JP2019067314A - Magnetic type safe driving support system with derailment preventing function - Google Patents

Abstract

To provide a magnetic type safe driving support system with a derailment preventing function.SOLUTION: A magnetic type safe driving support system 1 has magnetic sensors 12L and 12R installed on both sides of a vehicle 11, and measures a magnetic field generated from a magnetic type white wire 13 in which magnets 14 are embedded at a predetermined interval. A system for preventing derailment is provided by removing an external magnetic field that is noise so as to derive only a magnetic field of a magnet signal; calculating a distance between a vehicle and the white line from the derived value; calculating an approaching speed of the vehicle to the white line so as to predict a risk of the derailment; and notifying a driver or a host computer for automatic driving control of the result.SELECTED DRAWING: Figure 1

Description

The present invention relates to a magnetic safe driving support system that provides a magnet-type white line on a road for a vehicle and provides magnetic sensors on both sides of the vehicle to prevent derailing from a road lane.

As for the prevention of wheel removal, when a vehicle runs on a white line, a large vibration is given to install a protrusion on the white line of the road lane display or to make the white line uneven to notify the driver of danger. However, since this method is a warning after riding on a white line, it has a drawback that it can not make it in time for the driver to avoid getting out of the wheel.

Derailment prevention in automatic driving is to guide the vehicle to the center of the road so that the road white line is recognized by a camera and a proper distance from the white line is always maintained. However, in bad weather such as wet weather and heavy snow, there were drawbacks such as the inability to recognize road white lines and road signs.

Conventionally, as a means for solving this drawback, as disclosed in Patent Documents 1 and 2, a magnet type marker is embedded on the road, and it is detected by a magnetic sensor on the vehicle side to support automatic steering or take off. Research on the wheel prevention function is being made. The disadvantage of the magnet type is that the external magnetic field generated from the magnetic field and geomagnetic field generated from the bridge and tunnel of the reinforcing bar structure and vehicles running next to each other, the building of the reinforcing bar structure around the road, etc. And the detection certainty of the magnetic marker is lost.

As a countermeasure, intensifying the signal magnetic field from the magnet causes the magnet to adsorb the nail, nut, etc. on the road which has fallen onto the road as described in Patent Document 3, thereby increasing the danger of puncture or the like. Not desirable. Therefore, the magnetic force of the magnet marker can not but be kept to 400 G or less in surface magnetic flux density.

On the premise of a weak signal magnetic field, Patent Document 1 discloses a method of removing the influence of geomagnetism, and Patent Document 2 discloses a method of removing the influence of a magnetic field emitted from a reinforcing bar structure. In these methods, the signal magnetic field from the magnet at the time of high speed traveling is separated using a high pass filter or a band pass filter, focusing on the difference in frequency with the external magnetic field. However, if the traveling speed changes widely and various magnetic force signal sources around the road are taken into consideration, it is difficult to separate the two with high accuracy by simple filtering. Therefore, a more reliable separation method for both is required.

Furthermore, the methods of Patent Documents 1 and 2 in which a magnet type marker is installed at the center of the road aim to guide and control the vehicle to travel in the central part, and do not directly measure the distance from the white line directly. Specifically, when the vehicle approaches a white line, the distance between the magnet at the road center and the magnetic sensor installed near the center of the vehicle may be about 1000 mm, and the strength of the signal magnetic field is 1 mG or less is expected. Since the magnetic sensor to be used determines the strength of a signal magnetic field of about 80 mG and determines the installation position thereof in Patent Document 3, it can not be grasped that the vehicle is moving away from the central part and approaching a white line. In other words, it does not provide a sufficiently reliable anti-derailment function.

Furthermore, the complexity of road construction and maintenance management has been a problem because the magnet type marker is embedded in the central part of the road.
Therefore, a magnetic safe driving support system that can compensate for the shortcomings of an automatic driving system using radar and a camera during bad weather, and that is easy to embed the magnet and provide a reliable derailment prevention function. Development is required.
Furthermore, it is desirable that this system can also realize a function of guiding and controlling the vehicle to the center of the road by measuring the distance from the white line to the vehicle on both sides of the road lane on which the vehicle travels.

