Patent ID: 12187186

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of the present disclosure (hereinafter, referred to as “the present embodiment”) will be described with reference to the drawings. Incidentally, members having the same reference numerals as those that have been described in the description of the present embodiment will be omitted for convenience of description. Further, dimensions of members illustrated in the drawings may be different from actual dimensions thereof for convenience of description.

In the description of the present embodiment, a “left-right direction”, a “front-rear direction”, and an “upper-lower direction” are appropriately referred to for convenience of description. These directions are relative directions set for a vehicle1illustrated inFIGS.1A and1B. Here, the “upper-lower direction” is a direction including an “upper direction” and a “lower direction”. The “front-rear direction” is a direction including a “front direction” and a “rear direction”. The “left-right direction” is a direction including a “left direction” and a “right direction”.

First Embodiment

A vehicle lamp system100according to a first embodiment of the present invention will be described below.FIG.1Ais a front view of the vehicle1, andFIG.1Bis a left side view of the vehicle1. The vehicle1is a vehicle capable of traveling in an automatic driving mode. The vehicle1includes a lamp device4. The lamp device4includes an illuminance variable lamp42and a lamp-mounted camera44. In the present embodiment, the lamp device4is provided at a left front portion of the vehicle1. In the present embodiment, the illuminance variable lamp42and the lamp-mounted camera44are provided inside a common housing.

The illuminance variable lamp42can emit light toward an entire angle of view of a vehicle camera6and can perform adjustment such that illuminance of any region is different from illuminance of another region. The illuminance variable lamp42is, for example, a laser scanning device including a laser light source and a light deflection device which deflects laser light emitted from the laser light source. The light deflection device is, for example, a movable mirror such as a micro electro mechanical systems (MEMS) mirror or a Galvano mirror. The illuminance variable lamp42can emit light of desired illuminance to a desired position by adjusting a current value supplied to the laser light source or driving the movable mirror to a desired posture.

The lamp-mounted camera44is a camera provided separately from the vehicle camera6, which will be described later, mounted on the vehicle1and connected to a vehicle control unit3.

Next, a vehicle system2of the vehicle1will be described with reference toFIG.2.FIG.2is a block diagram of the vehicle system2. As illustrated inFIG.2, the vehicle system2includes a vehicle control unit3, a lamp system100, a sensor5, a vehicle camera6, a radar7, a human machine interface (HMI)8, a Global Positioning System (GPS)9, a wireless communication unit10(a first wireless communication unit), and a map information storage unit11. The vehicle system2further includes a steering actuator12, a steering device13, a brake actuator14, a brake device15, an accelerator actuator16, and an accelerator device17.

The vehicle control unit3controls traveling of the vehicle1. The vehicle control unit3is implemented by an electronic control unit (ECU). The electronic control unit includes a processor such as a central processing unit (CPU), a read only memory (ROM) in which various vehicle control programs are stored, and a random access memory (RAM) in which various kinds of vehicle control data are temporarily stored. The processor loads a program designated from the various vehicle control programs stored in the ROM onto the RAM and executes various kinds of processing in cooperation with the RAM.

The lamp system100includes the lamp device4. The lamp device4includes the illuminance variable lamp42, the lamp-mounted camera44, and a lamp control unit43. The lamp control unit43is implemented by an electronic control unit (ECU). The lamp control unit43communicates with the vehicle control unit3and the lamp-mounted camera44.

The lamp control unit43controls the illuminance variable lamp42to control a direction and a luminous intensity of the light emitted from the illuminance variable lamp42. The lamp control unit43and the vehicle control unit3may be implemented by the same electronic control unit.

The sensor5includes an acceleration sensor, a speed sensor, a gyro sensor, and the like. The sensor5detects a traveling state of the vehicle1and outputs traveling state information to the vehicle control unit3. The sensor5may further include a seating sensor which detects whether a driver sits on a driver seat, a face direction sensor which detects a direction of a face of the driver, an external weather sensor which detects an external weather condition, a human sensor which detects whether there is a person in the vehicle, and the like.

The vehicle camera6is, for example, a camera including an imaging element such as a charge-coupled device (CCD) or a complementary MOS (CMOS). The radar7is a millimeter wave radar, a microwave radar, a laser radar, and the like. The vehicle camera6and/or the radar7detect a surrounding environment of the vehicle1(another vehicle, a pedestrian, a road shape, a traffic sign, an obstacle, and the like), and output surrounding environment information to the vehicle control unit3.

The HMI8includes an input unit which receives an input operation from the driver, and an output unit which 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 changeover switch which switches a driving mode of the vehicle1, and the like. The output unit is a display which displays various kinds of traveling information.

The GPS9acquires current position information of the vehicle1and outputs the acquired current position information to the vehicle control unit3. The wireless communication unit10(a first wireless communication unit) receives information (for example, traveling information and the like) about the other vehicle around the vehicle1from the other vehicle, and transmits information about the vehicle1(for example, traveling information and the like) to the other vehicle (inter-vehicle communication). The wireless communication unit10receives infrastructure information from infrastructure equipment such as a traffic light and a sign lamp, and transmits the traveling information of the vehicle1to the infrastructure equipment (road-to-vehicle communication). The vehicle1may directly communicate with the other vehicle or the infrastructure equipment, or may communicate with the other vehicle or the infrastructure equipment via a wireless communication network. The map information storage unit11is an external storage device such as a hard disk drive in which map information is stored, and outputs the map information to the vehicle control unit3.

When the vehicle1travels in the automatic driving mode, the vehicle control unit3automatically generates at least one of a steering control signal, an accelerator control signal, and a brake control signal based on the traveling state information, the surrounding environment information, the current position information, the map information, and the like. The steering actuator12receives the steering control signal from the vehicle control unit3and controls the steering device13based on the received steering control signal. The brake actuator14receives the brake control signal from the vehicle control unit3and controls the brake device15based on the received brake control signal. The accelerator actuator16receives the accelerator control signal from the vehicle control unit3and controls the accelerator device17based on the received accelerator control signal. In this way, traveling of the vehicle1is automatically controlled by the vehicle system2in the automatic driving mode.

On the other hand, when the vehicle1travels in a manual driving mode, the vehicle control unit3generates a steering control signal, an accelerator control signal, and a brake control signal according to a manual operation of the driver on the accelerator pedal, the brake pedal, and the steering wheel. In this way, since the steering control signal, the accelerator control signal, and the brake control signal are generated by the manual operation of the driver, the traveling of the vehicle1is controlled by the driver in the manual driving mode.

