JP2020144886A - vehicle - Google Patents

Abstract

To provide a highly safe vehicle.SOLUTION: A vehicle 1 comprises: a transceiver 3 which is a danger information acquisition unit for acquiring position information of danger regarding a road; a navigation system 5 which is an own vehicle position information acquisition unit for acquiring position information of an own vehicle; the navigation system 5; a loudspeaker 7; an ABS 11; an HUD 13; an antislipping agent ejection system 21; an automatic brake system 23; and a control part 25 which are a danger avoidance processing execution unit for executing danger avoidance processing when the position information of the danger and the position information of the own vehicle are in predetermined position relation.SELECTED DRAWING: Figure 2

Description

Cross-reference of related applications

This international application claims priority based on Japanese Patent Application No. 2013-62418 filed with the Japan Patent Office on March 25, 2013, and Japanese Patent Application No. 2013-62418. The entire contents will be incorporated into this international application.

The present invention relates to a vehicle.

Conventionally, there is known a technique of detecting a danger such as an obstacle existing in front of a vehicle by using a camera or radar mounted on the vehicle and executing a process for avoiding the danger (see Patent Document 1). ..

JP-A-11-209060

However, with the conventional technique, it is difficult to sufficiently improve the safety of the vehicle because the types of dangers that can be detected and the range of dangers that can be detected are limited. In one aspect of the present invention, it is desirable to provide a vehicle having excellent safety.

The vehicle of the present invention includes a danger information acquisition unit that acquires dangerous position information about a road, an own vehicle position information acquisition unit that acquires the position information of the own vehicle, the dangerous position information, and the position information of the own vehicle. Is characterized in that it includes a danger avoidance processing execution unit that executes danger avoidance processing when is in a predetermined positional relationship.

The vehicle of the present invention can acquire the danger position information regarding the road and execute the danger avoidance process based on the positional relationship between the danger position information and the position information of the own vehicle. Therefore, the safety of the vehicle is high.

The vehicle of the present invention can acquire danger position information from, for example, a danger information output unit provided on the infrastructure side of a road. In this case, it is possible to acquire the position information of the danger that exists far away from the vehicle.

Examples of the danger related to the road include freezing of the road, snow cover on the road, and collapse of structures on the road.

It is explanatory drawing which shows the structure of the vehicle 1 and the information distribution system 101. It is a block diagram which shows the structure of the vehicle 1. It is explanatory drawing which shows the structure of the anti-slip agent injection system 21. It is a block diagram which shows the structure of the base station 105. It is a block diagram which shows the structure of the 1st information acquisition apparatus 107. It is a block diagram which shows the structure of the 2nd information acquisition apparatus 109. It is explanatory drawing which shows the structure and operation of a camera 139. It is explanatory drawing which shows the structure and operation of the sound wave output machine 143 and the sound wave sensor 145. It is explanatory drawing which shows the structure and operation of an optical sensor 147. It is explanatory drawing which shows the structure and operation of the conductivity sensor 149. It is a flowchart which shows the process which the control center 103 accumulates the information of danger about a road. It is explanatory drawing which shows the danger information database. It is a flowchart which shows the process which a vehicle 1 executes. FIG. 14A is an explanatory view showing a landscape looking forward through the windshield from the viewpoint of the driver of the vehicle 1 in a state where there is snow on the road, and FIG. 14B is an image of things on the road in the landscape shown in FIG. 14A. It is explanatory drawing which shows the state which superposed and displayed by HUD13. It is explanatory drawing which shows the traveling route information database. It is a flowchart which shows the process which the control center 103 executes. It is a flowchart which shows the process which a vehicle 1 executes. It is a block diagram which shows the structure of the vehicle 1. It is a perspective view which shows the structure of the vehicle 1. It is a flowchart which shows the process which a vehicle 1 executes. It is a flowchart which shows the process which a vehicle 1 executes. It is a block diagram which shows the structure of the vehicle 1. It is a perspective view which shows the structure of the vehicle 1. It is a flowchart which shows the process which a vehicle 1 executes.

An embodiment of the present invention will be described with reference to the drawings.
<First Embodiment>
1. 1. Configuration of Vehicle 1 The configuration of vehicle 1 will be described with reference to FIGS. 1 to 3. The vehicle 1 is a moving body capable of traveling on the road 201. The vehicle 1 can receive various information distributed by the information distribution system 101 described later. Further, the vehicle 1 can transmit various information acquired by the vehicle 1 to the information distribution system 101.

As shown in FIG. 2, the vehicle 1 includes a transmitter / receiver 3, a navigation system 5, a speaker 7, a slip detection system 9, an ABS (anti-lock braking system) 11, a HUD (head-up display) 13, a camera 15, and an infrared camera 17. , A radar 19, an in-vehicle camera 20, an anti-slip agent injection system 21, an automatic braking system 23, and a control unit 25.

The transmitter / receiver 3 transmits / receives information to / from the information distribution system 101 by wireless communication. The navigation system 5 can acquire the position information of the vehicle 1 by GPS, and can set a planned travel route to the destination specified by the driver of the vehicle 1. Further, the navigation system 5 has a function of connecting to the Internet line 104 to send and receive information. The speaker 7 is provided in the vehicle interior of the vehicle 1 and can output sound.

