JP2019082489A - vehicle - Google Patents

Abstract

To make an automated driving vehicle positively detect the existence of a surrounding vehicle, so as to urge the automated driving vehicle to automatically drive in consideration of the existence of the surrounding vehicle.SOLUTION: A communication device (10) includes: a reception part for receiving a radar wave; an amplifier (14) for amplifying the radar wave received by the reception part; and a transmission part for transmitting the radar wave amplified by the amplifier. Respective vehicles (20, 40, 60, 80, 100, 120, 130, 150) are equipped with the plurality of communication devices. The communication device is arranged behind each component at front and rear parts of the vehicles, which can transmit the radar wave, and transmits the radar wave to a range of height from a bumper to a roof of an automated four-wheel vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a communication device for transmitting a radar wave sent from an autonomous driving vehicle to cause the autonomous driving vehicle to detect the presence of a surrounding vehicle, and a vehicle including the communication device.

  2. Description of the Related Art Conventionally, there is known a driving support system for automatically driving a vehicle by detecting surrounding vehicles by radar waves. In a vehicle provided with a driving support system, a radar wave transmits a radar wave to a nearby vehicle, and the presence of the nearby vehicle is detected from the radar wave reflected by the nearby vehicle. As such a driving support system, one that monitors the level of a reflected wave from a surrounding vehicle is also known (see, for example, Patent Document 1). According to the level of the reflected wave, the driving support system of Patent Document 1 detects the presence of a two-wheeled vehicle having a narrow reflection area with respect to the radar wave in the front-rear direction of the vehicle and the sensitivity failure due to the dirt of the radar antenna.

Unexamined-Japanese-Patent No. 2006-250793

  By the way, at the time of bad weather, such as rain and fog, it is known that radar waves are absorbed or scattered in the atmosphere and the detection performance by the radar device is lowered. However, in the driving support system described in Patent Document 1, although the presence of a two-wheeled vehicle and the poor sensitivity of the radar antenna are distinguished and detected from the degree of the level decrease of the reflected wave, rain, fog, etc. Impact is not considered. Therefore, the radar wave sent from the radar device is greatly attenuated by rain, fog, etc., and there is a possibility that the presence of a surrounding vehicle is overlooked by the autonomous driving vehicle and the autonomous driving considering the presence of the surrounding vehicle is not performed. there were.

  The present invention has been made in view of such a point, and is basically applicable to all vehicles, but it is particularly provided with a communication device capable of favorably detecting the presence of a vehicle with respect to an autonomous driving vehicle, and this The purpose is to provide a new vehicle.

  A vehicle according to the present invention includes a communication device including a receiving unit for receiving a radar wave, an amplifier for amplifying the radar wave received by the receiving unit, and a transmitting unit for transmitting the radar wave amplified by the amplifier. A plurality of vehicles are disposed, wherein the communication devices are respectively disposed on the back side of the part that allows transmission of radar waves in the front and rear of the vehicle, and the communication devices are in the range from the bumper of the four-wheeled vehicle to the height of the roof To transmit the radar wave.

  According to the communication device of the present invention, by amplifying and sending back the radar wave transmitted from the autonomous driving vehicle, the autonomous driving vehicle can positively detect the vehicle in which the communication device is disposed.

It is an explanatory view of an automatic operation system concerning a comparative example and this embodiment. It is a schematic diagram of the communication apparatus which concerns on this Embodiment. It is a four-sided figure which shows the example of arrangement | positioning of the communication apparatus with respect to the wagon type four-wheeled vehicle which concerns on this Embodiment. It is a four-sided figure which shows the example of arrangement | positioning of the communication apparatus with respect to the sedan type four-wheeled vehicle which concerns on this Embodiment. It is a four-sided figure which shows the example of arrangement | positioning of the communication apparatus with respect to the truck type four-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the communication apparatus with respect to the scooter type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the communication apparatus with respect to the two-wheeled vehicle of the American type which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the communication apparatus with respect to the naked type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the communication apparatus with respect to the naked type two-wheeled vehicle which concerns on this Embodiment. It is a figure which shows the example of arrangement | positioning of the communication apparatus with respect to the super sports type two-wheeled vehicle which concerns on this Embodiment. It is explanatory drawing of detection operation of the surrounding vehicle at the time of the lane change by the automatically driven vehicle which concerns on this Embodiment.

  The automatic operation control will be described with reference to FIG. FIG. 1 is an explanatory view of an automatic driving system according to a comparative example and the present embodiment. FIGS. 1A and 1B show an example of an automatic driving system according to a comparative example, and FIG. 1C shows an example of the automatic driving system according to the present embodiment.

  As shown in FIGS. 1A and 1B, the automatic driving control is mainly carried out while traveling on the freeway, and a radar device 9 provided in the autonomous driving vehicle 1 is used to control the four-wheel vehicle 2, the two-wheel vehicle 3, etc. A radar wave is transmitted to the surrounding vehicles, and a reflected wave from the vehicle body of the surrounding vehicles is received by the radar device 9 to detect the presence of the surrounding vehicles. However, as shown in FIG. 1A, even in the case of a four-wheeled vehicle 2 where a nearby vehicle is relatively easy to detect, the radar wave directed to the four-wheeled vehicle 2 may also be There is a problem that the radar wave reflected by is also attenuated and the detection performance of the radar device 9 is degraded.

