JP2017199247A - Driving assist system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assist system capable of providing more pieces of information by utilizing a magnetic marker.SOLUTION: A driving assist system includes a magnetic marker 1 buried on a travelling road of a vehicle. A marker laying locations 54 possibly embedded with the magnetic marker 1 is set on the travelling road, and one of a plurality of laying modes including a mode 1E of not embedding the magnetic marker 1 is alternately selected at each marker laying location 54, and information can be provided to a vehicle side by a combination of laying modes of the magnetic marker 1 at the plurality of marker laying locations 54.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a driving support system including a magnetic marker laid on a travel path to support driving of a vehicle.

  2. Description of the Related Art Conventionally, a magnetic marker laid on a road so as to be detectable by a magnetic sensor attached to a vehicle is known (see, for example, Patent Document 1). If a magnetic marker is used, for example, automatic driving may be realized in addition to various types of driving assistance such as automatic steering control using a magnetic marker laid along a lane and a lane departure warning.

JP 2005-202478 A

  However, the information that can be acquired by detecting the magnetic marker is information such as the presence / absence of the magnetic marker and the amount of displacement in the width direction of the vehicle with respect to the magnetic marker, and the amount and type of information that can be acquired from the magnetic marker side is sufficient. There is no problem.

  The present invention has been made in view of the above-described conventional problems, and an object thereof is to provide a driving support system that can provide more information using a magnetic marker.

The present invention is a driving support system including a magnetic marker laid on a traveling path of a vehicle,
Marker laying locations where there is a possibility of laying magnetic markers are set on the roadway,
At each marker laying location, one of a plurality of laying modes including a mode in which the magnetic marker is not laid is alternatively selected,
The driving support system is capable of providing information to the vehicle by combining magnetic marker laying modes at a plurality of marker laying locations.

  In the driving support system according to the present invention, a marker laying location where a magnetic marker may be laid is set, and at each marker laying location, any one of a plurality of laying modes including a mode in which the magnetic marker is not laid Is alternatively selected. In this driving support system, information can be provided by combining magnetic marker laying modes at a plurality of marker laying locations.

Explanatory drawing of a driving assistance system. Explanatory drawing which shows the lane which laid the magnetic marker. Explanatory drawing which shows a starting position specific area and an information provision area. Explanatory drawing of the installation aspect of a magnetic marker. The top view and side view of a magnetic marker. The graph which shows the magnetic field distribution of the perpendicular direction of a magnetic marker. Explanatory drawing which shows the electrical structure of the system component apparatus of a vehicle side. The block diagram which shows the electrical constitution of a magnetic sensor. The graph which shows the change of the sensor signal at the time of passing a magnetic marker. The flowchart which shows the flow of a process of the vehicle-mounted unit mounted in the vehicle. The figure which shows the structure of another information provision area. The figure which shows the example which has arrange | positioned the marker laying location in the vehicle width direction. The figure which shows the example which has arrange | positioned the marker laying location two-dimensionally.

A preferred embodiment of the present invention will be described.
The traveling path on which the magnetic marker is laid may be a public road or a passage in a site such as a shopping center. Furthermore, it may be a passage of a self-propelled multilevel parking lot or a self-propelled underground parking lot in a building such as a shopping center.

  The marker laying locations may be arranged one-dimensionally or two-dimensionally along at least one of the longitudinal direction and the width direction of the travel path.

  The magnetic marker is laid in at least one of a mode in which the magnetic marker is laid so that the N pole is located on the surface side and a mode in which the magnetic marker is laid so that the S pole is located on the surface side. It is preferable that one of these aspects is included. For example, if three modes of N pole, S pole, and no laying are set as the laying mode, three values can be expressed at one marker laying location. For example, if a binary value is expressed by a combination of an N pole mode and a non-laying mode, it is necessary to provide a predetermined amount of information as compared to a case where a binary value is expressed by an N pole and an S pole. The number of magnetic markers can be reduced.

  Means for positionally identifying a marker laying location where the magnetic marker may be laid, and an information acquisition means for detecting information about the laying mode of the magnetic marker for a plurality of the marker laying locations, It is good to include the vehicle which has. If it is possible to specify the marker laying location on the vehicle side, it is possible to detect with high certainty an aspect in which the magnetic marker is not laid.