The slip detection system 9 detects the slip of the vehicle 1 by the following principle. The slip detection system 9 acquires the vehicle speed of the vehicle 1 and the number of rotations of the wheels at any time. Then, the theoretical vehicle speed when it is assumed that slip has not occurred, which is calculated from the number of rotations of the wheels, is compared with the actual vehicle speed, and when the difference between the two is larger than a predetermined threshold value, slip occurs. Judge that you are doing. The vehicle speed of the vehicle 1 can be obtained from, for example, the amount of change in the position of the vehicle 1 per unit time.

The ABS 11 is a well-known system that operates when a predetermined condition is satisfied and prevents the wheels (tires) from locking by intermittently reducing the brake pressure of the vehicle 1.
The HUD 13 is a well-known image display system capable of displaying an image on the windshield of the vehicle 1. That is, the HUD 13 projects the light expressing the image onto the windshield of the vehicle 1, and the light is reflected by the windshield to reach the driver's viewpoint. As a result, from the driver's point of view, the image appears to be displayed on the windshield.

The camera 15 is provided at the front end of the vehicle 1 and is a camera capable of photographing the road surface in front of the vehicle 1 and directly below the vehicle 1. The camera 15 captures an image based on light in the visible light region. The infrared camera 17 is provided at the front end of the vehicle 1 and is a camera capable of capturing infrared images of the road surface in front of the vehicle 1 and directly below the vehicle 1.

The radar 19 is provided at the front end of the vehicle 1, outputs a radar wave in the millimeter wave band in the forward direction of the vehicle 1, and receives the reflected wave reflected by the radar wave due to an obstacle or the like. Then, the distance from the vehicle 1 to the obstacle is calculated based on the time difference from the output time of the radar wave to the reception time of the reflected wave. Further, the direction of the obstacle as seen from the vehicle 1 is determined based on the direction in which the reflected wave arrives.

The in-vehicle camera 20 is attached to the interior of the vehicle 1 and photographs the front of the vehicle 1 through the windshield. The vehicle 1 recognizes the type of things in front of the vehicle 1 (for example, a preceding vehicle, a traffic light, a pedestrian, etc.) reflected in the image captured by the in-vehicle camera 20 by image recognition. Then, it is determined how clear the thing reflected in the image is, and based on the determination result, the degree of dirt on the windshield is determined. When the degree of dirtiness is equal to or higher than a predetermined threshold value, the vehicle 1 instructs the driver to take safety measures such as deceleration by the voice of the speaker 7 or the display screen of the navigation system 5.

As shown in FIG. 3, the non-slip agent injection system 21 includes a tank 31, a pipe 33, and a control valve 35. The tank 31 is a closed pressure-resistant container made of metal, and is filled with a liquid anti-slip agent 39 and high-pressure nitrogen 41. The non-slip agent 39 is obtained by suspending fine particles such as metal, sand, and resin in a dispersion medium (for example, water, alcohol, etc.).

One end 33a of the pipe 33 is inside the tank 31, and the opposite end 33b faces the tire 43 of the vehicle 1. The opposite end 33b has a nozzle shape. The control valve 35 is provided at an intermediate position of the pipe 33, and opens and closes the pipe 33 in response to a command from the control unit 25.

When the control valve 35 is closed, the anti-slip agent 39 does not flow in the pipe 33 and maintains the state of being held in the tank 31. On the other hand, when the control valve 35 is opened, the anti-slip agent 39 is pushed out into the pipe 33 by the high-pressure nitrogen 41, ejected from the end portion 33b, and adheres to the surface of the tire 43. The tire 43 having the anti-slip agent 39 adhered to the surface becomes less slippery on a frozen road surface or snow.

The autobrake system 23 activates the brakes of the vehicle 1 (without the driver's braking operation). The control unit 25 is a well-known computer that controls each of the above configurations, and includes a CPU, ROM, RAM, and the like. The vehicle 1 has other configurations similar to those of a normal vehicle, but the description thereof will be omitted.

Further, the vehicle 1 can switch the mode between a plurality of control modes (first mode, second mode, third mode, ...). The th (n + 1) mode is a mode in which slipping is less likely to occur on a frozen road surface than the nth mode (n = 1, 2, 3, ...).

The difference in slip resistance between the modes is realized by the operating conditions of the ABS 11 and the restriction processing for sudden acceleration and sudden steering. That is, in the non-slip mode, the ABS11 is easier to operate than in the slip-prone mode, acceleration is limited even if the driver depresses the accelerator by a predetermined amount, and steering of the front wheels is performed even if the driver rotates the steering wheel by a predetermined amount. The corners are limited.

The vehicle 1 is initially in the first mode, and each time the slip detection system 9 detects a slip, the vehicle 1 sequentially shifts to the second, third, fourth ... Modes. As a result, the slip of the vehicle 1 on the frozen road surface can be reduced. Further, when the state in which the slip is not detected by the slip detection system 9 continues for a predetermined time, the mode returns to the first mode.

The transmitter / receiver 3 is an embodiment of the danger information acquisition unit. The navigation system 5 is an embodiment of the own vehicle position information acquisition unit. The navigation system 5, the speaker 7, the ABS 11, the HUD 13, the anti-slip agent injection system 21, the automatic braking system 23, and the control unit 25 are embodiments of the danger avoidance processing execution unit.

2. 2. Configuration of Information Distribution System 101 The configuration of the information distribution system 101 will be described with reference to FIGS. 1, 4 to 11. The information distribution system 101 is a kind of infrastructure related to roads, and as shown in FIG. 1, includes a control center 103, a base station 105, a first information acquisition device 107, and a second information acquisition device 109. The control center 103 and other configurations are connected by a wired communication line 110.

