/or a tensor processing unit (TPU). The CPU may include a plurality of CPU cores. The GPU may include a plurality of GPU cores. The memory includes a read only memory (ROM) and a random access memory (RAM). The ROM may store a vehicle control program. For example, the vehicle control program may include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed by supervised or unsupervised machine learning (particularly, deep learning) using a multilayer neural network. The RAM may temporarily store a vehicle control program, vehicle control data and/or surrounding environment information indicating surrounding environment of the vehicle. The processor may be configured to load a program designated from various vehicle control programs stored in the ROM onto the RAM and to execute various types of processing in cooperation with the RAM. The computer system may include a non-Neumann type computer such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). Further, the computer system may include a combination of a Neumann type computer and a non-Neumann type computer. 
     The lighting system  4  is configured to emit the laser light (the light pattern) toward the outside of the vehicle  1  (for example, other vehicles), and includes the lighting unit  42  and the lighting control unit  43 . The lighting control unit  43  is configured to control driving of the lighting unit  42 , and is formed of an electronic control unit (ECU). The electronic control unit includes a computer system (for example, an SoC) including one or more processors and one or more memories, a laser light source control circuit (an analog processing circuit) configured to control driving of the laser light source of the lighting unit  42 , and an light deflection device control circuit (an analog processing circuit) configured to control driving of the light deflection device of the lighting unit  42 . The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. In the present embodiment, the vehicle control unit  3  and the lighting control unit  43  are provided as separate components, but the vehicle control unit  3  and the lighting control unit  43  may be integrally configured. In this respect, the lighting control unit  43  and the vehicle control unit  3  may be formed of a single electronic control unit. 
     For example, the computer system of the lighting control unit  43  specifies the light pattern to be emitted to the outside of the vehicle  1  based on an instruction signal transmitted from the vehicle control unit  3 , and then transmits a signal indicating the specified light pattern to the laser light source control circuit and the light deflection device control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source of the lighting unit  42 . On the other hand, the light deflection device control circuit generates a control signal for controlling the driving of the light deflection device based on the signal indicating the light pattern, and transmits the generated control signal to the light deflection device of the lighting unit  42 . In this way, the lighting control unit  43  can control the driving of the lighting unit  42 . 
     The sensor  5  includes an acceleration sensor, a speed sensor, a gyro sensor and the like. The sensor  5  is configured to detect a traveling state of the vehicle  1  and output traveling state information to the vehicle control unit  3 . The sensor  5  may further include a seating sensor that detects whether a driver is seated in a driver seat, a face direction 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 there is a person in the vehicle, or the like. 
     The camera  6  is, for example, a camera including an image sensor such as a charge-coupled device (CCD) or a complementary MOS (CMOS). The camera  6  may be mounted in the left headlamp  20 L and the right headlamp  20 R. For example, as shown in  FIG.  1   , the camera  6  may include a left front camera  60 L mounted in the left headlamp  20 L and configured to image a front region of the vehicle  1 , and a left lateral camera  62 L mounted in the left headlamp  20 L and configured to image a lateral region of the vehicle  1 . The camera  6  may further include a right front camera  60 R mounted in the right headlamp  20 R and configured to image a front region of the vehicle  1 , and a right lateral camera  62 R mounted in the right headlamp  20 R and configured to image a lateral region of the vehicle  1 . 
     The radar  7  is, for example, a millimeter wave radar, a microwave radar and/or a laser radar (for example, a Lidar). The camera  6  and/or the radar  7  are configured to detect the surrounding environment of the vehicle  1  (other vehicles, pedestrians, road shapes, traffic signs, obstacles and the like) and output the surrounding environment information indicating the surrounding environment of the vehicle  1  to the vehicle control unit  3 . 
     The HMI  8  includes an input unit that receives an input operation from a driver, and an output unit that outputs traveling information and 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 vehicle  1 , and the like. The output unit is a display that displays various types of traveling information. The GPS  9  is configured to acquire current position information of the vehicle  1  and output the acquired current position information to the vehicle control unit  3 . 
     The wireless communication unit  10  is configured to receive information on other vehicles around the vehicle  1  (for example, traveling information) from other vehicles and to transmit information (for example, traveling information) on the vehicle  1  to other vehicles (inter-vehicle communication). The wireless communication unit  10  is configured to receive infrastructure information from infrastructure equipment such as a traffic light or a sign lamp and to transmit the traveling information on the vehicle  1  to the infrastructure equipment (road-vehicle communication). The wireless communication unit  10  is configured to receive information on a pedestrian from a portable electronic device (a smart phone, a tablet, a wearable device or the like) carried by the pedestrian and to transmit the subject vehicle traveling information on the vehicle  1  to the portable electronic device (pedestrian-vehicle communication). The vehicle  1  may directly communicate with other vehicles, the infrastructure equipment or the portable electronic device in an ad hoc mode, or may communicate via an access point. The vehicle  1  may communicate with other vehicles, the infrastructure equipment or the portable electronic device via a communication network such as the Internet (not shown). A wireless communication standard is, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), IPWA, DSRC (registered trademark) or Li-Fi. The vehicle  1  may communicate with other vehicles, the infrastructure equipment or the portable electronic device using a fifth generation mobile communication system (5G). 
     The storage device  11  is an external storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The storage device  11  may store 2D or 3D map information and/or a vehicle control program. For example, the 3D map information may include point cloud data. The storage device  11  is configured to output the map information and the vehicle control program to the vehicle control unit  3  in response to a request from the vehicle control unit  3 . The map information and the vehicle control program may be updated via the wireless communication unit  10  and a communication network such as the Internet. 
     When the vehicle  1  travels in the automated driving mode, the vehicle control unit  3  automatically generates at least one of the steering control signal, the accelerator control signal and the brake control signal based on the traveling state information, the surrounding environment information, the current position information, the map information and the like. The steering actuator  12  is configured to receive the steering control signal from the vehicle control unit  3  and to control the steering device  13  based on the received steering control signal. The brake actuator  14  is configured to receive the brake control signal from the vehicle control unit  3  and to control the brake device  15  based on the received brake control signal. The accelerator actuator  16  is configured to receive the accelerator control signal from the vehicle control unit  3  and to control the accelerator device  17  based on the received accelerator control signal. In this way, in the automated driving mode, the traveling of the vehicle  1  is automatically controlled by the vehicle system  2 . 
     On the other hand, when the vehicle  1  travels in a manual driving mode, the vehicle control unit  3  generates the steering control signal, the accelerator control signal and the brake control signal according to a manual operation of the driver on the accelerator pedal, the brake pedal and the steering wheel. In this way, in the manual driving mode, 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 vehicle  1  is controlled by the driver. 
     Next, a driving mode of the vehicle  1  will be described. The driving mode includes the automated driving mode and the manual driving mode. The automated driving mode includes a fully automated driving mode, an advanced driving support mode and a driving support mode. In the fully automated driving mode, the vehicle system  2  automatically performs all traveling control including steering control, brake control and accelerator control, and the driver cannot drive the vehicle  1 . In the advanced driving support mode, the vehicle system  2  automatically performs all the traveling control including the steering control, the brake control and the accelerator control, and the driver can drive the vehicle  1  but does not drive the vehicle  1 . In the driving support mode, the vehicle system  2  automatically performs a part of the traveling control including the steering control, the brake control and the accelerator control, and the driver drives the vehicle  1  under driving support of the vehicle system  2 . On the other hand, in the manual driving mode, the vehicle system  2  does not automatically perform the traveling control, and the driver drives the vehicle  1  without the driving support of the vehicle system  2 . 
     The driving mode of the vehicle  1  may be switched by operating the driving mode switching switch. In this case, the vehicle control unit  3  switches the driving mode of the vehicle  1  among four driving modes (the fully automated driving mode, the advanced driving support mode, the driving support mode and the manual driving mode) according to an operation of the driver on the driving mode switching switch. The driving mode of the vehicle  1  may be automatically switched based on information on a travelable section where an automated driving vehicle can travel or a traveling-prohibited section where traveling of the automated driving vehicle is prohibited, or information on the external weather condition. In this case, the vehicle control unit  3  switches the driving mode of the vehicle  1  based on these pieces of information. The driving mode of the vehicle  1  may be automatically switched by using the seating sensor, the face direction sensor or the like. In this case, the vehicle control unit  3  switches the driving mode of the vehicle  1  based on a signal output from the seating sensor or the face direction sensor. 
     Next, an example of a control method of the lighting system  4  according to the present embodiment will be described below with reference to  FIGS.  3  and  4   .  FIG.  3    is a flowchart showing an example of processing for visually presenting, to an oncoming vehicle  1 A, information urging the oncoming vehicle  1 A to stop.  FIG.  4    is a view showing the vehicle  1  (the subject vehicle) and the oncoming vehicle  1 A traveling on a narrow road R. In the present description, the vehicle  1  is traveling in the automated driving mode. The oncoming vehicle  1 A may be a manual driving vehicle or an automated driving vehicle. 
     As shown in  FIG.  3   , first, the vehicle control unit  3  of the vehicle  1  detects the oncoming vehicle  1 A present in the front region the vehicle  1  based on image data acquired from the camera  6  and/or detection data (for example, point cloud data) acquired from the radar  7  (step S 1 ). Next, in step S 2 , the vehicle control unit  3  specifies a vehicle width w 1  (see  FIG.  4   ) of the oncoming vehicle  1 A based on the image data acquired from the camera  6  (particularly, the left front camera  60 L and the right front camera  60 R) and/or the detection data acquired from the radar  7 . Here, the vehicle width w 1  of the oncoming vehicle  1 A may be defined as a distance from a left end to a right end of the oncoming vehicle  1 A. Particularly, when the oncoming vehicle  1 A includes side mirrors, the vehicle width w 1  of the oncoming vehicle  1 A may be defined as a distance from an end portion of the left side mirror of the oncoming vehicle  1 A to an end portion of the right side mirror of the oncoming vehicle  1 A. 
