JP2002008198A - Road surface information distribution system, vehicle information collecting and distribution system, vehicle information transmitter, and vehicle control program - Google Patents
Road surface information distribution system, vehicle information collecting and distribution system, vehicle information transmitter, and vehicle control programInfo
- Publication number
- JP2002008198A JP2002008198A JP2001107041A JP2001107041A JP2002008198A JP 2002008198 A JP2002008198 A JP 2002008198A JP 2001107041 A JP2001107041 A JP 2001107041A JP 2001107041 A JP2001107041 A JP 2001107041A JP 2002008198 A JP2002008198 A JP 2002008198A
- Authority
- JP
- Japan
- Prior art keywords
- information
- vehicle
- road surface
- slipperiness
- distribution system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は路面情報配信システ
ム、車両の情報集約配信システムおよび車両の情報発信
装置、ならびに車両制御プログラムに関する。さらに詳
しくは、車両が走行する路面の摩擦係数などの滑りやす
さの情報に基づいて、車両の運転制御の性能を向上させ
ることができる路面情報配信システム、車両の情報集約
配信システムおよび車両の情報発信装置、ならびに車両
制御プログラムに関する。The present invention relates to a road surface information distribution system, a vehicle information aggregation / distribution system, a vehicle information transmission device, and a vehicle control program. More specifically, a road surface information distribution system, a vehicle information aggregation and distribution system, and a vehicle information system that can improve the performance of vehicle driving control based on information on slipperiness such as a friction coefficient of a road surface on which the vehicle runs. The present invention relates to a transmitting device and a vehicle control program.
【０００２】[0002]
【従来の技術】車両は、滑りやすい路面で、急加速や急
制動を行なうとタイヤがスリップを起こしスピンなどす
る危険性がある。また急な操舵を行なうと車両が横すべ
りやスピンを起こすおそれがある。2. Description of the Related Art In a vehicle, when the vehicle is suddenly accelerated or braked on a slippery road surface, there is a risk that tires may slip and spin. In addition, if the driver steers suddenly, the vehicle may skid or spin.
【０００３】そこで、従来より、タイヤと路面とのあい
だの制動力が最大値をこえてタイヤがロック状態になる
前に、車輪に作用するブレーキトルクを低下させて車輪
のロック状態を防止し、最大制動力が得られる車輪の回
転数を制御するアンチロックブレーキ装置などが提案さ
れている（特開昭６０−９９７５７号公報、特開平１−
２４９５５９号公報など参照）。[0003] Conventionally, before the braking force between the tire and the road surface exceeds the maximum value and the tire is locked, the brake torque acting on the wheel is reduced to prevent the wheel from being locked, An anti-lock brake device for controlling the number of rotations of a wheel at which a maximum braking force is obtained has been proposed (Japanese Patent Application Laid-Open No. 60-99757, Japanese Patent Application Laid-Open No. Hei 1
249559).
【０００４】たとえば、アンチロックブレーキ装置の制
御では、車両の推定速度および検出した車輪速度（回転
速度）からスリップ率を演算したのち、該演算したスリ
ップ率が予め設定してある基準スリップ率に一致するよ
うにブレーキ力を制御することにより、最大制動力に追
従するように構成されている。For example, in the control of an antilock brake device, a slip ratio is calculated from an estimated vehicle speed and a detected wheel speed (rotational speed), and the calculated slip ratio matches a preset reference slip ratio. The braking force is controlled so as to follow the maximum braking force.
【０００５】このようなＡＢＳ装置などの制御では、路
面の摩擦係数μが利用されており、走行中の路面の摩擦
係数を算出し、そのデータを自らの車両を制御すること
を目的にて使用している。In the control of such an ABS device, the friction coefficient μ of the road surface is used. The friction coefficient of the road surface during running is calculated, and the data is used for the purpose of controlling the own vehicle. are doing.
【０００６】しかし、走行中の車両が検出する摩擦係数
はすでに走行してしまった部分の路面に関するデータで
あり、車両を制御する上では、これから走行する路面で
の摩擦係数が必要である。However, the coefficient of friction detected by a running vehicle is data relating to the road surface of a portion where the vehicle has already traveled, and the control of the vehicle requires the friction coefficient on the road surface to be driven.
【０００７】たとえば前方を走行中の車両、またはすで
に走行した車両の摩擦係数のデータをこれから走行する
車両が利用できれば、より理想的な車両運動制御ができ
ると考えられる。[0007] For example, it is considered that more ideal vehicle motion control can be performed if a vehicle traveling ahead or a vehicle traveling ahead can use data of the friction coefficient of a vehicle that has already traveled.
【０００８】[0008]
【発明が解決しようとする課題】本発明は、叙上の事情
に鑑み、車両が走行する路面の摩擦係数などの滑りやす
さの情報に基づいて、車両の運転制御の性能を向上させ
ることができる路面情報配信システム、車両の情報集約
配信システムおよび車両の情報発信装置、ならびに車両
制御プログラムを提供することを目的とする。SUMMARY OF THE INVENTION In view of the above circumstances, the present invention is to improve the performance of vehicle driving control based on slipperiness information such as the coefficient of friction of the road surface on which the vehicle travels. It is an object of the present invention to provide a road surface information distribution system, a vehicle information aggregation and distribution system, a vehicle information transmission device, and a vehicle control program.
