JP2017007581A - Vehicular safe control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular safe control apparatus capable of suppressing rear-end collision of own vehicle by a following vehicle in vehicular forward direction, due to the presence of modification information modifying traveling condition of the present vehicle (own vehicle), upon operation relating to the present vehicle being executed.SOLUTION: A safe control apparatus 10 comprises an information acquiring apparatus 24 detecting presence or absence of modification information modifying traveling condition of a vehicle in information acquired by on-board camera 22, and a brake sensor 26 detecting operation to modify traveling condition of the vehicle. When the brake sensor 26 detects an operation to modify the traveling condition of the vehicle and the information acquiring apparatus 24 detects the presence of modification information, a body ECU 20 controls a laser irradiation part 40 to project a pattern relating to the modification information to the rear side of the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle safety control device.

Conventionally, Patent Document 1 proposes a headlamp control device that can perform appropriate light distribution control in accordance with the traveling state of a vehicle and the state of a road on which the vehicle is traveling.
For example, when the device recognizes a “stop” sign, it controls the headlamp device lamp and projection unit provided at the front end of the vehicle to project the “stop” sign onto the road surface in front of the vehicle. Have been to. Thus, by projecting the sign recognized by the apparatus to the road surface ahead of the vehicle with the vehicle headlamp, there is an advantage that the sign of the sign can be easily recognized by the driver of the vehicle.

JP 2008-143505 A

  In Patent Document 1, a sign image of the same shape as the recognized sign is projected on the road surface in front of the vehicle for the sign recognized by the headlamp control device, so that the driver of the vehicle can easily recognize. However, when the speed of the vehicle decreases according to the sign, the succeeding vehicle may not recognize the sign, so that the succeeding vehicle may collide only by displaying the brake lamp of the vehicle.

  Also, for example, because there was a sign indicating a decrease in the number of lanes ahead, if you want to change lanes from your lane to another lane adjacent to your lane, two vehicles are traveling in the other lane before and after, It may not be possible to determine when to change lanes. In such a case, there is a possibility that it is not possible to express that it is desired to enter the space ahead of the succeeding vehicle in the succeeding vehicle on the other lane only with the lamp of the turn signal lamp that indicates that the lane change is desired. Therefore, if the timing is lost and the lane is changed, there is a possibility that the vehicle is rear-projected by the following vehicle.

As described above, the sign or the like serves as change information for changing the traveling state of the vehicle.
Conventionally, when there is change information such as a sign that changes the running state of the host vehicle in the environment surrounding the vehicle, an operation for changing the running state or an operation for notifying a change in the running state is performed based on the change information. At this time, no device has been proposed for informing the following vehicle of the change information.

  The object of the present invention is that when there is a change information for changing the running state of the vehicle, an operation for changing the running state or an operation for notifying the change of the running state is performed, the subsequent to the vehicle It is providing the vehicle safety control apparatus which can suppress the rear-end collision of a vehicle.

  In order to solve the above problems, the vehicle safety control device according to the present invention is mounted on a vehicle and related to change information for changing a traveling state of the vehicle relative to a traveling road surface behind or on the side of the vehicle. A projector for projecting a change information pattern to be performed, an acquisition unit for acquiring information about the environment around the vehicle in the forward direction of the vehicle, and presence of change information for changing the running state of the vehicle in the information acquired by the acquisition unit A change information presence / absence detecting unit for detecting the vehicle, an operation detecting unit for detecting an operation for changing the running state of the vehicle, and an operation for changing the running state of the vehicle or a notice operation for changing the running state of the operation detecting unit. And a control unit that controls the projector to project the change information pattern when the change information presence / absence detection unit detects that the change information is present. That.

Preferably, the change information includes at least one of a moving object, a sign, and a vehicle traffic signal, and the change information pattern includes a pattern related to the change information.
In addition, the projector projects a change information pattern related to change information for changing the traveling state of the vehicle on the traveling road surface behind the vehicle, and as an operation for changing the traveling state of the vehicle. The operation detection unit may include a brake sensor that detects the braking operation, and the operation detection unit may be the brake sensor.

  In addition, the projector projects a change information pattern related to change information for changing the traveling state of the vehicle on the traveling road surface on the side of the vehicle. In the case of a right turn, left turn, or course change of the vehicle, the operation detection unit may include an operation of a turn signal switch that activates a turn signal lamp for indicating the direction to the surroundings, and the operation detection unit may be the turn signal switch.

  The acquisition unit may be an imaging unit that acquires a captured image of a vehicle surrounding environment in the forward direction of the vehicle, and the change information presence / absence detection unit may detect the presence / absence of the change information from the captured image. Good.

  The environment surrounding the vehicle includes a road in the forward direction of the vehicle, and the acquisition unit includes a radar sensor that acquires presence / absence of moving objects on the road in the forward direction of the vehicle, and the change information The presence / absence detecting unit may detect the presence of the moving object by the radar sensor.

  The vehicle surrounding environment includes a road in the forward direction of the vehicle, and the acquisition unit acquires an imaged image of the vehicle surrounding environment in the forward direction of the vehicle, and a road in the forward direction of the vehicle. A radar sensor that acquires presence / absence of the upper moving body, wherein the change information presence / absence detection unit includes a first change information presence / absence detection unit that detects presence / absence of the change information from the captured image, and the radar sensor. A second change information presence / absence detecting unit that detects the presence of a moving object, wherein the control unit detects an operation of changing a running state of the vehicle, and the first detection unit When at least one of the change information presence / absence detection unit and the second change information presence / absence detection unit detects that the change information is present, the projector is controlled to change the change information pattern. Good as causing Isa.

  According to the present invention, when there is an operation for changing the running state or an operation for notifying the change of the running state due to the fact that there is change information for changing the running state of the vehicle, the rear-end collision of the following vehicle is performed. Can be suppressed.