JP 2005-202478 JP 2017-83189 Patent No. 5839527

The present inventor installs a magnet on a white wire as shown in FIG. 1 on the premise of a magnetic type that can realize the wheel removal prevention function even under bad weather, and a signal magnetic field generated from the magnet Has come to the concept of a safe driving support system that predicts derailment by detecting the distance between the vehicle and the white line and the approach speed to the white line from the measured signal magnetic field by detecting magnetic sensors installed on both sides of the vehicle . The problems in realizing a magnetic safe driving support system based on the concept are as follows.

The distance between the magnetic white wire and the magnetic sensor attached to the side surface of the vehicle at a height of 150 mm or more is about 150 mm to about 1200 mm. The magnet embedded in the white wire needs to be a sheet-like magnet which can be embedded in the white wire and be very thin and compact. The magnetic field generated by the sheet-like magnet is assumed to be very small at 0.1 mG to 500 mG at a position 150 mm or more in height from the road ground. Furthermore, the time during which a magnetic sensor attached to a vehicle moving at high speed detects the magnetic field is also very small, about 5 milliseconds (hereinafter, referred to as m seconds) to 10 milliseconds.
Therefore, in order to detect a minute magnetic field at high speed, it is necessary to develop an ultra-sensitive magnetic sensor capable of high-speed measurement.

Next, it is necessary that the sheet-like magnet can be buried easily under the white wire portion, and the paint coating can be performed thereon in the same manner as the conventional method. For that purpose, it is necessary to develop a sheet-like magnet which is as thin and small as possible and which produces a strong magnetic field in the road width direction.

In addition to the magnet signal magnetic field (hereinafter referred to as a signal magnetic field) generated by the magnet, an external magnetic field due to geomagnetism, steel frame, nearby vehicles, etc. exists on the road. Since it is assumed that the external magnetic field is larger than the signal magnetic field, it is necessary to take out the necessary signal magnetic field from the disturbance magnetic field which is the large external magnetic field.
Further, it is necessary to obtain the approaching speed to the white line and notify the driver or the unmanned driving host computer about the danger of derailing about 0.1 seconds ago to enable operation for the derailment avoidance.

In order to solve the above-mentioned subject, the present inventor advanced comprehensive research from three directions of magnet, a magnetic sensor, and signal technology. Specifically, development of a small, thin sheet magnet capable of generating a strong magnetic field of 500 mG or more at a position 250 mm above the end of the magnet width in the road width direction and the device of its construction method, high speed of 2 KHz or more Development of ultra-sensitive high-speed magnetic sensor that can measure and detect small magnetic field of about 0.1mG, development of signal processing operation method program to extract small signal magnetic field from disturbance magnetic field The above problems are solved by optimally combining the characteristics of

First, in order to make high-speed and high-sensitivity characteristics compatible, the measurement operation mode is to set the measurement interval to 0.01 ms to 0.1 ms (10 KHz to 100 KHz) in order to achieve both high speed and high sensitivity characteristics. It is a magnetic sensor that can suppress noise by averaging the number of times of magnetic field measurement 100 times or more in time.
A high-speed compatible ultra-sensitive magnetic sensor based on the GSR sensor disclosed in Patent Document 3 is preferable. In the disclosed GSR sensor, the length of the amorphous wire is 0.5 mm or more and 2 mm or less, the number of coil turns is 30 or more, and a GSR sensor element incorporating a plurality of two or more wires in one coil Can increase the sensitivity of one measurement.

In addition, the high-speed compatible ultra-high sensitivity magnetic sensor uses the electronic circuit configuration for the GSR sensor disclosed in Patent Document 3 as its electronic circuit, and detects the detection timing, detection time, capacitor capacity of the sample hold circuit, etc. Adjust the
The AD converter has 16 bits, the resolution is 0.05 mG / bit, and the measurement range is ± 1.5 G. The measurement range can be up to ± 6 G by performing window operation as needed. Measuring range is the measurement sampling speed of 10 KHz or more, sensitivity of 0.05 mG or less with σ noise, measuring range ± 6 G and 16 bits (resolution 0.05 mG) by combining the GSR element, electronic circuit and measurement operation mode described above High sensitivity and high speed magnetic sensor with the performance of

Further, the sensitivity of the GSR sensor can be improved by attaching a soft magnetic body for magnetic collection such as permalloy to the tip of the amorphous wire forming the GSR sensor element.
The magnetic sensor in the present invention is not limited to the GSR sensor as long as it has the performance required by the present invention.

