| 摘要 |
In such a state that a self-vehicle runs along a guide route (YES in S6), if an intersection is not present in a forward part for a while (NO in S8), beam control is carried out in a navigation associating mode corresponding to the guide route (S9). Consequently, beam irradiation is properly carried out over a road provided ahead of the vehicle without requiring a complicated calculation for the beam control. On the other hand, if the intersection is present in the forward part of the guide route (YES in S8), the beam control is carried out in a normal mode (a control mode other than the navigation associating mode) (S10). Consequently, even if the self-vehicle gets out of the guide route when passing through the intersection, the beam control itself is performed continuously and the beam irradiation is properly executed over the road provided ahead of the vehicle.
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