【０００９】[0009]
【課題を解決するための手段】本発明の路面情報配信シ
ステムは、車両の走行中に路面の滑りやすさの数値情報
を検出する手段と、走行中の車両の位置情報を検出する
手段と、前記数値情報および／または位置情報を車両か
ら発信する手段と、複数の車両による当該発信された情
報を集約する手段と、各情報に基づき道路の路面情報を
作成する手段と、該路面情報を前記車両とは異なる車両
にも配信する手段と、当該配信された路面情報を受信す
る手段とを備えてなることを特徴とする。According to the present invention, there is provided a road surface information distribution system comprising: means for detecting numerical information of slipperiness of a road surface while a vehicle is traveling; means for detecting positional information of a traveling vehicle; Means for transmitting the numerical information and / or position information from a vehicle, means for aggregating the transmitted information from a plurality of vehicles, means for creating road surface information based on each information, It is characterized by comprising means for distributing to vehicles different from the vehicle, and means for receiving the distributed road surface information.
【００１０】本発明の車両の情報集約配信システムは、
走行中の車両から発信された、路面情報の作成に必要な
情報を集約し、かつ該路面情報を前記車両とは異なる車
両にも配信することを特徴とする。[0010] The vehicle information aggregation and distribution system of the present invention comprises:
Information necessary for creating road surface information transmitted from a running vehicle is collected, and the road surface information is distributed to a vehicle different from the vehicle.
【００１１】また、本発明の車両の情報発信装置は、車
両の走行中に路面の滑りやすさの数値情報を検出する手
段と、走行中の車両の位置情報を検出する手段と、前記
数値情報および／または位置情報を車両から発信する手
段とを備えてなることを特徴とする。Further, the vehicle information transmitting apparatus of the present invention includes means for detecting numerical information of the slipperiness of a road surface during running of the vehicle, means for detecting positional information of the running vehicle, and the numerical information. And / or means for transmitting position information from the vehicle.
【００１２】さらに本発明の車両制御プログラムは、路
面情報により車両の運転制御の性能を向上させるために
コンピュータを、車両の走行中に路面の滑りやすさの数
値情報を検出する手段、前記車両が受信によって得た路
面の滑りやすさの数値情報に基づき、車両を制御する手
段、前記車両が受信によって得た路面の滑りやすさの数
値情報と、走行中に検出した路面摩擦係数の数値情報を
比較することにより、受信によって得た路面の滑りやす
さの数値情報を補正する手段として機能させることを特
徴とする。Further, the vehicle control program according to the present invention comprises a computer for improving numerical control of the driving control of the vehicle based on the road surface information. Means for controlling the vehicle based on the numerical information of the slipperiness of the road surface obtained by the reception, numerical information of the slipperiness of the road surface obtained by the vehicle by the reception, and numerical information of the road surface friction coefficient detected during traveling. The comparison is made to function as means for correcting the numerical information of the slipperiness of the road surface obtained by the reception.
【００１３】[0013]
【発明の実施の形態】以下、添付図面に基づいて、本発
明の路面情報配信システム、車両の情報集約配信システ
ムおよび車両の情報発信装置、ならびに車両制御プログ
ラムを説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a road surface information distribution system, a vehicle information aggregation / distribution system, a vehicle information transmission device, and a vehicle control program according to the present invention will be described with reference to the accompanying drawings.
【００１４】図１は本発明の路面情報配信システムにか
かわる一実施の形態を示すブロック図、図２は図１にお
ける路面摩擦係数判定装置の電気的構成を示すブロック
図、図３は本発明の路面情報配信システムにおける路車
間通信を示す模式図である。FIG. 1 is a block diagram showing an embodiment of a road surface information distribution system according to the present invention, FIG. 2 is a block diagram showing an electric configuration of a road friction coefficient determining device in FIG. 1, and FIG. It is a schematic diagram which shows the communication between road and vehicle in a road surface information distribution system.
【００１５】図１に示すように、車両は、４輪のタイヤ
ＦＬ、ＦＲ、ＲＬおよびＲＲにそれぞれ設けられた車輪
タイヤの回転速度を定期的に検出する回転速度検出手段
１を備えており、この回転速度検出手段１の出力は、Ａ
ＢＳなどのコンピュータである制御ユニット２に伝達さ
れる。またこの制御ユニット２には、図２に示されるよ
うに、液晶表示素子、プラズマ表示素子またはＣＲＴな
どの構成された表示手段である表示器３が接続されてい
る。４は運転者によって、操作される初期化スイッチで
ある。As shown in FIG. 1, the vehicle is provided with rotation speed detecting means 1 for periodically detecting the rotation speed of each wheel tire provided on each of the four tires FL, FR, RL and RR. The output of the rotation speed detecting means 1 is A
The information is transmitted to the control unit 2 which is a computer such as a BS. Further, as shown in FIG. 2, the control unit 2 is connected to a display 3 which is a display means constituted by a liquid crystal display element, a plasma display element or a CRT. Reference numeral 4 denotes an initialization switch operated by the driver.
【００１６】前記回転速度検出手段１としては、電磁ピ
ックアップなどを用いて回転パルスを発生させてパルス
の数から回転速度を測定する車輪速センサまたはダイナ
モのように回転を利用して発電を行ない、この電圧から
回転速度を測定するものを含む角速度センサなどを用い
ることができる。The rotation speed detecting means 1 generates a rotation pulse by using an electromagnetic pickup or the like and generates power by utilizing rotation like a wheel speed sensor or a dynamo which measures the rotation speed from the number of pulses. An angular velocity sensor including one that measures the rotation speed from this voltage can be used.
