JP2002225619A - Dark environment traveling support system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system for enabling a vehicle to travel at night in accordance with traveling environments. SOLUTION: Various traveling environments of a vehicle are detected through map data of a car navigation system, a GPS receiver, various sensors, a VICS receiver, a DSRC receiver, an image camera, etc., and a degree of bend in a road, situations of an intersection, accidents, total traffic quantity, the class of a traveling area, the class of a traveling road, weather, road situations, and other traveling environments are grasped based on them. Need for support related to traveling of the vehicle is determined based on these, and a group of lamps, alarm giving devices, power transmission systems, brake systems, and steering systems are controlled in accordance with the need for support. For determination of the need for support, its level is determined based on keys of traveling environment information using reference tables, the level is determined using variables of the traveling environment information to be substituted in equations to determine the value, or a correct traveling speed limit is once determined based on the traveling environment information to be compared with a current speed of the vehicle to determine the level.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for assisting a vehicle in running in a dark environment, and more particularly, to a system for enhancing safety in accordance with the necessity of supporting the running environment of a vehicle.

[0002]

2. Description of the Related Art In order to assist a vehicle in traveling in a dark environment such as at night or in a tunnel, the vehicle is provided with a headlight and other lighting devices.
The headlight illuminates the front of the own vehicle in the traveling direction.However, in a conventional general vehicle, the illuminating light flux of the headlight covers a range up to a certain position in front of the own vehicle. In addition to switching between a high beam that irradiates far away and a low beam that suppresses the luminous flux to the upper position as an anti-glare measure against oncoming vehicles and mainly irradiates only relatively near, the light distribution forward is on the oncoming vehicle side In the direction (right side in Japan), the luminous flux to the upper position is suppressed, and the main axis of the luminous flux is set to be slightly deviated toward the road shoulder side of the own vehicle side from the front. Then, in a conventional typical vehicle, the irradiation direction is fixed with respect to the vehicle body, for example,
In a curve or the like, the light is mainly irradiated in the tangential direction of the curve, and the light is not irradiated in a direction in which the driver turns, that is, in a direction desired by the driver at high illuminance.

[0003] In order to pursue further driving safety, a headlight device that has been recently developed, in conjunction with the operation of a steering wheel on a curve, changes the irradiation light beam of the headlight in a direction in which the vehicle turns. Distribute light (deflect the main axis of the light beam or increase the light beam distribution in the range of the direction)
A device having a function has been proposed and put into practical use. In addition, the leading car by millimeter wave radar and CCD camera,
A headlight system that recognizes an oncoming vehicle and a road shape and automatically changes a light distribution of an irradiation light flux according to a situation has appeared. Furthermore, as the number of vehicles equipped with a car navigation (hereinafter, abbreviated as “car navigation”) device increases, road alignment (straight lines, curved roads, etc.) ahead of the traveling direction of the vehicle from car navigation map data. ), A function that automatically controls the light distribution of the irradiation light flux of the headlight according to the type of the traveling road (expressway, general road,
Some of them have a function of adjusting the irradiation range and the irradiation illuminance based on information on an urban road (different from an urban road) and information on an intersection or an urban area.

[0004]

According to the present invention, in order to further enhance the running safety of a vehicle, various information relating to the running environment and running state of the vehicle is utilized in addition to the conventional safety ensuring function. An object of the present invention is to calculate the current driving support necessity of the own vehicle, perform vehicle control in accordance with the support necessity, and improve the safety of the vehicle running.

[0005]

A system for assisting driving of a vehicle in a dark environment according to the present invention includes, as basic components, a vehicle driving system including a vehicle power transmission system, a braking system and a steering system, and a vehicle headlight. In a vehicle including a lamp group,
A plurality of environmental element detecting means for detecting an environmental element relating to the current driving environment of the own vehicle and providing a plurality of environmental element signals; and grasping a current driving environment of the own vehicle based on the plurality of environmental element signals. Traveling environment grasping means for outputting traveling environment information, assistance necessity calculating means for calculating the necessity of assistance relating to the own vehicle traveling based on the traveling environment information, and a warning / alarm device for issuing a warning or warning to the driver of the vehicle. And control means for controlling predetermined ones of the lamp group, the alarm / warning device, the power transmission system, the braking system, and the steering system in accordance with the calculated support necessity. .

