JP2008260347A - Driving assistant device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance visibility relative to a pedestrian or the like at a front side of a vehicle. <P>SOLUTION: The driving assistant device for the vehicle is provided with a visible light irradiation means for irradiating the visible light to a front side of the vehicle; UV irradiation means 120, 130 for irradiating the UV light to the front side of the vehicle; second control means 60, 70 for controlling an irradiation light axis of the UV irradiation means 80, 90; object detection means 20, 30, 50 for detecting the object at a front side of the vehicle; and a collision forecasting means 50 for determining collision possibility relative to the one's own vehicle regarding the object detected by the object detection means. When it is determined that collision possibility exists by the collision forecasting means regarding the object detected by the object detection means, the second control means directs the irradiation light axis of the UV irradiation means to the object side than the irradiation light axis of the visible light irradiation means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a driving support device for a vehicle, and more particularly to a technique for improving the visibility of a driver with respect to a pedestrian or the like ahead of the vehicle.

In recent years, the automobile industry has been working on the development and evolution of various technologies and equipment that enhance the safety performance of cars in order to realize a safe automobile society. One of them is a technique of providing a headlamp that irradiates ultraviolet light in front of a vehicle in order to improve visibility for a pedestrian ahead when traveling at night (see Patent Documents 1 and 2). According to this, the ultraviolet light reacts to the clothes of the pedestrian in front and makes this pedestrian rise clearly, so that the driver can clearly recognize the pedestrian in front.
Japanese Unexamined Patent Publication No. 2000-203335 JP 2000-027128 A

  However, in both Patent Documents 1 and 2, the irradiation direction of ultraviolet light is set in advance and fixed. In Patent Document 1, the irradiation range of the UV light 9 is set so as to irradiate only the outer side in the vehicle width direction with respect to the vehicle body center axis of the host vehicle 1 [0014]. Further, in Patent Document 2, the ultraviolet light output device 2B is always set in an upward illumination state [0015] [0018] [FIG. 5].

  An object of the present invention is to provide a driving support device for a vehicle that can improve visibility for a pedestrian or the like ahead of the vehicle.

  A vehicle driving support apparatus according to the present invention includes a visible light irradiating unit that irradiates visible light ahead of a vehicle, a traveling path estimating unit that estimates a traveling path of the vehicle, and a traveling path that is estimated by the traveling path estimating unit. Based on the first control means for controlling the irradiation optical axis of the visible light irradiation means, the UV irradiation means for irradiating ultraviolet light ahead of the vehicle, and the second for controlling the irradiation optical axis of the UV irradiation means. Control means, target detection means for detecting a target in front of the vehicle, and collision prediction means for determining the possibility of collision of the target detected by the target detection means with respect to the host vehicle. When the second control means determines that there is a possibility of collision by the collision prediction means with respect to a certain target detected by the target detection means, the irradiation light axis of the UV irradiation means is set to the visible light irradiation means. Is directed toward the target side of the irradiation optical axis.

  In the vehicle driving support device, visible light is irradiated from the visible light irradiation means along the traveling path of the host vehicle. When there is a target that is determined to have a possibility of collision in front of the host vehicle, ultraviolet light is irradiated from the UV irradiation unit toward the target side of the irradiation optical axis of the visible light irradiation unit. Thereby, for example, even when the target exists outside the visible light irradiation range by the visible light irradiation means, it is safe because the driver can recognize the target by the ultraviolet light irradiation from the UV irradiation means.

  Preferably, the second control unit is capable of controlling on / off of the ultraviolet light irradiation by the UV irradiation unit, and a distance between the target and the target vehicle determined to be a collision possibility by the collision prediction unit. Is longer than a predetermined distance, the on / off of the ultraviolet light irradiation by the UV irradiation means is repeated at a constant cycle.

  In the driving support apparatus for a vehicle described above, the driver can easily recognize the target because the ultraviolet light is flashed and irradiated.

  Preferably, the second control unit shortens the fixed period as the distance between the target determined by the collision prediction unit and the target vehicle and the host vehicle approaches the predetermined distance.

  Preferably, the second control unit is capable of controlling on / off of the ultraviolet light irradiation by the UV irradiation unit, and a distance between the target and the target vehicle determined to be a collision possibility by the collision prediction unit. Is closer than the predetermined distance, the ultraviolet light irradiation by the UV irradiation means is always turned on.