     Next, in step S 3 , the vehicle control unit  3  specifies a road width w 2  in a right lateral region of the vehicle  1  (the subject vehicle) based on the image data acquired from the camera  6  (particularly, the right lateral camera  62 R on an oncoming vehicle side) and/or the detection data acquired from the radar  7 . Here, the road width w 2  in the right lateral region may be defined as a distance from a right end of the vehicle  1  (an end portion of the right side mirror when the vehicle  1  includes side mirrors) to a right guardrail G 1 . When no guardrail is installed on the road R, the road width w 2  may be defined as a distance from the right end of the vehicle  1  to an obstacle (for example, a fence of a private house or a utility pole). 
     Next, in step S 4 , the vehicle control unit  3  determines whether the vehicle width w 1  of the oncoming vehicle  1 A is equal to or greater than the road width w 2  in the right lateral region of the vehicle  1 . When the vehicle control unit  3  determines that the vehicle width w 1  is smaller than the road width w 2  (NO in step S 4 ), the processing ends. On the other hand, when the vehicle control unit  3  determines that the vehicle width w 1  is equal to or greater than the road width w 2  (YES in step S 4 ), the processing in step S 5  is executed. 
     Next, in step S 5 , the lighting unit  42  emits laser light toward the oncoming vehicle  1 A to visually present, to the oncoming vehicle  1 A, the information (a light pattern) urging the oncoming vehicle  1 A to stop. Particularly, the lighting unit  42  draws the information (the light pattern) urging the oncoming vehicle  1 A to stop on a road surface ahead of the oncoming vehicle  1 A by emitting the laser light onto the road surface ahead of the oncoming vehicle  1 A. The information urging the oncoming vehicle  1 A to stop may include at least one of the character information and the graphic information. For example, as shown in  FIG.  5   , the lighting unit  42  may draw the light pattern M 1  indicating the character information “Passage prohibited” on the road surface ahead of the oncoming vehicle  1 A as the information urging the oncoming vehicle  1 A to stop. As shown in  FIG.  6   , the lighting unit  42  may draw the light pattern M 2  indicating a stop line (an example of the graphic information) on the road surface ahead of the oncoming vehicle  1 A as the information urging the oncoming vehicle  1 A to stop. The graphic information and the character information urging the oncoming vehicle  1 A to stop are not limited to examples shown in  FIGS.  5  and  6   . 
     Specifically describing the processing in step S 5 , first, when determining that the vehicle width w 1  is equal to or greater than the road width w 2 , the vehicle control unit  3  generates an instruction signal instructing emission of a predetermined light pattern urging the oncoming vehicle  1 A to stop, and then transmits the instruction signal and position information of the oncoming vehicle  1 A to the lighting control unit  43 . Next, according to the instruction signal received from the vehicle control unit  3 , the lighting control unit  43  controls the lighting unit  42  such that the predetermined light pattern urging the oncoming vehicle  1 A to stop is drawn on the road surface ahead of the oncoming vehicle  1 A. Particularly, the light deflection device of the lighting unit  42  scans the road surface ahead of the oncoming vehicle  1 A with the laser light emitted from the laser light source. As a result, the predetermined light pattern is drawn on the road surface ahead of the oncoming vehicle  1 A. 
     According to the present embodiment, based on the vehicle width w 1  of the oncoming vehicle  1  present ahead of the vehicle  1  and the road width w 2  in the right lateral region of the vehicle  1 , the information urging the oncoming vehicle  1 A to stop is visually presented on the road surface ahead of the oncoming vehicle  1 A as information on traveling support of the oncoming vehicle  1 A. In this way, since an occupant of the oncoming vehicle  1 A can visually recognize the information urging the oncoming vehicle  1 A to stop, the lighting system  4  capable of realizing rich visual communication between vehicles can be provided. 
     Particularly, according to the present embodiment, when the vehicle width w 1  of the oncoming vehicle  1 A is equal to or greater than the road width w 2 , the information urging the oncoming vehicle  1 A to stop is visually presented to the oncoming vehicle  1 A. In this way, the occupant of the oncoming vehicle  1 A can recognize that the oncoming vehicle  1 A should be stopped in order for the two vehicles to pass each other without trouble (such as contact between the two vehicles). Therefore, in a situation where it is difficult for the two vehicles to pass each other, the rich visual communication between the vehicles can be realized. 
     The vehicle  1  may increase the road width w 2  such that the vehicle width w 1  of the oncoming vehicle  1 A is smaller than the road width w 2  by visually presenting, to the oncoming vehicle  1 A, the information urging the oncoming vehicle  1  A to stop, and then narrowing a distance between a left end of the vehicle  1  and a left guardrail G 2 . Then, when the vehicle control unit  3  determines that the vehicle width w 1  is smaller than the road width w 2 , the vehicle  1  may pass the oncoming vehicle  1 A. On the other hand, when the vehicle control unit  3  determines that it is difficult for the vehicle  1  and the oncoming vehicle  1 A to pass each other even if the road width w 2  is increased by narrowing the distance between the left end of the vehicle  1  and the left guardrail G 2 , the vehicle  1  may be moved backward to a predetermined retreat position. 
     In the description of the present embodiment, the processing in step S 4  is executed by the vehicle control unit  3 , but the processing in step S 4  may be executed by the lighting control unit  43 . In this case, the vehicle control unit  3  may transmit information on the vehicle width w 1  of the oncoming vehicle  1 A and information on the road width w 2  to the lighting control unit  43 . In the processing in step S 4 , it is determined whether the vehicle width w 1  of the oncoming vehicle  1 A is equal to or greater than the road width w 2 , but the present embodiment is not limited thereto. For example, it may be determined whether a value (w 1 +α) obtained by adding a predetermined margin a to the vehicle width w 1  is equal to or greater than the road width w 2 . Here, the margin a may be appropriately set according to conditions such as road environment, a vehicle type and/or the automated driving mode. 
     In the present embodiment, although the lighting system  4  visually presents, to the oncoming vehicle  1 A, the information urging the oncoming vehicle  1 A to stop, the lighting system  4  may visually present, to the oncoming vehicle  1 A, the information on the traveling support of the oncoming vehicle  1 A other than the information urging the oncoming vehicle  1 A to stop. For example, the lighting system  4  may present, to the oncoming vehicle  1 A, information indicating difficulty degree of the vehicle  1  and the oncoming vehicle  1 A passing each other. As an example of the information indicating the difficulty degree of the vehicle  1  and the oncoming vehicle  1 A passing each other, the graphic information indicating a plurality of stars may be drawn on the road surface. For example, when the difficulty degree of passing each other is the highest, five filled star marks may be drawn on the road surface. In contract, when the difficulty degree of passing each other is the lowest, four white star marks and one filled star mark may be drawn on the road surface. The lighting system  4  may draw numerical information indicating the vehicle width w 1  of the oncoming vehicle  1 A on the road surface together with the information urging the oncoming vehicle  1 A to stop. The lighting system  4  may draw numerical information (w 1 +α) obtained by adding the predetermined margin a to the vehicle width w 1  of the oncoming vehicle  1 A on the road surface. 
     In step S 5 , the lighting control unit  43  may determine a display language of the character information on the traveling support of the oncoming vehicle  1 A (including the character information urging the oncoming vehicle  1 A to stop) based on the information on a current position of the vehicle  1  acquired from the GPS  9 . Then, the lighting control unit  43  may control the lighting unit  42  such that the character information on the traveling support of the oncoming vehicle  1 A is visually presented to the oncoming vehicle  1 A in the determined display language. For example, when the vehicle  1  is located in Japan, a light pattern indicating “Passage prohibited” (Japanese) may be drawn on the road surface as the character information urging the oncoming vehicle  1 A to stop. When the vehicle  1  is located in an English-speaking area, a light pattern indicating “No traffic” (English) may be drawn on the road surface. When the vehicle  1  is located in a French-speaking area, a light pattern indicating “Pas de trafic” (French) may be drawn on the road surface. In this case, laser drawing data of the light pattern indicating the character information urging the oncoming vehicle to stop for each display language may be stored in the memory of the lighting control unit  43 . 
     In this way, the display language of the character information on the traveling support of the oncoming vehicle  1 A is determined based on the current position of the vehicle  1 , and then the character information is visually presented to the oncoming vehicle  1 A in the determined display language. Therefore, since the display language of the character information is associated with the current position of the vehicle  1 , possibility that the occupant of the oncoming vehicle  1 A can understand the character information visually presented by the vehicle  1  can be increased, and thus the rich visual communication between the vehicles can be realized. 
     In step S 5 , the lighting unit  42  may visually present, to the oncoming vehicle  1 A, the character information on the traveling support of the oncoming vehicle  1 A in a plurality of display languages. For example, when the vehicle  1  is located in Japan, the lighting unit  42  first draws the light pattern indicating “Passage prohibited” (Japanese) on the road surface as the character information urging the oncoming vehicle  1 A to stop. Then, after a predetermined period of time has elapsed, the lighting unit  42  may draw the light pattern indicating “No traffic” (English) on the road surface as the character information urging the oncoming vehicle  1 A to stop. The character information indicated by the plurality of display languages may be switched in a predetermined cycle, or the character information indicated by the plurality of display languages may be simultaneously displayed on the road surface. 