Next, the driving mode of the vehicle1will be described. The driving mode includes the automatic driving mode and the manual driving mode. The automatic driving mode includes a fully automatic driving mode, an advanced driving support mode, and a driving support mode. In the fully automatic driving mode, the vehicle system2automatically executes all kinds of traveling control including steering control, brake control, and accelerator control, and the driver cannot drive the vehicle1. In the advanced driving support mode, the vehicle system2automatically executes all kinds of traveling control including the steering control, the brake control, and the accelerator control, and the driver can drive the vehicle1but does not drive the vehicle1. In the driving support mode, the vehicle system2automatically executes a part of traveling control including the steering control, the brake control, and the accelerator control, and the driver drives the vehicle1under the driving support of the vehicle system2. On the other hand, in the manual driving mode, the vehicle system2does not automatically execute the traveling control, and the driver drives the vehicle1without the driving support of the vehicle system2.

The driving mode of the vehicle1may be switched by operating the driving mode changeover switch. In this case, the vehicle control unit3switches the driving mode of the vehicle1among the four driving modes (the fully automatic 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 changeover switch. The driving mode of the vehicle1may be automatically switched based on information about a travelable section where an automatic driving vehicle can travel or a traveling prohibited section where traveling of the automatic driving vehicle is prohibited, or information about the external weather condition. In this case, the vehicle control unit3switches the driving mode of the vehicle1based on the information described above. Further, the driving mode of the vehicle1may be automatically switched by using the seating sensor, the face direction sensor, and the like. In this case, the vehicle control unit3switches the driving mode of the vehicle1based on an output signal from the seating sensor or the face direction sensor.

Next, processing executed by the lamp control unit43according to the present embodiment will be described usingFIGS.3and4.FIG.3is a diagram illustrating an image acquired by the vehicle camera6.FIG.4is a flowchart illustrating the processing executed by the lamp control unit43according to the present embodiment.

In the present embodiment, the vehicle control unit3executes the fully automatic driving mode, the advanced driving support mode, and the driving support mode based on the image acquired by the vehicle camera6. The vehicle control unit3identifies an object such as a pedestrian, an oncoming vehicle, or a sign from the image acquired by the vehicle camera6.

FIG.3is a diagram illustrating the image acquired by the vehicle camera6. As illustrated inFIG.3, there is a sign in front of the vehicle in an area A1. There is a pedestrian on a right side in front of the vehicle in an area A2.

When the vehicle control unit3tries to identify the object such as a sign or a pedestrian, it may be difficult to identify the object from the image acquired by the vehicle camera6. For example, it may be difficult to identify the object when light emitted from the own vehicle hardly reaches the pedestrian illustrated inFIG.3and the pedestrian is too dark (blackout). Alternatively, since the sign has a high reflectance, it may be difficult to read a mark displayed on the sign because a reflective light is too bright (whiteout). When it is determined from the image acquired by the vehicle camera6that the object is a specific object, if a degree of certainty exceeds a predetermined value (a threshold), the vehicle control unit3determines that the object is a specific object. The degree of certainty is called recognition accuracy.

When it is determined from the image acquired by the vehicle camera6that there is something, the vehicle control unit3attempts to identify the object and identifies position information of the object. A region where the recognition accuracy is lower than the predetermined value and the object cannot be distinguished is referred to as a low accuracy region in the following description. The vehicle control unit3transmits the position information of the low accuracy region to the lamp control unit43when the low accuracy region is generated.

The position information in the low accuracy region is, for example, θ (azimuth angle) and φ (elevation angle) when the object is specified by coordinates (r, θ, φ) around the vehicle camera6. Incidentally, r represents a distance to the object. For example, when the region A1including the sign inFIG.3is determined to be the low accuracy region, the vehicle control unit3transmits information of θ being −5° to −1° and φ being −2° to +3° as position information of the low accuracy region A1to the lamp control unit43.

Alternatively, for example, when the vehicle control unit3cannot determine an object in a region from row A and column B to row C to column D of pixels of the vehicle camera6, the region from row A and column B to row C and column D is the position information of the low accuracy region. A row direction is associated with, for example, a height direction of the vehicle1. A column direction is associated with, for example, a horizontal direction of the vehicle1.

Alternatively, when the vehicle camera6is virtually divided into F pixels in the row direction and G pixels in the column direction, and the vehicle control unit3cannot determine an object in a section located at the mthrow and the nthcolumn, the section located at the mthrow and the nthcolumn is the position information of the low accuracy region. The row direction is associated with, for example, the height direction of the vehicle1. The column direction is associated with, for example, the horizontal direction of the vehicle1.

Further, since the own vehicle travels and the object moves, the position of the low accuracy region changes every moment. Therefore, the position information may be a function of a time determined according to an estimated relative speed between the own vehicle and the object.

As illustrated inFIG.4, first, after the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3, the lamp control unit43executes the following processing (step S01: Yes). When the position information of the low accuracy region is not acquired from the vehicle control unit3, the lamp control unit43does not execute the following processing (step S01: No).

Next, the lamp control unit43acquires illuminance of the low accuracy region from the lamp-mounted camera44(step S02). An angle of view of the lamp-mounted camera44is equal to or larger than the angle of view of the vehicle camera6. Therefore, the lamp-mounted camera44can acquire information of any region of the vehicle camera6. The lamp control unit43specifies illuminance of the region corresponding to the low accuracy region based on the image acquired by the lamp-mounted camera44. The illuminance of the region can be obtained, for example, as an average value, a maximum value, or a minimum value of luminance of the pixels belonging to the low accuracy region among the pixels of the lamp-mounted camera44.

Next, the lamp control unit43determines whether the illuminance of the specified low accuracy region is less than a threshold S1(step03). When the lamp control unit43determines that the illuminance of the low accuracy region is less than the threshold S1(step S03: Yes), the lamp control unit43controls the illuminance variable lamp42to increase the illuminance of the low accuracy region (step S04). When the illuminance of the low accuracy region is less than the threshold S1, it means that the low accuracy region is dark. That is, the recognition accuracy is low since the low accuracy region is dark. Therefore, when step S04is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance higher than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

On the other hand, when the lamp control unit43determines that the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S03: No), the lamp control unit43controls the illuminance variable lamp42to decrease the illuminance of the low accuracy region (step S05). When the illuminance of the low accuracy region is equal to or greater than the threshold S1, it means that the low accuracy region is bright. That is, the recognition accuracy is low since the low accuracy region is too bright. Therefore, when step S05is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance lower than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

In the illuminance variable lamp42which is the laser scanning device of the present embodiment, the laser light source emits the laser light. Further, an emitting range is scanned with the laser light by moving the movable mirror. In the present embodiment, the expression “the illuminance variable lamp42is controlled so as to increase the illuminance of the low accuracy region” means that the lamp control unit43increases the amount of energization supplied to the laser light source when the movable mirror is moved to a position of the low accuracy region irradiated with the laser light. On the other hand, the expression “the illuminance variable lamp42is controlled so as to decrease the illuminance of the low accuracy region” means that the lamp control unit43decreases the amount of energization supplied to the laser light source when the movable mirror is moved to the position of the low accuracy region irradiated with the laser light.