The magnetic sensor of the present invention is installed one on each side of the vehicle. Installed on both sides of the side of the vehicle or below the side. The position of the magnetic sensor installed in the vehicle needs to be as close as possible to the distance between the outer line and the magnetic white line of the center line. Thereby, the signal magnetic field from the magnet can be detected efficiently.
Moreover, the signal magnetic field can be detected with higher sensitivity by installing a plurality of magnetic sensors.

Magnetic white lines can be produced by embedding magnets at predetermined intervals in the white lines of the outer and center lines. The shape of the magnet is a sheet according to the direction of the white line of the road. The sheet-like magnet is prepared by mixing rare earth magnet powder such as ferrite magnet powder or NdFeB magnet powder, and its size is 50 mm to 100 mm in width, 20 cm to 50 cm in length, and 1 mm to 5 mm in thickness. The magnetization direction of the magnet is generally magnetized perpendicularly to the sheet surface, but in order to generate a strong magnetic field in the road width direction, in-plane magnetization in the width direction is adopted. As shown in FIG. 4, the magnetic field generated from the sheet-like magnet is 500 mG or more immediately above the magnet (± 1.5 M) and about 1 mG at a point 1000 mm (± 0.5 M) apart. If it measures with the above-mentioned sensor, it can detect enough also at the point 1000 mm apart.

Next, although the magnetic field measurement value by the magnetic sensor consists of a disturbance magnetic field and a signal magnetic field, only the signal magnetic field is separated and obtained. First, the magnetic field measurement value Hi is determined, and its time differential value ΔHi / Δt is calculated. As shown in FIG. 5, a sharp sinusoidal waveform is generated at the moment of crossing the sheet magnet, but at the moment the zero crossing point crosses the magnet sheet, the time Ti at which the vehicle passes the sheet magnet can be determined continuously. . The width of the sine wave corresponds to the width of the magnet. The time Δti between the sine waveforms is determined, and a predetermined magnet interval Lp (for example, 10 M) is divided by the value Δti to obtain the vehicle speed Vi (= Lp / Δti) at that moment. The length Lm of the sheet magnet is divided by Vi to obtain the time ΔTi (= Lm / Vi) required to pass through the magnet, and the sine waveform is integrated by an integral width of ± Ti ± ΔTi to obtain a mountain waveform of H. The peak value of H becomes a magnet signal magnetic field to be obtained by removing the disturbance magnetic field.

The height and cycle time of the peak value are continuously or continuously compared by continuously comparing five or more peak values, and the theoretically predicted peak height which should be generated from the magnet body It is determined that the magnetic field sensor detects the magnetic field of the magnet sheet by confirming that the same degree is compared with the cycle time. Then, it is determined that the height of the peak value corresponds only to the magnetic field intensity from the magnet, and the distance Ri to the white line is determined from that value.

Next, time change Vr = ΔRi / Δt of Ri is determined to determine the approach speed to the white line. As shown in FIG. 6, a time Td = Ri / Vr to get on the white line is calculated, and the value is used to determine a predetermined derailment risk and to use it as a driver or a host computer for unmanned operation control. Make a notification and construct a magnetic safe driving support system that makes it possible to avoid derailing in advance.

The present invention comprises a magnetic white wire, an ultra-sensitive high-speed magnetic sensor attached to the vehicle, and an arithmetic unit for calculating the distance between the vehicle and the white wire. The minute magnetic field generated from the magnetic white line is measured by the magnetic sensor attached to the vehicle traveling at high speed, only the signal magnetic field is extracted from the disturbance magnetic field larger than the signal magnetic field, and the distance between the white line and the vehicle The idea is to seek The distance to the white line is continuously measured to obtain the approaching speed to the white line, and the driver is warned of the warning about the derailment in advance by predicting the danger of derailment 0.1 seconds before, to avoid derailment. Can provide a useful magnetic safe driving support system that makes it possible to

FIG. 2 is a conceptual view of the positional relationship between a magnetic sensor of a vehicle and a magnetic white line. It is a top view of a GSR sensor element. It is an electronic circuit diagram of a GSR sensor. It is a related figure of the signal magnetic field and distance which generate | occur | produce from a magnet. It is a figure which calculates | requires a magnet signal magnetic field from a magnetic field measurement value. FIG.

