JP7734648B2 - Irradiation control device and irradiation control method - Google Patents

Description

This disclosure relates to an illumination control device mounted on a vehicle, and in particular to technology that prevents motorcycles from entering the side of a vehicle when the vehicle is turning left or right.

For example, when a vehicle is turning right or left at an intersection, if a motorcycle enters the side of the vehicle, there is a risk of an accident occurring. For example, Patent Document 1 below discloses technology that alerts motorcycle drivers by shining a light onto the road surface on the left side of the vehicle when the vehicle is turning left.

JP 2008-129764 A

The technology in Patent Document 1 adjusts the color and intensity of the illuminated light to improve its visibility, but the illumination does not take into account factors such as the width of the space to the side of the vehicle or the presence or absence of obstacles, and there is room for improvement in order to improve the effectiveness of alerting motorcycle riders.

This disclosure has been made to solve the above-mentioned problems, and aims to enable an illumination control device that emits light to warn motorcycles in a space to the side of a vehicle to illuminate the light in a manner appropriate to the conditions of that space.

The illumination control device according to the present disclosure includes a right/left turn determination unit that determines whether the host vehicle will make a right/left turn; a motorcycle detection unit that detects motorcycles around the host vehicle; a space detection unit that detects the space on the road to the side of the host vehicle; a situation determination unit that determines the status of the motorcycle entry space when a motorcycle is detected behind the host vehicle when it is determined that the host vehicle will make a right/left turn and a motorcycle entry space, which is a space wide enough for a motorcycle to enter, is detected on the road to the side of the host vehicle in the direction of the turn; and an illumination control unit that controls the illumination lamps of the host vehicle to emit light into the motorcycle entry space to warn motorcycles when a motorcycle is detected behind the host vehicle when it is determined that the host vehicle will make a right/left turn and a motorcycle entry space is detected on the road to the side of the host vehicle in the direction of the turn, and that performs warning illumination to warn motorcycles, and changes the mode of the illumination light in accordance with the determination result of the status of the motorcycle entry space.

The illumination control device disclosed herein can change the illumination mode for warning signals based on the results of a determination of the condition of the space accessible to motorcycles, enabling light to be emitted in a mode appropriate for the conditions of that space.

1 is a diagram showing a configuration of an irradiation control device according to a first embodiment; FIG. 10 is a diagram for explaining a method for detecting a space accessible to a motorcycle. FIG. 10 is a diagram for explaining a method for detecting a space accessible to a motorcycle. 10A and 10B are diagrams for explaining attention-call illumination when the vehicle is turning left. 10A and 10B are diagrams for explaining attention-call illumination when the vehicle is turning right. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. 10A and 10B are diagrams illustrating an example of an illumination pattern for warning a driver when there is a wall-like obstacle beside a space accessible to motorcycles. 10A and 10B are diagrams illustrating an example of an illumination pattern for warning a driver when there is a curb-like obstacle beside a space accessible to motorcycles. 4 is a flowchart showing the operation of the irradiation control device according to the first embodiment. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. FIG. 10 is a diagram showing an example of an irradiation pattern of attention-calling irradiation. 10 is a flowchart showing the operation of an irradiation control device according to a modification of the first embodiment. FIG. 10 is a diagram showing the configuration of an irradiation control device according to a second embodiment. 10A and 10B are diagrams for explaining the operation of the irradiation control device according to the second embodiment. 10 is a flowchart showing the operation of the irradiation control device according to the second embodiment. 10 is a flowchart showing the operation of an irradiation control device according to a third embodiment. 10 is a flowchart showing the operation of an irradiation control device according to a fourth embodiment. FIG. 2 is a diagram illustrating an example of the hardware configuration of an irradiation control device. FIG. 2 is a diagram illustrating an example of the hardware configuration of an irradiation control device.

First Embodiment
1 is a diagram showing the configuration of an irradiation control device 10 according to a first embodiment. In the following description, the irradiation control device 10 is assumed to be mounted on a vehicle 20, and the vehicle 20 on which the irradiation control device 10 is mounted is referred to as the "host vehicle." Furthermore, right and left turns of a vehicle are collectively referred to as "right/left turns." In other words, "right/left turns" refers to a change in the direction of travel of a vehicle, and includes both right and left turns.

As shown in FIG. 1, the irradiation control device 10 is connected to a vehicle control device 21, a driver monitoring device 22, a surroundings monitoring device 23, and an irradiation lamp 24 provided in the host vehicle 20, and controls the irradiation lamp 24 based on information obtained from the vehicle control device 21, the driver monitoring device 22, and the surroundings monitoring device 23.

The vehicle control device 21 is an ECU (Electronic Control Unit) that controls the driving of the vehicle 20 by controlling the accelerator, brakes, turn signals, and other on-board equipment of the vehicle 20 based on the driver's driving operations or the output signals of the driver monitoring device 22 and the surroundings monitoring device 23. The illumination control device 10 can acquire vehicle information from the vehicle control device 21, which is information indicating the state of the vehicle 20, such as the details of the driving operations performed by the driver and the operating status of the on-board equipment.

The driver monitoring device 22 is a so-called DMS (Driver Monitoring System) that monitors the driver's state, such as the direction of the driver's gaze, facial direction, posture, and gestures. The irradiation control device 10 can acquire driver information, which is information indicating the driver's state, from the driver monitoring device 22.

The periphery monitoring device 23 is equipped with sensors that detect obstacles present around the host vehicle 20, and monitors the conditions around the host vehicle 20. The sensors of the periphery monitoring device 23 are, for example, on-board cameras or ToF (Time of Flight) sensors. Obstacles detected by the periphery monitoring device 23 include other vehicles (including motorcycles, bicycles, etc.), pedestrians, guardrails, curbs, etc. The illumination control device 10 can acquire periphery information from the periphery monitoring device 23, which is information indicating the position, size, etc. of obstacles present around the host vehicle 20.

The irradiation lamps 24 are installed near the front lamps, rear lamps, or side mirrors on the sides of the vehicle 20, and can emit light laterally from the vehicle 20. The irradiation range, illuminance, color tone, etc. of the light emitted by the irradiation lamps 24 can be controlled by the irradiation control device 10, which can use the irradiation lamps 24 to realize various types of irradiation light.