Steps S01to S05described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S02to S05may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3, the illuminance of the low accuracy region is acquired by referring to the information acquired by the lamp-mounted camera44, and the illuminance of the low accuracy region is adjusted by the illuminance variable lamp42such that the recognition accuracy is increased according to the illuminance of the low accuracy region. This adjustment may be continued for a predetermined number of times or a predetermined period of time. According to this aspect, when the position information of the low accuracy region is acquired at a certain time, the recognition accuracy can be continuously increased by repeating Step S04or S05a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S04and S05, and the illuminance variable lamp42is controlled based on the position information. However, when steps S01to S05are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S04and S05may be performed based on the position information of the low accuracy region acquired in step S01.

Second Embodiment

In the embodiment described above, an example in which the vehicle lamp system100includes only the illuminance variable lamp42is described, but the vehicle lamp system can also be configured in combination with a headlamp45(an illuminance fixing lamp) capable of emitting light with a specific illuminance toward an area including the angle of view of the vehicle camera6.

FIG.5is a block diagram of a vehicle system including a vehicle lamp system100A according to a second embodiment of the present invention. As illustrated inFIG.5, in the second embodiment, the vehicle lamp system100A includes the headlamp45in addition to the configuration of the vehicle lamp system100of the first embodiment described above. The lamp control unit43is electrically connected to the headlamp45. The lamp control unit43can control the headlamp45. A known headlamp can be used as the headlamp45. The headlamp45can form a high beam light distribution pattern and a low beam light distribution pattern. Further, the lamp control unit43controls the headlamp45to form the high beam light distribution pattern, form the low beam light distribution pattern, or turn itself off.

FIG.6is a flowchart executed by the vehicle lamp system100A according to the second embodiment. As illustrated inFIG.6, since steps S11to S13executed by the lamp control unit43are the same as steps S01to S03of the first embodiment described above, a description thereof will be omitted.

When the illuminance of the low accuracy region is less than the threshold S1(step S13: Yes), the lamp control unit43determines whether the headlamp45is in a lighting state (step S14).

When the illuminance of the low accuracy region is less than the threshold S1(step S13: Yes) and the headlamp45is in the lighting state (step S14: Yes), the lamp control unit43controls the illuminance variable lamp42to increase the illuminance of the low accuracy region (step S15). When the illuminance of the low accuracy region is less than the threshold S1, the low accuracy region is too dark and it may be difficult for the vehicle control unit3to identify the object. When step S15is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance higher than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

When the illuminance of the low accuracy region is less than the threshold S1(step S13: Yes) and the headlamp45is in an OFF state (step S14: No), the lamp control unit43turns on the headlamp45and/or controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region (step S16).

In a case where the low accuracy region is too dark when the headlamp45is in the OFF state and the recognition accuracy is low, the low accuracy region can be brightly illuminated by turning on the headlamp45, so that the recognition accuracy can be increased. Alternatively, by increasing the amount of energization supplied to the light source of the illuminance variable lamp42without turning on the headlamp45, the low accuracy region can be brightly illuminated, so that the recognition accuracy can also be increased. Alternatively, by turning on the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42, the low accuracy region can be brightly illuminated, so that the recognition accuracy can also be increased.

The lamp control unit43may be configured to always execute one of turning on only the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42.

Alternatively, the lamp control unit43may be configured to select and execute one of turning on only the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42according to other external information. The other external information includes, for example, an average illuminance around the vehicle, time, weather, a traveling speed of the own vehicle, and exposure time of the vehicle camera6. For example, in a situation where the surroundings are dark, when the headlamp45is turned on, recognition accuracy of a region other than the low accuracy region can be increased. Alternatively, when the traveling speed of the own vehicle is high, the exposure time of the vehicle camera6is set to be short. When the exposure time of the vehicle camera6is short, luminance of all pixels of the vehicle camera6tends to be low in general. Therefore, when the headlamp45is turned on, the recognition accuracy of the region other than the low accuracy region can be increased.

When the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S13: No) and the headlamp45is in the lighting state (step S17: Yes), the lamp control unit43turns off the headlamp45and/or controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region (step S18). When the illuminance of the low accuracy region is equal to or greater than the threshold S1, the low accuracy region is too bright and it may be difficult for the vehicle control unit3to identify the object. When step S18is executed, since the low accuracy region is illuminated with the illuminance lower than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, the recognition accuracy is increased.

When the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S13: No) and the headlamp45is in the OFF state (step S17: No), the lamp control unit43controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region (step S19).

When the headlamp45is too bright in the lighting state and the recognition accuracy is low, the low accuracy region can be darkened by turning off the headlamp45, so that the recognition accuracy can be increased. Alternatively, by decreasing the amount of energization supplied to the light source of the illuminance variable lamp42without turning off the headlamp45, the low accuracy region can be darkened, so that the recognition accuracy can also be increased. Alternatively, by turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42, the low accuracy region can be darkened, so that the recognition accuracy can also be increased.

The lamp control unit43may be configured to always execute one of only turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42.

Alternatively, the lamp control unit43may be configured to select and execute one of only turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42according to the other external information.

Steps S11to S19described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S12to S19may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3, the lamp control unit43acquires the illuminance of the low accuracy region by referring to the information acquired by the lamp-mounted camera44, and controls the illuminance variable lamp42and/or the headlamp45so as to adjust the illuminance in the low accuracy region in order to increase the recognition accuracy according to the illuminance of the low accuracy region. This control may be continued for a predetermined number of times or a predetermined period of time. According to this aspect, when the position information of the low accuracy region is acquired at a certain time, the recognition accuracy can be continuously increased by repeating steps S12to S19a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S15, S16, S18and S19, and the illuminance variable lamp42is controlled based on the position information. However, when steps S11to S19are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S15, S16, S18and S19may be performed based on the position information of the low accuracy region acquired in step S11.

As illustrated inFIG.3, when there are a plurality of low accuracy regions A1, A2, the lamp control unit43performs the processing described above for each of the low accuracy regions. As illustrated inFIG.3, even in a case where the region A1which is too bright and has a low recognition accuracy and the region A2which is too dark and has a low recognition accuracy coexist, the recognition accuracy of each region can be increased according to the embodiment described above.