The control center 103 includes a control unit 111, a storage device 113, and a communication interface 115. The control unit 111 is a well-known computer including a CPU, ROM, RAM, and the like, and controls each configuration of the control center 103. The storage device 113 is composed of an HDD (hard disk drive), and can write, save, and read various information. The communication interface 115 communicates with the base station 105, the first information acquisition device 107, and the second information acquisition device 109.

Further, the control center 103 is connected to the Internet line 104. The control center 103 can communicate with the mobile terminal 106 and the navigation system 5 of the vehicle 1 via the Internet line 104. The function of the control center 103 may be realized by a cloud computer.

A plurality of base stations 105 are provided along the road 201 at predetermined distances. As shown in FIG. 4, each base station 105 includes a control unit 117, a communication interface 119, and a transmitter / receiver 121. The control unit 117 is a well-known computer including a CPU, ROM, RAM, and the like, and controls each configuration of the base station 105. The communication interface 119 communicates with the control center 103. The transmitter / receiver 121 transmits / receives information to / from the transmitter / receiver 3 of the vehicle 1 by wireless communication. The base station 105 is an embodiment of the danger information output unit.

A plurality of first information acquisition devices 107 are provided along the road 201 at predetermined distances. As shown in FIG. 5, each first information acquisition device 107 includes a control unit 123, a communication interface 125, a camera 127, an infrared camera 129, and a radar 131. The control unit 123 is a well-known computer including a CPU, ROM, RAM, and the like, and controls each configuration of the first information acquisition device 107. The communication interface 125 communicates with the control center 103.

The camera 127 photographs the road surface of the road 201. The infrared camera 129 captures an infrared image of the road surface of the road 201. The radar 131 outputs a millimeter-wave band radar wave toward the road 201, and receives the reflected wave reflected by the radar wave.

The second information acquisition device 109 is provided in the vicinity of the tunnel 203 through which the road 201 passes. As shown in FIG. 6, the second information acquisition device 109 includes a control unit 133, a communication interface 135, a vibration sensor 137, a camera 139, a sound wave output device 143, a sound wave sensor 145, an optical sensor 147, and a conductivity sensor 149. Be prepared.

The control unit 133 is a well-known computer including a CPU, a ROM, a RAM, and the like, and controls each configuration of the second information acquisition device 109. The communication interface 135 communicates with the control center 103.

The vibration sensor 137 is embedded in the ceiling or side wall of the tunnel 203 and detects the vibration of the tunnel 203. If there is vibration accompanying or precursory to the collapse or deformation of the tunnel 203, it can be detected by the vibration sensor 137.

As shown in FIG. 7, the camera 139 is attached to one end of the ceiling 203A in the tunnel 203, and can photograph the inside of the tunnel 203. A plurality of rods 205 are attached to the ceiling 203A at regular intervals. The rod 205 is about the size of a toothpick, and the portion other than the lower end 205A is made of soft resin. A metallic reflector that easily reflects light is attached to the lower end 205A.

If there is no abnormality such as collapse or deformation in the tunnel 203, the lower ends 205A of the plurality of rods 205 are regularly arranged (for example, arranged at equal intervals on a straight line) in the image taken by the camera 139.

On the other hand, if a part or all of the rod 205 is displaced or the axial direction of the rod 205 is changed due to the collapse or deformation of the tunnel 203, the lower ends 205A of the plurality of rods 205 are shown in the image taken by the camera 139. Are arranged irregularly. Therefore, the presence or absence of collapse, deformation, etc. of the tunnel 203 can be determined from the state of the arrangement of the plurality of lower ends 205A in the image captured by the camera 139.

As shown in FIG. 8, the sound wave output device 143 and the sound wave sensor 145 are both mounted on the ceiling 203A of the tunnel 203. The sound wave output device 143 outputs ultrasonic waves toward the ceiling 203A. The sound wave sensor 145 receives the reflected wave reflected by the ceiling 203A. If there is an abnormal part such as a crack or a cavity in the vicinity of the position where the sound wave output device 143 is exposed to ultrasonic waves, the pattern of the reflected wave peculiar to the abnormal part is detected by the sound wave sensor 145. Therefore, the sound wave output device 143 and the sound wave sensor 145 can be used to inspect the presence or absence of an abnormality in the tunnel 203.

The sound wave output device 143 and the sound wave sensor 145 can be moved along the surface of the ceiling 203A while maintaining a constant positional relationship with each other by a slide mechanism (not shown), and as described above, there is an abnormality at the moving destination. Can be inspected. Therefore, the sound wave output device 143 and the sound wave sensor 145 can detect a wide range of abnormalities in the tunnel 203.

As shown in FIG. 9, the optical sensor 147 is one end of the tunnel 203 and is provided near the road surface. A laser emitting device 207 is provided near the opposite end of the tunnel 203, and a reflection mirror 209 is provided on the ceiling 203A near the center of the tunnel 203.

If there is no abnormality such as collapse or deformation in the tunnel 203, the laser beam emitted from the laser emitting device 207 is reflected by the reflection mirror 209 and detected by the optical sensor 147. On the other hand, if any one of the laser emitting device 207, the reflection mirror 209, and the optical sensor 147 is displaced or changed in direction due to the collapse or deformation of the tunnel 203, the laser beam does not pass through the optical sensor 147. , Will not be detected. Therefore, it is possible to determine whether or not the tunnel 203 has collapsed or deformed depending on whether or not the laser beam can be detected by the optical sensor 147. It should be noted that the reflection mirrors 209 may be provided at a plurality of locations, and the laser beam sequentially reflected by the plurality of reflection mirrors 209 may be detected by the optical sensor 147.