  Also, as shown in FIG. 1B, when the surrounding vehicle is a two-wheeled vehicle 3, the reflection area is narrow with respect to the radar wave from the front and rear direction of the vehicle, and the curved surface is large in the vehicle shape and reflected waves are easily reflected in multiple directions. Therefore, there is a possibility that the reflected wave can not reach the autonomous driving vehicle 1. As a radar wave, although a millimeter wave and a laser wave are used, while these radar waves are reflected by the metal part, they have a property that they are not reflected by transmitting through the resin part or the glass. Therefore, even if most of the radar waves can be reflected, the two-wheeled vehicle 3 has a narrow reflection area and the detection performance of the radar device 9 in the two-wheeled vehicle 3 which uses many resin parts such as scooters. Was falling.

  Further, for example, when the engine of the two-wheeled vehicle 3 is a substantially horizontal type engine, the reflection area for the radar wave from the longitudinal direction of the vehicle becomes particularly narrow. Furthermore, although the engine of the two-wheeled vehicle 3 is disposed between the front wheel and the rear wheel, the radar wave directed to the engine by the rubber tire and the radar wave reflected by the engine are also greatly attenuated. For this reason, in a two-wheeled vehicle having a substantially horizontal engine and a two-wheeled road sports type two-wheeled vehicle, the radar wave reflected by the engine is significantly attenuated, and the detection performance of the radar device 9 is further degraded. Furthermore, the frame of the two-wheeled vehicle 3 may use many pipe materials having a circular cross section, and in such pipe materials, it is difficult for the reflection direction of the radar wave to be directed in a specific direction.

  Therefore, the inventor of the present invention pays attention to the point that the peripheral vehicle on the receiver side of the radar wave needs to actively appeal for the existence of the own vehicle toward the autonomous driving vehicle 1 on the radar wave transmitter side. The present invention has been achieved. The gist of the present invention, as shown in FIG. 1C, is to provide the communication device 10 in the vehicle on the receiver side of the radar wave, and amplify and send back the radar wave transmitted from the autonomous driving vehicle 1 in the communication device 10. . As a result, even when the weather is bad or when the surrounding vehicle is a two-wheeled vehicle, it is possible to actively transmit the radar wave back to the autonomous driving vehicle 1 to promote the automatic driving in consideration of the presence of the surrounding vehicle.

  The communication apparatus will be described below with reference to FIG. FIG. 2 is a schematic view of the communication device according to the present embodiment. 2A shows a front view of the communication device, and FIG. 2B shows a side view of the communication device. The communication apparatus shown in FIG. 2 is an example and can be changed as appropriate. Moreover, in the communication apparatus according to the present embodiment, a configuration in which a millimeter wave or a laser wave is mainly applied as a radar wave will be described, but a radio wave usable as a radar wave may be applied.

  As shown in FIGS. 2A and 2B, the communication device 10 receives the radar wave transmitted from the autonomous driving vehicle 1 (see FIG. 1C) by the receiving antenna 13 and amplifies it by the amplifier 14 in the device case 11. The transmission antenna 15 is configured to transmit to the autonomous driving vehicle 1. The receiving antenna 13 and the transmitting antenna 15 are provided on the upper surface of the device case 11 and protected by a cover 12 that covers the upper side of the device case 11. The cover 12 is formed of a material such as glass or resin so as to transmit radar waves. The radar wave received by the receiving antenna 13 is output as an electrical signal to the amplifier 14 through a receiving circuit (receiving unit) in the device case 11.

  Electric power is taken into the amplifier 14 through the power supply plug 16 of the device case 11, and the electric power (a radar wave) is amplified to a predetermined level using the electric power in the amplifier 14. The amplified electric signal is output to the transmitting antenna 15 through the transmitting circuit (transmitting unit), and is transmitted from the transmitting antenna 15 as a radar wave. In addition, the time lag until sending the radar wave back after receiving and amplifying the radar wave is about 100 ns, and automatic driving is not affected even if the maximum speed of a two-wheeled vehicle or a four-wheeled vehicle is assumed. Further, the amplifier 14 may perform amplification so as to compensate for the attenuation amount of the radar wave, or may perform amplification so as to raise the level by a predetermined magnification.

  A bracket 17 is provided on the device case 11 for attachment to a vehicle, and the communication device 10 is fixed to the vehicle by screwing the attachment hole 18 of the bracket 17 to the vehicle. The communication devices 10 are respectively disposed on the front side and the rear side of the autonomous driving vehicle 1 on the front side and the rear side. The communication device 10 configured in this way is configured with only the minimum members for amplifying the radar wave sent from the autonomous driving vehicle 1 and sending it back to the autonomous driving vehicle 1. Therefore, the communication device 10 is miniaturized, and can be arranged at various positions in the vehicle.

  Hereinafter, an arrangement example of the communication device with respect to the vehicle will be described in detail. First, an arrangement example of communication devices in a four-wheeled vehicle will be described for each of the three body types. FIG. 3 is a four-sided view showing an example of arrangement of communication devices for a wagon-type four-wheeled vehicle according to the present embodiment. FIG. 4 is a four-sided view showing an example of arrangement of communication devices for a sedan type four-wheeled vehicle according to the present embodiment. FIG. 5 is a four-sided view showing an example of arrangement of communication devices for a truck-type four-wheeled vehicle according to the present embodiment. In FIG. 3 to FIG. 5, for convenience of explanation, candidates for the location of the communication device are indicated by circles.