As shown in Figure 1, the illumination control device 10 includes a right/left turn determination unit 11, a motorcycle detection unit 12, a space detection unit 13, a situation determination unit 14, and an illumination control unit 15.

The right/left turn determination unit 11 determines whether the host vehicle 20 will turn right or left based on vehicle information acquired from the vehicle control device 21 and driver information acquired from the driver monitoring device 22. The right/left turn determination unit 11 can determine whether the host vehicle 20 will turn right or left by determining whether the driver intends to turn right or left, for example, from the driver's operation of the turn signal or brake, the operation status of the turn signal, the driver's line of sight or facial direction, etc. Whether the host vehicle 20 will turn right or left can be determined from vehicle information alone, but by taking driver information into account, an accurate determination can be made even if the driver is late in operating the turn signal or brake.

The motorcycle detection unit 12 detects motorcycles in the vicinity of, or at least behind, the host vehicle 20 based on surrounding information acquired from the surroundings monitoring device 23. The motorcycle detection unit 12 also acquires the position of the detected motorcycle (its position relative to the host vehicle 20). The term "two-wheeled vehicle" as used here refers to a mobile object equipped with handlebars, and includes not only general motorcycles but also motorbikes, bicycles, and scooters. Motorcycles, motorbikes, and bicycles also include three-wheeled types. The motorcycle detection unit 12 may also determine the type of motorcycle detected.

The space detection unit 13 detects the space on the road to the side of the host vehicle 20 based on the surrounding information acquired from the surroundings monitoring device 23. The space to the side of the host vehicle 20 is the space in which a vehicle on the side of the host vehicle 20 can travel, and is typically the space between the host vehicle 20 and a lateral obstacle (e.g., a guardrail or curbstone), but if there is no lateral obstacle, it is the space between the host vehicle 20 and the edge of the road (e.g., a gap in the asphalt). The space detection unit 13 also extracts information such as the width of the detected space and the height of any obstacles beside the space from the surroundings information.

When the right/left turn determination unit 11 determines that the host vehicle 20 is making a right or left turn, and the motorcycle detection unit 12 detects a motorcycle behind the host vehicle 20, the situation determination unit 14 acquires information about the space on the side of the host vehicle 20 in the direction in which the host vehicle 20 is turning from the space detection unit 13. The situation determination unit 14 then determines whether the space is a motorcycle-accessible space, which is a space wide enough for a motorcycle to enter. Spaces wide enough for a motorcycle to enter can exist on both the left and right sides of the host vehicle 20, but hereinafter, unless otherwise specified, "motorcycle-accessible space" refers to a space on the side of the host vehicle 20 in the direction in which the host vehicle 20 is turning.

Furthermore, if a space accessible to motorcycles is detected to the side of the direction in which the host vehicle 20 is turning, the situation assessment unit 14 assesses the status of that space accessible to motorcycles. Examples of the status of the space accessible to motorcycles include the width of the space accessible to motorcycles and the height of obstacles beside the space accessible to motorcycles.

In the following embodiments, an example is shown in which the situation assessment unit 14 assesses the status of the motorcycle-accessible space from both or either the width of the motorcycle-accessible space and the height of obstacles beside the motorcycle-accessible space. In embodiment 1, the situation assessment unit 14 assesses the height of obstacles beside the motorcycle-accessible space as the status of the motorcycle-accessible space.

Here, we will explain how the situation assessment unit 14 determines whether the space to the side of the vehicle 20 is accessible to motorcycles.

The simplest method is to determine that the space to the side of the vehicle 20 is accessible to a motorcycle if it is equal to or greater than a threshold value equivalent to the width of the motorcycle body (e.g., 40 cm). This threshold value may be different for each type of motorcycle.

However, because the wheels of a motorcycle are located in the center of the vehicle body, the motorcycle can enter spaces that are narrower than the width of the vehicle body if the obstacle beside the space is low, such as a curb. Therefore, in this embodiment, the threshold value used to determine whether a space is accessible for a motorcycle is changed depending on the height of the obstacle beside the space to the side of the vehicle 20.

For example, as shown in Figure 2, if the height Ho of an obstacle 31 beside the space to the side of the vehicle 20 is equal to or greater than the first height H1 (e.g., 15 cm), the situation assessment unit 14 determines that the obstacle 31 is wall-shaped, and if the width Ws of the space is equal to or greater than the first width W1 (e.g., 40 cm), it determines that the space is accessible to motorcycles.

Also, as shown in Figure 3, if the height Ho of an obstacle 31 beside the space to the side of the vehicle 20 is less than the first height H1, the situation assessment unit 14 determines that the obstacle 31 is curb-shaped, and if the width Ws of the space is equal to or greater than a second width W2 (e.g., 20 cm) that is narrower than the first width W1, it determines that the space is accessible to motorcycles.

However, if the height Ho of an obstacle 31 beside the space to the side of the vehicle 20 is less than a second height H2 (e.g., 3 cm) that is smaller than the first height H1, the system determines that there is no obstacle in the space that would prevent a motorcycle from entering, and determines that the space is accessible to motorcycles. The same applies if there is no obstacle beside the space to the side of the vehicle 20.

The values of the first height H1, second height H2, first width W1, and second width W2 may be different for each type of motorcycle.

When the illumination control unit 15 determines that the host vehicle 20 is turning right or left and detects a motorcycle behind the host vehicle 20, and detects a motorcycle-accessible space on the road to the side of the host vehicle 20 in the direction the host vehicle 20 is turning, the illumination control unit 15 controls the illumination lamps 24 of the host vehicle 20 to illuminate the motorcycle-accessible space with light from the illumination lamps 24, thereby performing attention-calling illumination to alert the motorcycle. For example, when the host vehicle 20 is turning left, the illumination control unit 15 illuminates the motorcycle-accessible space on the left side of the host vehicle 20 with light from the illumination lamps 24, projecting a predetermined illumination pattern 40, as shown in FIG. 4. When the host vehicle 20 is turning right, the illumination control unit 15 illuminates the motorcycle-accessible space on the right side of the host vehicle 20 with light from the illumination lamps 24, projecting a predetermined illumination pattern 40, as shown in FIG. 5.