     In this way, since the character information on the traveling support of the oncoming vehicle  1 A is visually presented to the oncoming vehicle  1 A in the plurality of display languages, the possibility that the occupant of the oncoming vehicle  1 A can understand the character information on the traveling support of the oncoming vehicle can be increased. Particularly, in a case of a region where a plurality of languages is used, it is preferable that the character information on the traveling support of the oncoming vehicle  1 A is visually presented in the plurality of display languages. 
     When the oncoming vehicle  1 A has a wireless communication function, in step S 5 , the lighting control unit  43  or the vehicle control unit  3  wirelessly transmits, to the oncoming vehicle  1 A, the information on the traveling support of the oncoming vehicle  1 A (including the information urging the oncoming vehicle  1 A to stop) via the wireless communication unit  10 . In this case, the vehicle  1  may transmit the information directly to the oncoming vehicle  1 A in the ad hoc mode, or may transmit the information to the oncoming vehicle  1 A via the access point. The vehicle  1  may transmit the information to a server present on the communication network via the communication network such as the Internet. In this case, the oncoming vehicle  1 A may acquire the above information transmitted from the vehicle  1  by regularly accessing the server. The oncoming vehicle  1 A may visually or audibly present the information transmitted from the vehicle  1  to the occupant of the oncoming vehicle  1 A. Specifically, a display device installed inside the oncoming vehicle  1 A may display the information transmitted from the vehicle  1 . The in-vehicle speaker installed inside the oncoming vehicle  1 A may output the information transmitted from the vehicle  1  as voice guidance. 
     In this way, since the information on the traveling support of the oncoming vehicle  1 A is visually presented to the oncoming vehicle  1 A and the information is wirelessly transmitted to the oncoming vehicle  1 A, the possibility that the occupant of the oncoming vehicle  1 A having the wireless communication function can recognize the information can be increased. Therefore, the rich communication between the vehicles can be realized. 
     In the present embodiment, the light pattern is drawn on the road surface ahead of the oncoming vehicle  1 A as the information on the traveling support of the oncoming vehicle  1 A (including the information urging the oncoming vehicle  1 A to stop), but the present embodiment is not limited thereto. For example, the light pattern may be drawn on a part (for example, a windshield) of a vehicle body of the oncoming vehicle  1 A. In this case, the windshield of the oncoming vehicle  1 A is a windshield for a head-up display (HUD), and may include a light emitting layer formed of two glass plates and a phosphor material provided between the two glass plates. The laser light source of the lighting unit  42  may be configured to emit laser light in a short wavelength band (for example, a wavelength λ=350 nm to 410 nm). When the windshield of the oncoming vehicle  1 A is irradiated with the laser light in the short wavelength band, the light emitting layer of the windshield emits light and a predetermined light pattern is formed on the windshield. 
     Second Embodiment 
     Next, a second embodiment of the present invention will be described with reference to the drawings. Description of members having the same reference numerals as those already described in the description of the present embodiment will be omitted for convenience of description. Dimensions of members shown in the drawings may be different from those of actual members for convenience of description. 
     In the description of this embodiment, a “left-right direction”, an “upper-lower direction” and a “front-rear direction” will be appropriately referred to for convenience of description. These directions are relative directions set for a vehicle  100  shown in  FIG.  7   . Here, the “left-right direction” is a direction including a “left direction” and a “right direction”. 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”. Although not shown in  FIG.  7   , the front-rear direction is the direction orthogonal to the left-right direction and the upper-lower direction. 
     First, a vehicle lighting system  104  (hereinafter, simply referred to as “lighting system  104 ”) according to the present embodiment will be described below with reference to  FIGS.  7  and  8   .  FIG.  7    is a front view of the vehicle  100  equipped with the lighting system  104 .  FIG.  8    is a block diagram of a vehicle system  102  including the lighting system  104 . The vehicle  100  is a vehicle (an automobile) capable of traveling in an automated driving mode, and includes the vehicle system  102 . 
     As shown in  FIGS.  7  and  8   , the lighting system  104  includes a first lighting unit  144 , a second lighting unit  142 , a first lighting control unit  147  and a second lighting control unit  145 . The first lighting unit  144  is a lamp that supports visual communication between an object such as the pedestrian or other vehicles and the vehicle  100 , and is configured to visually present a message to outside of the vehicle  100 . The first lighting unit  144  includes a left communication support lamp  140 L (hereinafter, simply referred to as a “left CSL  140 L”) and a right communication support lamp  140 R (hereinafter, simply referred to as a “right CSL  140 R”). 
     The left CSL  140 L is configured to emit light toward the outside of the vehicle  100 , and is disposed in a lamp chamber of a left headlamp  120 L mounted on a left front side of the vehicle  100  so as to be visible from ahead of the vehicle  100 . The lamp chamber of the left headlamp  120 L is formed by a lamp housing (not shown) and a translucent cover (not shown) connected to the lamp housing. The left CSL  140 L is disposed so as to extend in the left-right direction of the vehicle  100 , and includes six light emitting segments  143 L. The six light emitting segments  143 L are arranged side by side in the left-right direction of the vehicle  100 . Particularly, as shown in  FIG.  9   , each light emitting segment  143 L includes a red LED  400   a  configured to emit red light, a green LED  400   b  configured to emit green light and a blue LED  400   c  configured to emit blue light. Hereinafter, the red LED  400   a , the green LED  400   b  and the blue LED  400   c  may be collectively referred to simply as a LED  400  for convenience of description. The left headlamp  120 L includes a low beam lamp  160 L configured to emit a low beam toward ahead of the vehicle  100 , and a high beam lamp  170 L configured to emit a high beam toward ahead of the vehicle  100 . 
     The right CSL  140 R is configured to emit light toward the outside of the vehicle  100 , and is disposed in a lamp chamber of a right headlamp  120 R mounted on a right front side of the vehicle  100  so as to be visible from ahead of the vehicle  100 . The lamp chamber of the right headlamp  120 R is formed by a lamp housing (not shown) and a translucent cover (not shown) connected to the lamp housing. The right CSL  140 R is disposed so as to extend in the left-right direction of the vehicle  100 , and includes six light emitting segments  143 R. The six light emitting segments  143 R are arranged side by side in the left-right direction of the vehicle  100 . Each light emitting segment  143 R includes a red LED  400   a , a green LED  400   b  and a blue LED  400   c  (see  FIG.  9   ). The right headlamp  120 R includes a low beam lamp  160 R configured to emit a low beam toward ahead of the vehicle  100 , and a high beam lamp  170 R configured to emit a high beam toward ahead of the vehicle  100 . 
     Arrangement positions of the left CSL  140 L and the right CSL  140 R are not particularly limited as long as they are visible from ahead of the vehicle  100 . For example, the left CSL  140 L may be disposed in a region outside the left headlamp  120 L (for example, in vicinity of the left headlamp  120 L), or may be disposed on a grille  140  of the vehicle  100 . The right CSL  140 R may be disposed in a region outside the right headlamp  120 R (for example, in vicinity of the right headlamp  120 R), or may be disposed on the grille  140 . In the present embodiment, the left CSL  140 L includes six light emitting segments  143 L, but the number of the light emitting segments  143 L is not particularly limited. Similarly, the right CSL  140 R includes six light emitting segments  143 R, but the number of the light emitting segments  143 R is not particularly limited. 
     The second lighting unit  142  is disposed on a vehicle body roof  160  of the vehicle  100 , for example, and is configured to emit a light pattern (particularly, a light pattern formed on a road surface by laser light) toward the outside of the vehicle  100  (particularly, the object present outside the vehicle  100 ). The second lighting unit  142  includes, for example, a laser light source configured to emit the laser light, a light deflection device configured to deflect the laser light emitted from the laser light source, and an optical system member such as a lens. The laser light source is, for example, an RGB laser light source configured to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a MEMS mirror, a galvanometer mirror, a polygon mirror or the like. As will be described below, the second lighting unit  142  visually presents the light pattern to the object by scanning with the laser light. Particularly, the second lighting unit  142  draws the light pattern on the road surface around the object by scanning with the laser light. When the laser light source is the RGB laser light source, the second lighting unit  142  can draw the light pattern of various colors on a road. 
     Although a single second lighting unit  142  is disposed on the vehicle body roof  160  in the present embodiment, the number, arrangement, shape and the like of the second lighting unit  142  are not particularly limited as long as the second lighting unit  142  can emit the light pattern toward the object. For example, when two second lighting units  142  are provided, one of the two second lighting units  142  may be mounted in the left headlamp  120 L and the other may be mounted in the right headlamp  120 R. When four second lighting units  142  are provided, one second lighting unit  142  may be mounted in each of the left headlamp  120 L, the right headlamp  120 R, a left rear combination lamp (not shown) and a right rear combination lamp (not shown). A drawing method of the second lighting unit  142  may be a DLP method or an LCOS method. In this case, an LED is used as a light source instead of laser. 
     Next, the vehicle system  102  of the vehicle  100  will be described with reference to  FIG.  8   .  FIG.  8    shows a block diagram of the vehicle system  102 . As shown in  FIG.  8   , the vehicle system  102  includes a vehicle control unit  103 , the lighting system  104 , the sensor  5 , the camera  6 , the radar  7 , the HMI  8 , the GPS  9 , the wireless communication unit  10  and the storage device  11 . The vehicle system  102  further includes the steering actuator  12 , the steering device  13 , the brake actuator  14 , the brake device  15 , the accelerator actuator  16  and the accelerator device  17 . 
