JP2013203251A - Light emission control device, emission warning system, light control system, and light emission control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a light emission control device mounted on a vehicle to emit light in a set direction, configured to prevent positional relation between an obstacle such as a pedestrian and a vehicle from becoming dangerous.SOLUTION: A light control system acquires information about a position of an obstacle existing around a vehicle (S140), and emits the light in a color different from that of a headlight of the vehicle provided in the vehicle toward the obstacle (S160, S170). The light control system 1 can notify a driver of a danger (the vehicle is approaching the obstacle) by the light in color different from that of the headlight at the driver side of the vehicle and the obstacle side, thereby preventing the positional relation between the obstacle and the vehicle from becoming dangerous.

Description

  The present invention relates to a light irradiation control device, an irradiation warning system, a light control system, and a light irradiation control program that are mounted on a vehicle and irradiate light in a set direction.

  As said light irradiation control apparatus, the apparatus which detects a pedestrian and irradiates light with respect to this pedestrian is known (for example, refer patent document 1). Moreover, in order to notify a pedestrian more reliably, it is also effective to have the pedestrian possess a terminal device (see, for example, Patent Document 2).

JP 2006-069298 A JP 2010-04-0001 A

  In the light irradiation control device of Patent Document 1, even if a pedestrian is irradiated with light, the driver of the own vehicle and the pedestrian may not be able to recognize each other's danger. In order to recognize the danger with certainty, a pedestrian may have a terminal device as in Cited Document 2 and issue a warning in the terminal device and the light irradiation control device. There is a problem that the control device needs to communicate with the terminal device and the configuration becomes complicated.

  Therefore, in view of such problems, a pedestrian with a simple configuration in a light irradiation control device, an irradiation warning system, a light control system, and a light irradiation control program that is mounted on a vehicle and emits light in a set direction. It is an object of the present invention to prevent the positional relationship between an obstacle such as a vehicle from becoming a dangerous state.

  The light irradiation control device according to claim 1, wherein the position information acquisition unit acquires information related to a position of an obstacle existing around the host vehicle, and the irradiation unit includes the host vehicle. The light of a color different from the headlight of the host vehicle provided in is directed toward the direction in which the obstacle exists.

  According to such a light irradiation control device, the danger is imminent by checking the light of a color different from the headlight on both the driver side and the obstacle side of the own vehicle almost simultaneously (the own vehicle is Since it is possible to notify that the vehicle is approaching, it is possible to prevent the positional relationship between the obstacle and the vehicle from becoming a dangerous state with a simple configuration.

  In the present invention, the color different from the headlight means that there is a difference in the wavelength (component distribution) of the light so that a person can visually recognize that the color is different from the headlight.

  Moreover, in the said light irradiation control apparatus, as described in Claim 2, a danger acquisition means acquires the information regarding the collision risk showing the probability that the own vehicle collides with an obstacle, and an irradiation means is a collision. You may make it irradiate the light of a different color according to a danger level.

According to such a light irradiation control device, it is possible to visually notify the collision risk degree by color to the driver and obstacles of the host vehicle.
In addition, in the light irradiation control device, as described in claim 3, the irradiating means may irradiate the light of the color used in the traffic signal according to the collision risk.

  According to such a light irradiation control device, since the collision risk can be expressed by the color used in the traffic signal, the collision risk can be notified more easily by the driver and the obstacle.

  In addition, you may implement | achieve each means which comprises the said light irradiation control apparatus as a light irradiation control program.

1 is a block diagram showing a schematic configuration of a light control system 1. FIG. It is a flowchart which shows the irradiation control process which CPU11 of the calculating part 10 performs. It is a map which shows the relationship between relative speed and relative distance, and the light color to irradiate. It is a bird's-eye view which shows the case where a pedestrian crosses a pedestrian crossing when an oncoming vehicle exists. It is a bird's-eye view which shows the case where a pedestrian crosses a pedestrian crossing when an oncoming vehicle does not exist. It is a bird's-eye view which shows the case where the flow line of the vehicle which turns right at an intersection, and the flow line of a pedestrian or a bicycle overlap. It is a bird's-eye view which shows the case where images, such as a sign, are displayed at an intersection.