In the first embodiment and the second embodiment described above, an example in which the vehicle camera6is a camera which acquires information in front of the vehicle has been described. However, the vehicle camera according to the present invention is not limited to a vehicle camera which acquires information in front of the vehicle. For example, the vehicle camera may be a rear camera which acquires information behind the vehicle, or a side camera which acquires information on a left side or a right side of the vehicle. In a case where the vehicle camera is a rear camera, the illuminance fixing lamp described above is a lamp which emits light of a certain intensity to the rear of the vehicle. In a case where the vehicle camera is a side camera, the illuminance fixing lamp described above is a lamp which emits light of a certain intensity to the left side or the right side of the vehicle.

Further, the vehicle camera is not limited to a camera which can receive visible light. The vehicle camera may be an infrared camera. In a case where the vehicle camera is the infrared camera, the illuminance variable lamp can be implemented by a lamp capable of emitting infrared rays.

In the embodiment described above, an example has been described in which the lamp device4includes the illuminance variable lamp42, the lamp-mounted camera44, and the headlamp45, and the illuminance variable lamp42, the lamp-mounted camera44, and the headlamp45are provided inside the common housing. However, the present invention is not limited thereto. The illuminance variable lamp42, the lamp-mounted camera44, and the headlamp45may be independently attached to the vehicle.

Further, in the embodiment described above, a case where the illuminance variable lamp42is the laser scanning device has been described, but the type of the illuminance variable lamp is not particularly limited. For example, the illuminance variable lamp may be a lamp including a plurality of LED light sources. In this case, the region to which the illuminance variable lamp emits light is virtually divided into a plurality of regions, and the plurality of LED light sources can emit light to the respective regions. Each region to which the LED light source is capable of emitting light is associated with a region where the low accuracy region of the vehicle camera is recognized. In the vehicle lamp system configured as described above, the control described above can be executed by controlling the amount of energization supplied to the LED light source which emits light to the low accuracy region and a designated region.

Third Embodiment

Vehicle lamp systems100B,100C according to a third embodiment and a fourth embodiment of the present invention will be described usingFIGS.7A to10.

FIGS.7A and7Bare views illustrating the vehicle1on which the vehicle lamp system100B according to the third embodiment is mounted,FIG.7Ais a front view, andFIG.7Bis a left side view. The vehicle1on which the vehicle lamp system100B of the present embodiment is mounted illustrated inFIGS.7A,7B, and8is different from the vehicle1on which the vehicle lamp system100of the first embodiment illustrated inFIGS.1A,1B, and2in that the lamp-mounted camera44is not provided. Of the vehicle lamp system100B of the present embodiment, a description of similar functions and members as those of the vehicle lamp system100of the first embodiment described above will be omitted. Common members are denoted by the same reference numerals.

Further, the lamp control unit43according to the present embodiment acquires position information of a low angle region from the vehicle control unit3as described with reference toFIG.3. The vehicle lamp system100B according to the third embodiment is different from the first embodiment and the second embodiment in a flow to be executed after acquiring the position information of the low angle region.

As illustrated inFIG.9, first, after the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3, the lamp control unit43executes the following processing (step S101: Yes). When the position information of the low accuracy region is not acquired from the vehicle control unit3, the lamp control unit43does not execute the following processing (step S101: No).

Next, the lamp control unit43sequentially forms a plurality of light distribution patterns in the low accuracy region (step S102).

Sequentially forming the plurality of light distribution patterns in the low accuracy region means illuminating the low accuracy region while changing a luminous intensity of the light source of the illuminance variable lamp42. Changing the luminous intensity means increasing the luminous intensity or decreasing the luminous intensity. The luminous intensity may be changed stepwise or continuously. Alternatively, the luminous intensity may be changed randomly.

Sequentially forming the plurality of light distribution patterns in the low accuracy region means illuminating the low accuracy region while changing a color tone of the illuminance variable lamp42. The change in the color tone means, for example, illuminating the low accuracy region while changing light of a low wavelength to light of a high wavelength, or illuminating the low accuracy region while changing light of a high wavelength to light of a low wavelength. The color tone may be changed stepwise or continuously. Further, when the laser light source is composed of R, G, and B light sources, only the R light source may be turned on, the R light source may be turned off and the G light source may be turned on, and the G light source may be turned off and the B light source may be turned on.

Sequentially forming the plurality of light distribution patterns in the low accuracy region means forming at least two different light distribution patterns with a time difference. Two different light distribution patterns may be formed continuously. In the time difference between the two different light distribution patterns, there may be time during which light is not emitted.

When the light distribution pattern is changed stepwise, time for maintaining one light distribution pattern is made longer than the exposure time (shutter speed) of the vehicle camera6. The lamp control unit43changes the light distribution pattern such that a light distribution pattern when the vehicle camera6captures an image of the nthframe and a light distribution pattern when the vehicle camera6captures an image of the mth(m≠n) frame are different from each other. When the light distribution pattern is continuously changed, an amount of change in the light distribution pattern during the exposure time of the vehicle camera6is set to 30% or less. This is because it is not preferable that the light distribution pattern changes during the exposure of the vehicle camera6.

Total time during which the lamp control unit43causes the illuminance variable lamp42to form a plurality of light distribution patterns is preferably set to 3 seconds or less. The total time is preferably 1 second or less. The number of light distribution patterns formed by the illuminance variable lamp42caused by the lamp control unit43is preferably two or more, more preferably five or more, still more preferably ten or more.

The lamp control unit43may be configured to cause the illuminance variable lamp42to repeatedly form a plurality of light distribution patterns of a specific combination over the total time. For example, the lamp control unit43may maintain each of a first light distribution pattern of a first illuminance and a second light distribution pattern of a second illuminance different from the first illuminance for 0.2 seconds, and repeat the first light distribution pattern and the second light distribution pattern for 1 second.

In the illuminance variable lamp42which is the laser scanning device of the present embodiment, the laser light source emits the laser light. Further, an emitting range is scanned with the laser light by moving the movable mirror. “Sequentially forming the plurality of light distribution patterns in the low accuracy region” means, in the present embodiment, changing the amount of energization supplied to the laser light source when the movable mirror is moved to the position of the low accuracy region irradiated with the laser light, or changing the amount of energization by switching the energization supplied to the R light source, the G light source, and the B light source.

It should be noted that it is preferable to switch the plurality of light distribution patterns at a speed that can be recognized by the camera but cannot be recognized by human eyes. Further, it is preferable that the light distribution pattern having illuminance greater than the illuminance of the low accuracy region when the position information of the low accuracy region is acquired is maintained for 0.01 seconds in the low accuracy region, and thereafter the light distribution pattern having illuminance less than the illuminance of the low accuracy region when the position information of the low accuracy region is acquired is maintained for 0.01 seconds. More preferably, a series of light distribution patterns to be changed in this way are repeated for a predetermined period of time (for example, 1 second).