     The vehicle control unit  103  is configured to control traveling of the vehicle  100 . The vehicle control unit  103  is formed of, for example, at least one electronic control unit (ECU). The electronic control unit includes a computer system (for example, a SoC) including one or more processors and one or more memories, and an electronic circuit including an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The CPU may include a plurality of CPU cores. The GPU may include a plurality of GPU cores. The memory includes a ROM and a RAM. The ROM may store a vehicle control program. For example, the vehicle control program may include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed by supervised or unsupervised machine learning (particularly, deep learning) using a multilayer neural network. The RAM may temporarily store a vehicle control program, vehicle control data and/or surrounding environment information indicating surrounding environment of the vehicle. The processor may be configured to load a program designated from various vehicle control programs stored in the ROM onto the RAM and to execute various types of processing in cooperation with the RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. Further, the computer system may include a combination of a Neumann type computer and a non-Neumann type computer. 
     As described above, the lighting system  104  includes the first lighting unit  144 , the second lighting unit  142 , the first lighting control unit  147  and the second lighting control unit  145 . The first lighting control unit  147  is configured to control the first lighting unit  144  (particularly, the left CSL  140 L and the right CSL  140 R). Particularly, the first lighting control unit  147  is configured to change a lighting state (for example, lighting color, lighting intensity, blinking cycle, lighting spot and lighting area) of the left CSL  140 L and the right CSL  140 R. 
     The first lighting control unit  147  is formed of an electronic control unit (ECU), and is electrically connected to a power supply (not shown). The electronic control unit includes a computer system (for example, a SoC) including one or more processors and one or more memories, and an analog processing circuit including an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. The analog processing circuit includes a lamp driving circuit (for example, an LED driver) configured to control driving of the left CSL  140 L and the right CSL  140 R. 
     For example, the first lighting control unit  147  is electrically connected to LEDs  400  (see  FIG.  9   ) of each of the light emitting segments  143 L and  143 R. For example, when one of the six light emitting segments  143 L emits red light, the first lighting control unit  147  supplies an electrical signal (for example, a PWM signal) to the red LED  400   a  belonging to the one light emitting segment  143 L. Then, the red LED  400   a  emits the red light according to the electrical signal supplied from the first lighting control unit  147 . In this way, the red light is emitted from the light emitting segment  143 L. When all the six light emitting segments  143 L emit white light, the first lighting control unit  147  supplies an electrical signal to the red LED  400   a , the green LED  400   b  and the blue LED  400   c  belonging to each light emitting segment  143 L. Then, the white light is generated by combining red light emitted from the red LED  400   a , green light emitted from the green LED  400   b  and blue light emitted from the blue LED  400   c . In this way, the white light is emitted from all the six light emitting segments  143 L. The first lighting control unit  147  can allow light of various colors to be emitted from each light emitting segment  143 L by adjusting the electrical signal supplied to each LED  400 . 
     In this manner, the first lighting control unit  147  can change a lighting state (for example, lighting color, lighting intensity and blinking cycle) of each light emitting segment  143 L by individually controlling lighting of each LED  400  belonging to each light emitting segment  143 L (that is, by individually supplying the electrical signal to each LED  400 ). 
     The second lighting control unit  145  is configured to control the second lighting unit  142 . Particularly, the second lighting control unit  145  is configured to control the first lighting unit  144  such that the second lighting unit  142  emits a light pattern toward the object when the first lighting unit  144  visually presents a message to the outside of the vehicle  100 . 
     The second lighting control unit  145  is configured to control driving of the second lighting unit  142 , and is formed of an electronic control unit (ECU). The electronic control unit includes a computer system (for example, a SoC) including one or more processors and one or more memories, and an analog processing circuit including an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. The analog processing circuit includes a laser light source control circuit configured to control driving of the laser light source of the second lighting unit  142 , and a light deflection device control circuit configured to control driving of the light deflection device of the second lighting unit  142 . 
     For example, the computer system of the second lighting control unit  145  specifies the light pattern to be emitted to the outside of the vehicle  100  based on an instruction signal transmitted from the vehicle control unit  103 , and then transmits a signal indicating the specified light pattern to the laser light source control circuit and the light deflection device control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source. On the other hand, the light deflection device control circuit generates a control signal for controlling the driving of the light deflection device based on the signal indicating the light pattern, and transmits the generated control signal to the light deflection device. In this way, the second lighting control unit  145  can control the driving of the second lighting unit  142 . 
     In the present embodiment, the first lighting control unit  147  and the second lighting control unit  145  are provided as separate components, but the first lighting control unit  147  and the second lighting control unit  145  may be integrally configured. In this respect, the first lighting control unit  147  and the second lighting control unit  145  may be configured as a single electronic control unit. The vehicle control unit  103 , the first lighting control unit  147  and the second lighting control unit  145  may be configured as a single electronic control unit. 
     Next, an example of an operation flow of the lighting system  104  will be described below with reference to  FIGS.  10  to  13 B .  FIG.  10    is a flowchart showing the example of the operation flow of the lighting system  104  according to the present embodiment.  FIG.  11    is a view showing how the vehicle  100  emits a light pattern L 1  toward a pedestrian P present in vicinity of a crosswalk C when a distance D between the vehicle  100  and the pedestrian P is D 1 .  FIG.  12    is a view showing how the vehicle  100  emits the light pattern L 1  toward the pedestrian P when the distance D between the vehicle  100  and the pedestrian P is D 2  (&lt;D 1 ).  FIG.  13 A  is a view showing the vehicle  100  and the pedestrian P stopped before the crosswalk C.  FIG.  13 B  is a view showing a lighting state of the left CSL  140 L and the right CSL  140 R in a situation shown in  FIG.  13 A . In the following description, only the pedestrian P is present as the object around an intersection for convenience of description. 
     As shown in  FIGS.  10  and  11   , first, the vehicle control unit  103  determines whether the pedestrian P is present in the vicinity of the crosswalk C ahead of the vehicle  100  (step S 10 ). Particularly, the vehicle control unit  103  determines whether the pedestrian P is present in the vicinity of the crosswalk C based on detection data indicating surrounding environment of the vehicle  100  acquired by the camera  6  and/or the radar  7 . When a determination result of step S 10  is YES, the processing proceeds to step S 12 . On the other hand, when the determination result of step S 10  is NO, the processing ends. 
     Next, in step S 12 , the vehicle control unit  103  acquires position information of the pedestrian P based on the detection data acquired by the camera  6  and/or the radar  7 . Here, the position information of the pedestrian P is information on a relative position of the pedestrian P with respect to the vehicle  100 . 
     Next, in step S 13 , the second lighting unit  142  of the lighting system  104  emits the light pattern L 1  toward the pedestrian P as shown in  FIG.  11   . Particularly, the second lighting unit  142  draws the light pattern L 1  on a road surface ahead of the pedestrian P by emitting the laser light onto the road surface ahead of the pedestrian P. In the present embodiment, the light pattern L 1  is a linear light pattern, but a shape of the light pattern is not particularly limited. For example, the light pattern may be a circular light pattern. 
     Specifically describing the processing in step S 13 , first, the vehicle control unit  103  generates an instruction signal instructing emission of the light pattern L 1 , and then transmits the instruction signal and the position information of the pedestrian P to the second lighting control unit  145 . Next, the second lighting control unit  145  controls the second lighting unit  142  such that the light pattern L 1  is drawn on the road surface ahead of the pedestrian P according to the instruction signal received from the vehicle control unit  103  and the position information of the pedestrian P. Particularly, the light deflection device of the second lighting unit  142  scans the road surface ahead of the pedestrian P with the laser light emitted from the laser light source. As a result, the light pattern L 1  is drawn on the road surface ahead of the pedestrian P. 
     The second lighting control unit  145  may determine whether the light pattern L 1  is emitted onto the road surface around the pedestrian P or is directly emitted to the pedestrian P according to a state of the road surface on which the vehicle  100  is traveling. For example, when the road surface is not wet, the second lighting unit  142  may emit the light pattern L 1  onto the road surface around the pedestrian P. On the other hand, when the road surface is wet, the second lighting unit  142  may directly emit the light pattern L 1  to the pedestrian P (particularly, feet of the pedestrian P). 
     Next, in step S 14 , the vehicle control unit  103  determines whether the vehicle  100  has stopped before the crosswalk C based on speed information of the vehicle  100  acquired by the sensor  5 . When the vehicle control unit  103  determines that the vehicle  100  has not stopped before the crosswalk C (NO in step S 14 ), the processing returns to step S 12 . In this way, the processing from step S 12  to step S 14  are repeatedly executed until a stop of the vehicle  100  is determined. For example, as shown in  FIGS.  11  and  12   , the second lighting unit  142  may continue to emit the light pattern L 1  onto the road surface ahead of the pedestrian P until the vehicle  100  stops before the crosswalk C. In this case, since the relative position of the pedestrian P with respect to the vehicle  100  (the position information of the pedestrian P) changes over time, the position information of the pedestrian P may be updated at a predetermined cycle, and the updated position information of the pedestrian P may be transmitted to the second lighting control unit  145  at the predetermined cycle. 
     Next, when the vehicle control unit  103  determines that the vehicle  100  has stopped before the crosswalk C (YES in step S 14 ), the light emitting segments to be lit, among the six light emitting segments  143 L of the left CSL  140 L and the six light emitting segments  143 R of the right CSL  140 R, are sequentially changed along a traveling direction (step S 15 ) according to a direction in which the pedestrian P crosses the crosswalk C (hereinafter, referred to as the traveling direction). 