4 and 5 show a rectangular irradiation pattern 40, but the irradiation pattern 40 may be any shape. For example, as shown in FIG. 6(a), an irradiation pattern 40 that is narrower at the back than at the front as seen from the motorcycle 30 creates an optical illusion that the motorcycle entry space appears narrower than it actually is, giving the rider of the motorcycle 30 a sense of narrowness and making them hesitate to enter the motorcycle entry space. As shown in FIG. 6(b), an irradiation pattern 40 that is darker in brightness or color at the back than at the front as seen from the motorcycle 30 also creates a similar optical illusion. An irradiation pattern 40 that uses an expanding color at the front as seen from the motorcycle 30 and a contracting color at the back also creates a similar optical illusion. As shown in FIG. 6(c), an irradiation pattern 40 that is divided into multiple parts and is thinner (shorter in the direction of travel) at the back than at the front as seen from the motorcycle 30 also creates a similar optical illusion.

The features of the irradiation patterns 40 shown in Figures 6(a) to 6(c) can also be combined. For example, Figure 7(a) shows an irradiation pattern 40 that combines the features of Figures 6(a) and 6(b). Also, Figure 7(b) shows an irradiation pattern 40 that combines the features of Figures 6(b) and 6(c).

The optical illusion of making the space available for motorcycles appear smaller than it actually is can also be achieved by using a lighting pattern 40 that creates an optical illusion of making the host vehicle 20 appear larger than it actually is. This is because making the host vehicle 20 appear larger than it actually is makes the space available for motorcycles appear smaller in comparison. For example, as shown in Figures 8(a) to 8(c), by projecting an illumination pattern 40 in the same color as or a similar color to the paint color of the host vehicle 20 onto the road surface near the side of the host vehicle 20, an optical illusion of making the host vehicle 20 appear larger than it actually is can be achieved.

As shown in Figure 9, an illumination pattern 40 with a cutoff line that makes it appear as if light is being blocked by a wall also creates an optical illusion, making the motorcycle-accessible space appear smaller than it actually is, because a wall-like obstacle appears to exist beside the motorcycle-accessible space.

The illumination control unit 15 also changes the mode of the illuminated light depending on the results of the situation assessment by the situation assessment unit 14 regarding the status of the motorcycle-accessible space. In this embodiment, the situation assessment unit 14 assesses the height of obstacles beside the motorcycle-accessible space as the status of the motorcycle-accessible space, and the illumination control unit 15 changes the mode of the illuminated light depending on the results of the assessment of the height of the obstacles.

For example, if it is determined that an obstacle 31 (i.e., a wall-like obstacle) with a height equal to or greater than the first height H1 (e.g., 15 cm) is present beside the space accessible to the motorcycle, the illumination control unit 15 projects an illumination pattern 40 in such a manner that the illumination light is also irradiated onto the side wall of the obstacle 31, as shown in FIG. 10(a). By projecting the illumination pattern 40 onto the side wall of the obstacle 31 as well, the presence of the obstacle 31 is emphasized, giving the rider of the motorcycle 30 a sense of narrowness.

The illumination pattern 40 in Figure 10(a) is configured so that, when viewed from the motorcycle 30, it is narrower in width and height at the back than at the front, and the brightness or color tone is darker at the back than at the front, so as to achieve the same optical illusion effect as Figure 7(b). Furthermore, the pattern is divided into multiple parts so that it is thinner at the back than at the front. Figure 10(b) is an example in which an expanding color is used for the part of the illumination pattern 40 that is projected onto the side wall of the obstacle 31, and by making the obstacle 31 appear larger, an optical illusion effect is achieved in which the space available for the motorcycle to enter appears smaller.

The illumination control unit 15 may set the illumination range of the illumination light in the height direction, i.e., the height of the illumination pattern 40 projected onto the side wall of the obstacle 31, depending on the height of the obstacle 31. This prevents the illumination light from going beyond the obstacle 31 and shining onto the sidewalk beside the road, preventing discomfort to pedestrians. Obstacles 31 also include fence-like structures and plantings. However, even if a wall-like obstacle 31 is one that allows illumination light to pass through, such as a fence-like structure, the illumination light will go beyond the obstacle 31 and be irradiated onto the sidewalk beside the road. Therefore, in such cases, the illumination control unit 15 may be configured not to irradiate the side wall of the obstacle 31 with illumination light.

On the other hand, if it is determined that an obstacle 31 (i.e., a curb-like obstacle) with a height less than the first height H1 is present beside the motorcycle-accessible space, the illumination control unit 15 projects an illumination pattern 40 in which light is irradiated only onto the road surface of the motorcycle-accessible space, as shown in Figures 11(a) to 11(c). In this embodiment, if it is determined that the obstacle 31 is curb-like, the illumination control unit 15 projects an illumination pattern 40 that has an optical illusion effect, making the motorcycle-accessible space appear narrower than it actually is. Figures 11(a), 11(b), and 11(c) are examples of the illumination patterns 40 of Figures 7(a), 6(c), and 7(b), respectively, projected along a curb-like obstacle 31.

Furthermore, if it is determined that an obstacle 31 with a height less than the second height H2 (e.g., 3 cm) exists beside the motorcycle-accessible space, or if it is determined that no obstacle exists beside the motorcycle-accessible space, the area from the vehicle 20 to the edge of the road (e.g., up to the gap in the asphalt of the road) is considered to be the motorcycle-accessible space, and the illumination pattern 40 is projected by irradiating the entire road surface of the motorcycle-accessible space.

However, on roads with oncoming lanes, if the irradiation pattern 40 is projected while the area from the host vehicle 20 to the right edge of the road is considered to be a space accessible to motorcycles when the host vehicle 20 makes a right turn, the irradiation pattern 40 may be projected into the oncoming lane, potentially interfering with the driving of oncoming vehicles. Therefore, when the host vehicle 20 makes a right turn, the irradiation control unit 15 sets the irradiation range of the irradiation pattern 40 to a certain range on the right side of the host vehicle 20, as shown in FIG. 5.