【００１７】前記制御ユニット２は、図２に示されるよ
うに、外部装置との信号の受け渡しに必要なＩ／Ｏイン
ターフェイス２ａと、演算処理の中枢として機能するＣ
ＰＵ２ｂと、該ＣＰＵ２ｂの制御動作プログラムが格納
されたＲＯＭ２ｃと、前記ＣＰＵ２ｂが制御動作を行な
う際にデータなどが一時的に書き込まれたり、その書き
込まれたデータなどが読み出されるＲＡＭ２ｄとから構
成されている。As shown in FIG. 2, the control unit 2 includes an I / O interface 2a necessary for transmitting and receiving signals to and from an external device, and a C functioning as a center of arithmetic processing.
A PU 2b, a ROM 2c in which a control operation program of the CPU 2b is stored, and a RAM 2d from which data and the like are temporarily written when the CPU 2b performs a control operation, and from which the written data and the like are read. I have.
【００１８】本実施の形態では、図１および図３に示さ
れるように、車両の走行中に路面の滑りやすさの数値情
報を検出する手段５と、走行中の車両の位置情報を検出
する、たとえばＧＰＳアンテナなどを使用したカーナビ
ゲーション装置などの手段６と、前記数値情報および／
または位置情報を車両から発信する手段７と、複数の車
両による当該発信された情報を集約する、たとえばイン
ターネットを介してのＶＩＣＳ（道路交通情報通信シス
テム）のホストコンピュータなどの手段８と、各情報に
基づき道路の路面情報を作成する、前記ＶＩＣＳの手段
９と、該路面情報を前記車両とは異なる車両にも配信す
る、ビーコンやＦＭトランスミッターなどの外部の送信
機からなる手段１０と、当該配信された路面情報を受信
するビーコンアンテナなどの手段１１とを備えている。
なお、本実施の形態では、路面情報配信システムについ
て説明するが、本発明は、車両の情報集約配信システム
や車両の情報発信装置として適用することができる。ま
た本明細書においては、配信される情報は、その基とな
る個々の情報を発信した車両に配信される場合も含むも
のとする。In the present embodiment, as shown in FIGS. 1 and 3, means 5 for detecting numerical information of the slipperiness of the road surface while the vehicle is running, and detecting position information of the running vehicle. Means 6, such as a car navigation device using a GPS antenna, etc., and the numerical information and / or
Or means 8 for transmitting position information from a vehicle, means 8 for aggregating the information transmitted from a plurality of vehicles, for example, a host computer of a VICS (road traffic information communication system) via the Internet, VICS means 9 for creating road surface information based on a road, and means 10 comprising an external transmitter such as a beacon or FM transmitter for distributing the road surface information to a vehicle different from the vehicle, and the distribution Means 11 such as a beacon antenna for receiving the obtained road surface information.
In the present embodiment, a road surface information distribution system will be described, but the present invention can be applied as a vehicle information aggregation / distribution system or a vehicle information transmission device. Further, in the present specification, the information to be distributed includes a case where the information is distributed to a vehicle that has transmitted the individual information on which the information is based.
【００１９】そして、本実施の形態における車両制御プ
ログラムは、制御ユニット２を、路面情報により車両の
運転制御の性能を向上させるためにコンピュータを、車
両の走行中に路面の滑りやすさの数値情報を検出する手
段、前記車両が受信によって得た路面の滑りやすさの数
値情報に基づき、車両を制御する手段、前記車両が受信
によって得た路面の滑りやすさの数値情報と、走行中に
検出した路面摩擦係数の数値情報を比較することによ
り、受信によって得た路面の滑りやすさの数値情報を補
正する手段としてとして機能させる。The vehicle control program according to the present embodiment includes a control unit 2 that controls a computer to improve the performance of vehicle driving control based on road surface information, and numerical information on the ease of road surface slippage while the vehicle is running. Means for controlling the vehicle, based on the numerical information of the slipperiness of the road surface obtained by the reception of the vehicle, means for controlling the vehicle, numerical information of the slippery of the road surface obtained by the reception of the vehicle, and detection during traveling By comparing the obtained numerical information of the road surface friction coefficient, it is made to function as a means for correcting the numerical information of the slipperiness of the road surface obtained by the reception.