(A) is an electrical block diagram of the vehicle safety control apparatus of 1st Embodiment, (b) is an electrical block diagram of a laser projection part. The top view of the vehicle carrying the safety control apparatus of 1st Embodiment. Explanatory drawing of an effect | action of the safety control apparatus of 1st Embodiment. Explanatory drawing which shows the driving | running | working state of the vehicle in the conventional driving | running | working in case there exists a mark. Explanatory drawing of an effect | action of the safety control apparatus at the time of lane change of 2nd Embodiment. Explanatory drawing which shows the driving | running | working state of the vehicle in the conventional driving | running | working in case there exists a warning sign of a lane number reduction. Explanatory drawing of an effect | action of the safety control apparatus of 3rd Embodiment. Explanatory drawing which shows the driving | running | working state of the vehicle in the conventional driving | running | working with a traffic signal. The electric block diagram of the vehicle safety control apparatus of 4th Embodiment. The top view of the vehicle carrying the safety control apparatus of 4th Embodiment. Explanatory drawing of an effect | action of the safety control apparatus of 4th Embodiment. Explanatory drawing which shows the driving state of the vehicle in the conventional driving | running | working in case a person is on the road.

(First embodiment)
A first embodiment that embodies the safety control device of the present invention will be described below with reference to FIGS. A vehicle C shown in FIG. 2 is equipped with a safety control device 10 shown in FIG.

  The safety control device 10 includes a body ECU (Electronic Control Unit) 20, an information acquisition device 24, a brake sensor 26, a turn signal switch 28, an on / off switch 30, and a laser projection unit 40 that is an example of a projector. Is provided.

  A vehicle-mounted camera 22 is connected to the information acquisition device 24. The in-vehicle camera 22 corresponds to an example of an acquisition unit. For example, the in-vehicle camera 22 is mounted on the front side of the roof (near the inner mirror) so as to be positioned on the upper side of the front shield glass in the vehicle interior, and can capture the environment around the vehicle in the forward direction of the vehicle C. The imaging range of the camera, that is, the viewing angle, can be imaged at a wide angle such as 170 degrees, for example. Accordingly, the environment around the vehicle in the forward direction includes, for example, the lane in which the vehicle C travels forward, other adjacent lanes, and various road signs and vehicle traffic lights provided along with the own lane or other lanes. It is possible to image. The in-vehicle camera 22 includes a CCD image sensor, a CMOS image sensor, or the like, and preferably captures a color image, but is not limited, and may be a monochrome image.

The in-vehicle camera 22 corresponds to an example of an acquisition unit and an imaging unit.
(Information acquisition device 24)
The information acquisition device 24 includes an image processing unit 24a, a change information determination unit 24b, and a storage unit 24c. The image processing unit 24a performs known image processing on the captured image of the environment around the vehicle output from the in-vehicle camera 22 in the forward direction of the vehicle.

  The change information determination unit 24b searches the captured image after the image processing by the image processing unit 24a, searches for a feature image region, performs pattern matching with various templates stored in the storage unit 24c, and performs the pattern matching by the pattern matching. It is determined whether or not the feature image area is change information. The change information is a cause for changing the traveling state in the forward traveling of the vehicle C. For example, if the contents of regulations by road signs, instruction contents, warning contents, guidance contents, red lights on vehicle traffic lights, orange lights, or if there are moving objects such as people on the lane, the driving state of the vehicle is changed. It is a cause to do.

  Here, the templates stored in the storage unit 24c will be described. The template of the present embodiment includes a template for road signs, a template for vehicle traffic lights, and a template for moving objects.

  The road sign includes a regulation sign, an instruction sign, a warning sign, a guidance sign, and the like. Representative examples of the restriction signs include, but are not limited to, “No traffic”, “Vehicle entry prohibition”, “Maximum speed”, “Temporary stop”, “Slow travel”, and the like. Representative examples of instruction signs include “pedestrian crossing” and “stop line”, but are not limited thereto. As warning signs, representative examples are "with railroad crossing", "decrease in lanes", "decrease in width", "under construction of road", "with steep slope", "attention to crosswind", "school, kindergarten, nursery school, etc." Yes ", but is not limited thereto. Examples of information signs include "emergency telephone", "save", "emergency parking zone", "parking lot", "toll collection", "service area notice", etc. It is not a thing. Examples of moving objects include “people”, “animals (excluding people)”, “bicycles”, “motorcycles”, “vehicles”, and the like, but are not limited thereto.

  The change information determination unit 24b performs pattern matching between the feature image region and the template, and determines whether a template that matches the feature image region is “present” or “not present”. Then, the change information determination unit 24b outputs the determination result to the body ECU 20. That is, when the change information determination unit 24b determines that there is a template that matches the feature image area by pattern matching processing with the template, the change information is “present” and the feature image area Pattern data related to the template is output to the body ECU 20 based on the template that matches The pattern data is associated with each template and stored in the storage unit 24c.

In the case of road signs and vehicle traffic lights, the pattern data has the shape and color of the road signs and vehicle traffic lights in the present embodiment.
For example, the road sign pattern data has the same or approximate shape as the shape of the road sign and its color. The pattern data of the vehicle traffic signal has the shape and color of the vehicle traffic signal. Further, the pattern data for the moving object has the shape of the moving object. The color may be omitted. In the case of an animal body, it has a shape similar to that shape. The information acquisition device 24 corresponds to an example of a change information presence / absence detection unit.

(Brake sensor 26)
The brake sensor 26 is provided so as to be interlocked with a brake pedal provided at the foot of a driver seat (not shown), and the driver operates a brake pedal (not shown) provided in the vehicle C by operating the brake pedal (not shown). When braking is performed, an ON signal is output to the body ECU 20. As shown in FIG. 2, a pair of brake lamps 50 are obtained on both the left and right sides of the rear end of the vehicle C, but only one brake lamp 50 is shown in FIG. The brake sensor 26 of the present embodiment corresponds to an operation detection unit.