Even when the vehicle 20 is turning right, if it is determined that an obstacle 31 (such as a median strip) with a height equal to or greater than the second height H2 is present beside the motorcycle access space, the illumination range of the light is limited to the area up to the obstacle 31, so the illumination control unit 15 can still emit a warning light in the same way as when turning left.

Figure 12 is a flowchart showing the operation of the irradiation control device 10 according to embodiment 1. The operation of the irradiation control device 10 will be explained below with reference to the flowchart in Figure 12.

When the illumination control device 10 is activated, the right/left turn determination unit 11 acquires vehicle information from the vehicle control device 21 and driver information from the driver monitoring device 22 (step S101), and determines whether the host vehicle 20 will turn right or left based on the vehicle information and driver information (step S102). If it is determined that the host vehicle 20 will proceed straight (not turn right or left) (NO in step S102), the process returns to step S101.

If it is determined that the host vehicle 20 is traveling straight (not turning right or left) (YES in step S102), the motorcycle detection unit 12 acquires surrounding information from the surroundings monitoring device 23 (step S103) and detects motorcycles around the host vehicle 20 based on the surroundings information. The situation assessment unit 14 checks whether the motorcycle detection unit 12 has detected a motorcycle behind the host vehicle (step S104). If a motorcycle has not been detected behind the host vehicle 20 (NO in step S104), the process returns to step S101.

If a two-wheeled vehicle is detected behind the host vehicle 20 (YES in step S104), the space detection unit 13 detects the space on the road to the sides of the host vehicle 20 and any obstacles beside the space based on the surrounding information. The situation assessment unit 14 then acquires information about the space and obstacles to the sides of the host vehicle 20 in the direction in which the host vehicle 20 is turning from the space detection unit 13 (step S105).

The situation assessment unit 14 then checks the width Ws of the space to the side of the vehicle 20 in the direction of the turn and the height Ho of the obstacle 31 beside the space. If the height Ho of the obstacle 31 beside the space is equal to or greater than the first height H1 (e.g., 15 cm) (YES in step S106), the situation assessment unit 14 determines that the obstacle 31 is wall-shaped and checks whether the width Ws of the space is equal to or greater than the first width W1 (e.g., 40 cm) (step S107). If the width Ws of the space is equal to or greater than the first width W1 (YES in step S107), the situation assessment unit 14 determines that the space is accessible to motorcycles, and the illumination control unit 15 controls the illumination lamp 24 to illuminate the warning light. In this case, the illumination control unit 15 illuminates not only the road surface of the space but also the sidewall of the obstacle 31 with illumination light (step S108), and the process returns to step S101. If the width Ws of the space is less than the first width W1 (NO in step S107), the irradiation control unit 15 does not perform warning irradiation (step S109) and returns to step S101.

On the other hand, if the height Ho of the obstacle 31 beside the space is less than the first height H1 (NO in step S106) and equal to or greater than the second height H2 (e.g., 3 cm) (YES in step S110), the situation assessment unit 14 determines that the obstacle 31 is curb-shaped and checks whether the width Ws of the space is equal to or greater than the second width W2 (e.g., 20 cm). If the width Ws of the space is equal to or greater than the second width W2 (YES in step S111), the situation assessment unit 14 determines that the space is accessible to motorcycles, and the illumination control unit 15 controls the illumination lamp 24 to illuminate the warning light. In this case, the illumination control unit 15 illuminates the road surface of the space with illumination light (step S112) and returns to step S101. If the width Ws of the space is less than the second width W2 (NO in step S111), the illumination control unit 15 does not illuminate the warning light (step S109) and returns to step S101.

Furthermore, if the height Ho of the obstacle 31 beside the space is less than the second height H2 (NO in step S110) (including when no obstacle 31 is present), the situation assessment unit 14 determines that there is no obstacle preventing the motorcycle from entering the space, regards the area from the host vehicle 20 to the edge of the road as a space accessible to motorcycles, and illuminates the entire road surface of the space accessible to motorcycles with illumination light (step S113), before returning to step S101. However, if the host vehicle 20 is turning right on a road with an oncoming lane, in step S113 the illumination control unit 15 illuminates illumination light in a certain range to the right of the host vehicle 20, as shown in FIG. 5.

As described above, the illumination control device 10 according to the first embodiment can change the mode of illumination light used in the attention warning illumination in response to the results of determining the status of the motorcycle-accessible space, thereby illuminating light in a mode appropriate to the status of that space. This prevents motorcycles from entering the motorcycle-accessible space to the side of the host vehicle 20, thereby preventing hit-and-run accidents. Furthermore, attention warning illumination is only performed when it is determined that the host vehicle 20 is turning right or left and the space to the side of the host vehicle 20 in the direction of the turn is determined to be a motorcycle-accessible space, thereby reducing unnecessary illumination and contributing to a reduction in energy consumption.

[Modification 1]
In the first embodiment, when the obstacle 31 is determined to be curb-shaped, the illumination control unit 15 projects an illumination pattern 40 that has an optical illusion effect of making the motorcycle entry space appear narrower than it actually is, but for example, as shown in Figures 13(a) and 13(b), an illumination pattern 40 that has an optical illusion image of making the road surface appear uneven may be projected onto the motorcycle entry space. The illumination pattern 40 that has an optical illusion image of making the road surface appear uneven has the effect of making the motorcycle entry space appear more difficult to navigate, and can make the driver of the motorcycle 30 hesitate to enter the motorcycle entry space.

[Modification 2]
The illumination pattern 40 may change in synchronization with the blinking of the turn indicators of the vehicle 20. For example, the illumination pattern 40 as shown in Fig. 14(a) may be made to blink in synchronization with the blinking of the turn indicators. Fig. 14(b) shows an example in which the illumination pattern 40 lights up in a flowing pattern from side to side like a chain-lighting type turn indicator (so-called sequential turn signal).