  Preferably, the vehicle driving support apparatus further includes alarm means for generating an alarm sound in synchronization with the irradiation of ultraviolet light by the UV irradiation means.

  Preferably, the vehicle driving support apparatus further includes pedestrian discrimination means for discriminating whether or not the target detected by the target detection means is a pedestrian. The second control means can control the irradiation output level of the ultraviolet light by the UV irradiation means, and the pedestrian discrimination means discriminates that the target detected by the target detection means is not a pedestrian. When the illuminating output level of the UV irradiating means is set to the first level, and the pedestrian determining means determines that the target detected by the target detecting means is a pedestrian, the UV irradiating means Is set to a second level lower than the first level.

  In the vehicle driving support device, when the target detected by the target detection means is a pedestrian, the irradiation output of the ultraviolet light is set low, so that the influence on the human body is small and safe.

  Preferably, the UV irradiation means is composed of a high beam unit of headlamp means for irradiating visible light ahead of the vehicle.

  Preferably, the UV irradiation means is configured separately from the headlamp means for irradiating visible light ahead of the vehicle.

  In the vehicle driving support device according to the present invention, when there is a target that is determined to have a possibility of collision in front of the host vehicle, the UV irradiation unit is directed toward the target side with respect to the irradiation optical axis of the visible light irradiation unit. Because it is irradiated with ultraviolet light, for example, even when a target exists outside the visible light irradiation range by the visible light irradiation means, the driver can recognize the target by the ultraviolet light irradiation from the UV irradiation means. It is.

  Further, since the ultraviolet light is flashed and irradiated, the driver can easily recognize the dangerous goods.

  Further, when the target detected by the target detection means is a pedestrian, the irradiation output of ultraviolet light is set low, so that the influence on the human body is small and safe.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, substantially the same parts are denoted by the same reference numerals, and description thereof will not be repeated.

[System configuration]
FIG. 1A shows a system configuration of a vehicle driving support apparatus according to an embodiment of the present invention. The driving support device includes a vehicle speed sensor 10, a radar 20, a camera 30, a yaw rate sensor 40, an ECU (Electronic Control Unit) 50, actuators 60, 70, 100, 110, UV lights 80, 90, Visible light lights 120 and 130 and an alarm device 140 are provided. FIG. 1A shows only the components related to the driving support device of the present embodiment among the various components of the vehicle.

  The vehicle speed sensor 10 detects the traveling speed of the host vehicle. As shown in FIGS. 1B and 1C, the radar 20 is disposed near the front grille at the front of the vehicle, and the camera 30 is disposed at the roof front end of the vehicle interior. The radar 20 and the camera 30 are used to detect the distance to the target ahead of the vehicle, the shape of the target, the direction of the target, and the like. The yaw rate sensor 40 detects the yaw rate of the host vehicle, and estimates the traveling path of the host vehicle together with the vehicle speed sensor 10. The ECU 50 is a computer that performs various arithmetic processes for driving support.

  The UV lights 80 and 90 are respectively arranged on the left and right of the front portion of the vehicle, and irradiate the front of the vehicle with ultraviolet light. It is preferable to use ultraviolet light with a wavelength of 315 nm or more as the ultraviolet light irradiated from the UV lights 80 and 90. This is because it is classified as UV-A and has almost no influence on the human body.

  The actuators 60 and 70 control the irradiation direction (the direction of the irradiation optical axis) of the ultraviolet light irradiated from the UV lights 80 and 90. The actuators 60 and 70 control the irradiation output level of the ultraviolet light emitted from the UV lights 80 and 90. The actuators 60 and 70 control on / off of the ultraviolet light irradiation from the UV lights 80 and 90.

  The visible light 120, 130 is composed of a low beam unit of headlamps 150, 160 disposed at the front of the vehicle, and irradiates the front of the vehicle with visible light. The actuators 100 and 110 control the irradiation direction of the visible light irradiated from the visible light lights 120 and 130 (the direction of the irradiation optical axis).

  The warning device 140 generates a warning by voice toward the driver of the vehicle.