  Use of the information provided from the magnetic marker side may be driving assistance by presenting the information or processing information to the driver or driving the vehicle by using the information. . As means for presenting information or the like to the driver, for example, there are means such as a display, a speaker, an alarm, a buzzer, and a vibrator. As means for controlling the vehicle, for example, there are a configuration for realizing automatic braking, a configuration for realizing automatic steering, a configuration for automatically controlling an engine throttle, and the like.

The information provided by the combination of the magnetic marker laying modes may be position information.
In this case, the position information can be acquired on the vehicle side by passing through the place where the magnetic marker is laid. This position information is effective information that can be used for capturing the position of the vehicle on the vehicle side.

  The vehicle may include inter-vehicle communication means for transmitting and receiving information on the vehicle position based on the position information acquired from the magnetic marker side to and from other vehicles. In this case, the vehicle can grasp the positional relationship with other vehicles in the vicinity. If the positional relationship with other vehicles can be grasped, the reliability of control can be improved in driving assistance such as automatic brake control. If it is driving assistance such as an alarm, an alarm that calls attention to the behavior of a vehicle that the driver cannot visually recognize, such as a preceding vehicle in front of two cars, can be realized.

Example 1
This example is an example relating to the driving support system 1A by a combination of the magnetic marker 1 laid on the traveling road and the vehicle 5 that detects the magnetic marker 1. The contents will be described with reference to FIGS.

  In the driving support system 1A, as shown in FIGS. 1 and 2, a plurality of magnetic markers 1 are laid in a one-dimensional manner along the center 530L of the lane 530 forming the travel path of the vehicle 5. On the vehicle 5 side, the magnetic sensor 2 is attached to a vehicle body floor 50 that contacts the bottom surface. The output signal of the magnetic sensor 2 is input to, for example, an ECU (not shown) on the vehicle 5 side, and various driving operations such as automatic steering control for lane keeping, lane departure warning, route navigation, traffic information display, warning, automatic driving, etc. Used for support.

  As shown in FIGS. 3 and 4, the driving support system 1 </ b> A is characterized in that an information providing section for providing information to the vehicle 5 side using the magnetic marker 1 is set. In this information provision section, marker laying locations 54 where the magnetic marker 1 may be laid are set along the lane 530 for each specified distance (for example, 2 m). In each marker laying location 54 in the information provision section, the magnetic marker 1 is laid as the magnetic marker 1 in addition to the mode 1N in which the N pole is placed on the top surface and the mode 1S in which the S pole is placed on the top surface. The mode 1E which is not set is set. A combination of the laying modes of the magnetic marker 1 at the plurality of marker laying locations 54 represents information, and information can be acquired on the vehicle 5 side by reading a code based on the combination of the laying modes. In this example, there are five marker laying locations 54 in the information provision section.

  In front of the information providing section, a start position specifying section is formed in which five magnetic poles 1 with N poles are continuously laid along the longitudinal direction (traveling direction) of the lane 530. Also in this start position specifying section, the interval between the adjacent magnetic markers 1 is the specified distance. Note that the magnetic marker 1 in the non-information providing section that is neither the information providing section nor the start position specifying section is preferably the S pole. If the magnetic marker 1 in the non-information providing section is the S pole, it is easy to specify the start position specifying section in which the N pole magnetic markers 1 are arranged.

  As shown in FIG. 5, the magnetic marker 1 has a flat circular shape with a diameter of 100 mm and a thickness of 1.6 mm, and is a flat marker that can be bonded to the road surface 53. This magnetic marker 1 has a cross-sectional structure in which layers of a resin mold 12 having a thickness of 0.3 mm are laminated on both front and back sides of a flat magnet sheet 11 having a diameter of 100 mm and a thickness of 1 mm.

The magnet sheet 11 is an isotropic ferrite rubber magnet sheet formed by mixing rubber with iron oxide magnetic powder, and has a maximum energy product (BHmax) of 6.4 kJ / m ³ . One surface of the front and back of the magnet sheet 11 is an N pole, and the other surface is an S pole. The magnetic marker 1 can be selected from the mode 1N in which the N pole is laid on the upper surface and the mode 1S in which the S pole is laid on the upper surface. If it is installed with the N pole as the upper surface, the N pole is detected on the vehicle 5 side, and if it is installed with the S pole as the upper surface, the S pole is detected on the vehicle 5 side.