Figure 15(a) shows an example in which the illumination pattern 40 is illuminated as a bar graph that flows back and forth. Figure 15(b) shows an example in which the width of the bar graph of the illumination pattern 40 is narrower in the distance than in the distance from the motorcycle 30, creating an optical illusion that makes the space available for motorcycle entry appear narrower than it actually is. Figure 15(c) shows an example in which only the tip of the bar graph illumination pattern 40 flashes in synchronization with the flashing of the turn signal.

Figure 16(a) shows an example in which the width of the illumination pattern 40 is widened so that the illumination pattern 40 fills the motorcycle-accessible space in sync with the blinking of the turn signal. Figure 16(b) shows an example in which the width of the illumination pattern 40 is narrower in the distance than in the distance as seen from the motorcycle 30, creating an optical illusion that makes the motorcycle-accessible space appear narrower than it actually is.

Furthermore, when the accelerator pedal is depressed while the host vehicle 20 is stopped, the blinking speed of the illumination pattern 40, the speed of the sequential lighting, the brightness of the illumination pattern 40, etc. may be increased in accordance with the depression of the accelerator pedal. This can strongly alert the driver of the motorcycle 30 when the host vehicle 20 starts to move.

[Modification 3]
The width of the irradiation pattern 40 may be the same as the first width W1 or the second width W2, as shown in FIG. 17(a), or may be narrower than the first width W1 or the second width W2, as shown in FIG. 17(b).

Also, as shown in Figure 17(c), the width of the irradiation pattern 40 may be set to the same width as the motorcycle-accessible space (the distance from the host vehicle 20 to the obstacle 31). When the width of the irradiation pattern 40 is adjusted to match the width of the motorcycle-accessible space as shown in Figure 17(c), the situation determination unit 14 determines the width of the motorcycle-accessible space as the situation of the motorcycle-accessible space, and the irradiation control unit 15 sets the irradiation range of the irradiated light in the road width direction (i.e., the width of the irradiation pattern 40) according to the width of the motorcycle-accessible space.

Figure 18 is a flowchart showing the operation of the illumination control device 10 when setting the illumination range of the light in the road width direction (i.e., the width of the illumination pattern 40) according to the width of the space accessible to motorcycles.

The flowchart in Figure 18 replaces steps S101 and S112 of the flowchart in Figure 12 with steps S108a and S112a, respectively. In steps S108a and S112a, the illumination control unit 15 illuminates the road surface of the motorcycle-accessible space with illumination light (illumination pattern 40) having a width corresponding to the width of the motorcycle-accessible space.

<Second Embodiment>
Fig. 19 is a diagram showing the configuration of an illumination control device 10 according to a second embodiment. The configuration of the illumination control device 10 shown in Fig. 19 is different from that shown in Fig. 1 in that a vehicle-to-vehicle communication device 25 is connected to the illumination control device 10. The illumination control device 10 of this embodiment can detect a two-wheeled vehicle 30 behind the host vehicle 20 based on information obtained through communication with the outside world (vehicle-to-vehicle communication) using the vehicle-to-vehicle communication device 25.

The illumination control device 10 can communicate with illumination control devices 10 provided in other vehicles using the vehicle-to-vehicle communication device 25. Any communication method may be used for vehicle-to-vehicle communication, such as a method in which the vehicle-to-vehicle communication devices 25 of different vehicles communicate directly with each other, a method in which communication is via the cloud, or a communication method using light from the vehicle's lighting devices.

20 , when a following vehicle 32 equipped with another illumination control device 10 is located behind a host vehicle 20 equipped with an illumination control device 10, and the illumination control device 10 of the following vehicle 32 detects the presence of a motorcycle 30 behind the following vehicle, the information is transmitted from the illumination control device 10 of the following vehicle 32 to the illumination control device 10 of the host vehicle 20 via the inter-vehicle communication device 25. When the illumination control device 10 of the host vehicle 20 determines that the host vehicle 20 is about to turn right or left, it performs a warning illumination to prevent the motorcycle 30 from entering a motorcycle-accessible space, as in the first embodiment. This enables the illumination control device 10 of the host vehicle 20 to detect a motorcycle 30 hidden behind the following vehicle 32, thereby expanding the detection range for the motorcycle 30.

Note that while an example using the vehicle-to-vehicle communication device 25 has been shown here, the functions of the vehicle-to-vehicle communication device 25 may be replaced with those of a road-to-vehicle communication device, and the illumination control device 10 may acquire information on the position of the motorcycle 30 located behind the vehicle 20 from a road monitoring device installed at an intersection or the like. In this case, the same effect as above can be obtained.

The illumination control device 10 of the host vehicle 20 may also request the illumination control device 10 of the following vehicle 32 to illuminate a warning light for the motorcycle 30. As a result, even if the following vehicle 32 is traveling straight, the illumination control devices 10 of both the host vehicle 20 and the following vehicle 32 will perform warning light illumination, as shown in Figure 20. As a result, the effectiveness of preventing the motorcycle 30 from entering the motorcycle-accessible space to the side of the host vehicle 20 is improved. Conversely, the following vehicle 32 may request the host vehicle 20 to illuminate a warning light.

Figure 21 is a flowchart showing the operation of the irradiation control device 10 according to embodiment 2. The flowchart in Figure 21 is the same as the flowchart in Figure 12, with steps S121 and S122 added. Since the other steps are basically the same as those in Figure 12, a description of those steps will be omitted here, and only differences from the flowchart in Figure 12 will be described.

Step S121 is performed before step S104. In step S121, the situation assessment unit 14 acquires information about the detected motorcycle from the illumination control device 10 of the following vehicle 32 located behind the host vehicle 20 via vehicle-to-vehicle communication using the vehicle-to-vehicle communication device 25.

In the second embodiment, in step S104, the situation assessment unit 14 checks whether the motorcycle detection unit 12 has detected a motorcycle behind the host vehicle, and also checks whether the illumination control device 10 of the other vehicle has detected a motorcycle behind the host vehicle 20 (including behind the following vehicle 32) based on information obtained through vehicle-to-vehicle communication. This makes it possible to detect, for example, a motorcycle 30 hidden behind a following vehicle 32, thereby achieving the effect of expanding the detectable range for the motorcycle 30.