(Turn signal switch 28)
The turn signal switch 28 is a switch for inputting a direction instruction by a driver's operation, and is operatively connected to, for example, a lever extending from a steering column (not shown) provided in the driver's seat. The turn signal switch 28 inputs either a right direction on, left direction on or off signal to the body ECU 20. When a right direction instruction ON is input by the right operation of the lever by the driver during driving, the body ECU 20 blinks the right turn signal lamp 52 provided in the vehicle C. Further, when a left direction instruction ON is input by the left operation of the lever by the driver during driving, the body ECU 20 blinks the left turn signal lamp 52 provided in the vehicle C.

  As shown in FIG. 2, the turn signal lamp 52 includes a pair of ones arranged in parallel with the left and right headlamps at the front end of the vehicle C, a pair of ones provided respectively on the left and right outside mirrors 12, and At the rear end of the vehicle C, there is a pair of brake lamps 50 arranged side by side, but only one is shown in FIG.

(On / off switch 30)
The on / off switch 30 is provided on an instrument panel (not shown) in front of the driver seat, and an on signal or an off signal is output to the body ECU 20 by an operation of the driver. When the on signal is input from the on / off switch 30, the safety control device 10 can control the laser projection unit 40 (that is, safety control), and when the off signal is input, the safety control by the safety control device 10 is invalidated. Is possible. The on signal output from the on / off switch 30 corresponds to an enabling signal, and the off signal corresponds to an invalidating signal.

(Laser projection unit 40)
As shown in FIG. 2, the laser projection part 40 is provided in the rear end side of the vehicle C, for example, in the trunk. In addition, the attachment site | part with respect to the vehicle C of the laser projection part 40 is not limited to the rear end of a vehicle, You may provide in a vehicle interior so that it can project toward back via a rear glass. Further, the laser projection unit 40 may be provided on the roof of the vehicle C. The laser projection unit 40 is arranged to project (irradiate) a light beam spot toward the traveling road surface behind the vehicle C.

Thus, in this embodiment, the laser projection direction of the laser projection unit 40 is behind the vehicle C and can be projected onto the traveling road surface of the lane (own lane) on which the vehicle C travels.
As shown in FIG. 1B, the laser projection unit 40 includes a beam generator 42, a beam shaping lens 44, a polarization shaper 46, and a scan actuator 48. The beam generator 42 is composed of, for example, a semiconductor laser device, and generates visible light having a predetermined wavelength at predetermined time intervals. The predetermined time interval is a time interval shorter than about 50 ms to 100 ms, which is the time resolution of the human eye. Further, the beam generator 42 can change the luminance of the light source of the light beam under the control of the body ECU 20. The light generated by the beam generator 42 may be light of any wavelength as long as it is visible light.

  The beam shaping lens 44 shapes the light beam generated by the beam generator 42. The polarization shaper 46 polarizes the light beam by reflecting a part of the component perpendicular to the incident surface of the light beam output from the beam shaping lens 44.

  As the scan actuator 48, for example, a galvanometer scanner, a rotary motor scanner, a resonant scanner, an optical MEMS (Micro Electro Mechanical Systems) scanner, a polygon mirror, or the like can be used. The scan actuator 48 projects the light beam polarized by the polarization shaper 46 from the rear end of the vehicle C toward the rear traveling road surface.

  In this embodiment, the body ECU 20 controls the scan actuator 48 and the beam generator 42 to form a pattern on the traveling road surface based on the pattern data output by the body ECU 20 with a laser beam that is visible light. When the light beam is projected onto the traveling road surface at the predetermined time interval, it becomes a spot shape. By projecting this spot-shaped light beam by the scan actuator 48, as shown in FIG. A pattern P1 is drawn based on the pattern data input from the ECU 20. On the human viewing angle, the spot-like light beam is not recognized but is recognized as the pattern P1 due to the afterimage effect. This pattern P1 corresponds to a change information pattern.

(Body ECU20)
The body ECU 20 inputs various signals from the brake sensor 26 and the turn signal switch 28, and an on signal and an off signal from the on / off switch 30. The body ECU 20 controls the laser projection unit 40 based on various signals input from the brake sensor 26 and the on / off switch 30.

  That is, when the on signal from the on / off switch 30 is input and the on signal is input from the brake sensor 26, the body ECU 20 controls the projection of the laser projection unit 40 based on the determination result from the information acquisition device 24. . The body ECU 20 corresponds to a control unit. When the ON signal is input from the brake sensor 26, the body ECU 20 controls lighting of the brake lamp 50 connected to the body ECU 20. The body ECU 20 corresponds to an example of a control unit.

(Operation of the first embodiment)
The operation of the safety control device 10 configured as described above will be described with reference to FIG.
First, a case where the on / off switch 30 is operated and an on signal is input to the body ECU 20 will be described.

  As shown in FIG. 3, when the vehicle-mounted camera 22 images the road sign H on the side edge of the road while the vehicle C is traveling forward, the information acquisition device 24 performs image processing of the captured image, A feature image area is found and pattern matching is performed on the feature image area. The information acquisition device 24 detects the presence / absence of change information from the captured image by this pattern matching. When the information acquisition device 24 detects that the characteristic image area of the captured image is change information, the information acquisition device 24 outputs a signal indicating that the change information is “present” and pattern data related to the change information to the body ECU 20.

  On the other hand, when the driver of the vehicle C visually recognizes the road sign H and operates the brake pedal according to the instruction of the road sign H to brake and slow down the braking device (both not shown), the body ECU 20 An ON signal from the brake sensor 26 is input along with the operation. The body ECU 20 controls the projection of the laser projection unit 40 based on the pattern data in accordance with the detection that the change information is “present” and the ON signal from the brake sensor, and moves the vehicle C to the traveling road surface behind the vehicle C. The pattern P1 is projected toward it. Further, when the ON signal is input from the brake sensor 26, the body ECU 20 controls lighting of the brake lamp 50 connected to the body ECU 20.