Further, according to the present invention, in the vehicle dark environment driving support system having the above-mentioned basic configuration, the environmental element detecting means has a road map, and indicates a running position of the own vehicle on the road map. Means for providing statistical data on the number of traffic accidents and the number of road users at each location of the vehicle, wherein the traveling environment grasping means is located within a predetermined range in front of the own vehicle position based on the own vehicle traveling position and the statistical data. A means for ascertaining the number of traffic accidents and the number of road users in the system, wherein the support necessity calculating means calculates a support necessity degree regarding the own vehicle traveling based on the determined number of traffic accidents and the number of road users. Is provided.

Further, the present invention provides the above-mentioned vehicle dark environment running support system, wherein the environmental element detecting means has a road map, indicates a running position of the own vehicle on the road map, and sets a road map for each road. Means for providing road type data indicating the type, wherein the traveling environment grasping means is means for grasping the road type of the road on which the vehicle is traveling based on the own vehicle traveling position and the road type data, The support necessity calculating means obtains an appropriate traveling speed limit based on the determined road type, compares the appropriate traveling speed limit with an actual traveling speed of the own vehicle, and based on the comparison result, travels the own vehicle. Provide a system for calculating the degree of support required for

Further, according to the present invention, in the vehicle dark environment driving support system having the basic configuration, the environmental element detecting means has a road map, and indicates the own vehicle driving position on the road map. Means for providing road condition data indicating the straightness of the road and the presence of an intersection, wherein the traveling environment grasping means determines a predetermined position ahead of the road on which the vehicle is traveling based on the vehicle traveling position and the road condition data. Means for grasping a road condition within the range, the support necessity calculating means obtains an appropriate traveling speed limit based on the grasped road condition, and calculates the appropriate traveling speed limit and the current vehicle traveling speed. And a system for calculating the degree of assistance necessary for the own vehicle based on the comparison result.

Still further, according to the present invention, in the vehicle dark environment driving support system having the basic configuration, the environmental element detecting means obtains and provides road traffic information of the own vehicle driving area from the road-to-vehicle communication means. The traveling environment grasping means is means for grasping a road traffic situation within a predetermined range in front of a road on which the vehicle is traveling based on the road traffic information, and the support necessity calculating means is A system that calculates the appropriate traveling speed limit based on the road traffic condition, compares the appropriate traveling speed limit with the current traveling speed of the own vehicle, and calculates the support necessity for the own vehicle traveling based on the comparison result. provide.

Further, the present invention relates to a vehicle dark environment driving support system having the above-mentioned basic configuration, wherein the environmental element detecting means includes a road weather information including a weather state and a road surface state of the own vehicle driving area from the road-vehicle communication means. The traveling environment grasping means is a means for grasping a road weather condition in a predetermined range in front of a road on which the vehicle is traveling based on the road weather information, and The calculating means determines an appropriate traveling speed limit under the road weather condition based on the grasped road weather condition, compares the appropriate traveling speed limit with a current vehicle traveling speed, and, based on the comparison result, To provide a system for calculating the degree of assistance required for driving the own vehicle.

Further, the present invention provides the vehicle dark environment driving support system having the basic configuration, wherein the environmental element detecting means has a plurality of types of environmental element detecting sensors mounted on the own vehicle, Means for detecting road weather conditions including weather conditions and road surface conditions to obtain and provide road weather information, wherein the traveling environment grasping means determines a predetermined range of a road point where the vehicle is traveling based on the road weather information. A means for grasping road weather conditions in the vehicle, and the support necessity calculating means obtains an appropriate travel speed limit under the road weather conditions based on the grasped road weather conditions, and Provided is a system that compares the current vehicle traveling speed with a current vehicle traveling speed, and calculates a support necessity degree regarding the vehicle traveling based on the comparison result.