Step S122 is also performed when the illumination control device 10 performs the attention-warning illumination (step S108, S112, or S113). In step S122, the situation determination unit 14 requests the illumination control device 10 of the following vehicle 32 to perform attention-warning illumination for the motorcycle 30 through vehicle-to-vehicle communication using the vehicle-to-vehicle communication device 25. At this time, the illumination control device 10 of the host vehicle 20 may specify the mode of attention-warning illumination to be performed by the illumination control device 10 of the following vehicle 32.

In Figure 21, an example is shown in which step S122 is performed after step S108, S112, or S113, but it may also be performed before step S108, S112, or S113. Also, when the two-wheeled vehicle 30 is located between the host vehicle 20 and the following vehicle 32, it is sufficient for only the host vehicle 20 to perform the attention-warning illumination, and the following vehicle 32 does not need to perform the attention-warning illumination. Therefore, step S122 may be performed only when the two-wheeled vehicle 30 is located behind the following vehicle 32.

<Third Embodiment>
When the vehicle 20 makes a right or left turn, it is preferable to start turning right or left only after it has been confirmed that the two-wheeled vehicle 30 behind has stopped and there is no risk of it entering the space accessible to two-wheeled vehicles.

Figure 22 is a flowchart showing the operation of the irradiation control device 10 according to embodiment 3. The flowchart in Figure 22 is the same as the flowchart in Figure 12, with steps S131 to S135 added. Since the other steps are basically the same as those in Figure 12, a description of those steps will be omitted here, and only differences from the flowchart in Figure 12 will be described.

Steps S131 to S135 are performed after the illumination control device 10 performs the attention-warning illumination (step S108, S112, or S113). That is, in the third embodiment, after the attention-warning illumination is performed, the motorcycle detection unit 12 again acquires surrounding information from the surroundings monitoring device 23 (step S131) and detects motorcycles around the host vehicle 20 based on the surroundings information. Next, the situation assessment unit 14 checks whether the motorcycle 30 behind the host vehicle 20 is stopped based on the detection result by the motorcycle detection unit 12 (step S132).

If the two-wheeled vehicle 30 behind the host vehicle 20 is stopped (step S132), the situation assessment unit 14 determines that there is no risk of the two-wheeled vehicle 30 entering the motorcycle-accessible space, and allows the vehicle control device 21 to allow the host vehicle 20 to turn right or left (YES in step S132).

If the two-wheeled vehicle 30 behind the host vehicle 20 is not stopped (NO in step S132), the situation assessment unit 14 determines that there is a risk that the two-wheeled vehicle 30 will enter the motorcycle entry space, and instructs the vehicle control device 21 to prohibit the host vehicle 20 from turning right or left (step S134). The illumination control unit 15 also emphasizes the illumination of a warning signal to prevent the two-wheeled vehicle 30 from entering the motorcycle entry space (step S135). Then, the process returns to step S131.

In step S134, an alarm may be sounded for the motorcycle 30, or an audio message may be output urging the motorcycle 30 not to enter the motorcycle-accessible space.

<Fourth Embodiment>
In the above embodiments, the height of an obstacle beside the space is taken into consideration when determining whether the space to the side of the vehicle 20 is a space accessible to a motorcycle, but the height of the obstacle does not have to be taken into consideration. In embodiment 4, an example is shown in which if the width of the space to the side of the vehicle 20 is equal to or greater than a threshold value corresponding to the width of the body of a motorcycle (for example, 40 cm), the space is determined to be an accessible space to a motorcycle.

Figure 23 is a flowchart showing the operation of the irradiation control device 10 according to embodiment 4. The flowchart in Figure 23 is the same as the flowchart in Figure 12, except that step S106 and steps S110 to S113 are omitted and step S106 is replaced with step S141. As the other steps are basically the same as in Figure 12, a description of those steps will be omitted here, and only differences from the flowchart in Figure 12 will be described.

As shown in FIG. 23, in embodiment 4, when a two-wheeled vehicle is detected behind the host vehicle 20 (YES in step S104), the situation assessment unit 14 acquires information about the space and obstacles on the sides of the host vehicle 20 in the direction in which the host vehicle 20 is turning (step S105), and checks whether the width Ws of the space is equal to or greater than the first width W1 (e.g., 40 cm) (step S107).

If the width Ws of the space is equal to or greater than the first width W1 (YES in step S107), the situation determination unit 14 determines that the space is accessible to motorcycles and determines the situation of the space (such as the width of the space and the height of any obstacles beside the space) from the information acquired in step S105. The illumination control unit 15 then performs a warning illumination by illuminating the road surface of the space (and possibly the side walls of any obstacles, depending on the situation) with light in a manner appropriate to the determination result (step S141). If the width Ws of the space is less than the first width W1 (NO in step S107), the illumination control unit 15 does not perform a warning illumination (step S109).

The situation assessment unit 14 may assess the situation of a space accessible to motorcycles based on both the width of the space and the height of obstacles beside the space, or based on either one of them.

<Hardware configuration example>
24 and 25 are diagrams illustrating examples of the hardware configuration of the illumination control device 10. The functions of the components of the illumination control device 10 illustrated in FIG. 1 or 19 are realized, for example, by a processing circuit 50 illustrated in FIG. 24. That is, the illumination control device 10 includes a processing circuit 50 for determining whether the host vehicle 20 is to turn right or left, detecting motorcycles around the host vehicle 20, and detecting a space on the road to the side of the host vehicle 20. When it is determined that the host vehicle 20 is to turn right or left, a motorcycle is detected behind the host vehicle 20, and a motorcycle-accessible space, which is a space wide enough for a motorcycle to enter, is detected on the road to the side of the host vehicle 20 in the direction in which the host vehicle 20 is turning. The processing circuit 50 determines the status of the motorcycle-accessible space and controls the illumination lamp 24 of the host vehicle 20 to irradiate the motorcycle-accessible space with illumination light to warn motorcycles, thereby performing attention-attention illumination and changing the mode of the illumination light depending on the determination result of the status of the motorcycle-accessible space. The processing circuit 50 may be dedicated hardware, or may be configured using a processor (also called a central processing unit (CPU), processing device, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in memory.