  In the example shown in FIG. 3, the pattern P1 projected from the laser projection unit 40 is when the change information is a road sign “There is a school, kindergarten, nursery school, etc.”, and “School, A pattern of “Kindergarten, nursery school, etc.” is projected on the road surface behind the vehicle C.

  The body ECU 20 stops the laser projection unit 40 after holding the projection of the pattern P1 for a predetermined time. The predetermined time is, for example, 3 seconds after the start of projection, but is not limited to 3 seconds, and may be another time.

  As shown in FIG. 3, when there is a following vehicle C1 in the vehicle C, the driver of the following vehicle C1 observes the pattern P1 projected on the traveling road surface behind the vehicle C and lighting of the brake lamp 50, thereby It can be recognized that the braking of C is performed based on the change information of the road sign H. And the rear collision of a succeeding vehicle can be suppressed by notifying the said change information to the succeeding vehicle C1 in this way.

  FIG. 4 shows a conventional case. When the vehicle C2 traveling in front of the following vehicle C1 looks at the road sign H and performs a brake operation for slowing down, the brake lamp 50 is turned on. In this case, if the driver of the following vehicle C1 is not aware of the presence of the road sign H, the driver may not understand why the brake operation has been performed and may collide with the vehicle C2 as it is. According to this embodiment, such a situation can be suppressed.

  In the above example, the case of a specific road sign “has a school, kindergarten, nursery school, etc.” has been described, but the safety control device 10 is similarly applied to other road signs, vehicle traffic lights, and moving objects. Operates.

  When the on / off switch 30 is turned off and the off signal is input to the body ECU 20, the body ECU 20 projects the projection of the laser projection unit 40 even if the on signal from the brake sensor 26 is output. Do not control.

According to this embodiment, the following effects can be obtained.
(1) The safety control device 10 of the present embodiment is mounted on the vehicle C, and is a pattern P1 (change information pattern) related to change information that changes the traveling state of the vehicle C with respect to the traveling road surface behind the vehicle C. ) Is projected. In addition, the safety control device 10 includes an in-vehicle camera 22 (acquisition unit) that acquires information on the environment around the vehicle in the forward direction of the vehicle C.

  In addition, the safety control device 10 includes an information acquisition device 24 (change information presence / absence detection unit) that detects presence / absence of change information that changes the travel state of the vehicle C in the information acquired by the in-vehicle camera 22, and travel of the vehicle C. And a brake sensor 26 (operation detection unit) for detecting an operation for changing the state. In the safety control device 10, the brake sensor 26 (operation detection unit) detects an operation of changing the traveling state of the vehicle C, and the information acquisition device 24 (change information presence / absence detection unit) has change information. Is detected, the body ECU 20 (control unit) that controls the laser projection unit 40 to project the pattern P1 (change information pattern) is provided.

  As a result, in the present embodiment, when an operation for changing the running state of the vehicle C is performed, the change information pattern related to the change information for changing the running state of the vehicle C that causes the operation is followed. By projecting onto the traveling road surface of the vehicle, the rear-end collision of the following vehicle can be suppressed.

  (2) The safety control device 10 of this embodiment is configured to include the moving object, the sign, or the vehicle traffic signal in the change information. The change information pattern includes a pattern related to the moving object, a pattern related to the sign, or a pattern related to the vehicle traffic signal. As a result, in this embodiment, the driver of the succeeding vehicle recognizes that an operation of changing the traveling state of the vehicle traveling forward is performed by the moving object, the sign, or the traffic signal for the vehicle shown in the change information pattern. As a result, rear-end collision of the following vehicle can be suppressed.

  (3) In the safety control device 10 of the present embodiment, the laser projection unit 40 projects a change information pattern related to change information that changes the traveling state of the vehicle C onto the traveling road surface behind the vehicle C. I am doing so. Further, the safety control device 10 includes a brake sensor 26 that detects that the traveling of the vehicle C has been braked, and the operation detection unit is the brake sensor 26.

  As a result, according to the present embodiment, when the vehicle is braked for travel, the change information pattern related to the change information that causes the operation for braking to the subsequent vehicle is projected onto the traveling road surface of the subsequent vehicle. By doing so, the rear-end collision of the following vehicle can be suppressed.

  (4) In the safety control device 10 of the present embodiment, the acquisition unit is the in-vehicle camera 22 as an imaging unit that acquires a captured image of the environment around the vehicle in the forward direction of the vehicle C. Further, in the present embodiment, the change information presence / absence detection unit detects the presence / absence of change information from the captured image. As a result, in the present embodiment, the change information is obtained by targeting the captured image acquired by the imaging unit, and the change information pattern related to the change information is projected onto the traveling road surface of the subsequent vehicle. can do.

(Second Embodiment)
Next, the safety control apparatus 10 of 2nd Embodiment is demonstrated with reference to FIG.1 and FIG.5. In addition, about each embodiment demonstrated below including 2nd Embodiment, about the structure which is the same as or corresponds to the safety control apparatus 10 of 1st Embodiment in the structure of the safety control apparatus 10 of 1st Embodiment, The same reference numerals are given and the description thereof is omitted, and different configurations will be described.

  Instead of providing the laser projection unit 40 at the rear end of the vehicle C in the configuration of the safety control device 10 of the first embodiment, the safety control device 10 of the second embodiment includes the laser projection unit 40 as shown in FIG. They are different from each other in the left and right sides of the vehicle. The attachment site | part in the vehicle C of each laser projection part 40 is not limited, You may provide in a door, a vehicle body, or a roof. In FIG. 1, only one laser projection unit 40 is illustrated, but it should be understood that two laser projection units 40 are provided in the present embodiment.