     Specifically, the vehicle control unit  103  determines whether the pedestrian P is located on a left side or a right side of the vehicle  100 , and then specifies the traveling direction of the pedestrian P. For example, as shown in  FIG.  13 A , when the pedestrian P is located on the left side of the vehicle  100 , the vehicle control unit  103  determines that the traveling direction of the pedestrian P is the right direction as viewed from the vehicle  100 . On the contrary, when the pedestrian P is located on the right side of the vehicle  100 , the vehicle control unit  103  determines that the traveling direction of the pedestrian P is the left direction as viewed from the vehicle  100 . 
     Next, the vehicle control unit  103  generates a lighting control signal instructing sequential lighting of the light emitting segments, and transmits the lighting control signal to the first lighting control unit  147 . The first lighting control unit  147  sequentially changes the light emitting segments to be lit, among the six light emitting segments  143 L and the six light emitting segments  143 R, in the traveling direction of the pedestrian P, based on the transmitted lighting control signal. 
     For example, in the situation shown in  FIG.  13 A , the vehicle control unit  103  transmits, to the first lighting control unit  147 , the lighting control signal indicating that the light emitting segments are sequentially lit in the right direction. Then, the first lighting control unit  147  sequentially changes the light emitting segments to be lit in the right direction based on the transmitted lighting control signal. In  FIG.  13 B , the light emitting segment  143 L located on the leftmost side, the light emitting segment  143 L located fourth from a left end of the left CSL  140 L, and the light emitting segment  143 R located fourth from a left end of the right CSL  140 R are lit. However, actually, one light emitting segment may be sequentially lit between the light emitting segment  143  located on the leftmost side (hereinafter referred to as a light emitting segment  143 Lm) and the light emitting segment  143 R located on the rightmost side (hereinafter referred to as a light emitting segment  143 Rm), or two or more light emitting segments may be sequentially lit. The sequential lighting of the light emitting segments includes not only one-by-one lighting of the light emitting segments between the light emitting segment  143  Lm and the light emitting segment  143  Rm, but also lighting of every other light emitting segment (or every two or more segments). 
     In this way, the first lighting unit  144  including the left CSL  140 L and the right CSL  140 R can visually present an guidance message urging the object to perform a predetermined action (in this embodiment, an guidance message urging the pedestrian P to cross the crosswalk C) by sequentially lighting the light emitting segments. 
     Next, in step S 16 , the vehicle control unit  103  determines whether the pedestrian P has crossed the crosswalk C based on the detection data acquired by the camera  6  and/or the radar  7 . When determining that the pedestrian P has crossed the crosswalk C, the vehicle control unit  103  allows the vehicle  100  to start (step S 17 ). Specifically, the vehicle control unit  103  transmits an accelerator control signal to the accelerator actuator  16 . Next, the accelerator actuator  16  controls the accelerator device  17  based on the transmitted accelerator control signal. In this way, the vehicle  100  starts. The vehicle  100  may start before the pedestrian P has crossed the entire crosswalk C. On the other hand, when a determination result of step S 16  is NO, the processing in step S 15  is repeatedly executed. 
     When the vehicle  100  starts, the first lighting control unit  147  may change the lighting state of the left CSL  140 L and the right CSL  140 R in order to present a message indicating that the vehicle  100  starts to the pedestrian P. For example, the first lighting control unit  147  may blink all the light emitting segments  143 L,  143 R a predetermined number of times (for example, three times) in order to present the message indicating that the vehicle  100  starts to the pedestrian P. 
     According to the present embodiment, the lighting state of the left CSL  140 L and the right CSL 140 R changes by sequentially lighting the light emitting segments to be lit, among the six light emitting segments  143 L and the six light emitting segments  143 R, along the traveling direction of the pedestrian P. In this way, the pedestrian P in the vicinity of the crosswalk C can know that the vehicle  100  recognizes the pedestrian P and can cross the crosswalk C with safe feeling by looking at a change in the lighting state of the left CSL  140 L and the right CSL  140 R (the guidance message guiding the pedestrian P to cross the crosswalk). As a result, the pedestrian P is guided to cross the crosswalk C by the guidance message. 
     According to the present embodiment, when the first lighting unit  144  visually presents the message to the outside of the vehicle  100 , the second lighting unit  142  emits the light pattern L 1  toward the pedestrian P. Therefore, the pedestrian P present outside the vehicle  100  can notice presence of the guidance message visually presented by the first lighting unit  144  by the light pattern L 1  emitted from the second lighting unit  142  toward the pedestrian P, and can recognize that the guidance message is a message presented from the vehicle  100  to the pedestrian P. In this way, the lighting system  104  capable of realizing rich visual communication between the vehicle  100  and the object such as the pedestrian P can be provided. 
     As shown in  FIG.  14   , instead of the linear light pattern L 1 , the second lighting unit  142  may draw a linear light pattern L 2  extending from the vehicle  100  toward the pedestrian P on the road surface. In this case, since the pedestrian P and the vehicle  100  are visually associated with each other by the light pattern L 2 , the pedestrian P can clearly know that the vehicle  100  recognizes the pedestrian P by looking at the light pattern L 2 . Therefore, the pedestrian P can easily notice the presence of the guidance message visually presented by the first lighting unit  144 , and can intuitively recognize that the guidance message is the message presented from the vehicle  100  to the pedestrian P. 
     In the description of the present embodiment, after the vehicle  100  has stopped before the crosswalk C, the first lighting unit  144  presents the guidance message to the pedestrian P. In other words, after the second lighting unit  142  emits the light pattern toward the pedestrian P, the first lighting unit  144  presents the guidance message to the pedestrian P. However, the present embodiment is not limited to thereto. For example, before the vehicle  100  stops before the crosswalk C, the first lighting unit  144  may present the guidance message to the pedestrian P. In this respect, while the first lighting unit  144  is presenting the guidance message, the second lighting unit  142  may emit the light pattern toward the pedestrian P. Particularly, after the first lighting unit  144  starts presenting the guidance message, the second lighting unit  142  may emit the light pattern toward the pedestrian P. The same applies to this case as well, the pedestrian P present outside the vehicle  100  can notice the presence of the guidance message presented by the first lighting unit  144  by the light pattern L 1  emitted from the second lighting unit  142  toward the pedestrian P, and can recognize that the guidance message is the message presented from the vehicle  100  to the pedestrian P. 
     Next, a vehicle  100 A equipped with a first lighting unit  144 A according to a modification of the second embodiment will be described with reference to  FIGS.  15  and  16   .  FIG.  15    is a view showing a stop notification message M 1  (character information) visually presented to the pedestrian P from the first lighting unit  144 A according to the modification of the second embodiment.  FIG.  16    is a view showing a guidance message M 2  (character information) visually presented to the pedestrian P from the first lighting unit  144 A. The vehicle  100 A is different from the vehicle  100  according to the present embodiment in that the first lighting unit  144 A is mounted instead of the first lighting unit  144 . Hereinafter, the first lighting unit  144 A will be described in detail. 
     As shown in  FIGS.  15  and  16   , the first lighting unit  144 A is configured to visually present a predetermined message to outside of the vehicle  100 A. Particularly, the first lighting unit  144 A is configured to display the stop notification message M 1  (“Stop”) or the guidance message M 2  (“Please cross the crosswalk”) guiding to cross the crosswalk on a windshield  120 F of the vehicle  100 A. In this example, messages M 1 , M 2  are displayed on the windshield  120 F as the character information, but a message may be displayed on the windshield  120 F as graphic information. 
     The first lighting unit  144 A may be configured as a projector device that projects the predetermined message onto the windshield  120 F. The first lighting unit  144 A may draw the predetermined message on the windshield  120 F by irradiating the windshield  120 F with laser light. In this case, the windshield  120 F of the vehicle  100 A is a windshield for a head-up display (HUD), and may include a light emitting layer formed of two glass plates and a phosphor material provided between the two glass plates. A laser light source of the first lighting unit  144 A may be configured to emit the laser light in a short wavelength band (for example, a wavelength λ=350 nm to 410 nm). When the windshield  120 F is irradiated with the laser light in the short wavelength band, the light emitting layer of the windshield  120 F emits light and the predetermined message is displayed on the windshield  120 F. 
     When the distance D between the vehicle  100 A and the pedestrian P present in vicinity of the crosswalk C is equal to or smaller than a predetermined distance Dth, the first lighting unit  144 A may present the stop notification message M 1  shown in  FIG.  15    to the pedestrian P. In this case, while the first lighting unit  144 A is presenting the stop notification message M 1 , the second lighting unit  142  may emit the light pattern L 1  toward the pedestrian P. Particularly, after the first lighting unit  144  starts displaying the message M 1 , the second lighting unit  142  may emit the light pattern L 1  toward the pedestrian P. The pedestrian P can notice presence of the stop notification message M 1  visually presented by the first lighting unit  144 A by the light pattern L 1 , and can recognize that the stop notification message M 1  is a message presented from the vehicle  100  to the pedestrian P. The pedestrian P can know that the vehicle  100  stops and can cross the crosswalk C with safe feeling by looking at the stop notification message M 1 . 
     The first lighting unit  144 A may present the guidance message M 2  shown in  FIG.  16    to the pedestrian P after the vehicle  100 A has stopped before the crosswalk C. In this case, the pedestrian P in the vicinity of the crosswalk C can know that the vehicle  100 A recognizes the pedestrian P and can cross the crosswalk C with safe feeling by looking at the guidance message M 2 . As a result, the pedestrian P is guided to cross the crosswalk C. 