The magnetic safe driving support system of the present invention is provided with a derailing prevention function including signal magnetic field detection means, signal magnetic field generation means, and signal magnetic field processing means.
The signal magnetic field detection means installs ultra-sensitive high-speed magnetic sensors on both sides of the vehicle with measured sampling speeds of 0.1 ms or less, σ noise of 0.05 mG or less, and 16-bit (resolution 0.03 mG / bit) performance. The signal magnetic field generating means comprises a magnetic white line in which a magnet is embedded at a predetermined interval on an outer line on the road and a white line of the center line, and the signal magnetic field processing means measures the magnetic field measured by magnetic sensors on both sides of the vehicle. It consists of a computing device that determines the signal magnetic field from the magnet of the magnetic white wire from which the disturbance magnetic field has been removed from the value, and calculates the distance from the white wire of the outer line and the center line.

With this system, it is possible to obtain the degree of risk of leaving the vehicle from the traveling lane of the road.

The ultra-sensitive high-speed magnetic sensor, which is a signal magnetic field detection means, is a GSR sensor based on an ultra-fast spin rotation effect (English notation: GHz Spin Rotation effect). In order to achieve both high speed and high sensitivity characteristics, the measurement operation mode is such that the measurement interval interval is 0.01 ms to 0.1 ms (10 KHz to 100 KHz), and the magnetic field measurement is performed 100 times or more within that time, Noise is suppressed by averaging.

The GSR sensor element constituting the GSR sensor is coated with an insulating material having a diameter of 10 μm or less of an amorphous wire (hereinafter referred to as a wire), and the number of coil turns around the wire with a length of 0.5 mm to 2 mm There are 30 times to 200 times. One coil consists of a basic element which goes around two wires, and consists of a plurality (limited to an even number) of unit elements. The wires of unit elements may be arranged in series or in parallel. In the case of the series arrangement, the direction of the pulse current flowing in the amorphous wire is the same as that of one amorphous wire and the opposite direction of the other amorphous wire with respect to the direction of the measurement magnetic field.

The GSR sensor element of the present invention can increase the sensitivity of one measurement. And, it is possible to realize high sensitivity by 10 to 50 times to 100 mV / G to 500 mV / G as compared with 10 mV / G of an ordinary automotive GSR element.

The electronic circuit which comprises a GSR sensor uses the electronic circuit structure for GSR sensors shown to patent document 3. Then, the detection timing adopts rising pulse detection, and the pulse time is 2 nanoseconds (hereinafter referred to as n seconds) to 8 nanoseconds, and the pulse period is 50 nanoseconds to 100 nanoseconds. The capacitance of the sample and hold circuit is 5 pF to 50 pF. One measurement time is 0.01 ms to 0.1 ms (measurement frequency is 10 KHz to 100 KHz), and magnetic field detection by averaging with 100 measured values to reduce measurement noise The force can be improved to 0.05 mG or less. The AD converter has 16 bits, the resolution is 0.05 mG / bit, and the measurement range is ± 1.5 G. The measurement range can be up to ± 6 G by performing window operation as required.

Ultra-high-sensitivity high-speed magnetic sensor, measuring sampling speed 10KHz ~ 100KHz by combining the above GSR sensor element, electronic circuit and measurement operation mode, sensitivity less than 0.05mG in σ noise, measurement range ± 1.5G ~ It can have performance of ± 6 G and 16 bits (resolution 0.05 mG / bit).

The magnetic sensor of the present invention installs one or more at a position of 150 mm to 300 mm in height from the road surface on both side surfaces of the vehicle.

Furthermore, it is preferable that the GSR sensor element be integrated with the magnetic flux collecting soft magnetic material. When a soft magnetic material such as permalloy is attached to and integrated with the tip of the amorphous wire of the GSR sensor element, an external magnetic field can be concentrated on the soft magnetic material. The sensitivity of the GSR sensor can be improved by about 2 to 5 times by this magnetic collection effect.
The magnetic sensor in the present invention is not limited to the GSR sensor as long as it has the performance required by the present invention.

The magnet as the signal magnetic field generating means of the present invention is a sheet-like magnet having a length of 50 cm or less, a width of 10 cm or less, and a thickness of 5 mm or less that is surface magnetized in the width direction. Are buried in the

The sheet-like magnet is produced by mixing rare earth magnet powder composed of ferrite magnet powder or NdFeB magnet powder. The sheet-like magnet has a width of 50 mm to 100 mm, a length of 20 cm to 50 cm, and a thickness of 1 mm to 5 mm. The magnetization direction is generally magnetized perpendicularly to the surface, but in order to generate a strong signal magnetic field in the road width direction, in-plane magnetization in the width direction is adopted.