  The laser projection unit 40 provided on the right side of the vehicle C can project a pattern onto the road surface of the right lane that is on the side of the vehicle C and is adjacent to the lane (own lane) on which the vehicle C travels. ing. Moreover, the laser projection part 40 provided in the left side part of the vehicle C is a side of the vehicle C, Comprising: A pattern can be projected with respect to the road surface of the left lane adjacent to the lane (own lane) which the said vehicle C drive | works. It has become.

  Further, in the present embodiment, unlike the first embodiment, the turn signal switch 28 corresponds to an example of the operation detection unit instead of the brake sensor 26. Also, the right direction on and the left direction on output from the turn signal switch 28 correspond to turn signals. The turn signal switch 28 is generally operated before a lane change (that is, a change in driving state) is performed, and detects an operation for a change notice of a driving state.

  The body ECU 20 receives a signal from the turn signal switch 28, and an on signal and an off signal from the on / off switch 30, and controls the laser projection unit 40 based on the various signals input. .

(Operation of Second Embodiment)
Next, the operation of the safety control device 10 of the second embodiment will be described with reference to FIG.
First, a case where the on / off switch 30 is operated and an on signal is input to the body ECU 20 will be described.

  As shown in FIG. 5, when the vehicle-mounted camera 22 images a road sign H of “decreasing number of lanes” on the side of the road in the forward direction while the vehicle C is traveling forward with the lane L1 as its own lane, the information After performing image processing of the captured image, the acquisition device 24 searches for a feature image area and performs pattern matching on the feature image area. The information acquisition device 24 detects the presence / absence of change information from the captured image by this pattern matching. When the information acquisition device 24 detects that the characteristic image area of the captured image is the change information “decrease lane number”, the change information is changed to a signal indicating that the change information is “present” and the change information “decrease lane number”. The image data of “arrow” which is an arrow intended to change the related lane is output to the body ECU 20 as pattern data.

  As shown in FIG. 5, the driver of the vehicle C needs to change the lane to the left lane L2, which is another lane, by recognizing the road sign H of “decrease in the number of lanes”. When there is a sufficient inter-vehicle distance for the vehicle C to enter, the turn signal switch 28 is operated to the left. Then, the turn signal switch 28 outputs a left direction instruction on signal to the body ECU 20. As a result, the body ECU 20 receives the on signal from the on / off switch 30 and the left direction instruction on signal from the turn signal switch 28, so that the laser provided on the left side of the vehicle C is provided. Projection control of the projection unit 40 is performed.

  That is, the body ECU 20 responds to the left direction instruction on signal from the turn signal switch 28, and the laser projection unit 40 provided on the left side of the vehicle C based on the “arrow” image data input from the information acquisition device 24. Is projected onto the road surface of the left lane L2 toward the left side of the vehicle C, and an “arrow” pattern P2 is projected as shown in FIG.

  This pattern P2 corresponds to an example of a change information pattern related to the change information. Thus, in the second embodiment, the change information pattern is a pattern projected on the road surface of another lane, and is an “arrow” pattern indicating the intention to change the lane “here”.

The body ECU 20 controls the laser projection unit 40 to stop after holding the projection of the pattern P2 for a predetermined time (for example, 3 seconds).
In this case, in the left lane L2, when the vehicle C3 is traveling in front of the vehicle C and the subsequent vehicle C1 is traveling behind the vehicle C, and the pattern P2 is projected onto the road surface in front of the subsequent vehicle C1, the subsequent vehicle C1. The driver will be notified of the timing of the lane change by the vehicle C. Within the projected time, the driver of the vehicle C changes the lane.

  In this way, for the driver of the following vehicle C1, the intention of changing the lane is displayed by the “arrow” pattern P2 projected from the vehicle C, and the vehicle C is notified by notifying the timing of changing the lane. The lane can be changed, which can suppress the rear-end collision of the following vehicle.

FIG. 6 shows a conventional case. This shows a case where the vehicle C traveling on the lane L1, the vehicle C3 traveling on the left lane L2, and the following vehicle C1 are traveling in parallel.
In this state, when the driver of the vehicle C operates the lever by looking at the road sign H indicating “lane number decreased” and the left signal indicating on signal is input from the turn signal switch 28 to the body ECU 20, the body ECU 20 The left turn signal lamp 52 provided in the vehicle C is blinked.

  However, this alone cannot inform the driver of the following vehicle C1 of the time of the lane change, and the distance between the vehicle C3 and the following vehicle C1 becomes narrower as shown in FIG. Changes may not be possible.

In addition, when changing the lane to the right lane, if “left” is set to “right” in the above description, the description will be omitted because the lane change to the right lane is explained.
Also in this embodiment, when the on / off switch 30 is turned off and the off signal is input to the body ECU 20, a right direction instruction on signal or a left direction instruction on signal is output from the turn signal switch 28. Even if it outputs, body ECU20 does not perform projection control of the laser projection part 40. FIG.

According to this embodiment, the following effects can be obtained.
(1) In the safety control device 10 of the present embodiment, the laser projection unit 40 projects a change information pattern related to change information for changing the traveling state of the vehicle C onto the traveling road surface on the side of the vehicle C. Is. The vehicle C includes a turn signal switch 28 that outputs a turn signal that activates a turn signal lamp 52 for indicating the direction to the surroundings when the vehicle turns right, turns left, or changes its course. The turn signal switch 28 is an operation detection unit that detects a notice operation for changing the running state. As a result, when the turn signal switch is operated in the vehicle, the rear vehicle collides with the subsequent vehicle by projecting the change information pattern related to the change information that is caused when the turn signal switch is operated to the subsequent vehicle. Can be suppressed. Moreover, the intention display of the timing of a lane change can be performed to a subsequent vehicle.