As shown in FIG. 10, the conductivity sensor 149 is embedded inside the ceiling 203A in the tunnel 203 together with the pair of electrodes 211 and 213. The pair of electrodes 211 and 213 are separated from each other, and the conductivity sensor 149 is electrically conductive with each of the pair of electrodes 211 and 213.

By the way, the ceiling 203A and the side wall of the tunnel 203 are formed of a material in which conductive carbon fibers are kneaded together with mortar and aggregate, and have a constant conductivity between the electrodes 211 and 213. The conductivity sensor 149 detects and outputs the conductivity between the electrodes 211 and 213.

If a crack or a cavity is formed in the portion between the electrodes 211 and 213 in the ceiling 203A, the conductivity between the electrodes 211 and 213 changes. Therefore, cracks and cavities in the ceiling 203A can be detected based on the conductivity output by the conductivity sensor 149.

Further, the conductivity sensor 149 may detect the conductivity of the aluminum foil attached to the surface of the bolt driven into the tunnel 203. When the aluminum foil is torn due to the collapse of the tunnel 203 or the like, the conductivity changes, so that the collapse or the like can be detected from the change in the conductivity.

The second information acquisition device 109 may be provided in the vicinity of a bridge (including a bridge on an expressway). In this case, a vibration sensor 137, a camera 139, a sound wave output device 143, a sound wave sensor 145, an optical sensor 147, and a conductivity sensor 149 are attached to the bridge, and the collapse, deformation, and vibration of the bridge are detected by these sensors. Can be done.

3. 3. Processing executed by the vehicle 1 and the information distribution system 101 (1) Processing in which the first information acquisition device 107 and the second information acquisition device 109 detect dangers related to the road The first information acquisition device 107 is performed every predetermined time. , Detect road hazards as follows:

Road surface freezing and snow cover: A white line that captures the road surface with a camera 127 or an infrared camera 129 and has a pattern peculiar to road surface freeze and snow cover (for example, a part having higher brightness and reflectance than a normal road surface). It is determined by image recognition whether or not a part of the snow is obscured, there is a vehicle presumed to be slipping while driving, a pedestrian who is slipping, etc.). If a peculiar pattern appears, the danger of freezing of the road surface and snow accumulation is detected.

Abnormal behavior vehicle: A video on the road is taken by camera 127 or infrared camera 129, and abnormal behavior (for example, protruding into the oncoming lane, meandering, greatly exceeding the speed limit, opposite to the original driving direction on the road) Determine if there is a vehicle running in the direction (reverse running, etc.). In addition, the radar 131 determines the presence or absence of a vehicle that behaves abnormally. If there is a vehicle that behaves abnormally, the danger of the vehicle that behaves abnormally is detected.

Objects on the road (eg, dead animals, etc.): Anomalous behavior (eg, at a given point on the road) to avoid objects on the road by shooting a video on the road with camera 127 or infrared camera 129. Determine if there is a vehicle that makes a detour, slows down in front of a predetermined point, moves to one side of the lane in front of a predetermined point, etc.). In addition, the radar 131 determines the presence or absence of a vehicle that behaves abnormally. If there is a vehicle that behaves abnormally as described above, the danger of an object existing on the road is detected.

In addition, set conditions for vehicles that behave abnormally (for example, bypassing a predetermined point on the road, decelerating in front of a predetermined point, moving to one side of the lane in front of a predetermined point, etc.), and set the conditions. If it is satisfied, it can be determined that an object exists on the road, and if the condition is not satisfied, it can be determined that the object does not exist on the road. The condition includes, for example, a condition that a predetermined number or more of vehicles that behave abnormally pass through a fixed point on the road within a predetermined time. Another condition is that the number of vehicles that behave abnormally is continuous for a predetermined number or more.

By providing the above conditions, it is possible to prevent an erroneous determination that an object exists on the road even though the object does not actually exist on the road.
Insufficient illuminance: An image on the road is taken by the camera 127, and the illuminance on the road is calculated from the exposure of the camera 127 at that time and the brightness of the taken image. If the calculated illuminance is less than a predetermined value, the risk of insufficient illuminance is detected.

Cracks and collapses on the road surface: The road surface is photographed by a camera 127 or an infrared camera 129, and it is determined by image recognition whether or not a pattern peculiar to cracks or collapses on the road surface appears in the image. If a peculiar pattern appears, the risk of cracks and collapse of the road surface is detected.

Broken or damaged vehicle: The infrared camera 129 photographs a vehicle running on the road or a vehicle stopped on the road. These vehicles have the function of emitting infrared rays to the outside if there is a failure or damage. If the infrared pattern appears in the image of the infrared camera 129, the danger of a broken or damaged vehicle is detected.

Vehicles in which the driver is using a mobile phone while driving: A moving vehicle is photographed using a camera 127 or an infrared camera 129. Then, it is determined whether or not the image of the driver using the mobile phone can be recognized by the image recognition. If the image of the driver using the mobile phone can be recognized, the danger caused by the vehicle using the mobile phone while the driver is driving is detected.

Further, if the radio wave of the mobile phone is detected from the moving vehicle, the danger caused by the vehicle using the mobile phone while the driver is running is detected. Further, the vehicle may have a function of detecting the use of the mobile phone by the driver of the vehicle and outputting a unique signal to the outside at that time. In this case, if the specific signal is received, the driver detects the danger caused by the vehicle using the mobile phone while driving.