FIG. 4 shows the relationship between the distance from the road center to the white line portion and the signal magnetic field strength of the magnet in the case of two lanes having a road width of 3M. When a normal car (car width 2M.) And a light car (car width 1.4M.) With magnetic sensors installed on both sides of the car are traveling while swaying from the center of the road to the left and right. The signal magnetic field intensity which the left side sensor and the right side sensor to install detect is shown.

As shown in FIG. 4, the intensity of the magnet signal magnetic field is about 500 mG or more immediately above the magnet and about 1 mG at a point 1000 mm away from the magnet. When measured by a magnetic sensor, it can be sufficiently detected even at a point 1000 mm apart. That is, even when the vehicle travels off the road center, both the left sensor and the right sensor can detect the signal magnetic field strength.
Therefore, since there is a quantitative mathematical relationship between the signal magnetic field strength generated from the magnet and the distance from the vehicle to the white line, the distance to the white line can be accurately determined if the signal magnetic field strength is determined.

The signal magnetic field processing means of the present invention determines the signal magnetic field from the magnet of the magnetic white line from which the disturbance magnetic field has been removed from the magnetic field measurement values measured by the magnetic sensors on both sides of the vehicle. And an arithmetic unit for calculating the distance of

Further, the signal magnetic field processing means of the present invention obtains the time passing through the sheet magnets aligned in the traveling direction of the road from the measurement value time derivative of the magnetic field of the magnetic sensor on both sides of the vehicle and measures the signal magnetic field at that time. From the measured signal magnetic field, the distance from the white line on both sides and the deviation from the lane center of the vehicle are calculated, and the approaching speed to the white line is calculated, and the warning for derailment risk is calculated and alerted at the same time System to guide the center of the lane.

The signal magnetic field processing means is to separate and obtain only the signal magnetic field because the magnetic field measurement value first measured by the magnetic sensor is composed of the disturbance magnetic field and the signal magnetic field.
This will be described with reference to FIG.
A magnetic field measurement value Hi (FIG. 5 (a)) is obtained, and its time differential value ΔHi / Δt (FIG. 5 (b)) is calculated. A sharp sinusoidal waveform occurs at the moment of crossing the sheet magnet, but at the instant the zero crossing point crosses the magnet sheet, it is then possible to continuously determine the time Ti at which the vehicle passes the sheet magnet. The width of the sine wave corresponds to the width of the magnet. A time ΔTi between sinusoidal waveforms is determined, and a predetermined magnet interval Lp (for example, 10 M) is divided by that value to determine the vehicle speed Vi (= Lp / ΔTi) at that moment. The length Lm of the sheet magnet is divided by Vi to obtain the time ΔTmi (= Lm / Vi) required to pass through the magnet, and the sine waveform is integrated by the integral width of ± Ti ± ΔTmi to obtain the chevron waveform of the magnetic field H . The maximum value of the peak value of the magnetic field H is a magnet signal magnetic field (FIG. 5C) to be obtained by removing the external magnetic field.

The height and cycle time of the peak value are constantly or continuously changed by continuously comparing five or more peak values, and the theoretically predicted height and cycle of the peak value that should be generated from the magnet It is determined that the magnetic sensor detects the magnetic field of the sheet-like magnet by confirming that the same degree is compared with time. Then, it is determined that the height of the peak value corresponds only to the magnetic field intensity from the magnet, and the distance Ri to the white line is determined from that value.

Next, the time change of Ri Vr = ΔRi / Δt is obtained, and the speed Vr and time Td (= Ri / Vr) to get on the white line from the distance Ri are calculated as the approaching speed to the white line, and the value Td is used It is possible to calculate the degree of risk of derailing determined in advance and notify it to the driver or the host computer for unmanned operation control to prevent derailment in advance.

The embodiments of the present invention will be specifically described by way of examples.
In the present invention, as shown in FIG. 1, the magnetic white wire 13 in which the sheet-like magnet 14 is embedded and the ultra-sensitive high-speed magnetic sensors 12R and 13 attached to both side surfaces of the vehicle 11 It comprises an arithmetic unit (not shown) for calculating the degree and a device (not shown) for communicating the degree of danger to the driver.
The magnetic sensor is a high-speed response type ultra-sensitive magnetic sensor based on the GSR sensor, and in order to make high-speed and high-sensitivity characteristics compatible, the measurement interval mode is 0.02 ms (20 KHz) as the measurement operation mode Within that time, the number of times of magnetic field measurement is performed 1000 times, and noise is suppressed by averaging.