(Third embodiment)
Next, a third embodiment will be described with reference to FIGS. 1 (a), 7 and 8. FIG.
As shown in FIG. 1A, the hardware configuration of the safety control device 10 of this embodiment is the same as that of the first embodiment, and the in-vehicle camera 22 can capture a color image. This embodiment is different from the first embodiment in the point of action.

(Operation of the third embodiment)
First, a case where the on / off switch 30 is operated and an on signal is input to the body ECU 20 will be described.

  As shown in FIG. 7, when the vehicle-mounted camera 22 captures the red-lit traffic signal (vehicle traffic signal) S on the side edge of the road while the vehicle C is traveling forward, the information acquisition device 24 captures the captured image. After performing the image processing, a feature image area is found and pattern matching is performed on the feature image area. The information acquisition device 24 detects the presence / absence of change information from the captured image by this pattern matching. When the information acquisition device 24 detects that the characteristic image area of the captured image is change information, the information acquisition device 24 outputs a signal indicating that the change information is “present” and pattern data related to the change information to the body ECU 20. In the present embodiment, the change information is information indicating that the traffic light S is lit red.

The information acquisition device 24 determines whether or not it is lit red as follows.
Make a red luminance histogram of the red area in the traffic light image. If it is lit, pixels with high luminance will move closer to the higher luminance value, so if the peak portion of the peak in the luminance histogram exceeds the preset red lighting determination threshold, it will be lit red. Is determined.

  On the other hand, when the driver of the vehicle C visually recognizes the traffic light S and operates the brake pedal according to the red lighting of the traffic light S to brake and slow down the braking device (both not shown), the body ECU 20 An ON signal from the brake sensor 26 is input along with the operation.

  The body ECU 20 controls the projection of the laser projection unit 40 on the basis of the pattern data in response to the detection that the change information is “present” and the ON signal from the brake sensor. A pattern P3 is projected toward. Further, when the ON signal is input from the brake sensor 26, the body ECU 20 controls lighting of the brake lamp 50 connected to the body ECU 20.

  In the example shown in FIG. 7, the pattern P3 projected from the laser projection unit 40 is a case where the change information is a traffic light that is lit in red, and the pattern P3 of “traffic light” having the same shape as this road sign is behind the vehicle C. Projected on the road surface. The body ECU 20 stops the laser projection unit 40 after holding the projection of the pattern P3 for a predetermined time. The predetermined time is the same as in the first embodiment. As shown in FIG. 7, when the vehicle C has the following vehicle C1, the driver of the following vehicle C1 sees the pattern P3 projected on the traveling road surface behind the vehicle C and the lighting of the brake lamp 50, thereby It can be recognized that the braking of C is performed based on the change information of the traffic light S. And the rear collision of a succeeding vehicle can be suppressed by notifying the said change information to the succeeding vehicle C1 in this way.

  FIG. 8 shows a conventional case. When the vehicle C2 traveling in front of the following vehicle C1 observes the red lighting of the traffic light S and performs a brake operation for stopping, the brake lamp 50 is lit. In this case, if the driver of the following vehicle C1 is not aware of the presence of the traffic light S, the driver may not understand why the brake operation has been performed and may collide with the vehicle C2 as it is. According to this embodiment, such a situation can be suppressed.

  When the on / off switch 30 is turned off and the off signal is input to the body ECU 20, the body ECU 20 projects the projection of the laser projection unit 40 even if the on signal from the brake sensor 26 is output. Do not control.

According to the present embodiment, the effects (1) to (4) described in the first embodiment can be achieved in the same manner as in the first embodiment.
(Fourth embodiment)
Next, the safety control apparatus 10 of 4th Embodiment is demonstrated with reference to FIGS. 9-12.

  The safety control device 10 of the present embodiment is different from the configuration of the safety control device 10 of the first embodiment in that a radar sensor 32 is connected to the body ECU 20 via a sensor ECU 33.

  As shown in FIG. 10, the radar sensor 32 is provided on the front end side of the vehicle C, for example, in the engine room. The radar sensor 32 is configured by a millimeter wave radar in this embodiment. In addition, the attachment site | part with respect to the vehicle C of the radar sensor 32 is not limited to the rear end of a vehicle, You may provide in a vehicle interior so that it can project ahead via a windshield. The radar sensor 32 may be provided on the roof of the vehicle C. The radar sensor 32 is an example of an acquisition unit.

  The radar sensor 32 is a millimeter wave band radio wave toward a predetermined region that is a range of a predetermined horizontal angle so as to include a lane in which the vehicle C travels forward from the front end of the vehicle C and another lane adjacent to the lane. And a receiving unit (not shown) for receiving a reflected wave from the following vehicle C1 in the predetermined area. The radar sensor 32 is connected to a sensor ECU 33 that controls both parts. Hereinafter, the lane in which the vehicle C travels is referred to as the own lane. The predetermined area is an area where the radar sensor 32 can detect a moving object.

  The sensor ECU 33 of the radar sensor 32 performs known calculations on the basis of the reflected waves and the like, so that there is moving object information indicating the relationship between the moving object and the vehicle C (own vehicle), for example, when there is a moving object. The relative speed, relative distance, and direction of the moving object with reference to the own vehicle can be acquired. In addition, when there is no moving object, since there is no detection target of the radar sensor 32, the above-mentioned relative speed, relative distance, and direction cannot be acquired. The relative speed is “speed speed of moving object-vehicle speed of own vehicle”.

  There are various types of millimeter wave radars such as a pulse radar method and a CW wave method, and any of them can be used. Further, the scanning for detecting the direction may be either a mechanical scan method or an electronic scan.