Embodiments according to the present invention will be described below with reference to the drawings.
[Configuration of this embodiment]
The light control system 1 to which the present invention is applied is mounted on a vehicle (own vehicle) such as a passenger car, and has a function of irradiating light in a set direction separately from the headlamp. Specifically, as shown in FIG. 1, the light control system 1 includes a calculation unit 10, a camera 21, a radar device 22, a headlamp irradiation area automatic control device 23, a steering angle sensor 24, and a vehicle speed sensor 25. And a direction indicator 26 and a light irradiation warning unit 30.

  The camera 21 images the traveling direction (front) of the host vehicle and sends the captured image to the calculation unit 10. The camera 21 may be configured as a night vision camera (infrared camera) provided with a separate projector, or may be configured as a visible light camera that captures visible light.

  The radar device 22 is configured as a well-known radar device having a function of detecting a distance and a position to an object that reflects the electromagnetic wave or the sound wave by irradiating an electromagnetic wave or a sound wave such as a laser beam or a radio wave and detecting the reflected wave. Has been. The radar apparatus 22 sends the object detection result to the calculation unit 10.

  The headlamp irradiation area automatic control device 23 improves the driving field of view from the driver of the host vehicle, and the oncoming vehicle traveling in the direction opposite to the host vehicle toward the host vehicle and the front of the host vehicle are the same as the host vehicle. It has a function for preventing dazzling of other vehicles such as a preceding vehicle traveling in the direction. Specifically, the light distribution (irradiation area) of the headlamp is set according to the presence or absence of other vehicles.

  For example, the headlamp irradiation area automatic control device 23 switches, for example, a low beam (passing light) and a high beam (traveling light) or other vehicles according to the presence or absence of other vehicles such as oncoming vehicles and preceding vehicles. Move the cut line to the position.

  The steering angle sensor 24 is configured as a known steering angle sensor that detects the steering angle of the host vehicle, and the vehicle speed sensor 25 is configured as a known speed sensor that detects the traveling speed of the host vehicle.

  The direction indicator 26 is configured as a well-known direction indicator (blinker), and blinks either the left or right lamp. The operation state of the direction indicator 26 is configured to be detected by the calculation unit 10.

  The light irradiation warning unit 30 includes a red lamp 32 that lights red, a yellow lamp 33 that lights yellow, a blue lamp 34 that lights blue, and a drive mechanism 31 that changes the direction of the optical axis of these lamps. ing. The drive mechanism 31 may employ a mechanism similar to the mechanism that changes the direction of the optical axis of the headlamp, for example. Further, the drive mechanism 31 may be a basic light source or a mechanism capable of changing the light color to be irradiated.

  The light irradiation warning unit 30 changes the direction of the optical axis of each lamp in the direction specified by the calculation unit 10 and turns on the lamp of the color specified by the calculation unit 10. In the present embodiment, the color of the headlamp is set to white, and the light irradiation warning unit 30 lights the lamp in a color that is different from the color of the headlamp that can be seen by humans.

  Moreover, the light irradiation warning part 30 may be arrange | positioned in arbitrary positions, such as the front center of a vehicle, and the corner part of the front right and left of a vehicle. Further, it may be enclosed in the housing of the headlamp.

  The calculation unit 10 is configured as a computer including a memory 12 such as a CPU 11 (central processing unit), a ROM (read only memory), and a RAM (writable memory). The CPU 11 executes processing based on a program (including a light irradiation control program) stored in the memory 12.

[Process of this embodiment]
The computing unit 10 (CPU 11) detects an obstacle such as a pedestrian or a bicycle, and executes an irradiation control process for irradiating the obstacle with a lamp having a color different from that of the headlamp. In the irradiation control process, as shown in FIG. 2, first, an image captured by the camera 21 is acquired (S110).