     Next, a situation in which the vehicle  100 A emits the light pattern L 2  toward the other vehicle  100 C and visually presents a guidance message M 3  toward the other vehicle  100 C will be described with reference to  FIGS.  17  and  18   .  FIG.  17    is a view showing how the vehicle  100 A emits the light pattern L 2  toward the other vehicle  100 C about to turn right.  FIG.  18    is a view showing the guidance message M 3  presented from the first lighting unit  144 A to the other vehicle  100 C. 
     First, the vehicle control unit  103  of the vehicle  100 A detects presence of the other vehicle  100 C about to turn right in vicinity of an intersection based on detection data acquired by the camera  6  and/or the radar  7 . For example, when the vehicle control unit  103  specifies that a right turn signal lamp of the other vehicle  100 C is blinking based on the detection data, the vehicle control unit  103  determines that the other vehicle  100 C is a vehicle about to turn right. Next, the vehicle control unit  103  acquires a position information of the other vehicle  100 C based on the detection data. Then, as shown in  FIG.  17   , the second lighting unit  142  draws the linear light pattern L 2  extending from the vehicle  100 A toward the other vehicle  100 C on a road surface. Particularly, the second lighting control unit  145  controls the second lighting unit  142  such that the light pattern L 2  is drawn from the vehicle  100 A toward the other vehicle  100 C based on an instruction signal received from the vehicle control unit  103  and the position information of the other vehicle  100 C. Then, the first lighting control unit  147  controls the first lighting unit  144 A such that the first lighting unit  144 A displays the guidance message M 3  (“Please turn right”) shown in  FIG.  18    on the windshield  120 F. Here, while the second lighting unit  142  emits the light pattern L 2 , the first lighting unit  144 A may display the guidance message M 3  on the windshield  120 F. 
     In this way, a driver of the other vehicle  100 C can notice presence of the guidance message M 3  presented by the first lighting unit  144 A by the light pattern L 2 , and can intuitively recognize that the guidance message M 3  is a message presented from the vehicle  100 A to the driver. The driver of the other vehicle  100 C can turn right at the intersection with safe feeling by looking at the guidance message M 3 . In this way, rich visual communication between the vehicle  100 A and the other vehicle  100 C can be realized. 
     In this example, after the second lighting unit  142  emits the light pattern L 2  toward the pedestrian P, the first lighting unit  144 A presents the guidance message M 3  toward the other vehicle  100 C. However, the present example is not limited to thereto. For example, after the first lighting unit  144 A starts presenting the guidance message M 3 , the second lighting unit  142  may emit the light pattern L 2  toward the pedestrian P. 
     Third Embodiment 
     Next, a third embodiment of the present invention will be described with reference to the drawings. Description of members having the same reference numerals as those already described in the description of the present embodiment will be omitted for convenience of description. Dimensions of members shown in the drawings may be different from those of actual members for convenience of description. 
     In the description of this embodiment, a “left-right direction”, an “upper-lower direction” and a “front-rear direction” will be appropriately referred to for convenience of description. These directions are relative directions set for a vehicle  200  shown in  FIGS.  19 A and  19 B . Here, the “left-right direction” is a direction including a “left direction” and a “right direction”. 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”. Although not shown in  FIGS.  19 A and  19 B , the front-rear direction is the direction orthogonal to the left-right direction and the upper-lower direction. 
     First, a vehicle system  202  according to the present embodiment will be described below with reference to  FIGS.  19 A,  19 B and  20   .  FIG.  19 A  is a front view of the vehicle  200  equipped with the vehicle system  202 .  FIG.  19 B  is a rear view of the vehicle  200 .  FIG.  20    is a block diagram of the vehicle system  202 . The vehicle  200  is a vehicle (an automobile) capable of traveling in an automated driving mode. 
     As shown in  FIG.  20   , the vehicle system  202  includes a vehicle control unit  203 , a vehicle lighting system  204  (hereinafter, simply referred to as a “lighting system  204 ”), optical communication systems  250 F,  250 R, the sensor  5 , the camera  6  and the radar  7 . The vehicle system  202  further includes the HMI  8 , the GPS  9 , the wireless communication unit  10 , the storage device  11  and an in-vehicle speaker system  280 . The vehicle system  202  further includes the steering actuator  12 , the steering device  13 , the brake actuator  14 , the brake device  15 , the accelerator actuator  16  and the accelerator device  17 . 
     The vehicle control unit  203  is configured to control traveling of the vehicle  200 . The vehicle control unit  203  is formed of, for example, at least one electronic control unit (ECU). The electronic control unit includes a computer system (for example, a SoC) including one or more processors and one or more memories, and an electronic circuit including an active element such as a transistor and a passive element. The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The CPU may include a plurality of CPU cores. The GPU may include a plurality of GPU cores. The memory includes a ROM and a RAM. The ROM may store a vehicle control program. For example, the vehicle control program may include an artificial intelligence (AI) program for automated driving. The AI program is a program constructed by supervised or unsupervised machine learning (particularly, deep learning) using a multilayer neural network. The RAM may temporarily store a vehicle control program, vehicle control data and/or surrounding environment information indicating surrounding environment of the vehicle. The processor may be configured to load a program designated from various vehicle control programs stored in the ROM onto the RAM and to execute various types of processing in cooperation with the RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. Further, the computer system may include a combination of a Neumann type computer and a non-Neumann type computer. 
     The lighting system  204  includes a lighting unit  242  and a lighting control unit  243 . The lighting unit  242  is configured to visually present a message to outside of the vehicle  200  by drawing a light pattern on a road surface using laser light. As shown in  FIGS.  19 A and  19 B , the lighting unit  242  is disposed on a vehicle body roof  210 A of the vehicle  200 , for example. 
     The lighting unit  242  includes, for example, a laser light source configured to emit the laser light, a light deflection device configured to deflect the laser light emitted from the laser light source, and an optical system member such as a lens. The laser light source is, for example, an RGB laser light source configured to emit red laser light, green laser light and blue laser light. The light deflection device is, for example, a MEMS mirror, a galvanometer mirror, a polygon mirror or the like. As will be described below, the lighting unit  242  is configured to draw a light pattern L 10  (see  FIG.  22   ) on the road surface by scanning with the laser light. When the laser light source is the RGB laser light source, the lighting unit  242  can draw the light pattern of various colors on a road. 
     Although a single lighting unit  242  is disposed on the vehicle body roof  210 A in the present embodiment, the number, arrangement, shape and the like of the lighting unit  242  are not particularly limited as long as the lighting unit  242  can draw the light pattern on the road surface. For example, when two lighting units  242  are provided, one of the two lighting units  242  may be mounted in a left headlamp  220 L and the other may be mounted in the right headlamp  220 R. When four lighting units  242  are provided, one lighting unit  242  may be mounted in each of the left headlamp  220 L, the right headlamp  220 R, a left rear combination lamp  230 L and a right rear combination lamp  230 R. Although a raster scan method is adopted as a drawing method of the lighting unit  242  in the description of the present embodiment, the present embodiment is not limited thereto. For example, the drawing method of the lighting unit  242  may be a DLP method or an LCOS method. In this case, an LED is used as a light source instead of laser. 
     The lighting control unit  243  is configured to control driving of the lighting unit  242 , and is formed of an electronic control unit (ECU). The electronic control unit includes a computer system (for example, an SoC) including one or more processors and one or more memories, a laser light source control circuit (an analog processing circuit) configured to control driving of the laser light source of the lighting unit  242 , and an light deflection device control circuit (an analog processing circuit) configured to control driving of the light deflection device of the lighting unit  242 . The processor is, for example, a CPU, an MPU, a GPU and/or a TPU. The memory includes a ROM and a RAM. The computer system may include a non-Neumann type computer such as an ASIC or an FPGA. In the present embodiment, the vehicle control unit  203  and the lighting control unit  243  are provided as separate components, but the vehicle control unit  203  and the lighting control unit  243  may be integrally configured. In this respect, the lighting control unit  243  and the vehicle control unit  203  may be formed of a single electronic control unit. 
     For example, the computer system of the lighting control unit  243  specifies the light pattern to be emitted to the outside of the vehicle  200  based on an instruction signal transmitted from the vehicle control unit  203 , and then transmits a signal indicating the specified light pattern to the laser light source control circuit and the light deflection device control circuit. The laser light source control circuit generates a control signal for controlling the driving of the laser light source based on the signal indicating the light pattern, and then transmits the generated control signal to the laser light source of the lighting unit  242 . On the other hand, the light deflection device control circuit generates a control signal for controlling the driving of the light deflection device based on the signal indicating the light pattern, and transmits the generated control signal to the light deflection device of the lighting unit  242 . In this way, the lighting control unit  243  can control the driving of the lighting unit  242 . 
     As shown in  FIGS.  19 A and  19 B , the optical communication system  250 F is disposed on a front side of the vehicle  200 . The optical communication system  250 F may be disposed, for example, in a bumper directly below a grille  230 . The optical communication system  250 R is disposed on a rear side of the vehicle  200 . The optical communication system  250 F may be disposed, for example, in a bumper directly below a rear license plate  240 . In the following description, the optical communication systems  250 F,  250 R may be collectively referred to simply as an optical communication system  250 . 