  As shown in FIG. 3, in the wagon-type four-wheeled vehicle 20, the communication device 10 (see FIG. 2) is disposed so as to overlap the contour of the vehicle in front view and rear view. Specifically, on the front side of the four-wheeled vehicle 20, the central position 21a of the bonnet 21, the central position 22a of the front grille 22, and the lateral position 23a of the license plate 24 in the front bumper 23 are effective arrangement locations of the communication device 10. is there. When the communication device 10 is disposed at these placement locations, the radar waves transmitted from the front can be well received by the front side of the vehicle body. In the case where the communication device 10 is disposed in the bonnet 21, it is preferable that the communication device 10 be disposed so as not to become air resistance without impairing the design of the vehicle.

  Further, on the front side of the four-wheeled vehicle 20, the headlight 25 and the front bumper 23 are formed of a material that transmits radar waves, so the inside position 25a of the headlight 25 and the back side position 23b of the front bumper 23 also communicate with the communication device 10. Is an effective placement point for Since the communication device 10 is hidden by the headlights 25 and the front bumper 23, the design of the vehicle is not affected by the communication device 10. Also, the communication device 10 can be arranged at the peripheral position 26 a of the side mirror 26. As peripheral position 26a of side mirror 26, communication device 10 may be arranged, for example, in the front of the housing of side mirror 26, or in a housing.

  At the inner periphery of the front window 27, the peripheral position 28 a of the rearview mirror 28 and the upper surface position 29 a of the instrument panel 29 are effective arrangement points of the communication device 10. By arranging the communication device 10 in the vehicle, maintenance and inspection by the occupant can be facilitated. As the peripheral position 28a of the room mirror 28, for example, the communication device 10 may be disposed in front of the room mirror 28, or between the front window 27 and the room mirror 28. By arranging the communication device 10 so as to overlap the rearview mirror 28 in a front view, the communication device 10 does not get in the eyes of a passenger, and the design of the room is not affected by the communication device 10.

  On the rear side of the four-wheeled vehicle 20, the peripheral position 31a of the rear door 31 and the side position 32a of the number plate 33 in the rear bumper 32 are effective arrangement places of the communication device 10. When the communication device 10 is disposed at these placement locations, the radar waves transmitted from the rear can be favorably received by the rear side of the vehicle body. Further, on the rear side of the four-wheeled vehicle 20, the inside position 34a of the rear combination lamp 34 and the back side position 32b of the rear bumper 32 formed of a material that transmits the radar wave are also effective placement locations of the communication device 10. Since the communication device 10 is hidden by the rear combination lamp 34 and the rear bumper 32, the design of the vehicle is not affected by the communication device 10.

  At the inner periphery of the rear window 35, the peripheral position 36a of the high mount stop lamp 36 is an effective arrangement place of the communication device 10. As a result, the communication device 10 can be disposed in the vehicle, thereby facilitating maintenance and inspection by the occupant. As the peripheral position 36 a of the high mounted stop lamp 36, for example, the communication device 10 may be disposed inside the high mounted stop lamp 36 or between the rear window 35 and the high mounted stop lamp 36. By arranging the communication device 10 to overlap the high mount stop lamp 36 in front view, the communication device 10 does not get in the eyes of the occupant, and the design of the room is not affected by the communication device 10 .

  Moreover, although the four-wheeled vehicle 20 has many parts covered with the steel plate and the radar wave is reflected by the steel plate, it is difficult to arrange the communication apparatus 10 on the surface of a steel plate in aerodynamics by design. Therefore, when the communication device 10 is disposed on the surface of the steel plate, the top surface position 37 a of the roof 37 is an effective placement candidate of the communication device 10. By arranging the communication device 10 on the roof 37, the communication device 10 does not easily get in the way of the occupant, and the design and aerodynamics do not have a great influence on the vehicle.

  Although the structure which arrange | positions the communication apparatus 10 to the headlight 25, the rear combination lamp 34, the high mount stop lamp 36 grade | etc., Was illustrated, you may arrange | position with other lighting fixtures. Since the communication device 10 requires a power source, it is possible to shorten the wiring when arranged with the lighting devices. As described above, by arranging the communication device 10 at an appropriate arrangement place of the four-wheeled vehicle 20, the radar wave transmitted from the autonomous driving vehicle 1 is favorably received and amplified by the communication device 10, and then the autonomous driving vehicle It can be sent back to 1. Therefore, since the amplified radar wave is transmitted toward the autonomous driving vehicle 1, even if the radar wave is attenuated by the influence of fog or rain, the presence of the autonomous driving vehicle 1 is positively detected. It is possible to

  As shown in FIG. 4, the sedan-type four-wheeled vehicle 40 is added to each arrangement location of the communication device 10 in the wagon-type four-wheeled vehicle 20, and the arrangement location of the communication device 10 at the upper surface position 56 a of the trim 56 behind the seat. Is provided. That is, on the front side of the four-wheeled vehicle 40, the central position 41a of the bonnet 41, the central position 42a of the front grille 42, the central position 43a of the front bumper 43, the inner position 45a of the headlight 45, the back position 43b of the front bumper 43, the side The peripheral position 46a of the mirror 46, the peripheral position 47a of the rearview mirror 47, and the top surface position 48a of the instrument panel 48 are effective disposition points of the communication device 10. If the bonnet 41 is provided with an external air inlet for turbo, the communication device 10 may be disposed at the outdoor air inlet.