  Subsequently, the information (position and distance) of the object detected by the radar device 22 is acquired from the radar device 22 (S120), and the own vehicle information is acquired (S130). Here, the host vehicle information corresponds to the steering angle detected by the steering angle sensor 24, the vehicle speed detected by the vehicle speed sensor 25, the operating state of the direction indicator 26, and the like.

  And low-speed moving body information is detected based on such information (S140). Specifically, the obstacle is obtained by comprehensively considering the position information of the obstacle obtained by image processing of the image captured by the camera 21, the position information of the object (obstacle) detected by the radar device 22, and the like. The position and relative movement speed are detected. In addition, the absolute moving speed of the obstacle is detected in consideration of the own vehicle information.

  Then, based on the size of the obstacle and the absolute movement speed (for example, when the size of the obstacle matches the preset template and the absolute movement speed is within the speed range set as a traffic weak person), the obstacle Are low-speed moving objects (pedestrians, bicycles, motorbikes, senior cars, etc.).

  Subsequently, a collision risk parameter is extracted (S150). In this process, parameters used for calculating the probability that the host vehicle and the low-speed moving object collide are extracted. Specifically, for example, a plurality of parameters are extracted such as the relative speed and the relative distance between the host vehicle and the low-speed moving object.

  Next, the light color to be irradiated is set according to the collision risk (S160). In this process, as shown in FIG. 3, the light color to be irradiated is determined using a map in which the light color to be irradiated is determined when the relative speed and the relative distance between the host vehicle and the low-speed moving object are input. .

  More specifically, the relationship between the relative distance corresponding to the braking distance and the relative speed is entered as a stop limit on the graph with reference to the braking distance in consideration of the free running distance when the driver applies the brake. The braking distance is such that the relative speed between the host vehicle and the low-speed moving object is equal to the absolute speed of the host vehicle.

  Then, the boundary for setting the light color to be irradiated is determined by multiplying the stop limit by a predetermined safety factor (coefficient). For example, in the map shown in FIG. 3, the boundary between red and yellow is obtained by multiplying the value of the relative distance of the stop limit ((A) in the figure) by a safety factor α (1 <α, for example, about 1.08). Middle (B)) and multiply the value of the relative distance of the stop limit by the safety factor β (α <β, for example, about 1.2) to set the boundary between yellow and blue ((C) in the figure) ing.

  However, in the map shown in FIG. 3, when the relative speed is equal to or higher than the absolute red irradiation speed V_RED (for example, about 95 km / h) or when the relative distance is less than the absolute red irradiation distance d_RED (for example, about 35 m). In this case, the light color to be irradiated is set to red regardless of the values of other parameters. The safety factors α and β are obtained experimentally.

Subsequently, a light irradiation command for irradiating the lamp of the color set toward the position of the low-speed moving body is output to the light irradiation warning unit 30 (S170), and the irradiation control process is terminated.
[Specific example of this embodiment]
For example, as shown in FIG. 4, when there is an oncoming vehicle that is in a direction opposite to the own vehicle and the pedestrian starts to cross from the vicinity of the pedestrian crossing in front of the own vehicle, the light control system 1 is dangerous. Irradiate light of a color corresponding to the degree (for example, red). In this case, even if a pedestrian disappearance phenomenon occurs due to the headlamps of the oncoming vehicle, the driver of the host vehicle can recognize the pedestrians well by irradiating light of a color different from that of the headlamps. I think it can be done.

Also, pedestrians can detect danger by irradiating light of a color different from the color of the headlamp.
Next, as shown in FIG. 5, a description will be given in the case where there is no oncoming vehicle. In a normal low beam, in order to prevent dazzling on the oncoming vehicle, the irradiation area in front of the right side of the host vehicle (on the opposite vehicle side) is set narrow. For this reason, the driver of the own vehicle tends to be late in finding a pedestrian who is about to start crossing from the right side of the own vehicle. However, the light control system 1 emits light of a color according to the degree of danger (for example, red). Since it irradiates, it is thought that the driver of the own vehicle can recognize a pedestrian well. At this time, since the pedestrian recognizes the approach of the vehicle with light of a color corresponding to the degree of danger almost simultaneously, a pedestrian's danger avoidance behavior can also be expected.