【００２０】前記数値情報を検出する手段５としては、
タイヤと路面の摩擦係数により生じるタイヤ回転挙動か
ら、路面の滑りやすさのレベルを数値化することができ
る摩擦係数判定手段を用いることができる。該摩擦係数
判定手段は、たとえば車両の４輪のタイヤの回転速度を
定期的に検出する回転速度検出手段と、前記回転速度検
出手段による測定値から、スリップ比を演算する第１演
算手段と、該スリップ比と車両の加減速度との関係式を
求める第２演算手段と、該第２演算手段により求められ
た関係式の傾きに基づいて、路面とタイヤとのあいだの
摩擦係数を判定する摩擦係数判定手段とを備えてなるこ
とを第１の特徴とし、前記関係式の傾きと予め設定され
たしきい値を比較した結果から路面とタイヤとのあいだ
の摩擦係数を判定することを第２の特徴とするものであ
る。または車両の加減速度とタイヤのスリップ比を演算
する第１演算手段と、前記車両の加減速度とスリップ比
を所定の時間で移動平均を行なう移動平均処理手段と、
該移動平均処理手段により得られた移動平均値をさらに
移動平均処理を行なう加重移動平均処理手段と、該加重
移動平均処理手段により得られる加重移動平均値の車両
の加減速度とスリップ比との関係式を求める第２演算手
段と、該第２演算手段により求められた関係式の傾きに
基づいて、路面とタイヤとのあいだの摩擦係数を判定す
る摩擦係数判定手段とを備えてなることを第３の特徴と
し、前記関係式の傾きと予め設定されたしきい値を比較
した結果から路面とタイヤとのあいだの摩擦係数を判定
することを第４の特徴とするものである。The means 5 for detecting the numerical information includes:
It is possible to use friction coefficient determining means capable of quantifying the level of slipperiness of the road surface from the tire rotation behavior caused by the friction coefficient between the tire and the road surface. The friction coefficient determination means includes, for example, a rotation speed detection means for periodically detecting rotation speeds of four tires of a vehicle, a first calculation means for calculating a slip ratio from a value measured by the rotation speed detection means, A second calculating means for obtaining a relational expression between the slip ratio and the acceleration / deceleration of the vehicle; and a friction for determining a coefficient of friction between the road surface and the tire based on a slope of the relational expression obtained by the second calculating means. A coefficient determining means for determining a coefficient of friction between the road surface and the tire based on a result of comparing a slope of the relational expression with a preset threshold value. It is a feature of. Or first calculating means for calculating the acceleration / deceleration of the vehicle and the slip ratio of the tire; moving average processing means for performing a moving average of the acceleration / deceleration of the vehicle and the slip ratio for a predetermined time;
Weighted moving average processing means for further performing moving average processing on the moving average value obtained by the moving average processing means, and the relationship between the vehicle acceleration / deceleration and the slip ratio of the weighted moving average value obtained by the weighted moving average processing means A second calculating means for obtaining an equation; and a friction coefficient determining means for determining a friction coefficient between the road surface and the tire based on the slope of the relational expression obtained by the second calculating means. As a third feature, a fourth feature is that a coefficient of friction between the road surface and the tire is determined from a result of comparing the slope of the relational expression with a preset threshold value.
【００２１】近年のカーナビゲーション装置の普及と技
術の進歩に伴い、車両の現在地の判別精度は飛躍的に向
上している。前記摩擦係数判定手段は、タイヤと路面の
摩擦係数の影響によるタイヤ回転挙動の特徴から走行中
の路面の滑りやすさのレベルを数値化するものであり、
通常走行状態で常に路面の滑りやすさを検出することが
できる。したがって、走行中のすべての車両から常にデ
ータを収集することができる。前記カーナビゲーション
装置は、ＧＰＳ（全地球測位システム）のアンテナなど
を利用して走行位置を検知し、その周辺の地図データを
ＣＤ−ＲＯＭなどからカーナビゲータ本体に入力して、
地図表示ルーチンの処理によって、その地理情報を表示
パネルなどに表示するとともに、道路に対して設置され
たビーコンやＦＭトランスミッターなどの外部の送信機
からビーコンアンテナなどを介して道路情報を受信し
て、ナビゲータ本体の表示ルーチンの処理によって表示
パネルなどに道路情報を付加して表示するものを用いる
ことができる。With the recent spread of car navigation systems and advances in technology, the accuracy of determining the current position of a vehicle has been dramatically improved. The friction coefficient determination means is for quantifying the level of slipperiness of the road surface during running from the characteristics of the tire rotation behavior due to the influence of the friction coefficient between the tire and the road surface,
The slipperiness of the road surface can be always detected in the normal running state. Therefore, data can be constantly collected from all running vehicles. The car navigation device detects a traveling position by using a GPS (Global Positioning System) antenna or the like, and inputs surrounding map data from a CD-ROM or the like to the car navigator body.
Through the processing of the map display routine, the geographic information is displayed on a display panel or the like, and the road information is received via a beacon antenna or the like from an external transmitter such as a beacon or an FM transmitter installed on the road. It is possible to use one that adds road information to a display panel or the like and displays it by the processing of the display routine of the navigator body.
【００２２】前記摩擦係数判定手段とカーナビゲーショ
ン装置の技術を組み合わせれば、路面の滑りやすさのレ
ベルの数値と走行位置との関係を結びつけることができ
る。By combining the friction coefficient determining means with the technology of the car navigation device, the relationship between the numerical value of the level of slipperiness on the road surface and the traveling position can be linked.
【００２３】この車両の走行中に路面の滑りやすさの数
値情報と走行中の車両の位置情報を携帯電話やＰＨＳな
どの無線電話回線、またはこれに準じる、無線装置など
の通信手段により発信するには、たとえば他車からの情
報を利用し警報や制御を行なうことを目的に契約を結ん
だ車両に、発信機を備え付け、無線電話回線とインター
ネットを使うことによって、時々刻々の道路の路面の情
報をホストコンピュータに集中管理する。また、前記車
両から発信するときに、路面の滑りやすさの情報を時間
的なバッチ処理によりまとめて発信できるようにする
と、不連続な電波状態でも情報を正しく送信できる。そ
して、新しい情報ほど信頼性が高く評価されるので、過
去のデータを更新する。While the vehicle is running, the numerical information of the slipperiness of the road surface and the position information of the running vehicle are transmitted by a wireless telephone line such as a portable telephone or a PHS, or a communication device such as a wireless device or the like. For example, by installing a transmitter on a vehicle that has signed a contract for the purpose of using information from other vehicles to perform alarms and control, using a radio telephone line and the Internet, the road surface of the road Centrally manage information on the host computer. In addition, when the information on the slipperiness of the road surface can be transmitted collectively by time batch processing when transmitting from the vehicle, the information can be transmitted correctly even in a discontinuous radio wave state. Then, since the newer information is highly evaluated for reliability, the past data is updated.