  The laying of the magnetic marker 1 on the road surface 53 is performed, for example, by bonding and fixing with an adhesive. It is also possible to form a resin mold reinforced with glass fibers by laminating glass cloth or the like on both front and back surfaces of the magnet sheet 11 and impregnating the glass cloth with resin.

Here, Table 1 shows part of the shape specifications and magnetic specifications of the magnet sheet 11 provided in the magnetic marker 1 of this example.

  The magnetic field distribution in which the magnetic marker 1 acts in the vertical direction is as shown in FIG. The figure is a semilogarithmic graph showing a simulation result by an axisymmetric three-dimensional static magnetic field analysis using a finite element method. In executing this computer simulation, a simulation program whose accuracy of simulation has been confirmed in advance by a verification experiment is used, and the values of some data shown in FIG.

  In FIG. 6, the logarithmic scale of the magnetic flux density acting in the vertical direction is set on the vertical axis, and the vertical height (height from the marker surface) with respect to the surface of the magnetic marker 1 is set on the horizontal axis. doing. In the figure, the magnetic flux density when the height from the marker surface = 0 mm is “surface magnetic flux density Gs” in Table 1. In the magnetic marker 1, a magnetic flux density of 8 microtesla or more is ensured in a range of 100 to 250 mm assumed as the mounting height of the magnetic sensor 2.

  Next, the vehicle 5 on the side that detects the magnetic marker 1 will be described. In the vehicle 5, as shown in FIG. 7, a vehicle-side system is formed around an in-vehicle unit 30 that executes various arithmetic processes and display processes. In this vehicle-side system, traffic information provided from the magnetic marker 1 side, a lane departure warning, and the like can be displayed. The vehicle-side system has functions as the following means.

(1) Identification means: means for identifying the position of the marker laying location 54 where the magnetic marker 1 may be laid.
(2) Detecting means: means for executing detection of the magnetic marker 1 at a location specified as the marker laying location 54.
(3) Information acquisition means: means for acquiring information by reading a code based on a combination of detection results of a plurality of magnetic markers 1.
(4) Supporting means: means for performing driving assistance using the magnetic marker 1.

(1) Identification means As shown in FIG. 7, the identification means stores vehicle speed sensor 31 that generates a pulse signal every time the tire of vehicle 5 makes one revolution, and installation data for specifying the position of marker installation location 54. The laying database 331 and the in-vehicle unit 30 that identifies the marker laying location 54 are included. The laying data includes a code representing the start position of the information providing section (a combination of the laying aspects of the magnetic marker 1 in the start position specifying section), distance data representing a specified distance that is the interval between the marker laying positions 54, and the like. It is.

(2) Detection means The detection means is a means constituted by the magnetic sensor 2. The magnetic sensor 2 is attached to a vehicle body floor 50 that forms the bottom surface of the vehicle 5 so that the magnetic marker 1 laid on the road surface 53 can be detected. The mounting height of the magnetic sensor 2 is in the range of 100 to 250 mm although there is a difference depending on the vehicle type. In particular, the magnetic sensor 2 as the detection means tries to detect the magnetic marker 1 every time the vehicle 5 reaches the marker laying position 54 in the information provision section (FIG. 3), and when the detection is successful, the polarity of the magnetic marker 1 is detected. Is detected. The configuration and specifications of the magnetic sensor 2 will be described later.

(3) Information acquisition means The information acquisition means is a code representing a combination of the magnetic marker 1 installation modes (presence / absence of magnetic marker 1 and magnetic polarity) at each marker installation location 54 in the information provision section (see FIG. 3). It is a means for generating and acquiring information corresponding to the code. This information acquisition means includes an in-vehicle unit 30 (FIG. 7) that stores a detection result of the magnetic sensor 2 and generates a code, and an information database 333 that stores information to which the code is attached. Yes. In this example, as a code represented by the laying mode of the magnetic marker 1, a 5-digit code is adopted in both the information providing section and the start position specifying section.
(4) Support means The support means of this example is means for displaying traffic information as an example of information on the in-vehicle monitor 35 (FIG. 7). The support means further has a function of displaying a lane departure warning on the in-vehicle monitor 35 and generating a warning sound.