[Mounting form of UV light 80, 90, visible light 120, 130]
There are “independent type” and “headlight built-in type” as mounting forms of the UV lights 80 and 90.

  In the “independent type”, as shown in FIG. 1B, the UV lights 80 and 90 are configured separately from the headlamps 150 and 160 that irradiate visible light (high beam and low beam) in front of the vehicle. Yes. Ultraviolet light is emitted from the light source bulb 81 of the UV light 80, and this ultraviolet light is reflected to the front of the vehicle by the movable reflector 82. The actuator 60 controls the irradiation direction of the ultraviolet light by rotating the movable reflector 82 in the vertical direction and the horizontal direction. The same applies to the internal structure and operation of the UV light 90.

  In the “headlight built-in type”, as shown in FIG. 1 (c), the UV lights 80 and 90 are composed of high beam units of headlamps 150 and 160. Although not only ultraviolet light but also visible light is emitted from the light source bulb 81, only the ultraviolet light is transmitted through the filter 83 and is irradiated to the front of the vehicle. Further, similarly to the “independent type”, the irradiation direction of the ultraviolet light is controlled by the actuators 60 and 70. Note that the filter 83 functions only when the front of the vehicle is irradiated with ultraviolet light, and does not function when the front of the vehicle is irradiated with visible light (high beam). Moreover, the control of the irradiation direction by the actuators 60 and 70 is performed only when the ultraviolet light is irradiated to the front of the vehicle, and is not performed when the visible light (high beam) is irradiated to the front of the vehicle. This is because oncoming cars are dazzling.

  The visible light 120 is configured by a low beam unit of a headlamp 150 as shown in FIG. Visible light is emitted from the light source bulb 121 of the visible light 120, and the visible light is reflected to the front of the vehicle by the movable reflector 122. The actuator 100 controls the irradiation direction of visible light by controlling the movable reflector 122 to rotate in the vertical direction and the horizontal direction. The same applies to the internal structure and operation of the visible light 130.

  The low beam units of the headlamps 150 and 160 are configured such that the irradiation optical axis is movable in the vertical and horizontal directions by the actuators 100 and 110 in accordance with the steering angle of the vehicle (Adaptive Front Lighting System).

[Operation flow]
Next, the operation of the vehicle driving support apparatus configured as described above will be described with reference to the flowchart of FIG.

[ST100]
The ECU 50 determines whether or not the traveling speed detected by the vehicle speed sensor 10 is zero.

[ST110]
When it is determined that the traveling speed is zero, the ECU 50 instructs the actuators 60 and 70 and the UV lights 80 and 90 to end the irradiation of ultraviolet light. Thereby, the irradiation of the ultraviolet light from the UV lights 80 and 90 is completed.

[ST120]
When it is determined that the traveling speed is not zero, the ECU 50 estimates the traveling path of the host vehicle based on information from the vehicle speed sensor 10 and the yaw rate sensor 40. The traveling path of the host vehicle may be estimated using a steering angle sensor, a steering angular velocity sensor, or the like.

  The ECU 50 calculates a light distribution angle for irradiating visible light from the visible light lights 120 and 130 along the estimated traveling path. Based on the light distribution angle calculated by the ECU 50, the actuators 100 and 110 control the rotation of the movable reflector 122, and the visible light (low beam) from the visible light lights 120 and 130 is irradiated along the traveling path.

[ST130]
A target existing in front of the traveling path estimated in step ST120 is detected by the radar 20 and the camera 30. The ECU 50 calculates the distance to the detected target, the shape of the target, the moving direction of the target, the moving speed of the target, and the like.

[ST140]
Next, the ECU 50 determines whether or not the detected target is likely to collide with the host vehicle. The determination of the possibility of collision is performed based on information such as the movement speed / trajectory of the target and the movement speed / trajectory of the host vehicle.

[ST150]
If it is determined that “possibility of collision” in step ST140, the process proceeds to step ST170. If it is determined that “no collision possibility”, the process proceeds to step ST160.

[ST160]
If it is determined that there is no possibility of collision, control is performed so that the irradiation direction of the ultraviolet light from the UV lights 80 and 90 is directed to the white line on the road side.