【００２４】前記数値情報と位置情報を組み合わせれ
ば、道路地図上に路面情報を付加することができる。こ
の路面情報は車両が通過するたびに時々刻々とデータが
更新され、平均化や偏差といった数学的処理を施した
り、またはタイヤや車両の種類により層別することによ
り信頼性の高い路面情報とすることができる。If the numerical information and the position information are combined, road surface information can be added to a road map. This road surface information is updated every moment when a vehicle passes, and is subjected to mathematical processing such as averaging and deviation, or stratified according to the type of tire or vehicle, so as to obtain highly reliable road surface information. be able to.
【００２５】この路面情報を、該当区域を走行中の車両
に搭載した受信システムに配信したり、またはＶＩＣＳ
システム（道路交通情報システム）などの路車間通信手
段により配信することにより、各車に供給することがで
きる。またこれらの数値情報に基づき、前記表示器３に
よりドライバーに注意を促すこともできる。さらにこれ
ら数値情報に基づき車両を制御し、車両の運転制御の性
能を向上させることができる。This road surface information is distributed to a receiving system mounted on a vehicle traveling in the corresponding area, or VICS
It can be supplied to each vehicle by distributing by road-to-vehicle communication means such as a system (road traffic information system). Further, the driver can be alerted by the display 3 based on these numerical information. Further, the vehicle is controlled based on these numerical information, and the performance of the driving control of the vehicle can be improved.
【００２６】ここで、路面の摩擦係数は、タイヤと路面
によって決定されるものであり個々の車両に固有のもの
であるため、この情報を自車の情報として取り込むため
に、たとえば現在、自車が検出した摩擦係数の数値情報
（パラメータ）と、配信された情報の中の現在地の数値
情報とを比較すれば、図１に示されるように、制御ユニ
ット２に内蔵される補正手段１２により、これから走行
する部分の配信された摩擦係数の数値情報を自車に当て
はめた場合の数値情報に補正することができる。すなわ
ち車両が受信によって得た路面の滑りやすさの数値情報
と、走行中に検出した路面摩擦係数の数値情報を比較す
ることにより、受信によって得た路面の滑りやすさの数
値情報を補正する。Here, the coefficient of friction of the road surface is determined by the tires and the road surface and is unique to each vehicle. Therefore, in order to take this information as information of the vehicle, for example, By comparing the numerical information (parameter) of the detected friction coefficient with the numerical information of the current location in the distributed information, as shown in FIG. 1, the correction means 12 built in the control unit 2 The numerical information of the distributed friction coefficient of the traveling part can be corrected to the numerical information when it is applied to the own vehicle. That is, the numerical information of the slipperiness of the road surface obtained by the reception is corrected by comparing the numerical information of the slipperiness of the road surface obtained by the vehicle with the numerical information of the road surface friction coefficient detected during traveling.
【００２７】つぎに本発明を実施例に基づいて説明する
が、本発明はかかる実施例のみに限定されるものではな
い。Next, the present invention will be described based on examples, but the present invention is not limited to only these examples.
【００２８】[0028]
【実施例】実施例１ 本実施例はつぎの手順〜に基づいて行なわれる。Embodiment 1 This embodiment is performed based on the following procedures.
【００２９】 車両Ａから発信されるデータ形式 位置情報 路面情報 車両に関する情報 Ｘ1Ａ、Ｘ2Ａ Ｙ1Ａ、Ｙ2Ａ ＺAData format transmitted from vehicle A Position information Road surface information Information about vehicle X1A, X2A Y1A, Y2A ZA
【００３０】 車両Ａ、車両Ｂおよび車両Ｃに対するホストコンピュータによる処理 地域データ 位置情報 路面情報 Ｘ1 Ｘ1Ａ、Ｘ1Ｂ、Ｘ1Ｃ Ｙ1Ａ、Ｙ1Ｂ、Ｙ1Ｃ Ｘ2 Ｘ2Ａ、Ｘ2Ｂ、Ｘ2Ｃ Ｙ2Ａ、Ｙ2Ｂ、Ｙ2Ｃ 車両に関する情報 層別化や平均化による代表値の算出 ＺA、ＺB、ＺC Ｙ1 ＺA、ＺB、ＺC Ｙ2 なお、前記地域データ、たとえばアスファルトや圧雪路
を走行しているという位置情報の精度の範囲は数１０ｍ
位である。Processing by the host computer for the vehicles A, B and C Regional data Location information Road surface information X1 X1A, X1B, X1C Y1A, Y1B, Y1C X2 X2A, X2B, X2C Y2A, Y2B, Y2C And average value calculation by averaging ZA, ZB, ZC Y1 ZA, ZB, ZC Y2 Note that the range of the accuracy of the local data, for example, the positional information of running on asphalt or a snow-covered road is several tens of meters.
Rank.