  As shown in the block diagram of FIG. 8, the magnetic sensor 2 as an example of the detection means is a one-chip MI (Magnet Impedance) sensor in which the MI element 21 and the drive circuit are integrated. The MI element 21 is an element including an amorphous wire (an example of a magnetosensitive body) 211 made of a CoFeSiB alloy and having a substantially zero magnetostriction, and a pickup coil 213 wound around the amorphous wire 211. The magnetic sensor 2 measures the voltage generated in the pickup coil 213 when a pulse current is applied to the amorphous wire 211, thereby detecting magnetism acting on the amorphous wire 211 that is a magnetic sensitive body.

  The drive circuit includes a pulse circuit 23 that supplies a pulse current to the amorphous wire 211 and a signal processing circuit 25 that samples and outputs a voltage generated in the pickup coil 213 at a predetermined timing. The pulse circuit 23 is a circuit including a pulse generator 231 that generates a pulse signal that is a source of a pulse current. The signal processing circuit 25 is a circuit that takes out an induced voltage of the pickup coil 213 through a synchronous detection 251 that is opened and closed in conjunction with a pulse signal, and amplifies it with a predetermined amplification factor by an amplifier 253. The signal amplified by the signal processing circuit 25 is output to the outside as a sensor signal.

  The MI element 21 has detection sensitivity in the axial direction of the amorphous wire 211 that is a magnetic sensitive body. In the vehicle 5, the amorphous wire 211 is disposed along the traveling direction. As shown in FIG. 9, the magnetic sensor 2 outputs a positive sensor signal when the vehicle 5 is positioned in front of the N-pole magnetic marker 1, and when the vehicle 5 passes the N-pole magnetic marker 1. The sensor is configured to output a negative value sensor signal. The magnetic sensor 2 outputs a negative sensor signal when the vehicle 5 is positioned in front of the S-pole magnetic marker 1 and positive sensor signal when the vehicle passes the S-pole magnetic marker 1. Is configured to output. The magnetic polarity of the magnetic marker 1 can be determined by determining whether the value of the sensor signal before and after passing through the magnetic marker 1 is positive or negative or by determining whether the differential value of the sensor signal (change slope of the sensor signal) is positive or negative.

A part of the specifications of the magnetic sensor 2 is shown in Table 2.

  The magnetic sensor 2 is a highly sensitive sensor having a magnetic flux density measurement range of ± 0.6 millitesla and a magnetic flux resolution within the measurement range of 0.02 microtesla. Such high sensitivity is realized by the MI element 21 utilizing the MI effect that the impedance of the amorphous wire 211 changes sensitively according to the external magnetic field. According to the magnetic sensor 2 having a magnetic flux resolution of 0.02 micro Tesla (see Table 2), magnetism with a magnetic flux density of at least 8 micro Tesla (see FIG. 6) is applied in the mounting height range of 100 to 250 mm. The magnetic marker 1 to be detected can be detected with high certainty. Further, the magnetic sensor 2 can perform high-speed sampling at a cycle of 3 kHz, and is compatible with high-speed traveling of the vehicle 5.

Next, the operation on the vehicle 5 side in the driving support system 1A of the present example will be described with reference to FIG.
When the vehicle 5 is traveling on the road in which the information provision section (see FIG. 3) is set, the in-vehicle unit 30 repeatedly executes detection of the magnetic marker 1 until the start position of the information provision section is specified. (S101). When the in-vehicle unit 30 detects the magnetic marker 1 (S101: YES), each digit of the 5-digit code for storing the combination of the laying modes of the magnetic marker 1 is advanced to the upper order to make the least significant bit empty, The values of the detected magnetic marker 1 are sequentially set (S102). In the driving support system 1A, the laying mode in which the N pole is detected is treated as a value of 1, the laying mode in which the S pole is detected is a value of 2, and the laying mode without a magnetic marker is treated as a zero value.