When the processing circuitry 50 is dedicated hardware, the processing circuitry 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these. The functions of each component of the irradiation control device 10 may be realized by a separate processing circuit, or these functions may be realized together by a single processing circuit.

Figure 25 shows an example of the hardware configuration of the irradiation control device 10 when the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the components of the irradiation control device 10 are realized by software, etc. (software, firmware, or a combination of software and firmware). The software, etc. is written as a program and stored in memory 52. The processor 51 realizes the functions of each part by reading and executing the program stored in memory 52. That is, the illumination control device 10 includes a memory 52 for storing a program that, when executed by the processor 51, results in the execution of the following processes: determining whether the host vehicle 20 is about to turn right or left; detecting motorcycles around the host vehicle 20; detecting the space on the road to the side of the host vehicle 20; and, if a motorcycle is detected behind the host vehicle 20 when it is determined that the host vehicle 20 is about to turn right or left, and a motorcycle-accessible space, which is a space wide enough for a motorcycle to enter, is detected on the road to the side of the host vehicle 20 in the direction in which the host vehicle 20 is turning, determining the status of the motorcycle-accessible space and controlling the illumination lamps 24 of the host vehicle 20 to illuminate the motorcycle-accessible space with illumination light to warn motorcycles, and changing the form of the illumination light in accordance with the determination of the status of the motorcycle-accessible space. In other words, this program can be said to cause a computer to execute the procedures and methods of operation of the components of the illumination control device 10.

Here, memory 52 may be, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, or any other storage medium that will be used in the future.

The above describes a configuration in which the functions of the components of the irradiation control device 10 are realized either by hardware or software, etc. However, this is not limited to this, and the configuration may be such that some components of the irradiation control device 10 are realized by dedicated hardware and other components are realized by software, etc. For example, the functions of some components may be realized by a processing circuit 50 as dedicated hardware, and the functions of other components may be realized by the processing circuit 50 as a processor 51 reading and executing a program stored in memory 52.

As described above, the irradiation control device 10 can achieve each of the above-mentioned functions through hardware, software, etc., or a combination of these.

In addition, it is possible to freely combine each embodiment, and to modify or omit each embodiment as appropriate.

<Additional Notes>
Various aspects of the present disclosure are summarized below as appendices.

(Appendix 1)
a right/left turn determination unit that determines whether the host vehicle is turning right or left;
a two-wheeled vehicle detection unit that detects two-wheeled vehicles around the host vehicle;
a space detection unit that detects a space on a road to the side of the vehicle;
a situation determination unit that, when a two-wheeled vehicle is detected behind the host vehicle when it is determined that the host vehicle is making a right or left turn, and a two-wheeled vehicle entry space that is a space wide enough for the two-wheeled vehicle to enter is detected on a road to the side of the host vehicle in the direction in which the host vehicle is turning, determines the situation of the two-wheeled vehicle entry space;
an illumination control unit that, when a motorcycle is detected behind the host vehicle when it is determined that the host vehicle will make a right or left turn and a space accessible to the motorcycle is detected on the road to the side of the host vehicle in the direction in which the host vehicle is turning, controls an illumination lamp of the host vehicle to illuminate the space accessible to the motorcycle with light to call the attention of the motorcycle, and changes the state of the illumination light depending on the determination result of the situation of the space accessible to the motorcycle;
An irradiation control device comprising:

(Appendix 2)
When the height of an obstacle beside the space to the side of the vehicle is equal to or greater than a first height, the situation determination unit determines that the space is an accessible space for a motorcycle if the width of the space is equal to or greater than the first width.
2. The irradiation control device according to claim 1.

(Appendix 3)
When the height of the obstacle is less than the first height and equal to or greater than a second height, the situation determination unit determines that the space is an accessible space for a motorcycle if the width of the space is equal to or greater than a second width that is narrower than the first width.
3. The irradiation control device according to claim 2.

(Appendix 4)
the situation determination unit determines the height of an obstacle beside the motorcycle-accessible space as the situation of the motorcycle-accessible space;
4. An irradiation control device according to any one of claims 1 to 3.

(Appendix 5)
When the obstacle is a wall-like obstacle having a height equal to or greater than a certain level, the illumination control unit illuminates the illumination light also onto the obstacle.
5. The irradiation control device according to claim 4.

(Appendix 6)
When the obstacle is a curb-like obstacle having a height less than a certain level, the illumination control unit performs the attention-calling illumination with the illumination light in a manner that has an optical illusion effect that makes the space available for the motorcycle to enter appear narrower than it actually is.
6. An irradiation control device according to claim 4 or 5.

(Appendix 7)
The optical illusion effect that the motorcycle-accessible space appears narrower than it actually is realized by the irradiated light in a manner that creates an optical illusion that makes the host vehicle appear larger than it actually is.
7. The irradiation control device according to claim 6.

(Appendix 8)
When the obstacle is a curb-like obstacle having a height less than a certain level, the illumination control unit performs the attention-calling illumination with the illumination light in a manner that has an optical illusion effect that makes the motorcycle-accessible space appear more difficult to travel through.
6. An irradiation control device according to claim 4 or 5.

(Appendix 9)
the illumination control unit sets an illumination range of the illumination light in a height direction in accordance with a height of the obstacle.
9. An irradiation control device according to any one of claims 4 to 8.

(Appendix 10)
the situation determination unit determines a width of the motorcycle-accessible space as the situation of the motorcycle-accessible space;
4. An irradiation control device according to any one of claims 1 to 3.

(Appendix 11)
the illumination control unit sets an illumination range of the illumination light in a road width direction in accordance with the width of the motorcycle-accessible space.
11. The irradiation control device according to claim 10.

(Appendix 12)
The illumination control unit performs the attention-calling illumination in a manner that changes periodically in conjunction with blinking of a turn signal of the host vehicle.
12. An irradiation control device according to any one of claims 1 to 11.

(Appendix 13)
detecting the two-wheeled vehicle based on information acquired through communication with an external device of the vehicle;
13. An irradiation control device according to any one of claims 1 to 12.