【００３１】 路車間通信によって配信されるデータ形式 Ｘ1地域を走行する車両Ｄ（自車の情報ＺD）に配信されるデータ 位置情報 路面情報 Ｘ1Ｄ Ｙ1ＤData format distributed by road-to-vehicle communication X1 Data distributed to vehicle D (own vehicle information ZD) traveling in the area Position information Road surface information X1D Y1D
【００３２】まず車両が入手した路面情報に基づき、こ
れから走行する路面の摩擦係数を検出する実施例を以下
に示す。図３に示されるように、情報提供車両Ａ（マツ
ダクロノス）、Ｂ（トヨタ カローラ）、Ｃ（トヨタ
セルシオ）を用いて、住友ゴム名寄（北海道）テストコ
ース近郊の、アスファルトＸ1から圧雪路Ｘ2に路面が変
化する状況で実験を行なった。First, an embodiment for detecting the friction coefficient of the road on which the vehicle will travel based on the road surface information obtained by the vehicle will be described below. As shown in FIG. 3, information providing vehicles A (Mazda Chronos), B (Toyota Corolla), C (Toyota
(Celcio), an experiment was conducted in a situation where the road surface changed from asphalt X1 to compacted snow road X2 near the Sumitomo Rubber Nayoro (Hokkaido) test course.
【００３３】３台の情報提供車両Ａ、Ｂ、Ｃによる、ア
スファルトＸ1と圧雪路Ｘ2の路面μの代表値Ｙ1、Ｙ2を
平均により算出した。この代表値Ｙ1、Ｙ2は、車両に関
する情報ＺA、ＺB、ＺCによりすべてが乗用車と判別
し、単純に３台の平均値とした。この平均値が配信され
る路面情報となる。その結果を表１に示す。The representative values Y1 and Y2 of the asphalt X1 and the road surface μ of the snow-covered road X2 by the three information providing vehicles A, B and C were calculated by averaging. All of the representative values Y1 and Y2 are determined to be passenger cars based on the information ZA, ZB and ZC on the vehicle, and are simply averaged for three vehicles. This average value is the road surface information to be distributed. Table 1 shows the results.
【００３４】[0034]
【表１】 [Table 1]
【００３５】つぎに情報を受信する車両Ｄ（日産 シー
マ）が同上のアスファルトＸ1を走行したときの路面μ
（Ｙ1Ｄ）を検出し、受信した情報と比較することで圧
雪路Ｘ2での推定値（Ｙ2Ｄ）を算出する。その結果を表
２に示す。Next, the road surface μ when the vehicle D (Nissan Cima) receiving the information travels on the asphalt X1 as above.
(Y1D) is detected and compared with the received information to calculate an estimated value (Y2D) on the compacted snowy road X2. Table 2 shows the results.
【００３６】[0036]
【表２】 [Table 2]
【００３７】前記情報受信車両ＤのアスファルトＸ1で
の路面μ（Ｙ1Ｄ）は０．８９であり、受信情報の路面
μ（Ｙ1）は０．８６である。このとき情報受信車両Ｄ
は、これから走行する部分の路面情報として、路面μ
（Ｙ2）が０．５２であるという情報も同時に受け取
る。これにより、たとえば単純な比例配分でこれから走
行する圧雪路の路面μを算出すると、圧雪路の推定値
（Ｙ2Ｄ）は０．５４となり、圧雪路Ｘ2を走行する前に
路面情報を認識することができる。The road surface μ (Y1D) of the information receiving vehicle D on the asphalt X1 is 0.89, and the road surface μ (Y1) of the received information is 0.86. At this time, the information receiving vehicle D
Is the road surface μ
Information that (Y2) is 0.52 is also received at the same time. As a result, for example, when the road surface μ of the snow-covered road to be driven is calculated by simple proportional distribution, the estimated value (Y2D) of the snow-covered road becomes 0.54, and the road surface information can be recognized before the vehicle travels on the snow-covered road X2. it can.
【００３８】ここで、これから走行する部分の路面μが
下がることが数値情報として認識できる場合には、この
数値情報に基づき、ドライバーに注意を促すことによ
り、ドライバーは滑りやすい路面を走行する前に速度を
落とすなどの危険回避策を講じることができる。Here, if it can be recognized as numerical information that the road surface μ of the portion to be traveled is reduced as numerical information, the driver is cautioned based on this numerical information, so that the driver can make a decision before traveling on a slippery road surface. Danger avoidance measures such as reducing the speed can be taken.
【００３９】本実施例では数値情報のみであるが、この
数値情報に基づきＬＥＤや警報音を連動させドライバー
に知らせることもできる。In this embodiment, only numerical information is used. However, based on this numerical information, an LED or an alarm sound can be linked to notify the driver.
【００４０】実施例２ つぎに前記情報受信車両Ｄが、アスファルトで制動を開
始し圧雪路に進入する際に、前記路面情報を制御に取り
込んだ場合とそうでない場合の実施例を以下に示す。Embodiment 2 Next, an embodiment in which the information receiving vehicle D incorporates the road surface information into control when the vehicle starts braking on asphalt and enters a snow-covered road, and other cases in which it does not, will be described below.
【００４１】路面情報をＡＢＳ制御に応用した場合の制
動距離と、従来の摩擦係数を固定した方法によるＡＢＳ
制動距離とを比較する。前記情報受信車両ＤがＡＢＳプ
ログラムに使用するスリップ率を路面μにより可変とす
ることで路面情報を取り込めるように変更し評価を行な
った。その結果を表３に示す。The braking distance when the road surface information is applied to the ABS control and the ABS by the conventional method in which the friction coefficient is fixed.