  As described above, the vehicle 5 enters the start position specifying section (see FIG. 3) in which five N-pole magnetic markers 1 are continuously installed, and detects the fifth N-pole magnetic marker 1. When the five-digit code becomes “11111” (S103: YES), the in-vehicle unit 30 specifies the start position of the information providing section. Specifically, the in-vehicle unit 30 specifies the laying position of the fifth N-pole magnetic marker 1 in the longitudinal direction (traveling direction) of the lane 530 as the start position of the information providing section (see FIG. 3) ( S104), the moving distance of the vehicle 5 is reset to zero (S105).

  When the vehicle 5 enters the information providing section, the in-vehicle unit 30 calculates the moving distance from the number of pulse signals output from the vehicle speed sensor 31 every time the tire rotates once. The in-vehicle unit 30 executes the detection process of the magnetic marker 1 every time the moving distance reaches a specified distance that is an interval between the marker laying positions 54 in the information providing section (S107). In this detection process, the presence / absence and polarity of the magnetic marker 1 are determined with reference to the change in the sensor signal of the magnetic sensor 2 within the temporal range including the moment when the marker laying location 54 is reached.

  Each time the in-vehicle unit 30 executes the detection process of the magnetic marker 1, each digit of the 5-digit code is forwarded to the upper order, the lowest order is set as an empty bit, and a bit value representing a new detection result is added. When the magnetic marker 1 with N pole is detected (S108: N pole), a bit value 1 is added (S119), and when the magnetic marker 1 with S pole is detected (S108: S pole), the bit value 2 is added (S129), and when the magnetic marker 1 cannot be detected (S108: none), a bit value 0 is added (S139).

  The in-vehicle unit 30 passes through the five marker laying locations 54 in the information providing section and generates a five-digit code (S110: NO), and the processing after step S105 described above each time the marker laying location 54 is reached. Repeatedly. Thereafter, when the in-vehicle unit 30 is able to generate a 5-digit code by passing through the five marker laying locations 54 in the information providing section (S110: YES), the in-vehicle unit 30 refers to the information database 333 using the code. The in-vehicle unit 30 acquires the information with the code attached thereto (S111) and displays the information on the in-vehicle monitor 35 (S112).

  Information acquired from the magnetic marker 1 laid on the road surface 53 and displayed on the in-vehicle monitor 35 includes traffic information such as information on intersections, information on branch roads, and information on junctions. For example, an information provision section may be provided in front of a characteristic point on a road (running road) such as an intersection, a branch road, or a joint path. As driving assistance using traffic information, in addition to the display by the in-vehicle monitor 35 described above, a display for alerting the driver and presentation of traffic information by an alarm sound may be used.

  In place of the display by the in-vehicle monitor 35, driving support by various vehicle controls such as brake control and steering control may be executed. For example, if the distance between the stop line at the intersection and the information provision section is defined, the brake control for stopping at the stop line can be executed with high accuracy. Further, for example, if the distance between the start position of the branch road and the information providing section is defined, the driving support control for branching on the branch road can be executed with high accuracy. Information on the distance between the intersection or the branch road and the information providing section may be included in the information provided to the vehicle 5 side in the information providing section.

  As described above, in the driving support system 1A of this example, it is possible to provide information to the vehicle 5 side by combining the laying aspect of the magnetic marker 1 in the information providing section. In particular, in this driving support system 1A, in addition to the laying mode 1N having the N pole as the upper surface and the laying mode 1S having the S pole as the upper surface, the mode 1E in which the magnetic marker 1 is not laid can be set as the laying mode. Three values can be represented by one marker laying position 54. For example, in the case of five marker laying places 54, 3 5 = 243 codes can be expressed. In the case of the laying mode with only the N pole and the S pole, it is only possible to express 2 5 = 32 kinds of codes at five marker laying places. In the driving support system 1A of this example provided with an aspect in which the magnetic marker 1 is not laid, there is an advantage that more information can be provided by using a small number of magnetic markers 1.

The information provided in the information providing section may be the following (1) two-dimensional position information, (2) height information, or the like.
(1) Two-dimensional position information If two-dimensional position information is provided to the vehicle 5 side, accurate position information can be acquired on the vehicle 5 side without using positioning means such as GPS (Global Positioning System). It is also possible to realize a navigation system. When the vehicle 5 is positioned in the middle of the magnetic marker 1 adjacent in the longitudinal direction of the lane 530, the vehicle position is estimated by autonomous navigation using measured values such as the vehicle speed and the yaw rate, and accurate every time the vehicle passes the magnetic marker 1. It is good to get the position. In addition, when providing two-dimensional positional information by the combination of the laying aspect in the some marker installation location 54, it is good to determine beforehand the position information of which marker installation location 54 is provided. It may be the start position of the information provision section or the position information of the last marker laying location 54.