     Each of the optical communication systems  250 F,  250 R includes a light transmission unit  252 , a light transmission control unit  253 , a light reception unit  254  and a light reception control unit  255 . The light transmission unit  252  is configured to emit light in a wavelength band associated with a predetermined auditory message toward a light reception unit  254  mounted other vehicles present outside the vehicle  200 . The light transmission unit  252  includes a wavelength tunable light source (for example, a wavelength tunable laser) configured to emit light of various wavelengths, a light deflection device configured to deflect the light (for example, laser light) emitted from the wavelength tunable light source, and an optical system member such as a lens. The wavelength tunable light source is configured to emit visible light or invisible light, and a wavelength range of light emitted from the wavelength tunable light source is not particularly limited. 
     The light transmission control unit  253  is configured to control driving of the light transmission unit  252 . Particularly, the light transmission control unit  253  determines the light emitted from the light transmission unit  252  from a plurality of different lights in different wavelength bands, and controls the light transmission unit  252  such that the light transmission unit  252  emits the light toward the light reception unit  254  mounted on other vehicles. For example, the light transmission control unit  253  is configured to determine the auditory message corresponding to the light pattern (a visual message) drawn by the lighting unit  242 , an then to determine a wavelength band Δλ 1  (or a center wavelength λc 1 ) corresponding to the determined auditory message. The light transmission control unit  253  is configured to control the light transmission unit  252  such that the light in the determined wavelength band Δλ 1  is emitted from the light transmission unit  252 . 
     The light transmission control unit  253  is formed of an electronic control unit (ECU). The electronic control unit may include a computer system including one or more processors (for example, a CPU or an MPU) and one or more memories (for example, a ROM or a RAM), a laser light source control circuit (an analog processing circuit) configured to control driving of the wavelength tunable light source of the light transmission unit  252 , and an light deflection device control circuit (an analog processing circuit) configured to control driving of the light deflection device of the light transmission unit  252 . The memory may store a table (a message conversion table) indicating a relationship between the visual message presented by the lighting unit  242  and the auditory message, and a table (wavelength conversion table) indicating a relationship between the auditory message and the wavelength band of the light emitted from the light transmission unit  252 . In this case, the light transmission control unit  253  may determine the auditory message corresponding to the visual message with reference to the message conversion table. The light transmission control unit  253  may determine the wavelength band of the light emitted from the light transmission unit  252  corresponding to the auditory message with reference to the wavelength conversion table, and then control the driving of the light transmission unit  252  such that the light in the determined wavelength band is emitted from the light transmission unit  252 . In the present embodiment, the vehicle control unit  203  and the light transmission control unit  253  are provided as separate components, but the vehicle control unit  203  and the light transmission control unit  253  may be integrally configured. 
     The light reception unit  254  is configured to receive the light (for example, the laser light) emitted from the light transmission unit  252  of other vehicles. The light reception unit  254  may be configured as, for example, an optical spectroscope configured to measure an electromagnetic wave spectrum of the received light. The optical spectroscope has a dispersive element (for example, a diffraction grating or a prism) configured to disperse the received light, and a photodetector configured to convert an optical signal into an electrical signal. The light reception control unit  255  is configured to specify the wavelength band of the light emitted from the light transmission unit  252  based on a signal output from the light reception unit  254  and specify the auditory message corresponding to the wavelength band of the specified light. The light reception control unit  255  is configured to transmit the auditory message specified via the vehicle control unit  203  to the in-vehicle speaker system  280 . 
     The light reception control unit  255  is formed of an electronic control unit (ECU). The electronic control unit may include a computer system including one or more processors (for example, a CPU or an MPU) and one or more memories (for example, a ROM and a RAM), and an analog processing circuit configured to process the electrical signal output from the light reception unit  254 . The memory may store a table (a wavelength conversion table) indicating a relationship between the wavelength band of the light received by the light reception unit  254  and the auditory message. In this respect, the relationship between the wavelength band of the light and the auditory message indicated by the wavelength conversion table stored in the memory of the light reception control unit  255  preferably matches the relationship between the wavelength band of the light and the auditory message indicated by the wavelength conversion table stored in the memory of the light transmission control unit  253 . For example, when the wavelength band Δλ 1  and an auditory message A 1  are associated with each other in the light transmission control unit  253 , the wavelength band Δλ 1  and the auditory message A 1  are preferably associated with each other also in the light reception control unit  255 . The light reception control unit  255  may specify the auditory message corresponding to the wavelength band of the light received by the light reception unit  254  with reference to the wavelength conversion table. In the present embodiment, the vehicle control unit  203  and the light reception control unit  255  are provided as separate components, but the vehicle control unit  203  and the light reception control unit  255  may be integrally configured. 
     The in-vehicle speaker system  280  includes an in-vehicle speaker control unit  282  and an in-vehicle speaker  283 . The in-vehicle speaker  283  is configured to output sound toward an occupant of the vehicle  200 , and is disposed at a predetermined position inside the vehicle  200 . The in-vehicle speaker  283  is, for example, a speaker having a related-art structure. The in-vehicle speaker control unit  282  is configured to control the in-vehicle speaker  283 . The in-vehicle speaker control unit  282  is formed of an electronic control unit (ECU). The electronic control unit includes a computer system including one or more processors (for example, a CPU or an MPU) and one or more memories (for example, a ROM and a RAM), and other electronic circuits (for example, an amplifier circuit and a DA converter). 
     Next, an example of operation of an inter-vehicle communication system according to the present embodiment will be described below with reference to  FIGS.  21  and  22   .  FIG.  21    is a sequence diagram showing the example of the operation of the inter-vehicle communication system according to the present embodiment.  FIG.  22    is a view showing a vehicle  200 A (a transmission side vehicle) drawing the light pattern L 10  on a road surface R 10  corresponding to a parking section P 10 , and a vehicle  200 B (a reception side vehicle) traveling on a parking lot. The inter-vehicle communication system according to the present embodiment includes the vehicle  200 A and the vehicle  200 B. In the present description, vehicles  200 A,  200 B are present in the parking lot. The vehicles  200 A,  200 B are equipped with the vehicle system  202  shown in  FIG.  20   . 
     As shown in  FIG.  21   , in step S 21 , the vehicle control unit  203  of the vehicle  200 A determines the parking section P 10  to be parked. Specifically, the vehicle control unit  203  specifies an empty parking section around the vehicle  200 A based on detection data indicating surrounding environment of the vehicle  200  acquired by the camera  6  and/or the radar  7 . Then, the vehicle control unit  203  determines the parking section P 10  from one or more empty parking sections. 
     Next, as shown in  FIG.  22   , the lighting unit  242  of the vehicle  200 A draws the light pattern L 10  on the road surface R 10  corresponding to the parking section P 10  by emitting laser light onto the road surface R 10  corresponding to the parking section P 10 . In this way, a visual message can be presented to outside of the vehicle  200 A by drawing the light pattern L 10  on the road surface R 10  by the lighting unit  242 . That is, by visually recognizing the light pattern L 10  (the visual message) emitted from the vehicle  200 A, an occupant of the vehicle  200 B can know that the vehicle  200 A is scheduled to be parked in the parking section P 10  and that the vehicle  200 A is scheduled to move backward. Although a rectangular light pattern L 10  corresponding to an external dimension of the vehicle  200 A is drawn as the light pattern L 10  in the present embodiment, a shape of the light pattern is not limited thereto. For example, the light pattern may be a linear or circular light pattern. 
     Specifically describing the processing in step S 22 , first, the vehicle control unit  203  generates an instruction signal instructing the light pattern L 10 , and then transmits the instruction signal and position information of the parking section P 10  to the lighting control unit  243 . Next, the lighting control unit  243  controls the lighting unit  242  such that the light pattern L 10  is drawn on the road surface R 10  according to the instruction signal received from the vehicle control unit  203 . Particularly, the light deflection device of the lighting unit  242  scans the road surface R 10  with the laser light emitted from the laser light source. 
     Next, the vehicle control unit  203  determines whether the other vehicle (the vehicle  200 B in this example) is present behind the vehicle  200 A based on the detection data acquired by the camera  6  and/or the radar  7  (step S 23 ). When a determination result of step S 23  is YES, the processing proceeds to step S 24 . On the other hand, when the determination result of step S 23  is NO, the vehicle control unit  203  stands by until the other vehicle is present behind the vehicle  200 A. 
     Next, in step S 24 , the vehicle control unit  203  specifies a position of the vehicle  200 B based on the detection data acquired by the camera  6  and/or the radar  7 , and then transmits position information of the vehicle  200 B to the light transmission control unit  253  of the vehicle  200 . Next, in step S 25 , the light transmission control unit  253  of the vehicle  200 A determines an auditory message to be presented to the vehicle  200 B. Specifically, the vehicle control unit  203  transmits message information on the light pattern L 10  (the visual message) emitted from the lighting unit  242  to the light transmission control unit  253 . Then, the light transmission control unit  253  determines the auditory message corresponding to the light pattern L 10  with reference to the message conversion table indicating the relationship between the light pattern (the visual message) and the auditory message. An example of the auditory message corresponding to the light pattern L 10  is that “the vehicle ahead will move backward” or “the vehicle ahead will be parked”. 
     Next, in step S 26 , the light transmission control unit  253  determines a wavelength band of the light emitted toward the light reception unit  254  of the vehicle  200 B. Specifically, the light transmission control unit  253  determines the wavelength band (a first wavelength band) of the light emitted from the light transmission unit  252  corresponding to the determined auditory message with reference to the wavelength conversion table indicating the relationship between the auditory message and the wavelength band of the light. In the wavelength conversion table, each of a plurality of auditory messages is associated with one of a plurality of wavelength bands. 