The configuration of the GSR sensor element 2 will be described with reference to FIG.
Four amorphous wires (hereinafter referred to as wires), two coils around the wires, two wire electrodes, and two coil electrodes are disposed on the top of the substrate 21. Each wire has a diameter of 5 μm and a length of 0.8 mm covered with insulating glass, and each coil has 100 turns. Two wires 22R1 and 22R2 are disposed in parallel in the right coil 24R, and two wires 23L1 and 23L2 are disposed in parallel in the left coil 24L. The wire electrode comprises a wire + electrode 25 and a wire ground 26, and the coil electrode comprises a coil output electrode 27 and a coil ground electrode 28.

The connection between the wire and the electrode is made by first connecting the wire + electrode 25 and the upper ends of the two wires 22R1 and 22R2 in the right coil 24R with a conductive metal, and then the two right wires 22R1 and 22R2 Between the lower end portion of the left coil 24L and the lower ends of the two wires 23L1 and 23L2 in the left coil 24L (referred to as left and right wire connection portions) with a conductive metal, and finally the two left wires in the left coil 24L. A conductive metal is connected between the upper ends of the wires 23L1 and 23L2 and the wire ground 26.
By this connection, the pulse current flows downward from the wire + electrode 25 to the two wires 22R1 and 22R2 on the right side, and the two wires 23L1 and 23L2 on the left side are directed upward via the left and right wire connection parts. It flows toward the wire earth 26.
With respect to the direction of the detection magnetic field, the sensitivity is improved by causing one wire to flow in the same direction as the pulse current flows and the other wire in the opposite direction.

In this example, the pulse frequency is 1.2 GHz, and the magnetic field sensitivity of the GSR sensor element can be as high as 200 mv / G. .

The configuration of the electronic circuit 3 will be described with reference to FIG.
Pulse current is supplied from the pulse transmission circuit 31 to the GSR sensor element 32. Among the pulse voltages generated in the coil at that time, the detection timing is rising pulse detection, and the pulse time is 5 n seconds and the pulse period is 100 n seconds. . The capacitance of the capacitor 37 of the sample and hold circuit 35 is 10 pF via the buffer circuit 34. The hold voltage is amplified by the amplifier 38 and then converted to a 16-bit digital output by the AD converter 39. The resolution is 0.05 mG / bit.
One measurement is 0.05 ms (20 KHz), and 1000 measurements can be used to average out the measurement noise to reduce the magnetic field detection power to 0.02 mG. The measurement range is ± 1.5G. The measurement range can be up to ± 6 G by performing window operation as needed.

The magnetic sensor can obtain a measurement sampling speed of 20 KHz and a sensitivity of 0.02 mG with σ noise by combining the GSR sensor element 2 described above, the electronic circuit 3 and the measurement operation mode, and a measurement range of ± 1.5 G , Can be expanded to ± 6 G by window operation. The AD converter has a performance of 16 bits (resolution 0.05 mG / bit). One magnetic sensor is installed in the lower step of each door of the driver's seat and the passenger's seat of the ordinary passenger car, and the height is 230 mm from the road surface.

Magnetic white lines are manufactured by embedding sheet magnets at 10 M intervals in the white lines of the outer and center lines of a two-lane general motorway.
A sheet-like magnet mixes a ferrite magnet powder, and produces a rubber magnet. The sheet-like magnet has a width of 80 mm, a length of 30 cm, and a thickness of 3 mm. The magnetization direction of the sheet-like magnet is in-plane magnetization in the width direction. The strength of the signal magnetic field generated by the sheet-like magnet is 650 mG immediately above the magnet and 2 mG at a point 1000 mm apart. Since there is a quantitative mathematical relationship between the signal magnetic field strength generated from the sheet-like magnet and the distance from the vehicle to the white line, the distance to the white line can be accurately determined if the signal magnetic field strength is determined.

As for the distance from the magnetic sensor to the white line, as described above, the magnetic field measurement value Hi is determined by the magnetic sensor, and the time differential value ΔHi / Δt is calculated to obtain the magnet signal magnetic field which is the peak value. By determining the distance Ri from the peak value to the white line, the distance between the normal passenger car and the outside line can be determined. From this distance, it is possible to know the degree of danger of a normal passenger car leaving the lane.