Further, the present invention provides a vehicle dark environment driving support system of various configurations provided above,
The traveling environment grasping means is means for grasping a road condition including the presence of a road curved portion and an intersection in front of a road on which the vehicle is traveling and outputting the traveling environment information as traveling environment information. When an intersection is identified,
To direct the irradiation range of the headlight further in the far or curved direction, or to provide an auxiliary lighting in the lamp group and illuminate the further distant or curved direction by lighting the auxiliary lighting, A system for controlling the lamp group is provided.

Further, the present invention provides a vehicle dark environment driving support system having various configurations provided above,
The lamp group includes an auxiliary lamp for lane mark irradiation for converging and irradiating a lane mark on a road surface near the own vehicle,
The environmental element detecting means is means for detecting and obtaining road weather information including the weather condition and road surface condition of the own vehicle driving area and obtaining and providing road weather information, and the driving environment grasping means is
Based on the road weather information, the road weather conditions within a predetermined range of the road point where the vehicle is traveling are grasped, and the grasped road weather conditions are determined according to a predetermined criterion to determine and transmit whether the weather is bad. Means for controlling the lamp group such that the control means turns on the auxiliary lamp for irradiating the lane mark when the bad weather is transmitted.

Further, the present invention provides a vehicle dark environment driving support system having various configurations provided above.
The environmental element detecting means is means for detecting the presence of a vehicle ahead of the host vehicle and providing information on the presence of the preceding vehicle, and the control means, when the information on the presence of the preceding vehicle is provided, provides anti-glare A system is provided for controlling the lamps to be illuminated.

Still further, the present invention provides a system in which the environmental element detecting means is an optical sensor or a radar sensor using millimeter waves or near infrared rays in the above-described vehicle dark environment running support system.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an example of a configuration outline of a vehicle darkness environment driving support system according to the present invention. In FIG. 1, 11 is
In a lamp group such as a head lamp and a turn signal lamp, a high beam, a low beam, a left turn, a right turn, and other controls are performed by a lamp control circuit 12. Reference numeral 13 denotes a lamp switch that the driver manually operates to specify lighting, turning off, high / low switching, left / right direction instruction, and the like.
In a preferred embodiment, besides the headlamp, the lamp group 11 is provided with an auxiliary lamp for irradiating a predetermined front diagonal lateral direction, or a near-infrared light irradiating a predetermined front or diagonal direction. The headlamp 11 of the lamp group 11 is capable of moving the direction of the main irradiation optical axis in a distant front direction or a diagonally forward front direction, and can change the light distribution in the irradiation range. Structure. 1
Reference numeral 4 denotes a warning / alarm device which is controlled by the warning / alarm circuit 15 to drive the own vehicle by, for example, turning on a color lamp, displaying characters or graphics, transmitting a language by voice, and audible sound or vibration of a buzzer or a vibrator. A warning is issued to a driver, a driver of another vehicle, a pedestrian in the vicinity, or the like, or a warning is issued to call attention. Power transmission system 1
The braking system 17 and the steering system 18 are typical traveling systems of an automobile, and are controlled by a traveling control circuit 19. 20
Is a main control circuit, which includes a microcomputer, a memory, and the like, and controls various devices of the vehicle including the above-described components.

Reference numeral 31 denotes an input / output unit for performing operation input and display output. Reference numeral 32 denotes a map database which stores descriptions of various types of information related to traffic, including information on terrain such as roads. The GPS receiver 33 receives a GPS signal from a broadcasting satellite used for car navigation. 34 is a direction sensor, a vehicle speed sensor, a raindrop sensor,
Various sensors such as an outside air temperature sensor and a brightness sensor. 3
5 is VICS (Vehicle Information and Communicat)
ion System: a device for receiving road traffic information by road-to-vehicle communication, and 39 is a DSRC (Duplicated Short-Range Commu).
nication: a short-range wireless communication system) is a device that receives road traffic information and vehicle driving information by inter-vehicle communication, and includes such information as road congestion information, accident information, and weather information (clear, It contains the latest information that is updated from time to time, such as cloudiness, rainfall, heavy rain, fog, dense fog, snowfall, blizzard, etc., and road condition information (dry, wet, submerged, snow covered, frozen, etc.). The image camera 36 includes a CCD camera, an optical sensor using a photodiode, a radar sensor using millimeter wave or infrared laser light,
It is a detection means for visually recognizing a preceding vehicle ahead of the own vehicle, a vehicle coming in the opposite direction, a lane mark of a traveling road, and the like. In this case, when an infrared lamp is used for the lamp group 11, a CCD camera of a type sensitive to infrared light is used, and an infrared image is displayed on a monitor screen to dazzle the other party. It is possible to visualize and monitor without making it visible. The above-mentioned parts 31 to 36 are collectively controlled by the main control circuit 20, and the navigation system 30
Is formed. Note that the main control circuit of the navigation system 30 may be a dedicated control circuit independent of control circuits for other parts.