Vehicles in which the driver is in a state of sudden illness or the like: A moving vehicle is photographed using a camera 127 or an infrared camera 129. Then, by image recognition, the driver who is in a state of sudden illness, fainting, drunkenness, dozing, etc. (for example, taking a posture of covering the handle or a posture of being greatly tilted in the lateral direction, or closing his eyes continuously for a predetermined time or longer Judge whether or not the image of the driver) can be recognized. If this image can be recognized, the driver can detect the danger caused by the vehicle in a state of sudden illness, fainting, drunkenness, dozing, etc.

Further, the vehicle may have a function of detecting the driver's biological information (electroencephalogram, pulse wave, electrocardiogram, etc.) and transmitting the detection result to the outside. In this case, if the driver receives the detection result corresponding to sudden illness, fainting, drunkenness, dozing, etc., the driver detects the danger caused by the vehicle in the state of sudden illness, fainting, drunkenness, dozing, etc.

Puddle existing on the road: If the road surface is photographed using the camera 127 or the infrared camera 129 and the puddle is recognized by image recognition, the danger due to the puddle is detected. In addition, if a puddle is recognized in an image of a road surface taken in the past and the weather satisfies a predetermined condition (for example, a condition that more than a predetermined amount of rain has fallen within a predetermined period from that time), the image. Detect the danger caused by the puddle at the position of the puddle inside.

Vehicles in autonomous driving: During autonomous driving, the vehicle outputs a signal peculiar to that case to the outside. If the unique signal is received, the danger caused by the vehicle during autonomous driving is detected.
In addition, along with vehicles that are in automatic driving, a state that reduces the safety of automatic driving (for example, a state in which the white line of the road used for controlling automatic driving, the center line, etc. cannot be identified by a camera or sensor due to snow, etc.) It may be detected.

In this case, the degree of danger caused by the vehicle during autonomous driving can be graded depending on whether or not the safety of autonomous driving is reduced. For example, if a vehicle in automatic driving is detected and the safety of automatic driving is lowered, it is determined that the degree of danger due to the vehicle in automatic driving is high. On the other hand, even if a vehicle during automatic driving is detected, it is judged that the degree of danger due to the vehicle during automatic driving is low unless the state is such that the safety of automatic driving is lowered.

Pedestrian: Receives weak radio waves emitted by mobile phones, IC cards, etc. For example, a waveguide can be used for receiving weak radio waves. In addition, the position of the source of the radio wave is observed over time, and the moving speed of the source is calculated. If the moving speed of the transmission source is equal to or less than a predetermined threshold value (for example, 10 km / h), it is determined that there is a pedestrian holding a mobile phone, an IC card, or the like, and danger by the pedestrian is detected.

It may also identify whether the mobile phone is charging. When charging, the mobile phone is in the car and is not held by pedestrians, so it does not detect pedestrian danger.
Vehicles driven by an old man: A moving vehicle is photographed using a camera 127 or an infrared camera 129. Then, image recognition is used to determine whether or not the driver is an elderly person. If the driver is an old man, detect the danger of the vehicle the old man is driving.

Further, as described above, the second information acquisition device 109 causes the tunnel 203 to collapse, deform, etc. due to the vibration sensor 137, the camera 139, the sound wave output device 143, the sound wave sensor 145, the optical sensor 147, and the conductivity sensor 149. Anomalies (a form of road danger) can be detected.

The first information acquisition device 107 and the second information acquisition device 109 include the types of dangers related to the road detected as described above, the positions (latitudes, longitudes) where the dangers are detected, and the times when the dangers are detected. Information (hereinafter referred to as danger information related to the road) is stored as a set, and is transmitted in response to a request from the control center 103 as described later.
(2) Processing in which the vehicle 1 detects a danger related to the road The vehicle 1 detects a danger related to the road as follows at predetermined time intervals while traveling.

Road surface freezing and snow cover: A white line that captures the road surface with a camera 15 or an infrared camera 17 and has a pattern peculiar to road surface freeze and snow cover (for example, a portion having higher brightness and reflectance than a normal road surface). It is determined by image recognition whether or not a part of the snow is obscured, there is a vehicle presumed to be slipping while driving, a pedestrian who is slipping, etc.). If a peculiar pattern appears, the danger of freezing of the road surface and snow accumulation is detected. The place to be photographed by the camera 15 or the infrared camera 17 may be in front of the vehicle 1 or directly below the vehicle 1.

Further, when the camera 15 or the infrared camera 17 is used to detect the danger of freezing and snow accumulation on the road surface, the light can be applied to a place where freezing and snow accumulation may exist. As the light, a light having a wavelength and an illuminance that makes the difference in appearance (color, brightness, reflectance, etc.) between the part with freezing and snow cover and the other part more clear can be used. The light may be the headlight of the vehicle 1 or a light dedicated to danger detection.

Further, even when the slip detection system 9 detects a slip or the ABS 11 is activated under the condition that the steering amount and the brake pressure are less than a predetermined value, the danger of freezing of the road surface and snow accumulation is detected.
Abnormal behavior vehicle: A video on the road is taken by the camera 15 or the infrared camera 17, and abnormal behavior (for example, protruding into the oncoming lane, meandering, greatly exceeding the speed limit, opposite to the original traveling direction on the road) Determine if there is a vehicle running in the direction (reverse running, etc.). In addition, the radar 19 determines the presence or absence of a vehicle that behaves abnormally. If there is a vehicle that behaves abnormally, the danger of the vehicle that behaves abnormally is detected.