  On the rear side of the four-wheeled vehicle 40, the peripheral position 51a of the rear door 51, the lower position 52a of the number plate 53 in the rear bumper 52, the inner position 54a of the rear combination lamp 54, the peripheral position 55a of the high mount stop lamp 55, and the trim behind the seat The upper surface position 56 a of 56 is an effective arrangement place of the communication device 10. Furthermore, the top surface position 57 a of the roof 57 of the four-wheel vehicle 40 is also a valid placement candidate for the communication device 10. Also in the sedan type four-wheeled vehicle 40, the communication device 10 is disposed, so that it is possible to cause the autonomous driving vehicle 1 to positively detect the presence of the vehicle.

  As shown in FIG. 5, since the truck type four-wheeled vehicle 60 has the loading platform 72 on the rear side, the effective arrangement location of the communication device 10 is reduced compared to other body types. That is, in the four-wheeled vehicle 60, the central position 61a of the bonnet 61, the central position 62a of the front grille 62, the lateral position 63a of the license plate 64 in the front bumper 63, the inner position 65a of the headlamp 65, and the back position of the front bumper 63 63b, the peripheral position 66a of the side mirror 66, the peripheral position 67a of the rearview mirror 67, the upper surface position 68a of the instrument panel 68, and the upper surface position 69a of the roof 69 are effective locations for the communication device 10.

  Further, on the rear side of the cabin 71 of the four-wheeled vehicle 60, an intermediate position 71a between the driver's seat and the front passenger's seat is also an effective location of the communication device 10. Also in the truck-type four-wheeled vehicle 60, the communication device 10 is disposed, so that the autonomous driving vehicle 1 can actively detect the presence of a vehicle.

  As shown in FIGS. 3 to 5, in the four-wheeled vehicle 20, 40, 60, although the communication device 10 may be arranged at any of the above-mentioned arrangement locations of the communication device 10, the four-wheeled vehicle 20, 40 is Preferably, the communication device 10 is disposed at one place on each of the front side and the rear side of 60. Moreover, although the structure by which the communication apparatus 10 is arrange | positioned at the arrangement | positioning place mentioned above is preferable, it may be arrange | positioned so that at least one part of the communication apparatus 10 may overlap with the outline of a vehicle by front view and back view.

  Further, in the four-wheeled vehicle 20, 40, 60, the communication device 10 is disposed such that the radar wave transmitted from the communication device 10 does not pass through the human body. For this reason, the radar wave transmitted from the communication device 10 is not attenuated by moisture or the like of the human body and the radio wave level is not reduced. In addition, the communication device 10 transmits a radar wave from the bumper of the front and rear sides of the autonomous driving vehicle 1 (see FIG. 1) to the height range of the roof. In the autonomous driving vehicle 1, the radar device 9 (see FIG. 1) is generally disposed in the height range from the bumper to the roof, so that the autonomous driving vehicle 1 makes it easy to detect the presence of the vehicle.

  Subsequently, an arrangement example of communication devices in a two-wheeled vehicle will be described for each of the four types. FIG. 6 is a diagram showing an arrangement example of the communication device for the scooter type motorcycle according to the present embodiment. FIG. 7 is a view showing an arrangement example of the communication device for the American type two-wheeled vehicle according to the present embodiment. FIGS. 8 and 9 are diagrams showing an example of arrangement of communication devices for a naked type two-wheeled vehicle according to the present embodiment. FIG. 10 is a view showing an example of arrangement of communication devices for a super sports type two-wheeled vehicle according to the present embodiment. In FIGS. 6 to 10, for convenience of explanation, candidates for the location of the communication device are indicated by circles.

  As shown in FIG. 6, in the scooter type motorcycle 80, the communication device 10 is disposed in the range from the front end to the rear end of the vehicle body in the longitudinal direction of the vehicle and in the range inside the both ends of the steering wheel 81 in the vehicle width direction. When the communication device is disposed in this range, the handle 81 first contacts the road surface when the two-wheeled vehicle rolls over, thereby preventing the communication device 10 from being damaged by an impact at the time of rolling over. Further, in the two-wheeled vehicle 80, the communication device 10 is disposed above the lower ends of the front fender 82 and the rear fender 83. Therefore, mud and sand rolled up by the front wheel 84 and the rear wheel 85 hardly adhere to the communication device 10, and deterioration of the transmission and reception performance of the communication device 10 due to the mud and sand is prevented.

  Specifically, on the front side of the two-wheeled vehicle 80, the lower position 86a of the windshield 86, the front position 87a of the front cowl 87, the upper position 88a of the front leg shield 88, and the upper surface position 82a of the front fender 82 are effective for the communication device 10. It is an arrangement place. When the communication device 10 is disposed at these placement locations, the radar waves transmitted from the front can be well received by the front side of the vehicle body. As the lower position 86a of the windshield 86, for example, the communication device 10 may be disposed outside the windshield 86, or the communication device 10 may be disposed inside the windshield 86.