Next, as described above, the approaching speed Vr to the white line is obtained from the time change of Ri, and the time Td from the speed to the time when the white line is climbed is calculated. Based on the value Td and the predetermined degree of risk of leaving the vehicle, it is possible to notify the driver or the host computer for unmanned operation control of it and to avoid leaving the vehicle in advance. You can also guide to the center of the road.

Here, the present invention is a safe driving support system by preventing the derailing of the vehicle.
From this system, it is possible to prevent the vehicle from colliding with a guardrail or the like or falling from the shoulder of the vehicle by derailing from the outside line. In addition, collision between the vehicles can be avoided by derailing from the central line and preventing entry into the opposite lane or the next lane.
In the present system, the magnetic white line in which the magnet is embedded generally points to the white line, but a yellow line is laid on the center line between the oncoming lane and the opposite lane as a mark of no passing. Therefore, the white lines described in the present invention include yellow lines.
In addition, blocks are laid at predetermined intervals on the center line or outside line in order to prevent derailing. However, in the case of heavy snow or the like, it is difficult for the block to be buried in snow and to prevent the derailment of the vehicle, but it is possible to prevent the derailment by using the magnet type block. Therefore, the magnetic white line also includes a magnetic block, as it is in accordance with the subject matter of the present invention.

1: Magnetic safe driving system (The software such as arithmetic unit is not shown)
11: Vehicle 12R: Magnetic sensor (right side) 12L: Magnetic sensor (left side) 13: White wire 14: Sheet magnet 15R: Distance between white line and magnetic sensor (right side) 15L: Distance between white line and magnetic sensor (left side)
2: GSR sensor 21: Substrate 22R1: amorphous wire (right side) 22R2: amorphous wire (right side) 23L1: amorphous wire (left side) 23L2: amorphous wire (left side) 24R: coil 24L: coil 25: wire + electrode 26: wire earth 27: coil output electrode 28: coil ground 3: electronic circuit,
31: pulse transmission circuit 32: GSR sensor element 33: input side circuit 34: buffer circuit 35: sample hold circuit 36: electronic switch 37: capacitor 38: amplifier 39: AD converter

Claims (5)

A magnetic safe driving support system comprising a signal magnetic field detecting means, a signal magnetic field generating means, and a signal magnetic field processing means, and having a derailment preventing function.
The signal magnetic field detection means is an ultra-sensitive high-speed magnetic sensor having a measurement sampling speed of 0.1 ms or less, a σ noise of 0.05 mG or less, and 16-bit (resolution 0.03 mG / bit) performance on both sides of the vehicle. Installed in the
The signal magnetic field generating means comprises magnetic white lines in which magnets are embedded at predetermined intervals on white lines of outer and center lines on the road,
The signal magnetic field processing means determines the signal magnetic field from the magnet of the magnetic white line from which the disturbance magnetic field has been removed from the magnetic field measurement values measured by the magnetic sensors on both sides of the vehicle. A magnetic safe driving support system comprising: an arithmetic unit for calculating the distance of In claim 1,
A magnetic safe driving support system, wherein the magnetic sensor comprises a GSR sensor based on an ultra-fast spin rotation effect (English notation: GHz Spin Rotation effect). In claim 2,
The GSR sensor has a GSR sensor element integrated with a magnetic flux collecting soft magnetic body. In any one of claims 1 to 3,
The magnet is a sheet-like magnet having a length of 50 cm or less, a width of 10 cm or less, and a thickness of 5 mm or less that is surface magnetized in the width direction, and is embedded in a white line at a pitch of 1M to 20M. Magnetic safe driving support system. In any one of claims 1 to 4,
The signal magnetic field processing means obtains the time passing through the sheet-like magnet aligned in the traveling direction of the road from the time differentiation of the magnetic field measurement values by the magnetic sensors on both sides of the vehicle, and measures the signal magnetic field at that time. The value is obtained by removing the influence of the disturbance magnetic field from the magnetic field measurement value, and from the signal magnetic field measurement value, the distance from the white line and the deviation from the lane center of the vehicle are calculated and the approach speed to the white line is calculated. A magnetic safe driving support system characterized in that the vehicle is guided to the center of the lane at the same time as the calculation and warning of the degree of risk of leaving a wheel.

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