Objects on the road (eg, dead animals, etc.): Anomalous behavior (eg, at a given point on the road) to avoid objects on the road by shooting a video on the road with camera 127 or infrared camera 129. Determine if there is a vehicle that makes a detour, slows down in front of a predetermined point, moves to one side of the lane in front of a predetermined point, etc.). In addition, the radar 19 determines the presence or absence of a vehicle that behaves abnormally. If there is a vehicle that behaves abnormally as described above, the danger of an object existing on the road is detected.

In addition, set conditions for vehicles that behave abnormally (for example, bypassing a predetermined point on the road, decelerating in front of a predetermined point, moving to one side of the lane in front of a predetermined point, etc.), and set the conditions. If it is satisfied, it can be determined that an object exists on the road, and if the condition is not satisfied, it can be determined that the object does not exist on the road. The condition includes, for example, a condition that a predetermined number or more of vehicles that behave abnormally pass through a fixed point on the road within a predetermined time. Another condition is that the number of vehicles that behave abnormally is continuous for a predetermined number or more.

By providing the above conditions, it is possible to prevent an erroneous determination that an object exists on the road even though the object does not actually exist on the road.
Insufficient illuminance: An image on the road is taken by the camera 15, and the illuminance on the road is calculated from the exposure of the camera 15 at that time and the brightness of the taken image. If the calculated illuminance is less than a predetermined value, the risk of insufficient illuminance is detected.

Cracks and collapses on the road surface: The road surface is photographed by the camera 15 or the infrared camera 17, and it is determined by image recognition whether or not a pattern peculiar to the cracks or collapses on the road surface appears in the image. If a peculiar pattern appears, the risk of cracks and collapse of the road surface is detected.

Broken or damaged vehicle: The infrared camera 17 photographs a vehicle traveling on the road or a vehicle stopped on the road. These vehicles have the function of emitting infrared rays to the outside if there is a failure or damage. If the infrared pattern appears in the image of the infrared camera 17, a danger due to a broken or damaged vehicle is detected.

Vehicles in which the driver is using a mobile phone while driving: A camera 15 or an infrared camera 17 is used to photograph a vehicle in motion. Then, it is determined whether or not the image of the driver using the mobile phone can be recognized by the image recognition. If the image of the driver using the mobile phone can be recognized, the danger caused by the vehicle using the mobile phone while the driver is driving is detected.

Further, if the radio wave of the mobile phone is detected from the moving vehicle, the danger caused by the vehicle using the mobile phone while the driver is running is detected. Further, the vehicle may have a function of detecting the use of the mobile phone by the driver of the vehicle and outputting a unique signal to the outside at that time. In this case, if the specific signal is received, the driver detects the danger caused by the vehicle using the mobile phone while driving.

Vehicle in which the driver is in a state of sudden illness or the like: A moving vehicle is photographed using the camera 15 or the infrared camera 17. Then, by image recognition, the driver who is in a state of sudden illness, fainting, drunkenness, dozing, etc. (for example, taking a posture of covering the handle or a posture of being greatly tilted in the lateral direction, or closing his eyes continuously for a predetermined time or longer Judge whether or not the image of the driver) can be recognized. If this image can be recognized, the driver can detect the danger caused by the vehicle in a state of sudden illness, fainting, drunkenness, dozing, etc.

Further, the vehicle may have a function of detecting the driver's biological information (electroencephalogram, pulse wave, electrocardiogram, etc.) and transmitting the detection result to the outside. In this case, if the driver receives the detection result corresponding to sudden illness, fainting, drunkenness, dozing, etc., the driver detects the danger due to the vehicle in the state of sudden illness, fainting, drunkenness, dozing, etc.

Puddle existing on the road: If the road surface is photographed using the camera 15 or the infrared camera 17 and the puddle is recognized by image recognition, the danger due to the puddle is detected. In addition, if a puddle is recognized in an image of a road surface taken in the past and the weather satisfies a predetermined condition (for example, a condition that more than a predetermined amount of rain has fallen within a predetermined period from that time), the image. Detect the danger caused by the puddle at the position of the puddle inside.

Vehicles in autonomous driving: During autonomous driving, the vehicle outputs a signal peculiar to that case to the outside. When the unique signal is received, the danger caused by the vehicle during autonomous driving is detected.
In addition, along with vehicles that are in automatic driving, a state that reduces the safety of automatic driving (for example, a state in which the white line of the road used for controlling automatic driving, the center line, etc. cannot be identified by a camera or sensor due to snow, etc.) It may be detected.

In this case, the degree of danger caused by the vehicle during autonomous driving can be graded depending on whether or not the safety of autonomous driving is reduced. For example, if a vehicle in automatic driving is detected and the safety of automatic driving is lowered, it is determined that the degree of danger due to the vehicle in automatic driving is high. On the other hand, even if a vehicle during automatic driving is detected, it is judged that the degree of danger due to the vehicle during automatic driving is low unless the state is such that the safety of automatic driving is lowered.

Pedestrian: Receives weak radio waves emitted by mobile phones, IC cards, etc. For example, a waveguide can be used for receiving weak radio waves. In addition, the position of the source of the radio wave is observed over time, and the moving speed of the source is calculated. If the moving speed of the transmission source is equal to or less than a predetermined threshold value (for example, 10 km / h), it is determined that there is a pedestrian holding a mobile phone, an IC card, or the like, and danger by the pedestrian is detected.

