Headlamp control device, headlamp control method, and storage medium

A headlamp control method, comprising:

• recognizing, by a headlamp control device, a forward vehicle with a lamp lit included in a forward camera image of an own vehicle;
• executing light distribution switching control of a headlamp of the own vehicle when the forward vehicle with the lamp lit included in the forward camera image of the own vehicle is recognized in the recognizing, the light distribution switching control being the headlamp control device performing light distribution switching control of the headlamp of the own vehicle from a high-beam lit state to a shielded high-beam lit state, or light distribution switching control of the headlamp of the own vehicle from the high-beam lit state to a low-beam lit state, the shielded high-beam being a high-beam in which the forward vehicle with the lamp lit included in the forward camera image of the own vehicle, and surroundings of the forward vehicle, are shielded from light;
• acquiring a result of learning of recognition sensitivity of the forward vehicle with the lamp lit included in a forward camera image of a probe vehicle that is suitable for each traveling position of the probe vehicle, performed using a traveling position of the probe vehicle and the forward camera image of the probe vehicle, the traveling position of the probe vehicle and the forward camera image of the probe vehicle being a traveling position and a forward camera image for the headlamp control device when a driver of the probe vehicle performs an operation of turning off a function of light distribution switching control of a headlamp of the probe vehicle from a high-beam lit state to a shielded high-beam lit state, or an operation of turning off a function of light distribution switching control of the headlamp of the probe vehicle from the high-beam lit state to a low-beam lit state;
• and
• executing, by the headlamp control device, adjustment of recognition sensitivity of the forward vehicle with a lamp lit included in a forward camera image of the own vehicle at each traveling position of the own vehicle, based on the result of the learning acquired in the acquiring.

A non-transitory storage medium storing a program causing a processor to execute

• recognizing a forward vehicle with a lamp lit included in a forward camera image of an own vehicle;
• executing light distribution switching control of a headlamp of the own vehicle when the forward vehicle with the lamp lit included in the forward camera image of the own vehicle is recognized in the recognizing, the light distribution switching control being light distribution switching control of the headlamp of the own vehicle from a high-beam lit state to a shielded high-beam lit state, or light distribution switching control of the headlamp of the own vehicle from the high-beam lit state to a low-beam lit state, the shielded high-beam being a high-beam in which the forward vehicle with the lamp lit included in the forward camera image of the own vehicle, and surroundings of the forward vehicle, are shielded from light;
• acquiring a result of learning of recognition sensitivity of the forward vehicle with the lamp lit that is included in a forward camera image of a probe vehicle that is suitable for each traveling position of the probe vehicle, performed using a traveling position of the probe vehicle and a forward camera image of the probe vehicle, the traveling position of the probe vehicle and the forward camera image of the probe vehicle being a traveling position and a forward camera image when a driver of the probe vehicle performs an operation of turning off a function of light distribution switching control of a headlamp of the probe vehicle from a high-beam lit state to a shielded high-beam lit state, or an operation of turning off a function of light distribution switching control of a headlamp of the probe vehicle from the high-beam lit state to a low-beam lit state;
• and
• executing adjustment of recognition sensitivity of the forward vehicle with a lamp lit that is included in the forward camera image of the own vehicle at each traveling position of the own vehicle, based on the result of the learning acquired in the acquiring.