  Similarly, as shown in FIG. 6, when the own vehicle is about to turn right at the intersection, the light control system 1 detects bicycles and pedestrians, and in response to these, colors of colors corresponding to the degree of danger are detected. Since light (for example, red) is emitted, it is considered that the driver of the host vehicle can recognize a pedestrian well. At this time, since the pedestrian recognizes the approach of the vehicle with light of a color corresponding to the degree of danger almost simultaneously, a pedestrian's danger avoidance behavior can also be expected.

  In this case, the flow line of the host vehicle may be predicted from the operation of the turn signal and the like, and the degree of risk of collision between the host vehicle and a pedestrian or the like may be calculated. Further, when calculating the probability that the own vehicle and the pedestrian or the like collide, the calculation may be performed in consideration of the movement vector of the own vehicle and the movement vector of the pedestrian or the like. In this case, each vector (relative distance and relative velocity) may be two-dimensional or three-dimensional.

[Effects of this embodiment]
In the light control system 1 described in detail above, the calculation unit 10 obtains information on the position of an obstacle existing around the host vehicle and has a color different from that of the headlamp of the host vehicle provided in the host vehicle. Light is directed toward the obstacle.

  According to such a light control system 1, the danger is imminent by checking the light of a color different from the headlamp on both the driver side and the obstacle side of the host vehicle (the host vehicle approaches). That the positional relationship between the obstacle and the vehicle is in a dangerous state can be suppressed.

In the light control system 1 described above, the calculation unit 10 detects a moving object including a pedestrian as an obstacle.
According to such a light control system 1, it is possible to notify a pedestrian that danger is imminent.

  Further, in the light control system 1, the calculation unit 10 acquires information related to the collision risk indicating the probability that the host vehicle collides with an obstacle, and irradiates light of different colors according to the collision risk.

According to such a light control system 1, it is possible to visually notify the collision risk degree by color to the driver of the own vehicle and the obstacle.
In addition, in the light control system 1, the calculation unit 10 irradiates the light of the color used for the traffic signal according to the collision risk.

  According to such a light control system 1, since the collision risk can be expressed by the color used in the traffic signal, the collision risk can be easily notified by the driver and the obstacle.

  In the light control system 1 described above, the calculation unit 10 acquires a plurality of parameters as the collision risk, and refers to a map in which the color of the light to be irradiated is determined when each value of the plurality of parameters is determined. Thus, the color to be irradiated is determined according to each value of the plurality of parameters.

  According to the light control system 1 as described above, it is possible to easily set the color of the light to be irradiated using the map even when the degree of danger is set by a plurality of parameters.

  Further, in the light control system 1 described above, the calculation unit 10 emits red light as the most dangerous color when at least one of the plurality of parameters is equal to or greater than a threshold set for each of the plurality of parameters. To do.

  According to such a light control system 1, it is possible to notify the danger with a color that has high saturation and is visually responsive. Also, red means danger, not only for those who know traffic rules, but for those who don't know traffic rules, it is easy to understand sensibly. Including) can be effectively prevented from colliding with the host vehicle.

[Other Embodiments]
Embodiments of the present invention are not limited to the above-described embodiments, and can take various forms as long as they belong to the technical scope of the present invention.

  For example, in the above embodiment, a light of a color different from the color of the headlamp is irradiated. In addition to this light irradiation, as shown in FIG. You may make it display the image for suppressing the crossing of a pedestrian or a bicycle on a road surface. As a configuration for displaying an image on the road surface, a well-known vehicle projector (using a laser beam, LED (light emitting diode) or the like as a light source) can be employed. If it does in this way, it can control effectively that the own vehicle, a pedestrian, etc. collide.