A laser radar may be used instead of the millimeter wave radar.
In the present embodiment, the information acquisition device 24 corresponds to an example of a change information presence / absence detection unit and a first change information presence / absence detection unit, and the sensor ECU 33 corresponds to an example of a change information presence / absence detection unit and a second change information presence / absence detection unit. Equivalent to.

(Operation of the fourth embodiment)
The operation of the safety control device 10 configured as described above will be described.
First, a case where the on / off switch 30 is operated and an on signal is input to the body ECU 20 will be described.

  As shown in FIG. 11, when the vehicle-mounted camera 22 captures an image of a person M who is a moving object in the own lane while the vehicle C is traveling forward, the information acquisition device 24 performs image processing of the captured image. A feature image area is found and pattern matching is performed on the feature image area. The information acquisition device 24 detects the presence / absence of change information from the captured image by this pattern matching. When the information acquisition device 24 detects that the characteristic image area of the captured image is change information, the information acquisition device 24 outputs a signal indicating that the change information is “present” and pattern data related to the change information to the body ECU 20.

In the present embodiment, the change information is information indicating that a moving object, that is, a person has been detected.
Further, the sensor ECU 33 determines whether or not the moving object is detected by entering the region (predetermined region) where the radar sensor 32 can detect the person M. That is, if the moving object is in the predetermined area, the relative speed, relative distance, and direction of the moving object are acquired from the sensor ECU 33. If these are input, the moving object is detected and the vehicle A signal indicating that the change information for changing the running state is “present” is input to the body ECU 20.

  On the other hand, when the driver of the vehicle C visually recognizes the person M and operates the brake pedal to brake and slow down the braking device (both not shown), the body ECU 20 detects from the brake sensor 26 accompanying the brake pedal operation. Input the ON signal.

  The body ECU 20 controls the projection of the laser projection unit 40 based on the pattern data in response to the detection of the change information of the information acquisition device 24 and the sensor ECU 33 and the input of an ON signal from the brake sensor. The pattern P4 is projected toward the traveling road surface behind the vehicle C. Further, when the ON signal is input from the brake sensor 26, the body ECU 20 controls lighting of the brake lamp 50 connected to the body ECU 20.

  In the example shown in FIG. 11, the pattern P4 projected from the laser projection unit 40 is a case where the person M is in the own lane, and the pattern P4 representing the person symbol and the vehicle symbol is the traveling road surface behind the vehicle C. Projected on. The body ECU 20 stops the laser projection unit 40 after holding the projection of the pattern P4 for a predetermined time. The predetermined time is the same as in the first embodiment. As shown in FIG. 11, when the vehicle C has the following vehicle C1, the driver of the following vehicle C1 sees the pattern P4 projected on the traveling road surface behind the vehicle C and the lighting of the brake lamp 50, thereby It can be recognized that the braking of C is performed based on the change information that the person M is in the own lane. And the rear collision of a succeeding vehicle can be suppressed by notifying the said change information to the succeeding vehicle C1 in this way.

  FIG. 12 shows a conventional case. When the vehicle C4 traveling in front of the following vehicle C1 sees the person M in its own lane and performs a brake operation for stopping, the brake lamp is lit. In this case, if the driver of the following vehicle C1 is not aware of the presence of the person M, the driver may not understand why the brake operation has been performed and may collide with the vehicle C4 as it is. According to this embodiment, such a situation can be suppressed.

  When the on / off switch 30 is turned off and the off signal is input to the body ECU 20, the body ECU 20 projects the projection of the laser projection unit 40 even if the on signal from the brake sensor 26 is output. Do not control.

In addition, you may change this embodiment as follows.
In each of the above-described embodiments, the laser projection unit 40 is used as an example of the projector. However, the projector is not limited to the laser projection unit 40, and other methods such as a DLP (Digital Light Processing) projector, A projector such as a liquid crystal projector may be used.

In the embodiment, the safety control by the body ECU 20 is performed when the on / off switch 30 is on, and the safety control by the body ECU 20 is not performed when the on / off switch 30 is off.
Instead of this, a navigation device (not shown) may be provided together with the on / off switch 30, and the safety control may be validated or invalidated by operating the navigation device.

  For example, the navigation device is provided on an instrument panel or the like (not shown). Although not shown, the navigation device includes a storage medium that stores map information and the like, a GPS antenna that receives vehicle current location information, and a display (not shown) that displays various information such as information on the current location of the vehicle and a travel route to the destination. And a control device.

  The display includes a touch panel or various operation buttons, and the control device can input various instructions by an operator such as a driver. In response to various instructions from the operator, the control device, for example, detects the travel route and controls display of the result on the display.

  The various operation buttons include specific operation buttons for selecting whether to enable or disable control of the safety control device 10. The specific operation button is operated by an operation of an operator such as a driver, and an on signal or an off signal is output to the body ECU 20. When the ON signal is input from the navigation device, the safety control by the safety control device 10 can be performed, and when the OFF signal is input, the safety control by the safety control device 10 can be invalidated. The on signal output from the navigation device corresponds to the validation signal, and the off signal corresponds to the invalidation signal.

-In 2nd Embodiment, you may provide a pair of laser projection part 40 in the left-right paired outside mirror 12 attached to the door, respectively.
In the second embodiment, the pattern P2 is “arrow”, but it may be a “lane number reduction” pattern having the same shape as the road sign H.

  In the second embodiment, the turn signal switch 28 is operated before the lane change (that is, the change in the running state) is performed, and detects the operation for the advance notice of the change in the running state.

  However, the turn signal switch 28 is not used only for lane change. For example, the roadside belt side, not the lane change, by signposts such as “emergency call”, “save”, “emergency parking zone”, “parking lot”, “charge collection place”, “service area notice”, etc. Changing the movement of the vehicle also changes the running state, and the turn signal switch 28 is operated in such a case. Therefore, the turn signal switch 28 also detects such a notice operation for changing the running state.