  The ECU 50 recognizes a white line on the road side based on information from the camera 30, the yaw rate sensor 40, etc., and calculates the irradiation direction (light distribution angle) of the UV lights 80 and 90. In order to perform light distribution control suitable for the actual road shape (curve shape, etc.), it is preferable to calculate the light distribution angle according to a calculation formula corresponding to information on a relaxation curve such as a clothoid curve.

  Based on the light distribution angle calculated by the ECU 50, the actuators 60 and 70 control the rotation of the movable reflector 82. Thereby, the ultraviolet light from the UV lights 80 and 90 is irradiated toward the white line on the road side.

[ST170]
On the other hand, when it is determined in step ST140 that “there is a possibility of collision”, the ECU 50 determines whether or not the target is a pedestrian. The determination as to whether or not the person is a pedestrian can be made, for example, by checking whether or not the ratio between the height and width of the detected target is within a predetermined range.

[ST180]
If it is determined in step ST170 that the user is “pedestrian”, the ECU 50 instructs the actuators 60 and 70 to set the irradiation output level of the UV lights 80 and 90 to the “weak” level. In response to this, the actuators 60 and 70 set the irradiation output level of the ultraviolet light emitted from the UV lights 80 and 90 to the “weak” level. The “weak” level here is an irradiation output level that is considered to have little (or little) influence on the human body by the irradiated ultraviolet light. Thus, when the irradiation target of ultraviolet light is a pedestrian, since the irradiation output of ultraviolet light is set low, the influence on the human body is small and safe.

[ST190]
On the other hand, if it is determined in step ST170 that “it is not a pedestrian”, the ECU 50 instructs the actuators 60 and 70 to set the irradiation output level of the UV lights 80 and 90 to the “strong” level. In response to this, the actuators 60 and 70 set the irradiation output level of the ultraviolet light emitted from the UV lights 80 and 90 to the “strong” level. The “strong” level here is a predetermined level higher than the “weak” level.

[ST200]
Next, the ECU 50 determines the distance L between the target vehicle determined as “possibility of collision” in step ST140 and the host vehicle.

When the distance L is equal to or greater than the preset distance L ₀ , the ECU 50 instructs the actuators 60 and 70 to repeat on / off of the ultraviolet light irradiation by the UV lights 80 and 90 at a constant period T. This period T is set according to the distance L. The shorter the distance L, the shorter the period T.

On the other hand, the distance L is shorter than _{L 0,} ECU 50 is an ultraviolet light to continuous irradiation (always on) instructs the actuator 60, 70 as.

[ST210]
Next, as shown in FIG. 3, the ECU 50 determines that the irradiation optical axis of the UV lights 80 and 90 is “possible to collide” in step ST140 above the irradiation optical axis of the visible light 120 or 130. A light distribution angle for directing to the target 200 side is calculated. In FIG. 3, only visible light from the visible light 130 and ultraviolet light from the UV light 90 are shown in order to make the figure easy to understand. Based on the light distribution angle calculated by the ECU 50, the actuators 60 and 70 rotate and control the movable reflector 82, and ultraviolet light is irradiated from the UV lights 80 and 90. The ultraviolet light from the UV lights 80 and 90 is flashed or continuously irradiated according to the determination result in step ST200.

  As described above, in the present embodiment, when there is a target that is determined to have a possibility of a collision in front of the host vehicle, the UV light 80, 80 toward the target side with respect to the irradiation optical axis of the visible light 120, 130. Since the ultraviolet light is irradiated from 90, for example, even when the target is present outside the visible light irradiation range by the visible light 120, 130, the driver applies the target by the ultraviolet light irradiation from the UV light 80, 90. Recognizable and safe.

  In addition, the ECU 50 instructs the alarm device 140 to generate an alarm sound synchronized with the ultraviolet light irradiation from the UV lights 80 and 90. In response to this, the alarm device 140 generates an alarm sound. The alarm device 140 emits a continuous sound (beep) when the ultraviolet light is continuously emitted from the UV lights 80 and 90, and an intermittent sound (buzzer ... beep) synchronized with the blinking when it is flashed. .