  A combination with a navigation system having positioning means such as GPS is also effective. If an information provision section is provided in a location where GPS radio waves cannot be received or is likely to be unstable, such as in a tunnel or a valley of a building, a poor reception state of GPS radio waves can be backed up and position acquisition accuracy by the navigation system can be improved.

(2) Height information (three-dimensional position information)
For example, the magnetic marker 1 may be laid in a passage such as a self-propelled multilevel parking lot such as a shopping center, and height information such as the number of floors may be provided to the vehicle 5 side. For example, depending on the positioning means such as GPS, it is not easy to specify the number of floors in a building, and even if there is provision of vacant frame information with designated floor numbers from the infrastructure side, route guidance to the vacant frame should be performed with high accuracy Is difficult. If the floor information is provided from the magnetic marker 1, it is possible to realize highly accurate route guidance to empty frames in the self-propelled multistory parking lot.

  As driving assistance using the magnetic marker 1, when driving assistance such as lane departure warning, automatic steering, and lane departure avoidance control is performed, there is a risk that the accuracy of the warning is impaired if the interval between adjacent magnetic markers 1 is increased. . Therefore, in the case of the configuration of this example in which an aspect in which the magnetic marker 1 is not laid is provided, it is necessary to sufficiently consider the interval between the adjacent magnetic markers 1 so as not to become too wide. For example, if the magnetic marker 1 in the information providing section is also used for a lane departure warning or the like, the maximum interval between adjacent magnetic markers 1 in the information providing section is equal to the laying interval of the magnetic marker 1 in the non-information providing section. It is preferable to configure the following. For example, the specified distance, which is the interval between the marker laying locations 54 in the information providing section, is set to ½ of the laying interval necessary for the lane departure warning or the like, and the configuration in which the magnetic marker 1 is not laid is not continued at two locations. Good. In this case, the maximum interval of the magnetic markers 1 in the information providing section can be made equal to the laying interval necessary for the lane departure warning or the like.

  Also, for example, as shown in FIG. 11, in the information provision section, a marker laying location 54 is set adjacent to the downstream side in the traveling direction (longitudinal direction of the road) with respect to the magnetic marker 1 intended for lane departure warning or the like. It is also good. Thus, if a magnetic marker for providing information is installed separately from a magnetic marker for a lane departure warning or the like, the possibility that the laying mode of the magnetic marker 1 at the marker laying location 54 affects the lane departure warning or the like can be eliminated. . In the case of this configuration, the position of the marker laying location 54 can be specified by detecting the magnetic marker 1 for a lane departure warning or the like. The magnetic sensor that detects the magnetic marker 1 functions as a specifying unit that specifies the marker laying position 54 in a positional manner. Note that a marker laying location 54 may be provided adjacent to the magnetic marker 1 for a lane departure warning or the like in the vehicle width direction.

The number of marker laying locations 54 in the information provision section (FIG. 3), the prescribed distance forming the interval, and the like are not limited to the values in this example, and can be changed as appropriate. In this example, the number of marker laying locations 54 in the information providing section and the number of magnetic markers 1 laid in the start position specifying section are both five, but each number can be changed as appropriate, and different numbers are used. May be set.
In this example, the marker laying locations are arranged one-dimensionally along the longitudinal direction of the lane 530, but the marker laying locations may be arranged one-dimensionally in the width direction of the lane as shown in FIG. In this case, a sensor unit 2U in which a plurality of magnetic sensors 2 are arranged in the vehicle width direction may be attached to the vehicle 5. Furthermore, the marker laying locations may be two-dimensionally arranged as shown in FIG. In this case, more information can be provided at a short distance.