The plurality of light distribution patterns to be sequentially formed may be a plurality of predetermined light distribution patterns. The plurality of light distribution patterns to be sequentially formed may be recorded in a recording unit connected to the lamp control unit43. A plurality of pattern sets each including the plurality of patterns may be recorded in the recording unit. Alternatively, a function in which the illuminance is determined according to time or a function in which chromaticity is determined according to time may be recorded in the recording unit.

The lamp control unit43may read a specific pattern set or function from the recording unit according to the external environment, and cause the illuminance variable lamp42to form a plurality of light distribution patterns based on the read pattern set or the function.

The “external environment” refers to illuminance surrounding the vehicle, a spectrum of light surrounding the vehicle, time, humidity, weather, and the like. For example, the lamp control unit43may read a specific pattern set from the recording unit according to the output of the illuminance sensor capable of acquiring the illuminance surrounding the vehicle.

In this way, the vehicle lamp system100B of the present embodiment includes:a first lamp (the illuminance variable lamp42) capable of performing adjustment such that illuminance or color of any region of an angle of view of the vehicle camera6mounted on a vehicle1is different from illuminance or color of another region, andthe lamp control unit43controlling the first lamp so as to sequentially form the plurality of light distribution patterns different in at least one of the illuminance and the color in the low accuracy region, after acquiring, from the vehicle control unit3which controls the vehicle1, the position information of the low accuracy region where the recognition accuracy of the angle of view of the vehicle camera6is equal to or less than the predetermined value.

According to the vehicle lamp system100B of the present embodiment, the illuminance or the color differs between a first light distribution pattern and a second light distribution pattern. Therefore, one of the image captured by the vehicle camera6when the first light distribution pattern is irradiated and the image captured by the vehicle camera6when the second light distribution pattern is irradiated is more easily recognized than the other.

For example, in a case where the low accuracy region is too dark to identify the object and illuminance of the second light distribution pattern is set to be larger than illuminance of the first light distribution pattern, the image captured by the vehicle camera6when the second light distribution pattern is irradiated is more easily recognized than the image captured by the vehicle camera6when the first light distribution pattern is irradiated.

Alternatively, when the first light distribution pattern is irradiated with blue light, the second light distribution is irradiated with green light, and the object is easily recognized by green light, the object is easily identified by the image captured by the vehicle camera6when the second light distribution pattern is irradiated.

In this way, according to the vehicle lamp system100B of the present embodiment, the recognition accuracy of the vehicle camera6can be increased.

Further, when the lamp control unit43causes the variable illuminance lamp42to sequentially form the plurality of light distribution patterns in the low accuracy region, the illuminance variable lamp42may be configured to acquire a luminous intensity and a wavelength of light illuminating the low accuracy region, and sequentially form the plurality of light distribution patterns with a light intensity or a wavelength different from this luminous intensity and this wavelength. Accordingly, when it is difficult to identify the object in a state in which the illuminance variable lamp42is already turned on, it is easy to form a light distribution pattern in which the object is easily identified.

Fourth Embodiment

FIG.10is a block diagram of the vehicle system2including a vehicle lamp system100C according to a fourth embodiment of the present invention. As illustrated inFIG.10, the vehicle lamp system100C may include the headlamp45. A known headlamp can be used as the headlamp45. The headlamp45is electrically connected to the lamp control unit43. The lamp control unit43controls the headlamp45to form the high beam light distribution pattern, form the low beam light distribution pattern, or turn itself off.

When the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3, the lamp control unit43may be configured to determine whether the headlamp45is in the lighting state. When the headlamp45is in the lighting state, the lamp control unit43may be configured to cause the illuminance variable lamp42to sequentially form a plurality of light distribution patterns in the low accuracy region in an illuminance or a color different from the illuminance or the color of the low accuracy region irradiated by the headlight45. According to such a configuration, the recognition accuracy can be improved when it is difficult to identify the object even when the headlamp45is turned on.

Fifth Embodiment

Vehicle lamp systems100D to100G according to a fifth embodiment to an eighth embodiment of the present invention will be described usingFIGS.11to14.

Since the vehicle1on which each of the vehicle lamp systems100D to100G according to the fifth embodiment to the eighth embodiment is mounted is similar to the vehicle1on which the vehicle lamp system100B according to the third embodiment described with reference toFIGS.7A,7B, and8is mounted, a description thereof will be omitted. Common members are denoted by the same reference numerals.

Further, the lamp control unit43according to the fifth embodiment to the eighth embodiment acquires the position information of the low angle region from the vehicle control unit3as described with reference toFIG.3. The vehicle lamp systems100D to100G according to the fifth embodiment to the eighth embodiment are different from the first embodiment to the fourth embodiment in the flow to be executed after acquiring the position information of the low angle region. The embodiments will be described in detail below.

Processing executed by the vehicle lamp system100D according to the fifth embodiment of the present invention will be described usingFIG.11.FIG.11is a flowchart of processing executed by the vehicle lamp system100D according to the fifth embodiment of the present invention.

As illustrated inFIG.11, first, after the lamp control unit43acquires the position information and illuminance of the low accuracy region from the vehicle control unit3, the lamp control unit43executes the following processing (step S201: Yes). When the position information of the low accuracy region is not acquired from the vehicle control unit3, the lamp control unit43does not execute the following processing (step S201: No). The illuminance of the region can be obtained, for example, as an average value, a maximum value, or a minimum value of luminance of the pixels belonging to the low accuracy region among the pixels of the vehicle camera6.

Next, the lamp control unit43determines whether the acquired illuminance of the low accuracy region is less than the threshold S1(step202). When the lamp control unit43determines that the illuminance of the low accuracy region is less than the threshold S1(step S202: Yes), the lamp control unit43controls the illuminance variable lamp42to increase the illuminance of the low accuracy region (step S203). When the illuminance of the low accuracy region is less than the threshold S1, it means that the low accuracy region is dark. That is, the recognition accuracy is low since the low accuracy region is dark. Therefore, when step S203is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance higher than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

On the other hand, when the lamp control unit43determines that the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S202: No), the lamp control unit43controls the illuminance variable lamp42to decrease the illuminance of the low accuracy region (step S204). When the illuminance of the low accuracy region is equal to or greater than the threshold S1, it means that the low accuracy region is bright. That is, the recognition accuracy is low since the low accuracy region is too bright. Therefore, when step S204is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance lower than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

In the illuminance variable lamp42which is the laser scanning device of the present embodiment, the laser light source emits the laser light. Further, the emitting range is scanned with the laser light by moving the movable mirror. In the present embodiment, the expression “the illuminance variable lamp42is controlled so as to increase the illuminance of the low accuracy region” means that the lamp control unit43increases the amount of energization supplied to the laser light source when the movable mirror is moved to a position of the low accuracy region irradiated with the laser light. On the other hand, the expression “the illuminance variable lamp42is controlled so as to decrease the illuminance of the low accuracy region” means that the lamp control unit43decreases the amount of energization supplied to the laser light source when the movable mirror is moved to the position of the low accuracy region irradiated with the laser light.