  Since the front cowl 87 and the front leg shield 88 are formed of a material that transmits radar waves, the communication device 10 may be disposed on the back of the front cowl 87 and the front leg shield 88. Further, on the front side of the two-wheeled vehicle 80, since the headlamp 91 and the position lamp 92 are also formed of resin or the like, the inward positions 91a and 92a of the headlamp 91 and the position lamp 92 are also effective locations of the communication device 10. Since the communication device 10 is hidden by the front cowl 87, the front leg shield 88, the headlamp 91, and the position lamp 92, the design of the vehicle is not affected by the communication device 10.

  On the rear side of the two-wheeled vehicle 80, the rear position 93a of the seat 93, the lower position 94a of the rear carrier 94, the rear position 95a of the rear cover 95, and the upper surface position 83a of the rear fender 83 are effective locations for the communication device 10. When the communication device 10 is disposed at these placement locations, radar waves transmitted from the rear can be efficiently received on the rear side of the vehicle body. In addition, since the rear cover 95 is formed of a material that transmits the radar wave, the communication device 10 may be disposed on the rear surface of the rear cover 95. The tail lamp 97 and the inner positions 97a and 98a of the rear combination lamp 98 are also effective locations for the communication device 10. By hiding the communication device 10 by the rear cover 95, the tail lamp 97, and the rear combination lamp 98, the design of the vehicle is not affected by the communication device 10.

  Although the configuration in which the communication device 10 is disposed inside the both ends of the steering wheel 81 in the vehicle width direction is illustrated, the communication device 10 may be disposed at the surface position 99a of the rearview mirror 99 outside the both ends of the steering wheel 81 . Since the arm of the rearview mirror 99 has flexibility, even if an external force is applied to the rearview mirror 99 from the road surface when the two-wheeled vehicle 80 turns over, the arm deforms and escapes the rearview mirror 99 to damage the communication device 10 Is prevented. Further, the communication device 10 may be disposed together with lamps other than the headlamp 91, the position lamp 92, the tail lamp 97, and the rear combination lamp 98 to shorten the wiring of the communication device 10.

  As described above, by arranging the communication device 10 at an appropriate position of the two-wheeled vehicle 80, the radar wave transmitted from the autonomous driving vehicle 1 (see FIG. 1) is favorably received and amplified by the communication device 10. It can be sent back to the autonomous driving vehicle 1. Therefore, even in the scooter type motorcycle 80 having a substantially horizontal type engine with a narrow reflection area, the amplified radar wave is transmitted to the autonomous driving vehicle 1, so It is possible to detect the existence positively. Further, since the communication device 10 is disposed above the front wheel 84 and the rear wheel 85, the radar waves are not attenuated by the tires of the front wheel 84 and the rear wheel 85.

  As shown in FIG. 7, the American type motorcycle 100, like the scooter type motorcycle 80, is a range from the front end to the rear end of the vehicle body in the vehicle longitudinal direction, and a range inside the both ends of the steering wheel 101 in the vehicle width direction. In the height direction, the communication device 10 is disposed in the upper range of the fender. Further, since the American type two-wheeled vehicle 100 is not provided with the front cowl, the effective location of the communication device 10 is smaller than that of the scooter-type two-wheeled vehicle 80. Specifically, on the front side of the two-wheeled vehicle 100, the lower position 102a of the headlamp 102, the upper surface position 103a of the front fender 103, the front position 104a of the fuel tank 104, and the front position 105a above the engine 105 are effective. It is an arrangement place.

  As the lower position 102 a of the headlamp 102, for example, the communication device 10 may be disposed between the pair of front forks 106. As the front position 104 a of the fuel tank 104, for example, the communication device 10 may be disposed on one of the left and right sides of the front of the fuel tank 104. The communication device 10 may be disposed, for example, on the top of the down tube 107 as the front position 105 a on the top of the engine 105. When the communication device 10 is disposed at these placement locations, the radar waves transmitted from the front can be well received by the front side of the vehicle body.

  On the rear side of the two-wheeled vehicle 100, the rear position 109a of the seat 109, the lower position 111a of the tail lamp 111, and the rear position 112a of the rear suspension 112 are effective locations of the communication device 10. When the communication device 10 is disposed at the rear position 112a of the cylindrical rear suspension 112, the outer diameter of the communication device 10 is made cylindrical to give consideration to the passenger's foot and to achieve a sense of unity in design. To be able to Further, outside the both ends of the handle 101, the communication device 10 may be disposed at the surface position 108a of the rearview mirror 108. As described above, also in the American type two-wheeled vehicle 100, by disposing the communication device 10, it is possible to make the autonomous driving vehicle 1 positively detect the presence of the vehicle.

  As shown in FIG. 8, the naked type two-wheeled vehicle 120 has a range from the front end to the rear end of the vehicle body in the longitudinal direction of the vehicle and a range inside the both ends of the steering wheel 121 in the vehicle width direction. In the height direction, the communication device 10 is disposed in the upper range of the fender. Further, since the two-wheeled vehicle 120 is not provided with the front cowl, the effective arrangement location of the communication device 10 is smaller than that of the scooter type two-wheeled vehicle 80. Specifically, on the front side of the two-wheeled vehicle 120, the upper position 122a of the headlamp 122, the lower position 122b of the headlamp 122, and the position 123a between the front forks 123 are effective disposition points of the communication device 10.