The traveling environment grasping means 37 and the support necessity calculating means 38 are parts which play a characteristic role of the present invention in cooperation with each other, and will be described in detail below. Driving environment grasping means 37
Is based on information from a map database 32, a GPS receiver 33, various sensors 34, a road-vehicle communication device such as a VICS receiver 35, a vehicle-to-vehicle communication device such as a DSRC receiver 39, and an image camera 36. It grasps the driving environment of the own vehicle. From the map database 32, a road map of the vicinity of the own vehicle or a designated area, the position of the intersection, the number of traffic accidents, the number of pedestrians used, the traffic volume of the vehicle, the straightness of the road, The type of running area (urban area, non-urban area), the type of running road (single road, double road, highway), etc., are grasped, and from the GPS receiver 33, the position of the vehicle is grasped.
From various sensors 34, the direction, the vehicle speed, the weather condition,
The state of the road surface, the outside air temperature, the state of brightness, and the like are grasped, and the traffic condition, the weather condition, and the like are obtained from the road-to-vehicle communication device (for example, the VICS receiver 35) or the vehicle-to-vehicle communication device (for example, the DSRC receiver 39). From the image camera 36, the situation of the preceding vehicle and the oncoming vehicle, the position of the lane mark, obstacles ahead on the road, and the like are grasped. The support necessity calculating means 38 calculates the support necessity in the situation where the vehicle is currently located, based on the information on the traveling environment grasped by the traveling environment grasping means 37.

Next, the calculation of the necessity of assistance and the control of the vehicle device according to the necessity of assistance will be described with reference to FIG. The calculation of the support necessity by the support necessity calculating means 38 is performed by various kinds of traveling environment information provided from the traveling environment grasping means 37, for example, the degree of straightness of the road (the existence of a sharp curve), the existence of an intersection, and the intersection. Accidents and traffic statistics, driving area types, road types, weather conditions, road conditions,
Prepare a support necessity table that sets the necessity of support in advance corresponding to the situation of the preceding vehicle and oncoming vehicle comprehensively,
By inputting these various types of traveling environment information and referring to the table, it is possible to obtain the necessity of assistance. For example, it is output as level information such as "S0 not requiring any particular support", "S1 requiring a little support" = "S1", "Severe need of support" = "S2", or "Such support is required = S3". Alternatively, values x1, x obtained by digitizing various types of traveling environment information
2, x3,. . . Is set in advance, and according to the value y = f (x1, x2, x3,...) Of the equation obtained by substituting each variable into the equation, For the predetermined limit values y1, y2, y3, if y = <y1, the support necessity is S0, if y1 <y = <y2, the support necessity is S1, and if y2 <y = <y3, If the support necessity is S2 and y3 <y, the support necessity can be determined as S3.

FIG. 3 shows an alternative method of calculating the degree of support necessity. Here, based on various types of traveling environment information, a suitable traveling speed limit Vr of the vehicle is temporarily determined using a reference table or a calculation formula. And the actual vehicle running speed v is compared with Vr. If v = <Vr, the support necessity is S0, Vr
If <v = <Vr + 10 (unit: km / h), the support necessity is S1, if Vr + 10 <v = <Vr + 20, the support necessity is S2, and if Vr + 20 <v, the support necessity is S3. I have decided.