Steps S201to S204described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S202to S204may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information and the illuminance of the low accuracy region from the vehicle control unit3, the illuminance of the low accuracy region is adjusted by the illuminance variable lamp42such that the recognition accuracy is increased according to the illuminance of the low accuracy region. This adjustment may be continued for a predetermined number of times or a predetermined period of time. According to this aspect, when the position information and the illuminance of the low accuracy region are acquired at a certain time, the recognition accuracy can be continuously increased by repeating Step S203or S204a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S203and S204, and the illuminance variable lamp42is controlled based on the position information. However, when steps S201to S204are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S203and S204may be performed based on the position information of the low accuracy region acquired in step S201.

Sixth Embodiment

In the fifth embodiment described above, the configuration for acquiring the illuminance of the low accuracy region from the vehicle control unit3has been described. However, the present invention does not have to acquire the illuminance of the low accuracy region from the vehicle control unit3. A sixth embodiment of the present invention relates to a vehicle lamp system100E capable of increasing the recognition accuracy even when the illuminance of the low accuracy region is not acquired from the vehicle control unit3.

Processing executed by the vehicle lamp system100E according to the sixth embodiment of the present invention will be described usingFIG.12.FIG.12is a flowchart executed by the vehicle lamp system100E according to the sixth embodiment of the present invention. Since a configuration of the vehicle lamp system100E according to the sixth embodiment is similar to a configuration of the vehicle lamp system100D according to the fifth embodiment, a description thereof will be omitted.

As illustrated inFIG.12, the lamp control unit43acquires the position information and the recognition accuracy of the low accuracy region from the vehicle control unit3(step S211). In the following description, the recognition accuracy acquired in step S211will be referred to as first recognition accuracy N1.

Next, the lamp control unit43controls the illuminance variable lamp42to increase the illuminance of the low accuracy region (step S212). Next, the lamp control unit43acquires, as second recognition accuracy N2, recognition accuracy of the low accuracy region illuminated by an increased illuminance from the vehicle control unit3(step S213).

Next, the lamp control unit43compares the first recognition accuracy N1with the second recognition accuracy N2(step S214). That is, the lamp control unit43compares the recognition accuracy when the vehicle control unit3determines that the region is the low accuracy region with the recognition accuracy when the low accuracy region is illuminated in a brighter state. When the first recognition accuracy N1is higher than the second recognition accuracy N2, it means that the darker region has higher recognition accuracy. On the other hand, when the first recognition accuracy N1is lower than the second recognition accuracy N2, it means that the brighter region has higher recognition accuracy.

Therefore, when it is determined that the first recognition accuracy N1is higher than the second recognition accuracy N2(step S214: Yes), the lamp control unit43controls the illuminance variable lamp42to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S215). That is, when the region is too bright and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by darkening the low accuracy region.

When it is determined that the first recognition accuracy N1is lower than the second recognition accuracy N2(step S214: No), the lamp control unit43controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S216). That is, when the region is too dark and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by brightening the low accuracy region.

In this way, according to the vehicle lamp system100E of the present embodiment, the recognition accuracy can be increased even when the illuminance of the low accuracy region is not acquired from the vehicle control unit3.

Steps S211to S216described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S212to S216may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information and the recognition accuracy of the low accuracy region from the vehicle control unit3, the illuminance variable lamp42may be configured to continuously adjust the illuminance of the low accuracy region a predetermined number of times or for a predetermined period of time such that the recognition accuracy is increased. According to this aspect, when the position information and the recognition accuracy of the low accuracy region are acquired at a certain time, the recognition accuracy can be continuously increased by repeating Step S215or S216a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

In the embodiment described above, an example in which the lamp control unit43controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region has been described in step S212, but the lamp control unit43may control the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region in step S212.

When the illuminance variable lamp42is controlled so as to decrease the illuminance of the low accuracy region in step S212, the determination criterion in step S214is reversed. When the first recognition accuracy N1is higher than the second recognition accuracy N2, it means that the brighter region has higher recognition accuracy. On the other hand, when the first recognition accuracy N1is lower than the second recognition accuracy N2, it means that the darker region has higher recognition accuracy.

When it is determined that the first recognition accuracy N1is higher than the second recognition accuracy N2in step S214, the lamp control unit43controls the illuminance variable lamp so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy is acquired.

Further, when it is determined that the first recognition accuracy N1is lower than the second recognition accuracy N2in step S214, the lamp control unit43controls the illuminance variable lamp so as to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy is acquired.

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S215and S216, and the illuminance variable lamp42is controlled based on the position information. However, when steps S211to S216are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S215and S216may be performed based on the position information of the low accuracy region acquired in step S211.

Seventh Embodiment

In the fifth and sixth embodiments described above, an example in which the vehicle lamp systems100D,100E each include only the illuminance variable lamp42is described, but the vehicle lamp system can also be configured in combination with the headlamp45(the illuminance fixing lamp) capable of emitting light with a specific illuminance toward an area including the angle of view of the vehicle camera6.

A vehicle lamp system100F includes the headlamp45in addition to the configuration of the vehicle lamp systems100D,100E of the fifth and sixth embodiments described above. The lamp control unit43is electrically connected to the headlamp45. The lamp control unit43can control the headlamp45. A known headlamp can be used as the headlamp45. The headlamp45can form a high beam light distribution pattern and a low beam light distribution pattern. Further, the lamp control unit43controls the headlamp45to form the high beam light distribution pattern, form the low beam light distribution pattern, or turn itself off.

FIG.13is a flowchart executed by the vehicle lamp system100F according to a seventh embodiment of the present invention. As illustrated inFIG.13, since steps S221, S222executed by the lamp control unit43are the same as steps S201, S202of the fifth embodiment described above, a description thereof will be omitted. After it is determined whether the illuminance of the low accuracy region is less than the threshold S1(step S222), the lamp control unit43determines whether the headlamp45is in the lighting state (steps S223, S226).