It may also identify whether the mobile phone is charging. When charging, the mobile phone is in the car and is not held by pedestrians, so it does not detect pedestrian danger.
Bicycle or two-wheeled vehicle that slips through the side (left side or right side) of vehicle 1: The bicycle or two-wheeled vehicle is equipped with a device that emits radio waves, infrared rays, visible light, and the like. It is preferable that the radio waves, infrared rays, visible light and the like have characteristics (wavelength, intensity pattern, etc.) peculiar to bicycles or motorcycles. Further, it is preferable that the radio waves, infrared rays, visible light and the like have directivity and are mainly emitted toward the vehicle 1. If the vehicle 1 detects the above-mentioned radio waves, infrared rays, visible light, etc. in the lateral direction thereof, it detects the danger of a bicycle or a two-wheeled vehicle passing by the side of the vehicle 1.

Other vehicles driven by the old man: A camera 15 or an infrared camera 17 is used to photograph surrounding vehicles. Then, image recognition is used to determine whether or not the driver is an elderly person. If the driver is an old man, detect the danger of the vehicle the old man is driving.

The vehicle 1 provides information (road danger information) that is a set of the type of danger related to the road detected as described above, the position (latitude, longitude) at which the danger is detected, and the time when the danger is detected. It is stored and transmitted in response to a request from the control center 103 as described later.
(3) Processing in which the control center 103 accumulates information on dangers related to roads The control center 103 accumulates information on dangers related to roads by the processing shown in the flowchart of FIG. This process is repeatedly executed at predetermined time intervals.

In step 1, the first information acquisition device 107, the second information acquisition device 109, and the vehicle 1 are requested to transmit danger information regarding the road. This request is made to the first information acquisition device 107 and the second information acquisition device 109 via the wired communication line 110. Further, the request signal is transmitted from the transmitter / receiver 121 of the base station 105 to the vehicle 1.

When the first information acquisition device 107, the second information acquisition device 109, and the vehicle 1 receive the information transmission request from the control center 103, the danger related to the road newly stored after the previous information transmission is performed. If there is the information of, the information is transmitted to the control center 103. In the case of the first information acquisition device 107 and the second information acquisition device 109, danger information regarding the road is transmitted to the control center 103 via the wired communication line 110. In the case of the vehicle 1, the danger information regarding the road is first transmitted from the transmitter / receiver 3 of the vehicle 1 to the nearby base station 105, and then transferred to the control center 103.

As described above, the information on the danger related to the road transmitted from the first information acquisition device 107, the second information acquisition device 109, and the vehicle 1 includes the types of danger related to the road (for example, freezing of the road surface, snow cover, etc.). Abnormal behavior Includes the presence of vehicles, objects on the road, lack of illumination, collapse and deformation of tunnels, cracks and collapses of the road surface), the location of the danger (latitude, longitude), and the time when the danger was detected.

In step 2, it is determined whether or not the danger information regarding the road is newly received from the first information acquisition device 107, the second information acquisition device 109, and the vehicle 1. If it is received, the process proceeds to step 3, and if it is not received, this process ends.

In step 3, the newly received danger information regarding the road is added, and the danger information database is updated. Here, the danger information database is a database of danger information related to roads created in the storage device 113 (see FIG. 1) of the control center 103, and has the structure shown in FIG. That is, each of the danger information related to the road is assigned an identification number, and the type of danger, the position (latitude, longitude) where the danger exists, and the time when the danger is detected are stored as a set.

The danger information related to the road is automatically deleted when a predetermined time elapses after being stored in the danger information database.
(4) Processing in which the information distribution system 101 distributes information on danger The control center 103 periodically transmits information on danger related to roads corresponding to each base station 105 to each base station 105. For example, to the base station 105 existing at the point A, the danger information about the road detected within a certain range from the point A is periodically read from the danger information database and transmitted. Each base station 105 constantly transmits information on danger related to the road transmitted from the control center 103. The information transmitted includes the type of danger associated with the road, the location of the danger (latitude, longitude), and the time when the danger was detected.

The base station 105 may be a transmission facility dedicated to information on dangers related to roads, or may be a transmission facility for VICS (Vehicle Information and Communication System, registered trademark) information. In the case of the VICS information transmission facility, the base station 105 transmits danger information regarding the road as one of the VICS information.

When the vehicle 1 is traveling in the vicinity of a certain base station 105, the danger information regarding the road transmitted by the base station 105 (related to the road detected within a certain range from the base station 105). Danger information) can be received using the transmitter / receiver 3. Therefore, the vehicle 1 can receive danger information regarding the road according to the position where the vehicle 1 exists.

(5) Process executed by the running vehicle 1 (No. 1)
The process of the running vehicle 1 repeatedly executing the process at predetermined time intervals will be described with reference to the flowchart of FIG.

In step 11, it is determined whether or not the danger information regarding the road transmitted by the base station 105 has been received. If it is received, the process proceeds to step 12, and if it is not received, this process ends.

In step 12, the position information and the traveling direction of the vehicle 1 at that time are acquired.
In step 13, whether or not both of the following conditions C1 and C2 are satisfied based on the dangerous position information included in the danger information related to the road, the position information of the vehicle 1 acquired in step 12, and the traveling direction. To judge.

C1: The dangerous position and the position of the vehicle 1 are within a certain distance.
C2: There is a danger in the traveling direction of the vehicle 1.
If both the conditions C1 and C2 are satisfied, the process proceeds to step 14, and if neither of the conditions is satisfied, the present process is terminated.

The process of step 13 may proceed to step 14 if either of the conditions C1 and C2 is satisfied, and may end this process if both of the conditions are not satisfied. Further, the process of step 13 may proceed to step 14 if the condition C1 is satisfied, and may end the main process if the condition C1 is not satisfied. Further, the process of step 13 may proceed to step 14 if the condition C2 is satisfied, and may end the main process if the condition C2 is not satisfied.