Next, control of the vehicle device according to the necessity of support will be described. For example, when the support necessity is S0, the vehicle is running under appropriate conditions, and thus no special control or warning / alarm is performed. If the assistance necessity is S1, the vehicle is running under the condition that needs a little assistance, so the lamp group 11 is controlled to set the irradiation direction set in advance as the necessity of assisting the driver. And adjust the light distribution and turn on the auxiliary lamp. When the support necessity is S2, the vehicle is traveling under the condition that requires considerable support, and therefore, the lamp group 1
In addition to the control of (1), the warning / alarm device 14 is operated to call the driver's attention. When the support necessity is S3, the vehicle is running under the condition requiring much support, so that in addition to the control of the lamp group 11 and the activation of the warning / alarm device 14,
The driving system of the vehicle, such as the power transmission system 16, the braking system 17, and the steering system 18, is controlled to return to the proper speed and proper running state.

[0022]

As described above, according to the present invention, the driving environment of the own vehicle is represented as the necessity of driving assistance, and a lamp group, a warning / alarm device, a power transmission system, Since the predetermined one of the braking system and the steering system is appropriately controlled, the safety of running the vehicle can be greatly improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an example of a configuration outline of a vehicle darkness environment driving support system according to the present invention.

FIG. 2 is a functional block diagram illustrating calculation of the degree of need for assistance and control of the vehicle device according to the degree of need for assistance in the present invention.

FIG. 3 is a functional block diagram showing another method of calculating the support necessity in the present invention.

[Explanation of symbols]

11 lamp group, 12 lamp control circuit, 13 lamp switch, 14 warning alarm device, 15 warning alarm circuit,
16: power transmission system, 17: braking system, 18: steering system, 19
... running control circuit, 20 ... main control circuit, 30 ... navigation system, 31 ... input / output unit, 32 ... map database, 33 ... GPS receiver, 34 ... various sensors, 35 ... V
ICS receiver, 36: image camera, 37: traveling environment grasping means, 38: support necessity calculating means, 39: DSRC receiver.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 626 B60R 21/00 626G 628 628B 628C G08G 1/16 G08G 1/16 C (72) Inventor Toshiaki Niwa 6-18, Okamachi Harayama, Okazaki City, Aichi Prefecture Inside Aisin AW Co., Ltd. Inventor Masatoshi Kobayashi 500 Kitawaki, Shimizu-shi, Shizuoka Pref.

Claims (11)