When the illuminance of the low accuracy region is less than the threshold S1(step S222: Yes) and the headlamp45is in the lighting state (step S223: Yes), the lamp control unit43controls the illuminance variable lamp42to increase the illuminance of the low accuracy region (step S224). When the illuminance of the low accuracy region is less than the threshold S1, the low accuracy region is too dark and it may be difficult for the vehicle control unit3to identify the object. When step S224is executed, the illuminance variable lamp42illuminates the low accuracy region at illuminance higher than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, so that the recognition accuracy is increased.

When the illuminance of the low accuracy region is less than the threshold S1(step S222: Yes) and the headlamp45is in the OFF state (step S223: No), the lamp control unit43turns on the headlamp45and/or controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region (step S225).

When the headlamp45is too dark in the OFF state and the recognition accuracy is low, the low accuracy region can be brightly illuminated by turning on the headlamp45, so that the recognition accuracy can be increased. Alternatively, by increasing the amount of energization supplied to the light source of the illuminance variable lamp42without turning on the headlamp45, the low accuracy region can be brightly illuminated, so that the recognition accuracy can also be increased. Alternatively, by turning on the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42, the low accuracy region can be brightly illuminated, so that the recognition accuracy can also be increased.

The lamp control unit43may be configured to always execute one of turning on only the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42.

Alternatively, the lamp control unit43may be configured to select and execute one of turning on only the headlamp45and increasing the amount of energization supplied to the light source of the illuminance variable lamp42according to other external information. The other external information includes, for example, an average illuminance around the vehicle, time, weather, a traveling speed of the own vehicle, and exposure time of the vehicle camera6. For example, in a situation where the surroundings are dark, when the headlamp45is turned on, recognition accuracy of a region other than the low accuracy region can be increased. Alternatively, when the traveling speed of the own vehicle is high, the exposure time of the vehicle camera6is set to be short. When the exposure time of the vehicle camera6is short, luminance of all pixels of the vehicle camera6tends to be low in general. Therefore, when the headlamp45is turned on, the recognition accuracy of the region other than the low accuracy region can be increased.

When the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S222: No) and the headlamp45is in the lighting state (step S226: Yes), the lamp control unit43turns off the headlamp45and/or controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region (step S227). When the illuminance of the low accuracy region is equal to or greater than the threshold S1, the low accuracy region is too bright and it may be difficult for the vehicle control unit3to identify the object. When step S227is executed, since the low accuracy region is illuminated at the illuminance lower than the illuminance of the low accuracy region when the vehicle control unit3determines that the recognition accuracy is low, the recognition accuracy is increased.

When the headlamp45is too bright in the lighting state and the recognition accuracy is low, the low accuracy region can be darkened by turning off the headlamp45, so that the recognition accuracy can be increased. Alternatively, by decreasing the amount of energization supplied to the light source of the illuminance variable lamp42without turning off the headlamp45, the low accuracy region can be darkened, so that the recognition accuracy can also be increased. Alternatively, by turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42, the low accuracy region can be darkened, so that the recognition accuracy can also be increased.

The lamp control unit43may be configured to always execute one of only turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42.

Alternatively, the lamp control unit43may be configured to select and execute one of only turning off the headlamp45and decreasing the amount of energization supplied to the light source of the illuminance variable lamp42according to the other external information.

When the illuminance of the low accuracy region is equal to or greater than the threshold S1(step S222: No) and the headlamp45is in the OFF state (step S226: No), the lamp control unit43controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region (step S228).

Steps S221to S228described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S221to S228may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information and the illuminance of the low accuracy region from the vehicle control unit3, the lamp control unit43controls illuminance of the low accuracy region by the illuminance variable lamp42and/or the headlamp45such that the recognition accuracy is increased. This control may be continued for a predetermined number of times or a predetermined period of time. According to this aspect, when the position information of the low accuracy region is acquired at a certain time, the recognition accuracy can be continuously increased by repeating Steps S224, S225, S227and S228a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S224, S225, S227and S228, and the illuminance variable lamp42is controlled based on the position information. However, when steps S221to S228are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S224, S225, S227and S228may be performed based on the position information of the low accuracy region acquired in step S221.

Eighth Embodiment

In the seventh embodiment described above, the configuration for acquiring the illuminance of the low accuracy region from the vehicle control unit3has been described. However, the present invention does not have to acquire the illuminance of the low accuracy region from the vehicle control unit3. An eighth embodiment of the present invention relates to a vehicle lamp system100G capable of increasing the recognition accuracy even when the illuminance of the low accuracy region is not acquired from the vehicle control unit3.

Processing executed by the vehicle lamp system100G according to the eighth embodiment of the present invention will be described usingFIG.14.FIG.14is a flowchart executed by the vehicle lamp system100G according to the eighth embodiment of the present invention. Since a configuration of the vehicle lamp system100G according to the eighth embodiment is similar to a configuration of the vehicle lamp system100F according to the seventh embodiment, a description thereof will be omitted.

As illustrated inFIG.14, the lamp control unit43acquires the position information and the recognition accuracy of the low accuracy region from the vehicle control unit3(step S231). In the following description, the recognition accuracy acquired in step S231will be referred to as the first recognition accuracy N1.

Next, the lamp control unit43controls the illuminance variable lamp42so to turn on the headlamp45or increase the illuminance of the low accuracy region (step S232). Next, the lamp control unit43acquires, as the second recognition accuracy N2, the recognition accuracy of the low accuracy region illuminated by the increased illuminance from the vehicle control unit3(step S233).

Next, the lamp control unit43compares the first recognition accuracy N1with the second recognition accuracy N2(step S234). That is, the lamp control unit43compares the recognition accuracy when the vehicle control unit3determines that the region is the low accuracy region with the recognition accuracy when the low accuracy region is illuminated in a brighter state. Further, the lamp control unit43determines whether the headlamp45at the time of step S231is in the lighting state (steps S235, S238).

When the first recognition accuracy N1is higher than the second recognition accuracy N2(step S234: Yes) and the headlamp45is in the lighting state (step S235: Yes), the lamp control unit43controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S236). That is, when the region is too bright and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by darkening the low accuracy region.

When the first recognition accuracy N1is higher than the second recognition accuracy N2(step S234: Yes) and the headlamp45is in the OFF state (step S235: No), the lamp control unit43turns off the headlamp45and/or controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S237). That is, when the region is too bright and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by darkening the low accuracy region.

When the second recognition accuracy N2is higher than the first recognition accuracy N1(step S234: No) and the headlamp45is in the lighting state (step S238: Yes), the lamp control unit43controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S239). That is, when the region is too dark and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by brightening the low accuracy region.