Compare with the braking distance. The slip rate used by the information receiving vehicle D for the ABS program was varied according to the road surface μ so that road information could be taken in and evaluated. Table 3 shows the results.
【００４２】[0042]
【表３】 [Table 3]
【００４３】表３に示されるように、制動距離が短くな
る効果が得られた。したがって、たとえばこの路面情報
に基づき、これから走行する部分の路面μが低い場合に
は、強制的に車両速度を落とす制御を行なったり、車両
運動制御であるＶＳＣなどに適用することにより多くの
効果が期待される。As shown in Table 3, the effect of shortening the braking distance was obtained. Therefore, for example, based on this road surface information, when the road surface μ of a portion to be driven is low, a great effect can be obtained by performing control to forcibly reduce the vehicle speed or by applying it to VSC which is a vehicle motion control. Be expected.
【００４４】[0044]
【発明の効果】以上説明したとおり、本発明によれば、
ＡＢＳやＶＳＣなどの車両運動制御システムにおける路
面情報のパラメータを変更したり、または取り込むこと
により、その制御の性能を向上させることができる。As described above, according to the present invention,
By changing or capturing parameters of road surface information in a vehicle motion control system such as ABS or VSC, the performance of the control can be improved.
【００４５】またこの情報を得た車両は、これから走行
しようとする道路の路面の摩擦係数が低く、危険を示す
内容の情報であれば、車内に警報を発することにより注
意を促すことができる。The vehicle that has obtained this information has a low coefficient of friction on the road surface of the road on which it is about to travel, and if the information indicates danger, a warning can be issued in the vehicle to call attention.
【００４６】したがって、本発明の有用性は、今後のＩ
ＴＳの普及にともない、ますます増大する。Therefore, the usefulness of the present invention will be
With the spread of TS, it increases more and more.
【図１】本発明の路面情報配信システムにかかわる一実
施の形態を示すブロック図である。FIG. 1 is a block diagram illustrating an embodiment of a road surface information distribution system according to the present invention.
【図２】図１における路面摩擦係数判定装置の電気的構
成を示すブロック図である。FIG. 2 is a block diagram showing an electrical configuration of the road surface friction coefficient determining device in FIG.
【図３】本発明の路面情報配信システムにおける路車間
通信を示す模式図である。FIG. 3 is a schematic diagram showing road-vehicle communication in the road surface information distribution system of the present invention.
１ 回転速度検出手段 ２ 制御ユニット ３ 表示器 ４ 初期化スイッチ DESCRIPTION OF SYMBOLS 1 Rotation speed detection means 2 Control unit 3 Display 4 Initialization switch
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 3D046 BB23 BB28 BB29 HH36 HH46 JJ02 KK00 5H180 BB05 BB13 EE13 FF05 FF22 FF33 LL07 LL16 ────────────────────────────────────────────────── ─── Continued on the front page F term (reference) 3D046 BB23 BB28 BB29 HH36 HH46 JJ02 KK00 5H180 BB05 BB13 EE13 FF05 FF22 FF33 LL07 LL16
Claims (8)
情報を検出する手段と、走行中の車両の位置情報を検出
する手段と、前記数値情報および／または位置情報を車
両から発信する手段と、複数の車両による当該発信され
た情報を集約する手段と、各情報に基づき道路の路面情
報を作成する手段と、該路面情報を前記車両とは異なる
車両にも配信する手段と、当該配信された路面情報を受
信する手段とを備えてなる路面情報配信システム。1. Means for detecting numerical information of slipperiness of a road surface during running of a vehicle, means for detecting positional information of a running vehicle, and transmitting the numerical information and / or positional information from the vehicle. Means, means for aggregating the transmitted information from a plurality of vehicles, means for creating road surface information based on each information, means for distributing the road surface information to a vehicle different from the vehicle, Means for receiving the distributed road surface information.
やすさの数値情報に基づき、必要に応じてドライバーに
注意を促す手段を備えてなる請求項１記載の路面情報配
信システム。2. The road surface information distribution system according to claim 1, further comprising means for calling a driver's attention as necessary based on numerical information on the slipperiness of the road surface obtained by the vehicle.
やすさの数値情報に基づき、車両を制御する手段を備え
てなる請求項１または２記載の路面情報配信システム。3. The road surface information distribution system according to claim 1, further comprising means for controlling the vehicle based on numerical information on the slipperiness of the road surface obtained by the vehicle upon reception.
やすさの数値情報と、走行中に検出した路面摩擦係数の
数値情報を比較することにより、受信によって得た路面
の滑りやすさの数値情報を補正する手段を備えてなる請
求項１または２記載の路面情報配信システム。4. The numerical value of the slipperiness of the road surface obtained by the reception by comparing the numerical information of the slipperiness of the road surface obtained by the vehicle with the numerical information of the road surface friction coefficient detected during traveling. 3. The road surface information distribution system according to claim 1, further comprising means for correcting information.
する手段が、それぞれの車両のタイヤと路面の摩擦係数
により生じるタイヤ回転挙動から、路面の滑りやすさの
レベルを数値化してなる請求項１、２、３または４記載
の路面情報配信システム。5. The method according to claim 1, wherein the means for detecting numerical information of the slipperiness of the road surface quantifies the slipperiness level of the road surface from a tire rotation behavior caused by a friction coefficient between a tire of each vehicle and the road surface. The road surface information distribution system according to item 1, 2, 3, or 4.