     Next, in step S 27 , the light transmission control unit  253  controls driving of the light transmission unit  252  such that the light in the determined wavelength band (hereinafter, referred to as a “first light”) is emitted from the light transmission unit  252  toward the light reception unit  254  of the vehicle  200 B, based on the position information of the vehicle  200 B transmitted from the vehicle control unit  203 . In this respect, when the light reception unit  254  is mounted on a front bumper of the vehicle  200 B, the light transmission unit  252  emits the first light toward the front bumper of the vehicle  200 B. 
     Next, in step S 28 , the light reception unit  254  of the vehicle  200 B receives the first light from the vehicle  200 A. Next, the light reception control unit  255  of the vehicle  200 B specifies an auditory message associated with the wavelength band of the first light (step S 29 ). Specifically, first, the light reception control unit  255  specifies the wavelength band of the first light based on an electrical signal output from the light reception unit  254 . Next, the light reception control unit  255  specifies the auditory message corresponding to the wavelength band of the first light with reference to the wavelength conversion table indicating the relationship between the wavelength band of the first light and the auditory message. Here, when the auditory message corresponding to the light pattern L 10  is that “the vehicle ahead will be parked”, the auditory message specified in step S 29  is also that “the front vehicle will be parked”. 
     Next, the in-vehicle speaker control unit  282  of the vehicle  200 B outputs the specified auditory message from the in-vehicle speaker  283  (step S 30 ). Specifically, the light reception control unit  255  transmits information (sound data) on the auditory message to the in-vehicle speaker control unit  282  via the vehicle control unit  203 . Then, the in-vehicle speaker control unit  282  allows the in-vehicle speaker  283  to output the auditory message as audio information. In this way, the occupant of the vehicle  200 B can aurally recognize the auditory message presented by the vehicle  200 A through the in-vehicle speaker  283 . 
     According to the present embodiment, when the lighting unit  242  of the vehicle  200 A presents the light pattern L 10  toward the outside of the vehicle  200 A, the first light is emitted toward the light reception unit  254  mounted on the vehicle  200 B. When the light reception unit  254  receives the first light, the auditory message associated with the wavelength band of the first light is output from the in-vehicle speaker  283  of the vehicle  200 B toward the occupant of the vehicle  200 B. Therefore, the occupant of the vehicle  200 B can visually recognize the light pattern L 10  from the vehicle  200 A, and can aurally recognize the auditory message from the vehicle  200 A. That is, the occupant of the vehicle  200 B can visually and aurally recognize an intention of the vehicle  200 A. Therefore, the inter-vehicle communication system and the vehicle system  202  capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
     In the present embodiment, when the lighting unit  242  presents the light pattern L 10  to the outside of the vehicle  200 A, the light transmission unit  252  of the vehicle  200 A emits the first light toward the light reception unit  254  of the vehicle  200 B. In this respect, preferably, the light transmission unit  252  of the vehicle  200 A emits the first light toward the light reception unit  254  of the vehicle  200 B while the lighting unit  242  is presenting the light pattern L 10  toward the outside of the vehicle  200 A. On the other hand, before the lighting unit  242  presents the light pattern L 10  toward the outside of the vehicle  200 A, the light transmission unit  252  of the vehicle  200 A may emit the first light toward the light reception unit  254  of the vehicle  200 B. 
     (First Modification) 
     Next, a vehicle  200 C equipped with a lighting unit  242 C according to a first modification of the third embodiment will be described below with reference to  FIGS.  23  and  24   .  FIG.  23    is a view showing the vehicle  200 C (a transmission side vehicle) and the vehicle  200 B (the reception side vehicle) about to leave the parking section P 10 .  FIG.  24    is a front view of the vehicle  200 C equipped with the lighting unit  242 C according to the first modification of the third embodiment. The vehicle  200 C is different from the vehicle  200 A according to the present embodiment in that the lighting unit  242 C is mounted instead of the lighting unit  242 A (see  FIGS.  19 A and  19 B ). Hereinafter, the lighting unit  242 C will be described in detail. 
     As shown in  FIGS.  23  and  24   , when the vehicle  200 B present ahead of the vehicle  200 C is about to leave the parking section P 10 , the lighting unit  242 C of the vehicle  200 C is configured to present a message M 1  (“Please go first”) toward outside of the vehicle  200 C. Particularly, the lighting unit  242 C is configured to display the message M 1  on a windshield  220  of the vehicle  200 C. In this example, the message M 1  as character information is displayed on the windshield  220 , but a message as graphic information may be displayed on the windshield  220 . 
     The lighting unit  242 C may be configured as a projector device that projects a predetermined message onto the windshield. The lighting unit  242 C may draw the predetermined message on the windshield  220  by irradiating the windshield  220  with laser light. In this case, the windshield  220  of the vehicle  200 C is a windshield for a HUD, and may include a light emitting layer formed of two glass plates and a phosphor material provided between the two glass plates. A laser light source of the lighting unit  242 C may be configured to emit the laser light in a short wavelength band (for example, a wavelength λ=350 nm to 410 nm). When the windshield  220  is irradiated with the laser light in the short wavelength band, the light emitting layer of the windshield  220  emits light and the predetermined message is displayed on the windshield  220 . 
     By visually recognizing the message M 1  presented by the lighting unit  242 C mounted on the vehicle  200 C that is a rear vehicle, the occupant of the vehicle  200 B about to leave the parking section P 10  can know that the vehicle  200 C gives way to the vehicle  200 B. Then, the first light emitted from the light transmission unit  252  of the vehicle  200 C is emitted toward the light reception unit  254  mounted on the vehicle  200 B. Next, when the light reception unit  254  of the vehicle  200 B receives the first light, the auditory message (for example, “Please go first”) associated with the wavelength band of the first light is output from the in-vehicle speaker  283  of the vehicle  200 B toward the occupant of the vehicle  200 B. Therefore, the occupant of the vehicle  200 B can visually recognize the message M 1  from the vehicle  200 C, and can aurally recognize the auditory message from the vehicle  200 C. That is, the occupant of the vehicle  200 B can visually and aurally recognize an intention of the vehicle  200 C. Therefore, the inter-vehicle communication system and the vehicle system  202  capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
     (Second Modification) 
     Next, a vehicle  200 D equipped with lighting units  242 L,  242 R according to a second modification of the third embodiment will be described below with reference to  FIG.  25   .  FIG.  25    is a front view of the vehicle  200 D equipped with the lighting units  242 L,  242 R according to the second modification. The vehicle  200 D is different from the vehicle  200 A according to the present embodiment in that the lighting units  242 L,  242 R are mounted instead of the lighting unit  242 A (see  FIGS.  19 A and  19 B ). Hereinafter, the lighting units  242 L,  242 R will be described in detail. 
     Each of the lighting units  242 L,  242 R includes one or more light emitting elements such as an LED and an LD, and an optical system member such as a lens. The lighting units  242 L,  242 R are configured to present a visual message toward outside of the vehicle  200 D by changing lighting features of the lighting units  242 L,  242 R (lighting/turning off, blinking, lighting color and the like). For example, when the vehicle  200 D gives way to the vehicle  200 B, the lighting units  242 L,  242 R may blink. In this case, by visually recognizing blinking of the lighting units  242 L,  242 R mounted on the vehicle  200 D that is a rear vehicle, the occupant of the vehicle  200 B about to leave the parking section P 10  can know that the vehicle  200 D gives way to the vehicle  200 B. 
     Then, the first light emitted from the light transmission unit  252  of the vehicle  200 D is emitted toward the light reception unit  254  mounted on the vehicle  200 B. Next, when the light reception unit  254  of the vehicle  200 B receives the first light, the auditory message (for example, “Please go first”) associated with the wavelength band of the first light is output from the in-vehicle speaker  283  of the vehicle  200 B toward the occupant of the vehicle  200 B. Therefore, the occupant of the vehicle  200 B can visually recognize a change in the lighting features of the lighting units  242 L,  242 R of the vehicle  200 D, and can aurally recognize the auditory message from the vehicle  200 D. That is, the occupant of the vehicle  200 B can visually and aurally recognize an intention of the vehicle  200 D. Therefore, the inter-vehicle communication system and the vehicle system  202  capable of realizing rich communication between vehicles through visual and auditory sense can be provided. 
     Although the embodiments of the present invention have been described, it is needless to say that the technical scope of the present invention should not be interpreted in a limited manner by the description of the embodiments. It is to be understood by those skilled in the art that the present embodiments are merely examples and that 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 present embodiments, a driving mode of the vehicle is described as including the fully automated driving mode, the advanced driving support mode, the driving support mode and the manual driving mode, but the driving mode of the vehicle should not be limited to these four modes. Classification of the driving mode of the vehicle may be appropriately changed according to laws or regulations related to automated driving in each country. Similarly, definitions of the “fully automated driving mode”, the “advanced driving support mode” and the “driving support mode” in the description of the present embodiments are merely examples and may be appropriately changed according to the laws or regulations related to the automated driving in each country. 
     In the present embodiments, since the vehicle passes on a left side, the road width in the right lateral region of the vehicle  1  is specified in step S 3 , but when the vehicle passes on a right side, a road width in a left lateral region of the vehicle  1  is specified. 
     The present application is appropriately incorporates the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2017-254315) filed on Dec. 28, 2017, the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2017-254313) filed on Dec. 28, 2017, and the contents disclosed in Japanese Patent Application (Japanese Patent Application No. 2018-003693) filed on Jan. 12, 2018.