[Claims] 1. A vehicle comprising a vehicle traveling system including a power transmission system, a braking system, and a steering system of a vehicle, and a lamp group including a headlight of the vehicle, wherein an environmental element relating to a current traveling environment of the own vehicle is provided. A plurality of environmental element detecting means for detecting a current driving environment of the vehicle based on the plurality of environmental element signals and outputting driving environment information based on the plurality of environmental element signals. And an assistance necessity calculating means for calculating the necessity of assistance related to the own vehicle traveling based on the traveling environment information, a warning / alarm device for issuing a warning or a warning to a driver of the vehicle, and according to the calculated necessity of assistance A dark environment running support system for a vehicle, comprising: control means for controlling predetermined ones of the lamp group, the warning / alarm device, the power transmission system, the braking system, and the steering system. 2. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means has a road map, indicates a traveling position of the own vehicle on the road map, and controls each of the road components on the road. A means for providing statistical data of the number of traffic accidents and the number of road users at the location, wherein the traveling environment grasping means is configured to detect traffic within a predetermined range in front of the own vehicle position based on the own vehicle running position and the statistical data. It is a means for grasping the number of accidents or the number of road users, and the support necessity calculating means calculates the support necessity for the own vehicle traveling based on the grasped number of traffic accidents or the number of road users. And the system. 3. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means has a road map, indicates a running position of the own vehicle on the road map, and indicates a road of each road. A means for providing road type data indicating a type, wherein the traveling environment grasping means is means for grasping a road type of a road on which the vehicle is traveling based on the own vehicle traveling position and the road type data; The support necessity calculating means calculates an appropriate traveling speed limit based on the grasped road type, compares the appropriate traveling speed limit with a current traveling speed of the own vehicle, and based on the comparison result, determines whether the traveling speed of the own vehicle is higher. A system for calculating the degree of support necessary for the system. 4. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means has a road map, indicates a running position of the own vehicle on the road map, and adjusts the straightness of each road. And a means for providing road condition data indicating the existence state of the intersection, wherein the traveling environment grasping means is located within a predetermined range in front of the road on which the vehicle is traveling based on the vehicle traveling position and the road condition data. A means for grasping a road condition, wherein the support necessity calculating means calculates an appropriate traveling speed limit based on the grasped road condition, and compares the appropriate traveling speed limit with a current vehicle traveling speed. A system for calculating a degree of assistance necessary for the own vehicle based on the comparison result. 5. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means obtains and provides road traffic information of the own vehicle driving area from the road-to-vehicle communication means or the vehicle-to-vehicle communication means. The driving environment grasping means is means for grasping a road traffic condition within a predetermined range in front of a road on which the vehicle is traveling based on the road traffic information. An appropriate traveling speed limit is obtained based on the grasped road traffic conditions, and the appropriate traveling speed limit is compared with the current traveling speed of the own vehicle, and a degree of necessity of support for the traveling of the own vehicle is calculated based on the comparison result. A system characterized in that: 6. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means obtains road weather information including a weather state and a road surface condition of the own vehicle driving area from the road-to-vehicle communication means. The driving environment grasping means is means for grasping road weather conditions in a predetermined range in front of a road on which the vehicle is traveling based on the road weather information, and the support necessity calculating means is Determining an appropriate traveling speed limit under the road weather condition based on the grasped road weather condition, comparing the appropriate traveling speed limit with a current traveling speed of the vehicle, and based on the comparison result, A system for calculating a degree of assistance required for traveling. 7. The driving support system for a vehicle in a dark environment according to claim 1, wherein the environmental element detecting means includes a plurality of types of environmental element detecting sensors mounted on the own vehicle, and a weather condition of a running point of the own vehicle. And a means for detecting and obtaining road weather information including road surface conditions, and obtaining and providing road weather information, wherein the driving environment grasping means includes a road within a predetermined range of a road point where the vehicle is traveling based on the road weather information. The support necessity calculating means obtains an appropriate traveling speed limit under the road weather condition based on the grasped road weather condition, and calculates the appropriate traveling speed limit and the current self A system for comparing a vehicle traveling speed and calculating a support necessity degree regarding the own vehicle traveling based on a result of the comparison. 8. The driving support system for a dark environment of a vehicle according to any one of claims 1 to 7, wherein the driving environment grasping means includes a road curved portion and an intersection in front of a road on which the vehicle is running. It is a means for grasping the road condition and outputting it as traveling environment information, wherein the control means, when the road curved portion or the intersection is grasped, directs the irradiation range of the headlight further distant or in a curved road direction, Alternatively, an auxiliary illumination lamp is provided in the lamp group, and the lamp group is controlled such that the auxiliary illumination lamp is turned on to irradiate the lamp further in a far or curved direction. 9. The driving support system for a vehicle in a dark environment according to claim 1, wherein the lamp group includes an auxiliary lamp for irradiating a lane mark for focusing and irradiating a lane mark on a road surface near the own vehicle. The environmental element detecting means is means for detecting and obtaining road weather information including a weather condition and a road surface condition of the own vehicle driving area, and obtaining and providing road weather information; Based on weather information, while grasping the road weather conditions within a predetermined range of the road point where the vehicle is traveling, means for determining and transmitting whether the weather is bad weather based on the determined road weather conditions according to predetermined criteria. The system, wherein the control means controls the lamp group so as to turn on the auxiliary lamp for irradiating the lane mark when the bad weather is transmitted. . 10. The vehicle dark environment driving support system according to claim 1, wherein the environmental element detecting unit detects the presence of a vehicle ahead of the host vehicle and provides information on the presence of the preceding vehicle. Wherein the control means controls the lamp group so as to provide anti-glare illumination for the preceding vehicle when the preceding vehicle presence information is provided. 11. The system according to claim 10, wherein the environmental element detecting means is an optical sensor, a CCD camera, or a radar sensor using millimeter waves or near infrared rays. .