  On the rear side of the two-wheeled vehicle 120, the lower position 125a of the tail lamp 125, the surface position 126a of the rear fender 126, and the rear position 127a of the rear suspension 127 are effective locations of the communication device 10. When the communication device 10 is disposed at the rear position 127a of the cylindrical rear suspension 127, the outer diameter of the communication device 10 is made cylindrical to give consideration to the passenger's foot and to achieve a sense of unity in design. To be able to Further, outside the both ends of the handle 121, the communication device 10 may be disposed at the surface position 124a of the rearview mirror 124. As described above, also in the naked type two-wheeled vehicle 120, by disposing the communication device 10, it is possible to make the autonomous driving vehicle 1 positively detect the presence of the vehicle.

  As shown in FIG. 9, a naked type two-wheeled vehicle 130 with a half cowl 137 has a range from the front end to the rear end of the vehicle body in the longitudinal direction of the vehicle and both ends of the steering wheel 131 in the vehicle width direction. The communication device 10 is disposed in the inner range, and in the height direction, in the upper range of the fender. Specifically, on the front side of the two-wheeled vehicle 130, the upper position 132a of the headlamp 132, the upper surface position 133a of the front fender 133, and the front position 134a of the upper portion of the engine 134 are effective locations of the communication device 10.

  The communication device 10 may be disposed, for example, above the down tube 136 as a forward position 134 a above the engine 134. In this case, the communication device 10 is disposed between the half cowl 137 and the front fender 133 in the vertical direction and between the pair of front forks 138 in the vehicle width direction. Further, since the half cowl 137 is formed of a material that transmits the radar wave, the communication device 10 may be disposed on the back surface of the half cowl 137.

  On the rear side of the two-wheeled vehicle 130, the lower position 139a of the tail lamp 139 and the surface position 141a of the rear fender 141 are effective locations of the communication device 10. In addition, the communication device 10 may be disposed on the surface position 135 a of the rear view mirror 135 outside the both ends of the handle 131. As described above, also in the naked type two-wheeled vehicle 130 with the half cowl 137, by disposing the communication device 10, it is possible to positively detect the presence of the autonomous driving vehicle 1.

  As shown in FIG. 10, the super sports type two-wheeled vehicle 150, like other types of two-wheeled vehicles, is a range from the front end to the rear end of the vehicle body in the vehicle longitudinal direction and inside the both ends of the steering wheel 151 in the vehicle width direction. In the range and height direction, the communication device 10 is disposed in the upper range of the fender. Specifically, the inside position 152 a of the headlamp 152 and the front position 153 a of the radiator 153 are effective arrangement places of the communication device 10. The communication device 10 is disposed between the front cowl 155 and the front fender 156 so as to be positioned, for example, above the tire as the front position 153 a of the radiator 153.

  On the rear side of the two-wheeled vehicle 150, the rear position 157a of the rear frame cover 157 is an effective location of the communication device 10. Further, outside the both ends of the handle 151, the communication device 10 may be disposed at the surface position 154a of the back mirror 154. As described above, also in the super sports type two-wheeled vehicle 150, by disposing the communication device 10, it is possible to positively detect the presence of the autonomous driving vehicle 1. Further, although the configuration in which the communication device 10 is disposed on the two-wheeled vehicle 150 has been described, the communication device 10 may be provided at a predetermined position 162 a of the helmet 162 of the driver 161. As a result, it is possible to favorably transmit the radar wave back to the autonomous driving vehicle 1 without arranging the communication device 10 on the two-wheeled vehicle 150.

  Since the helmet 162 is formed of a material that transmits radar waves such as resin, the communication device 10 may be disposed inside the helmet 162. In addition, the communication device 10 may be disposed in the suit of the driver 161.

  As shown in FIGS. 6 to 10, in the two-wheeled vehicle 80, 100, 120, 130, 150, the communication device 10 may be disposed at any position of the above-described communication device 10; Preferably, the communication device 10 is disposed at one place on each of the front side and the rear side of 120, 130, and 150, respectively. The communication device 10 is preferably arranged at the above-mentioned arrangement location, but may be arranged so that at least a part of the communication device 10 is in contact with the contour of the vehicle in front view and rear view. Further, the communication device 10 is preferably disposed on a vehicle width center line extending in the front-rear direction of the two-wheeled vehicle 80, 100, 120, 130, 150. Since the communication device 10 is positioned at the center in the vehicle width direction, the weight balance of the vehicle body is made to approach equally in the width direction, and the steering stability is improved.

  Further, the communication device 10 is preferably disposed at a fixed place that does not move with the steering operation. By arranging the communication device 10 at the fixed location, the reception performance of the communication device 10 does not change due to the steering operation. The radar wave does not pass through the human body at each location of the communication device 10 in the two-wheeled vehicle 80, 100, 120, 130, 150, and aims at the height range of the roof from the bumper of the autonomous driving vehicle 1 (see FIG. 1). Preferably, the communication device 10 is arranged to transmit a radar wave.

  With reference to FIG. 11, the influence of the lane change of the automatically driven vehicle on the nearby vehicle provided with the communication device according to the present embodiment will be described. FIG. 11 is an explanatory diagram of an automatic driving operation at the time of lane change by the autonomous driving vehicle. The detection operation shown in FIG. 11 is only an example at the time of lane change, and can be applied to detection of a surrounding vehicle in another phase. 11A shows an example in which no communication device is provided in a two-wheeled vehicle, and FIG. 11B shows an example in which a communication device is provided in a two-wheeled vehicle.