  When the magnetic marker 1 is configured to provide two-dimensional position information to the vehicle 5 side, an inter-vehicle communication unit that enables mutual communication between the vehicles 5 may be provided in each vehicle 5. In this case, the vehicles 5 on the road can transmit and receive each other's position information wirelessly. If each vehicle 5 can grasp the positional relationship with other vehicles in the vicinity, the safety and accuracy of vehicle control for driving assistance including automatic driving can be improved. The position information of the own vehicle position exchanged between the vehicles may be position information based on the position information provided from the magnetic marker 1. For example, position information obtained by correcting the amount of displacement in the vehicle width direction of the vehicle with respect to the magnetic marker 1 is set as the vehicle position, or position information that includes movement information by autonomous navigation after passing the magnetic marker 1 It is good to set as a position.

  Further, by exchanging travel information such as speed information and acceleration information in addition to the position information by inter-vehicle communication, it becomes possible to grasp the behavior of the other vehicle in addition to the positional relationship with the other surrounding vehicles. In this case, for example, when the preceding preceding vehicle brakes, it becomes possible to appropriately determine whether or not the avoidance brake control is necessary, and the accuracy of the vehicle control can be improved and the safety can be improved. In addition, for example, driving assistance such as giving an alarm when the preceding two vehicles are braked becomes possible.

  Although the MI sensor using the MI element has been exemplified as the magnetic sensor 2, a fluxgate sensor or a TMR sensor can be used as the magnetic sensor instead. When two or more magnetic sensors are used, a combination of two or more of an MI sensor, a fluxgate sensor, and a TMR sensor can be employed. Since the position of the magnetic sensor installed in the vehicle has a distance of at least about 100 mm from the road surface of the road, the magnetic sensor has the capability of easily detecting the magnetism generated by the magnetic marker 1 arranged on the road surface It is necessary to adopt.

  The magnetic material and the kind of magnet of the magnet sheet 11 constituting the magnetic marker 1 are not limited to this example. Various types and types of magnetic materials and magnets can be used. An appropriate magnetic material and type may be selectively determined according to the magnetic specifications and environmental specifications required for the magnetic marker.

  As described above, specific examples of the present invention have been described in detail as in the embodiments. However, these specific examples merely disclose an example of the technology included in the scope of claims. Needless to say, the scope of the claims should not be construed as limited by the configuration, numerical values, or the like of the specific examples. The scope of the claims includes techniques in which the specific examples are variously modified, changed, or appropriately combined using known techniques and knowledge of those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Magnetic marker 1A Driving assistance system 1N, 1S, 1E Laying aspect of magnetic marker 11 Magnet sheet 12 Resin mold 2 Magnetic sensor 21 MI element 211 Amorphous wire 213 Pickup coil 30 Car-mounted unit 31 Vehicle speed sensor 331 Laying database 333 Information database 5 Vehicle 50 Body floor (bottom)
53 Road surface 54 Marker laying location

Claims (8)

A driving support system including a magnetic marker laid on a traveling path of a vehicle,
Marker laying locations where there is a possibility of laying magnetic markers are set on the roadway,
At each marker laying location, one of a plurality of laying modes including a mode in which the magnetic marker is not laid is alternatively selected,
A driving support system capable of providing information to the vehicle side by combining magnetic marker laying modes at a plurality of marker laying locations.   The driving support system according to claim 1, wherein the marker laying locations are arranged one-dimensionally or two-dimensionally along at least one of a longitudinal direction and a width direction of the traveling path.   3. The magnetic marker according to claim 1, wherein the magnetic marker is laid such that the magnetic marker is laid so that the N pole is located on the surface side, and the magnetic marker is laid so that the S pole is located on the surface side. A driving support system including at least one of the aspects.   The information which acquires the information in any one of Claims 1-3 by detecting the arrangement | positioning aspect of the said magnetic marker about the several said marker installation location, and the specific means which pinpoints a plurality of said marker installation location. And a driving support system including a vehicle having acquisition means.   5. The driving support system according to claim 4, wherein the vehicle includes means for supporting driving by presenting information acquired from the magnetic marker side to the driver.   6. The driving support system according to claim 4, wherein the vehicle includes means for controlling the vehicle using information acquired from the magnetic marker side.   The driving support system according to any one of claims 4 to 6, wherein information provided by a combination of laying modes of the magnetic markers is position information.   8. The driving support system according to claim 7, wherein the vehicle includes inter-vehicle communication means for transmitting and receiving information on the vehicle position based on the position information acquired from the magnetic marker side to and from another vehicle.

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