  In the above embodiment, the light irradiation warning unit 30 is configured such that the direction of the lamp is driven by the driving mechanism 31. For example, optical components such as lamps (LED chips, optical fibers, liquid crystal shutters, etc.) of each color It is good also as a structure which turns on the lamp | ramp which turned to the direction according to the position of obstacles, such as a pedestrian. Even if it does in this way, the effect similar to the said embodiment can be enjoyed.

[Relationship Between Configuration of Embodiment and Means of Present Invention]
The calculation unit 10 and the light irradiation warning unit 30 in the present embodiment constitute an irradiation warning system according to the present invention. In addition, the calculation unit 10 in the present embodiment corresponds to the light irradiation control device and the command output means referred to in the present invention, and the process of S140 among the processes executed by the calculation unit 10 is the acquisition of position information referred to in the present invention. Corresponds to means.

  Further, the process of S150 corresponds to the risk level acquisition means referred to in the present invention, and the processes of S160 and S170 correspond to the irradiation means referred to in the present invention. Further, the camera 21 and the radar device 22 in the present embodiment correspond to the obstacle detection means in the present invention, and the light irradiation warning unit 30 in the present embodiment corresponds to the light control means in the present invention.

DESCRIPTION OF SYMBOLS 1 ... Light control system, 10 ... Calculation part, 11 ... CPU, 12 ... Memory, 21 ... Camera, 22 ... Radar apparatus, 23 ... Headlamp irradiation area automatic control apparatus, 24 ... Steering angle sensor, 25 ... Vehicle speed sensor, 26 ... Direction indicator, 30 ... Light irradiation warning part, 31 ... Drive mechanism, 32 ... Red lamp, 33 ... Yellow lamp, 34 ... Blue lamp.

Claims (9)

A light irradiation control device (10) mounted on a vehicle and irradiating light in a set direction,
Position information acquisition means (10, S140) for acquiring information related to the position of obstacles existing around the host vehicle;
Irradiating means (S160, S170) for irradiating a light of a color different from the headlight of the host vehicle provided in the host vehicle toward the direction in which the obstacle exists;
A light irradiation control device comprising: In the light irradiation control device according to claim 1,
A degree-of-risk acquisition means (S150) for acquiring information on the degree of collision risk representing the probability that the host vehicle will collide with the obstacle;
The light irradiation control device characterized in that the irradiation means irradiates light of different colors according to the collision risk. In the light irradiation control device according to claim 2,
The light irradiation control device characterized in that the irradiation means irradiates light of a color used for a traffic signal according to the collision risk. In the light irradiation control device according to claim 2 or 3,
The risk acquisition means acquires a plurality of parameters as the collision risk,
The irradiation unit determines a color to be irradiated according to each value of the plurality of parameters by referring to a map in which the color of the light to be irradiated is determined when each value of the plurality of parameters is determined. Features light control device. In the light irradiation control device according to claim 4,
The irradiation unit emits red light as a most dangerous color when at least one of the plurality of parameters is equal to or greater than a threshold set for each of the plurality of parameters. Irradiation control device. In the light irradiation control device according to any one of claims 1 to 5,
A light irradiation control device, wherein a moving object including a pedestrian is detected as the obstacle. An irradiation warning system (10, 30) that is mounted on a vehicle and irradiates a light on an obstacle existing around the host vehicle,
Command output means (10) for outputting a command to irradiate light according to the position of the obstacle;
Light control means (30) for irradiating light of a color different from the headlight of the host vehicle according to the command,
The said command output means is comprised as a light irradiation control apparatus of any one of Claims 1-6. The irradiation warning system characterized by these. A light control system (1) mounted on a vehicle for controlling a light mounted on the host vehicle,
Obstacle detection means (21, 22) for detecting obstacles around the host vehicle;
Command output means (10) for outputting a command to irradiate light according to the position of the obstacle;
Light control means (30) for irradiating light of a color different from the headlight of the host vehicle according to the command,
The said command output means is comprised as the light irradiation control apparatus of any one of Claims 1-6. The light control system characterized by these.   The light irradiation control program for functioning a computer as each means which comprises the light irradiation control apparatus of any one of Claims 1-6.