  In the comparative example shown in the upper lane of FIG. 11A, the automatically driven vehicle 1 travels while taking a predetermined inter-vehicle distance between the front vehicle 4 and the rear vehicle 5 in the traveling lane, and several motorcycles 3 travel the passing lane doing. The autonomous driving vehicle 1 receives the radar waves transmitted from the front and rear radar devices 9 of the vehicle body and reflected from the front vehicle 4 and the rear vehicle 5, and detects the front vehicle 4 and the rear vehicle 5 while driving automatically. Have been implemented. At this time, since the communication device 10 is not disposed in the two-wheeled vehicle 3 and the two-wheeled vehicle 3 is traveling in the overtaking lane, it is difficult to detect the presence of the two-wheeled vehicle 3 by the radar wave.

  Then, since the distance between the automatically driven vehicle 1 and the forward vehicle 4 is reduced, as shown by the arrow, when the automatically driven vehicle 1 changes lanes to the overtaking lane, it is between the two-wheeled vehicle 3 lined forward and backward The autonomous driving vehicle 1 enters. As described above, the presence of the two-wheeled vehicle 3 traveling in the passing lane is overlooked in the automatically driven vehicle 1 traveling in the traveling lane, and there is a possibility that the autonomously driving vehicle 1 may implement an unreasonable lane change. Furthermore, since the communication device 10 is not provided on the front and rear two-wheeled vehicles 3 of the automatically driven vehicle 1 after the lane change, if the automatically-driven vehicle 1 continues to travel between the two-wheeled vehicles 3 difficult to detect by radar waves. It does not.

  On the other hand, in the present embodiment shown in the upper lane of FIG. 11B, the communication device 10 is disposed in the two-wheeled vehicle 3 while traveling in the passing lane. For this reason, the radar wave from the radar device 9 of the autonomous driving vehicle 1 is received by the communication device 10 of the two-wheeled vehicle 3, and after the radar wave is amplified, the radar wave is transmitted toward the autonomous driving vehicle 1. Since the amplified radar wave is transmitted from the two-wheeled vehicle 3 to the automatically driven vehicle 1, the presence of the two-wheeled vehicle 3 is easily detected by the automatically-driven vehicle 1. For this reason, even if the distance between the automatically driven vehicle 1 and the forward vehicle 4 is reduced, the presence of the two-wheeled vehicle 3 is detected by the automatically driven vehicle 1 and an unreasonable lane change is not implemented.

  Therefore, in the case of the autonomous driving vehicle 1, after the above-mentioned impossible lane change is prohibited and a sufficient inter-vehicle distance can be secured between the autonomous driving vehicle 1 and the two-wheeled vehicle 3 after the lane change, A lane change as shown is implemented. Further, since the communication device 10 is provided on the front and rear two-wheeled vehicles 3 of the automatically driven vehicle 1 after the lane change, the safe driving is allowed to continue while making the automatically-driven vehicle 1 detect the presence of the two-wheeled vehicle 3 before and after. be able to.

  Next, in the comparative example shown in the lower lane of FIG. 11A, the automatically driven vehicle 1 travels while taking a predetermined inter-vehicle distance between the front vehicle 4 and the rear vehicle 5 in the travel lane. A two-wheeled vehicle 3 is traveling behind the vehicle 5. At this time, since the communication device 10 is not disposed in the two-wheeled vehicle 3 and the two-wheeled vehicle 3 is hidden from the automatically driven vehicle 1 by the shadows of the forward vehicle 4 and the backward vehicle 5 The wave makes it difficult to detect the presence of the motorcycle 3.

  Then, since the distance between the automatically driven vehicle 1 and the forward vehicle 4 is reduced, as shown by the arrow, when the automatically driven vehicle 1 changes lanes to the overtaking lane, the two-wheeled vehicle 3 behind also overtakes The self-driving vehicle 1 prevents the overtaking of the two-wheeled vehicle 3. As described above, the existence of the two-wheeled vehicle 3 hidden behind the shadow of the rear vehicle 5 is overlooked, and the existence of the two-wheeled vehicle 3 may be detected by the autonomous driving vehicle 1 and an unreasonable lane change may be implemented.

  On the other hand, in the present embodiment shown in the lower lane of FIG. 11B, the communication device 10 is disposed in the two-wheeled vehicle 3 behind the front vehicle 4 and the rear vehicle 5. For this reason, the radar wave from the radar device 9 of the autonomous driving vehicle 1 is received by the communication device 10 of the two-wheeled vehicle 3, and after the radar wave is amplified, the radar wave is transmitted toward the autonomous driving vehicle 1. Since the amplified radar wave is transmitted from the two-wheeled vehicle 3 to the automatically driven vehicle 1, the presence of the two-wheeled vehicle 3 is detected by the automatically driven vehicle 1. For this reason, overtaking of the two-wheeled vehicle 3 hidden in the shadow of the rear vehicle 5 is detected by the autonomous driving vehicle 1, and an unreasonable lane change is not implemented.

  Therefore, in the case of the autonomous driving vehicle 1, the above-described unreasonable lane change is prohibited, and the lane change as shown by the arrow is carried out after the passing of the two-wheeled vehicle 3 is finished. Further, in the present embodiment, since one communication device 10 is disposed on the front side and the rear side of the vehicle, radar waves are transmitted to the autonomous driving vehicle 1 from one communication device 10 of one vehicle. Therefore, when the self-oscillation phenomenon of the radar wave is detected in the autonomous driving vehicle 1, the autonomous driving vehicle 1 can detect the existence of a group of a plurality of vehicles.