When the second recognition accuracy N2is higher than the first recognition accuracy N1(step S234: No) and the headlamp45is in the OFF state (step S238: No), the lamp control unit43turns on the headlamp45and/or controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S240). That is, when the region is too dark and the recognition accuracy is low, the recognition accuracy of the low accuracy region is increased by brightening the low accuracy region.

In this way, according to the vehicle lamp system100G of the present embodiment, the recognition accuracy can be increased even when the illuminance of the low accuracy region is not acquired from the vehicle control unit3.

Steps S231to S240described above are repeatedly executed at predetermined intervals. The predetermined interval is 1 second or less, preferably 0.1 second or less.

Further, the processing of steps S231to S240may be repeated while the lamp control unit43acquires the position information of the low accuracy region from the vehicle control unit3.

Alternatively, when the lamp control unit43acquires the position information and the recognition accuracy of the low accuracy region from the vehicle control unit3, the illuminance variable lamp42may be configured to continuously adjust the illuminance of the low accuracy region a predetermined number of times or for a predetermined period of time such that the recognition accuracy is increased. According to this aspect, when the position information and the recognition accuracy of the low accuracy region are acquired at a certain time, the recognition accuracy can be continuously increased by repeating one of steps S236, S237, S239and S240a predetermined number of times regardless of whether the information about the low accuracy region is acquired from the vehicle control unit3.

In the embodiment described above, an example in which the lamp control unit43turns on the headlamp45or controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region has been described in step S232, but the lamp control unit43may turn off the headlamp45or control the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region in step S232.

When the illuminance variable lamp42is controlled so as to decrease the illuminance of the low accuracy region in step S232, the determination criterion in step S234is reversed. When the first recognition accuracy N1is higher than the second recognition accuracy N2, it means that the brighter region has higher recognition accuracy. On the other hand, when the first recognition accuracy N1is lower than the second recognition accuracy N2, it means that the darker region has higher recognition accuracy.

Therefore, when it is determined that the first recognition accuracy N1is higher than the second recognition accuracy N2and the headlamp45is in the lighting state, the lamp control unit43controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S239).

When it is determined that the first recognition accuracy N1is higher than the second recognition accuracy N2and the headlamp45is in the OFF state, the lamp control unit43turns on the headlamp45and/or controls the illuminance variable lamp42so as to increase the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S240).

When it is determined that the first recognition accuracy N1is lower than the second recognition accuracy N2and the headlamp45is in the lighting state, the lamp control unit43turns on the headlamp45and/or controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S236).

Therefore, when it is determined that the first recognition accuracy N1is lower than the second recognition accuracy N2and the headlamp45is in the OFF state, the lamp control unit43controls the illuminance variable lamp42so as to decrease the illuminance of the low accuracy region with respect to the illuminance when the first recognition accuracy N1is acquired (step S237).

The low accuracy region is a region which moves with time. Therefore, it is preferable that the lamp control unit43continuously acquires the position information of the low accuracy region and controls the illuminance variable lamp42so as to emit the light toward the moving low accuracy region. For example, it is preferable that the position information of the low accuracy region is acquired from the vehicle control unit3immediately before the execution of steps S236, S237, S239and S240, and the illuminance variable lamp42is controlled based on the position information. However, when steps S231to S240are processed at a sufficiently high speed, the control of the illuminance variable lamp42in steps S236, S237, S239and S240may be performed based on the position information of the low accuracy region acquired in step S231.

Although the embodiment of the present invention has been described above, it is needless to say that the technical scope of the present invention should not be limitedly interpreted by the description of the present embodiments. It is to be understood by those skilled in the art that the present embodiment is merely examples and various modifications may 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.

As illustrated inFIG.3, when there are the plurality of low accuracy regions A1, A2, the lamp control unit43performs the processing described above for each low accuracy region. As illustrated inFIG.3, even in a case where the region A1which is too bright and has a low recognition accuracy and the region A2which is too dark and has a low recognition accuracy coexist, the recognition accuracy of each region can be increased according to the embodiment described above.

In the embodiment described above, an example in which the vehicle camera6is a camera that acquires information in front of the vehicle has been described. However, the vehicle camera according to the present invention is not limited to a vehicle camera that acquires information in front of the vehicle. For example, the vehicle camera may be a rear camera which acquires information behind the vehicle, or a side camera which acquires information on the left side or the right side of the vehicle. In a case where the vehicle camera is a rear camera, the illuminance fixing lamp described above (the headlamp) is a lamp which emits light of a certain intensity to the rear of the vehicle. In a case where the vehicle camera is a side camera, the illuminance fixing lamp described above (the headlamp) is a lamp which emits light of a certain intensity to the left side or the right side of the vehicle.

Further, the vehicle camera is not limited to a camera that can receive visible light. The vehicle camera may be an infrared camera. In a case where the vehicle camera is the infrared camera, the illuminance variable lamp can be implemented by a lamp capable of emitting infrared rays.

Further, in the embodiment described above, a case where the illuminance variable lamp42is the laser scanning device has been described, but the type of the illuminance variable lamp is not particularly limited. For example, the illuminance variable lamp may be a lamp including a plurality of LED light sources. In this case, the region to which the illuminance variable lamp emits light is virtually divided into a plurality of regions, and the plurality of LED light sources can emit light to the respective regions. Each region to which the LED light source is capable of emitting light is associated with a region where the low accuracy region of the vehicle camera is recognized. In the vehicle lamp system configured as described above, the control described above can be executed by controlling the amount of energization supplied to the LED light source which emits light to the low accuracy region and a designated region.

In the present embodiment, the driving mode of the vehicle is described as including the fully automatic 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. A classification of the driving mode of the vehicle may be appropriately changed according to laws or regulations related to automatic driving in each country. Similarly, definitions of the “fully automatic driving mode”, the “advanced driving support mode” and the “driving support mode” in the description of the present embodiment are merely examples and may be appropriately changed according to the laws or regulations related to the automatic driving in each country.

This application is based on a Japanese Patent Application (Patent Application No. 2018-212376) filed on Nov. 12, 2018, a Japanese Patent Application (Patent Application No. 2018-212377) filed on Nov. 12, 2018, and a Japanese Patent Application (Patent Application No. 2018-212378) filed on Nov. 12, 2018, the contents of which are incorporated herein by reference.

INDUSTRIAL APPLICABILITY

According to the present invention, a vehicle lamp system capable of improving recognition accuracy of a camera is provided.

REFERENCE SIGNS LIST

1vehicle2vehicle system3vehicle control unit4lamp device6vehicle camera42illuminance variable lamp43lamp control unit44lamp-mounted camera45headlamp (illuminance fixing lamp)100to100G vehicle lamp systemA1, A2low accuracy region