  In the third embodiment, the change information is information indicating that the red light is lit, but information indicating that the traffic light S is lit in yellow may be added to this information. In this case, whether or not the yellow light is on is determined based on whether or not the yellow luminance value of the yellow region in the traffic light image is higher than a preset yellow light determination threshold value for determining the predetermined lighting.

In this way, when the driver of the vehicle C performs a brake operation while the traffic light S is lit yellow, the same effect as in the third embodiment can be obtained.
In the fourth embodiment, the brake sensor 26 is turned on when a person performs a brake operation. However, the present invention is not limited to this. For example, the present invention may be embodied in a vehicle that includes at least one of the in-vehicle camera 22 and the radar sensor 32 and includes an automatic brake device. That is, when at least one of the in-vehicle camera 22 and the radar sensor 32 detects a moving object in front of the vehicle and a brake operation is performed from the body ECU to the automatic brake device, the brake sensor is turned on. May be.

  In the configuration of the safety control device 10 of the fourth embodiment, the in-vehicle camera 22 and the information acquisition device 24 may be omitted, and the acquisition unit may be the radar sensor 32. In this case, when the sensor ECU 33 detects the moving object via the radar sensor 32, the sensor ECU 33 outputs a signal indicating that the moving object is detected and the pattern of the moving object to the sensor ECU 33. In this case, the body ECU 20 detects the moving object, and causes the laser projection unit 40 to project the moving object pattern when the brake sensor is turned on (support of claim 6).

  Conversely, the radar sensor 32 and the sensor ECU 33 may be omitted. In this case, when the information acquisition device 24 detects the moving object via the in-vehicle camera 22, the information acquisition device 24 outputs a signal indicating that the moving object is detected and the pattern of the moving object to the sensor ECU 33. . In this case, the body ECU 20 detects the moving object, and causes the laser projection unit 40 to project the moving object pattern when the brake sensor is turned on (support of claim 6).

  -Two or more of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, and any of the above-described modified embodiments may be combined.

10 ... Safety control device, 20 ... Body ECU (control unit),
22 ... In-vehicle camera (imaging unit, acquisition unit),
24 ... Information acquisition device (change information presence / absence detection unit, first change information presence / absence detection unit),
24a: Image processing unit, 24b: Change information determination unit, 24c: Template storage unit,
26 ... Brake sensor (operation detection unit),
28: Turn signal switch (operation detection unit),
30 ... ON / OFF switch, 32 ... Radar sensor (acquisition part),
33 ... Sensor ECU (change information presence / absence detection unit, second change information presence / absence detection unit)
40 ... Laser projection unit (projector), 42 ... Beam generator,
44 ... Beam shaping lens,
46: Polarization shaper, 48: Scan actuator,
50 ... Brake lamp, 52 ... Turn signal lamp,
C ... Vehicle, L1 ... Lane, L2 ... Left lane.

Claims (7)

A projector that is mounted on a vehicle and projects a change information pattern related to change information that changes the running state of the vehicle on the road surface behind or on the side of the vehicle;
An acquisition unit for acquiring information on a surrounding environment of the vehicle in a forward direction of the vehicle;
In the information acquired by the acquisition unit, a change information presence / absence detection unit that detects presence / absence of change information that changes the traveling state of the vehicle;
An operation detecting unit for detecting an operation for changing the running state of the vehicle or a notice operation for changing the running state;
When the operation detecting unit detects an operation for changing the running state of the vehicle or a notice operation for changing the running state, and the change information presence / absence detecting unit detects that the change information is present, the projector is A vehicle safety control device including a control unit that controls and projects the change information pattern. The change information includes at least one of a moving object, a sign, and a traffic signal for a vehicle,
The vehicle safety control device according to claim 1, wherein the change information pattern includes a pattern related to the change information. The projector projects a change information pattern related to change information for changing the running state of the vehicle on the road surface behind the vehicle,
As an operation for changing the traveling state of the vehicle, including a braking operation for braking the traveling of the vehicle,
The vehicle safety control device according to claim 1, wherein the operation detection unit is a brake sensor that detects the braking operation. The projector projects a change information pattern related to change information for changing the traveling state of the vehicle on the road surface on the side of the vehicle,
As the advance operation of the change of the running state, including the turn signal switch operation that activates a turn signal lamp for indicating the direction to the surroundings when the vehicle turns right, left or changes the course,
The vehicle safety control device according to claim 1, wherein the operation detection unit is the turn signal switch. The acquisition unit is an imaging unit that acquires a captured image of a vehicle surrounding environment in the forward direction of the vehicle;
The vehicle safety control device according to any one of claims 1 to 4, wherein the change information presence / absence detection unit detects presence / absence of the change information from the captured image. The vehicle surrounding environment includes a road in the forward direction of the vehicle,
The acquisition unit includes a radar sensor that acquires presence / absence of a moving object on a road in a forward direction of the vehicle,
The vehicle safety control device according to any one of claims 1 to 4, wherein the change information presence / absence detection unit detects the presence of a moving object by the radar sensor. The vehicle surrounding environment includes a road in the forward direction of the vehicle,
The acquisition unit includes an imaging unit that acquires a captured image of a surrounding environment of the vehicle in the forward direction of the vehicle, and a radar sensor that acquires presence or absence of a moving object on the road in the forward direction of the vehicle,
The change information presence / absence detection unit includes a first change information presence / absence detection unit that detects presence / absence of the change information from the captured image, and a second change information presence / absence detection that detects the presence of a moving object by the radar sensor. Part
The control unit detects an operation in which the operation detection unit changes a traveling state of the vehicle, and at least one of the first change information presence / absence detection unit and the second change information presence / absence detection unit. 4. The vehicle safety control device according to claim 1, wherein when the change information is detected, the projector is controlled to project the change information pattern. 5.