  As described above, according to the present embodiment, the radar wave transmitted from the autonomous driving vehicle 1 is received by the communication device 10 of the surrounding vehicle, and after the radar wave is amplified by the communication device 10, the autonomous driving vehicle 1 is used. Will be sent back. Therefore, even if the radar wave is attenuated by the influence of fog or rain, the radar wave is amplified by the communication device 10 and then transmitted toward the autonomous driving vehicle 1. Can actively detect the presence of a surrounding vehicle in which the Further, by arranging the communication device 10 on the two-wheeled vehicle 3 which is difficult to detect, the two-wheeled vehicle 3 can be favorably detected by the autonomous driving vehicle. In this manner, the peripheral vehicle on the receiver side of the radar wave actively appeals for the presence of the vehicle to the autonomous vehicle 1 on the transmitter side of the radar wave, and the autonomous vehicle 1 It can encourage automatic operation that takes into account the existence.

  The present invention is not limited to the above embodiment, and can be implemented with various modifications. In the above embodiment, the size, shape, and the like illustrated in the attached drawings are not limited thereto, and can be appropriately changed within the range in which the effects of the present invention are exhibited. In addition, without departing from the scope of the object of the present invention, it is possible to appropriately change and implement.

  For example, in the above-described embodiment, the configuration in which the communication device 10 is disposed in a four-wheeled vehicle and a two-wheeled vehicle as a vehicle has been described, but the present invention is not limited to this configuration. The communication device 10 may be disposed in a front wheel or a rear wheel of a two-wheeled tricycle. Also, the communication device 10 may be disposed on a bicycle that does not have a prime mover.

  Further, in the above-described embodiment, the data wave is transmitted and received by the reception antenna 13 and the transmission antenna 15, but the present invention is not limited to this structure. Transmission and reception may be switched by one antenna and used as a reception antenna and a transmission antenna.

  In the above-described embodiment, the communication device 10 is screwed to the vehicle via the bracket 17. However, the present invention is not limited to this configuration. The attachment configuration of the communication device 10 can be appropriately changed according to the attachment point of the vehicle.

  Further, in the above-described embodiment, when the time lag for receiving and amplifying the radar wave and sending it back becomes large, the processing time is sent back as data together with the radar wave to the autonomous driving vehicle 1 to ensure real time property. It is also possible.

  Moreover, although it was set as the structure by which the communication apparatus 10 is arrange | positioned one each at the front side and back side of a vehicle in above-described embodiment, it is not limited to this structure. A plurality of communication devices 10 may be arranged on the front side and the rear side of the vehicle.

  Although the present invention has been described focusing on an autonomous driving vehicle, the present invention is effective not only for autonomous driving vehicles but also for ordinary vehicles driven by humans. In this case, since the other vehicle information to the driver is more accurately transmitted, it becomes easier for the driver to drive the vehicle, as in the case of the autonomous driving vehicle.

  As described above, the present invention has the effect of enabling the autonomous driving vehicle to detect the presence of the vehicle well, and is particularly useful for a motorcycle that is difficult to detect by radar waves.

DESCRIPTION OF SYMBOLS 1 autonomous driving vehicle 2 four-wheeled vehicle 3 two-wheeled vehicle 9 radar apparatus 10 communication apparatus 11 apparatus case 13 receiving antenna 14 amplifier 15 transmitting antenna 20 wagon type four-wheel vehicle 23 front bumper
27 Front window 32 Rear bumper (bumper)
35 Rear window 37 Roof 40 Sedan-type four-wheeled vehicle 43 Front bumper (bumper)
52 rear bumper (bumper)
57 Roof 60 Track Type Four Wheeler 63 Front Bumper
69 roof 80 scooter type motorcycle 82 front fender (fender)
83 Rear fender (fender)
100 American type motorcycle 103 Front fender (fender)
120 Naked-type motorcycle 126 Rear fender 130 Naikit-type motorcycle 133 Front fender (fender)
141 Rear fender (fender)
150 Super Sport type motorcycle 156 Front fender (fender)

Claims (4)

A vehicle is provided with a plurality of communication devices including a receiving unit for receiving a radar wave, an amplifier for amplifying the radar wave received by the receiving unit, and a transmitting unit for transmitting the radar wave amplified by the amplifier. ,
The communication devices are respectively disposed on the back side of a part that allows transmission of radar waves in the front and rear of the vehicle, and the communication devices transmit the radar waves aiming at the height range of the roof to the roof of the four-wheeled vehicle. A vehicle characterized by   The communication device at the front of the vehicle may be disposed together with the headlight or position lamp, or may be disposed behind the front bumper or front grill, or may be disposed behind the windshield or front cowl or front leg shield. Vehicles described in.   The vehicle according to claim 1, wherein the communication device at the rear of the vehicle is arranged with a rear combination lamp or a tail lamp or a high mount stop lamp, or arranged at the back of a rear bumper or a rear cover.   The vehicle according to any one of claims 1 to 3, wherein the communication device sends back together with the radar wave the processing time until the radar wave is sent back after receiving and amplifying the radar wave.

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