の作成に必要な情報を集約し、かつ該路面情報を前記車
両とは異なる車両にも配信する車両の情報集約配信シス
テム。6. A vehicle information aggregation and distribution system that aggregates information necessary for creating road surface information transmitted from a traveling vehicle and distributes the road surface information to a vehicle different from the vehicle.
情報を検出する手段と、走行中の車両の位置情報を検出
する手段と、前記数値情報および／または位置情報を車
両から発信する手段とを備えてなる車両の情報発信装
置。7. A means for detecting numerical information of slipperiness of a road surface during running of a vehicle, a means for detecting positional information of a running vehicle, and transmitting said numerical information and / or positional information from the vehicle. Information transmission device for a vehicle, comprising:
向上させるためにコンピュータを、車両の走行中に路面
の滑りやすさの数値情報を検出する手段、前記車両が受
信によって得た路面の滑りやすさの数値情報に基づき、
車両を制御する手段、前記車両が受信によって得た路面
の滑りやすさの数値情報と、走行中に検出した路面摩擦
係数の数値情報を比較することにより、受信によって得
た路面の滑りやすさの数値情報を補正する手段として機
能させるための車両制御プログラム。8. A means for detecting numerical information of the slipperiness of the road surface while the vehicle is running, comprising: a computer for improving the performance of the driving control of the vehicle based on the road surface information; Based on numerical information of ease,
Means for controlling the vehicle, by comparing the numerical information of the road surface slipperiness obtained by the vehicle with the reception and the numerical information of the road surface friction coefficient detected during travel, the road surface slipperiness obtained by the reception A vehicle control program for functioning as a means for correcting numerical information.
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| JP2000-120971 | 2000-04-21 | ||
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| JP2020076657A (en) * | 2018-11-08 | 2020-05-21 | 住友電気工業株式会社 | Information provision system, information provision method, and computer program |
| JP2020077238A (en) * | 2018-11-08 | 2020-05-21 | 住友電気工業株式会社 | Information provision system, information provision method, and computer program |
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| US7389170B2 (en) | 2002-11-13 | 2008-06-17 | Sumitomo Rubber Industries, Ltd. | Method and apparatus for judging road surface conditions and program for judging road surface conditions |
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| JP2005028887A (en) * | 2003-07-07 | 2005-02-03 | Fuji Heavy Ind Ltd | Method and device for estimating road surface friction coefficient |
| JP2005092320A (en) * | 2003-09-12 | 2005-04-07 | Denso Corp | Traveling guideline detection failure position management center, traveling guideline detection failure position transmitting device, traveling guideline detection failure position receiving device, and traveling guideline detection failure controlling device |
| US7856870B2 (en) | 2005-10-21 | 2010-12-28 | Sumitomo Rubber Industries, Ltd. | Method for alarming inner pressure lowering of tires using GPS information and device thereof, and program for alarming inner pressure lowering of tires |
| JP2009123153A (en) * | 2007-11-19 | 2009-06-04 | Aisin Aw Co Ltd | Driving support system, driving support method and computer program |
| KR100987177B1 (en) | 2009-06-03 | 2010-10-11 | 메타빌드주식회사 | Road mornitoring method using radar and apparatus thereof |
| JP2011013895A (en) * | 2009-07-01 | 2011-01-20 | Mitsubishi Electric Corp | Road information providing system and information distribution device loading vehicle, and information collection device |
| JP2016537626A (en) * | 2013-11-05 | 2016-12-01 | アー・ファウ・エル・リスト・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Virtual test optimization of driver assistance system |
| JP2016075575A (en) * | 2014-10-06 | 2016-05-12 | 株式会社ブリヂストン | Road surface state discrimination system |
| WO2016056569A1 (en) * | 2014-10-06 | 2016-04-14 | 株式会社ブリヂストン | Road surface conditions distinguishing system |
| US10377385B2 (en) | 2014-10-06 | 2019-08-13 | Bridgestone Corporation | Road surface condition determining system |
| KR101735063B1 (en) * | 2015-11-23 | 2017-05-12 | 한국외국어대학교 연구산학협력단 | System for calculating road surface friction coefficient considering road geometry and method thereof |
| DE112017000906T5 (en) | 2016-02-19 | 2018-10-25 | Denso Corporation | Vehicle risk-avoidance device |
| US10773718B2 (en) | 2016-02-19 | 2020-09-15 | Denso Corporation | Vehicle risk avoidance device |
| JP2018173765A (en) * | 2017-03-31 | 2018-11-08 | 株式会社トヨタマップマスター | Road friction coefficient management device, server device, methods therefor, computer program and recording medium with computer program recorded thereon |
| JP2019049952A (en) * | 2017-09-12 | 2019-03-28 | 日本電気通信システム株式会社 | Information processing system, information processor, road status detection method and program |
| JP2020076657A (en) * | 2018-11-08 | 2020-05-21 | 住友電気工業株式会社 | Information provision system, information provision method, and computer program |
| JP2020077238A (en) * | 2018-11-08 | 2020-05-21 | 住友電気工業株式会社 | Information provision system, information provision method, and computer program |
| KR102381047B1 (en) * | 2021-09-30 | 2022-03-30 | 김태수 | Tunnel Traffic Accident Prevention System |
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