(Appendix 14)
communicating with another vehicle located behind the vehicle and requesting the other vehicle to perform the attention-drawing illumination;
14. An irradiation control device according to any one of claims 1 to 13.

(Appendix 15)
a right/left turn determination unit of the illumination control device determines whether the host vehicle is turning right or left;
a motorcycle detection unit of the illumination control device detects motorcycles around the host vehicle;
a space detection unit of the illumination control device detects a space on a road to the side of the host vehicle;
When it is determined that the host vehicle is making a right or left turn and a two-wheeled vehicle entry space that is a space wide enough for the two-wheeled vehicle to enter is detected on a road to the side of the host vehicle in the direction in which the host vehicle is turning, a situation determination unit of the illumination control device determines the situation of the two-wheeled vehicle entry space, and an illumination control unit of the illumination control device controls an illumination lamp of the host vehicle to irradiate illumination light onto the two-wheeled vehicle entry space to draw attention to the two-wheeled vehicle, and changes the mode of the illumination light according to the determination result of the situation of the two-wheeled vehicle entry space.
Irradiation control method.

10 Illumination control device, 11 Right/left turn determination unit, 12 Motorcycle detection unit, 13 Space detection unit, 14 Situation determination unit, 15 Illumination control unit, 20 Host vehicle, 21 Vehicle control device, 22 Driver monitoring device, 23 Periphery monitoring device, 24 Illumination lamp, 25 Vehicle-to-vehicle communication device, 30 Motorcycle, 31 Obstacle, 32 Following vehicle, 50 Processing circuit, 51 Processor, 52 Memory, 40 Illumination pattern.

Claims (15)

a right/left turn determination unit that determines whether the host vehicle is turning right or left;
a two-wheeled vehicle detection unit that detects two-wheeled vehicles around the host vehicle;
a space detection unit that detects a space on a road to the side of the vehicle;
a situation determination unit that, when a two-wheeled vehicle is detected behind the host vehicle when it is determined that the host vehicle is making a right or left turn, and a two-wheeled vehicle entry space that is a space wide enough for the two-wheeled vehicle to enter is detected on a road to the side of the host vehicle in the direction in which the host vehicle is turning, determines the situation of the two-wheeled vehicle entry space;
an illumination control unit that, when a motorcycle is detected behind the host vehicle when it is determined that the host vehicle will make a right or left turn and a space accessible to the motorcycle is detected on the road to the side of the host vehicle in the direction in which the host vehicle is turning, controls an illumination lamp of the host vehicle to illuminate the space accessible to the motorcycle with light to call the attention of the motorcycle, and changes the state of the illumination light depending on the determination result of the situation of the space accessible to the motorcycle;
An irradiation control device comprising: When the height of an obstacle beside the space to the side of the vehicle is equal to or greater than a first height, the situation determination unit determines that the space is an accessible space for a motorcycle if the width of the space is equal to or greater than the first width.
The irradiation control device according to claim 1 . When the height of the obstacle is less than the first height and equal to or greater than a second height, the situation determination unit determines that the space is an accessible space for a motorcycle if the width of the space is equal to or greater than a second width that is narrower than the first width.
The irradiation control device according to claim 2 . the situation determination unit determines the height of an obstacle beside the motorcycle-accessible space as the situation of the motorcycle-accessible space;
The irradiation control device according to any one of claims 1 to 3. When the obstacle is a wall-like obstacle having a height equal to or greater than a certain level, the illumination control unit illuminates the illumination light also onto the obstacle.
The irradiation control device according to claim 4 . When the obstacle is a curb-like obstacle having a height less than a certain level, the illumination control unit performs the attention-calling illumination with the illumination light in a manner that has an optical illusion effect that makes the space available for the motorcycle to enter appear narrower than it actually is.
The irradiation control device according to claim 4 . The optical illusion effect that the motorcycle-accessible space appears narrower than it actually is realized by the irradiated light in a manner that creates an optical illusion that makes the host vehicle appear larger than it actually is.
The irradiation control device according to claim 6 . When the obstacle is a curb-like obstacle having a height less than a certain level, the illumination control unit performs the attention-calling illumination with the illumination light in a manner that has an optical illusion effect that makes the motorcycle-accessible space appear more difficult to travel through.
The irradiation control device according to claim 4 . the illumination control unit sets an illumination range of the illumination light in a height direction in accordance with a height of the obstacle.
The irradiation control device according to claim 4 . the situation determination unit determines a width of the motorcycle-accessible space as the situation of the motorcycle-accessible space;
The irradiation control device according to any one of claims 1 to 3. the illumination control unit sets an illumination range of the illumination light in a road width direction in accordance with the width of the motorcycle-accessible space.
The irradiation control device according to claim 10. The illumination control unit performs the attention-calling illumination in a manner that changes periodically in conjunction with blinking of a turn signal of the host vehicle.
The irradiation control device according to any one of claims 1 to 3. detecting the two-wheeled vehicle based on information acquired through communication with an external device of the vehicle;
The irradiation control device according to any one of claims 1 to 3. communicating with another vehicle located behind the vehicle and requesting the other vehicle to perform the attention-calling illumination;
The irradiation control device according to any one of claims 1 to 3. a right/left turn determination unit of the illumination control device determines whether the host vehicle is turning right or left;
a motorcycle detection unit of the illumination control device detects motorcycles around the host vehicle;
a space detection unit of the illumination control device detects a space on a road to the side of the host vehicle;
When it is determined that the host vehicle is making a right or left turn and a two-wheeled vehicle entry space that is a space wide enough for the two-wheeled vehicle to enter is detected on a road to the side of the host vehicle in the direction in which the host vehicle is turning, a situation determination unit of the illumination control device determines the situation of the two-wheeled vehicle entry space, and an illumination control unit of the illumination control device controls an illumination lamp of the host vehicle to irradiate illumination light onto the two-wheeled vehicle entry space to draw attention to the two-wheeled vehicle, and changes the mode of the illumination light according to the determination result of the situation of the two-wheeled vehicle entry space.
Irradiation control method.