As described above, when the target determined as “possible to collide” is relatively far from the own vehicle, the ultraviolet light from the UV lights 80 and 90 blinks slowly in a relatively long cycle, and the alarm device 140 The alarm sound from is also an intermittent sound with a relatively long cycle. Then, as the target approaches the host vehicle, the ultraviolet light from the UV lights 80 and 90 blinks rapidly (the blinking cycle becomes shorter), and the alarm sound from the alarm device 140 also becomes an intermittent sound with a short cycle. Further target object is ultraviolet light is continuously irradiated from the UV light 80 and 90 approaches than the predetermined distance L _0, is also a continuous sound alarm sound from the alarm device 140.

  INDUSTRIAL APPLICABILITY The present invention is useful as a driving assistance device for improving the visibility of a driver of a vehicle, particularly for improving the visibility of a pedestrian and an obstacle ahead when traveling at night.

1A is a block diagram showing a system configuration of a vehicle driving support apparatus according to an embodiment of the present invention. FIG. (b), (c) is a figure which shows the mounting form of UV light and visible light. It is a flowchart which shows the flow of operation | movement of the driving assistance device of the vehicle by embodiment of this invention. It is a figure which shows the irradiation pattern of an ultraviolet light.

Explanation of symbols

10 Vehicle speed sensor 20 Radar 30 Camera 40 Yaw rate sensor 50 ECU (Electronic Control Unit)
60, 70, 100, 110 Actuator 80, 90 UV light 81, 121 Light source bulb 82, 122 Movable reflector 83 Filter 120, 130 Visible light 140 Alarm device 150, 160 Headlight 200 Target

Claims (8)

Visible light irradiation means for irradiating visible light in front of the vehicle;
Traveling path estimation means for estimating the traveling path of the vehicle;
First control means for controlling an irradiation optical axis of the visible light irradiation means based on the traveling path estimated by the traveling path estimation means;
UV irradiation means for irradiating ultraviolet light ahead of the vehicle;
Second control means for controlling the irradiation optical axis of the UV irradiation means;
Target detection means for detecting a target in front of the vehicle;
A collision prediction means for judging the possibility of collision with the host vehicle for the target detected by the target detection means,
The second control means includes
If it is determined by the collision prediction means that there is a possibility of collision with respect to a certain target detected by the target detection means, the irradiation optical axis of the UV irradiation means is more relevant than the irradiation optical axis of the visible light irradiation means. Turn to the target side,
A vehicle driving support device characterized by the above. In claim 1,
The second control means includes
It is possible to control on / off of ultraviolet light irradiation by the UV irradiation means,
When the distance between the target and the vehicle that is determined to be likely to collide by the collision prediction unit is longer than a predetermined distance, on / off of the ultraviolet light irradiation by the UV irradiation unit is repeated at a certain period,
A vehicle driving support device characterized by the above. In claim 2,
The second control means includes
Shortening the fixed period as the distance between the target determined to be likely to collide by the collision prediction means and the host vehicle approaches the predetermined distance;
A vehicle driving support device characterized by the above. In any one of Claims 1-3,
The second control means includes
It is possible to control on / off of ultraviolet light irradiation by the UV irradiation means,
When the distance between the target determined to be likely to collide by the collision prediction means and the host vehicle is shorter than the predetermined distance, the ultraviolet irradiation by the UV irradiation means is always turned on.
A vehicle driving support device characterized by the above. In any one of Claims 2-4,
Alarm means for generating an alarm sound in synchronization with the irradiation of ultraviolet light by the UV irradiation means;
A vehicle driving support device characterized by the above. In any one of Claims 1-5,
Pedestrian discrimination means for discriminating whether or not the target detected by the target detection means is a pedestrian,
The second control means includes
It is possible to control the irradiation output level of ultraviolet light by the UV irradiation means,
When the target detected by the target detection means is determined not to be a pedestrian by the pedestrian determination means, the irradiation output level of the UV irradiation means is set to the first level and detected by the target detection means. When the pedestrian determination means determines that the target made is a pedestrian, the irradiation output level of the UV irradiation means is set to a second level lower than the first level.
A vehicle driving support device characterized by the above. In any one of Claims 1-6,
The UV irradiation means includes
Consists of a high beam unit of headlamp means that radiates visible light ahead of the vehicle,
A vehicle driving support device characterized by the above. In any one of Claims 1-6,
The UV irradiation means includes
It is configured separately from the headlamp means for irradiating visible light ahead of the vehicle,
A vehicle driving support device characterized by the above.

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