In step 14, a danger avoidance process is performed to avoid danger related to the road. This danger avoidance process is predetermined according to the type of danger related to the road, and includes, for example, the following.

(I) When the type of danger related to the road is freezing of the road surface The automatic braking system 23 activates and decelerates the brake before reaching the frozen place.

In addition, the reference for operating the ABS 11 is loosened more than usual.
In addition, the anti-slip agent injection system 21 is used.
In addition, the speaker 7 issues a voice alarm to warn of freezing.

In addition, the navigation system 5 displays a warning content that warns of freezing and displays an alternative route to avoid the frozen place.
In addition, the frozen portion is displayed on the windshield of the vehicle 1 by using the HUD 13. That is, a color different from that of the other parts of the windshield is displayed on the portion of the windshield that overlaps with the frozen portion from the viewpoint of the driver of the vehicle 1.

(Ii) When the type of danger related to the road is snow cover The same danger avoidance treatment as in the case of freezing is performed.
Also, using HUD13, images of things that should be visible on the road when there is no snow on the windshield of vehicle 1 (for example, road boundary line 301, center line 303, stop line 305, etc. shown in FIG. 14B) are displayed. indicate. In this image, things such as the boundary line 301, the center line 303, and the stop line 305 are displayed at positions where they should be visible from the driver's point of view, assuming there is no snow. Therefore, in reality, as shown in FIG. 14A, even in a situation where the front of the vehicle 1 is covered with snow and the above-mentioned things cannot be seen, the display of the HUD 13 makes it appear to the driver as if it were shown in FIG. 14B. , There is no snow, and the above things seem to appear.

The image displayed on the HUD 13 can be created from an image of the same place (hereinafter referred to as an original image) taken when there is no snow. The original image may be an image taken by a camera at a position different from the driver's viewpoint. In this case, the image can be processed by a well-known method to obtain an image that can be seen from the driver's point of view toward the windshield. The original image may be taken by the camera 15 of the vehicle 1 and stored in the vehicle 1, may be obtained from the infrastructure, or may be obtained by using an image published on a telecommunication line such as the Internet. May be good.

(Iii) When the type of danger related to the road is the collapse of the tunnel 203 Before reaching the tunnel 203, the automatic braking system 23 activates the brake and stops the vehicle 1.

In addition, the speaker 7 issues a voice alarm to warn of the collapse of the tunnel.
If the vehicle 1 has not yet reached the entrance of the tunnel 203, the navigation system 5 displays an alternative route to avoid the tunnel 203. On the other hand, if the vehicle 1 is already in the tunnel 203, the navigation system 5 displays the escape route and the emergency exit.

(Iv) When the type of danger related to the road is a vehicle with abnormal behavior, a vehicle that is out of order or damaged, a vehicle in which the driver is using a mobile phone, a vehicle in which the driver is in a state of sudden illness, or a vehicle in which an old man is driving. In front of those vehicles, the automatic braking system 23 activates and decelerates the brakes. In addition, the speaker 7 issues a voice alarm regarding the existence of those vehicles. In addition, the distance between the vehicles and the vehicles should be kept above a predetermined value. In addition, the course of the vehicle 1 is changed by automatic steering to avoid those vehicles. In addition, the navigation system 5 displays alternative routes to avoid those vehicles. It also honks when approaching those vehicles.

(V) When the type of danger related to the road is a puddle or an object existing on the road The automatic braking system 23 activates and decelerates the brake before reaching the location of the puddle or the object. In addition, the speaker 7 issues a voice alarm regarding the presence of a puddle or an object. In addition, the course of the vehicle 1 is changed by automatic steering to avoid puddles and objects.

(Vi) When the type of danger related to the road is a vehicle in automatic driving In front of the vehicle in automatic driving, the automatic braking system 23 activates the brake to decelerate. In addition, the speaker 7 issues a voice warning regarding the vehicle being automatically driven. In addition, the distance between the vehicle and the vehicle during automatic driving should be kept above a predetermined value. In addition, the navigation system 5 displays an alternative route to avoid vehicles that are autonomously driving.

(Vii) When the type of danger related to the road is a pedestrian In front of the pedestrian, the automatic braking system 23 activates the brake to decelerate. In addition, the speaker 7 issues a voice alarm regarding the presence of a pedestrian. In addition, the course of the vehicle 1 is changed by automatic steering to avoid pedestrians. Also, when approaching a pedestrian, the horn sounds.

(Viii) If the type of danger related to the road is a short object (for example, a dog, a cat, a fallen person, etc.) existing on the road, raise the vehicle height of the vehicle 1 and contact the object. Suppress contact. If the type of danger related to the road is an object existing above the vehicle 1 (for example, a tunnel, a pedestrian bridge, a signboard, a bridge, a tree branch overhanging in the lateral direction, etc.), lower the vehicle height of the vehicle 1. , Suppress contact with the object. The vehicle height of the vehicle 1 can be raised or lowered by a well-known mechanism.

(6) Process executed by the running vehicle 1 (Part 2)
The process of the running vehicle 1 repeatedly executing the process at predetermined time intervals will be described with reference to the flowchart of FIG.

In step 31, it is determined whether or not the danger information regarding the road transmitted by the base station 105 has been received within a predetermined time. If it is received, the process proceeds to step 32, and if it is not received, the process proceeds to step 33.

In step 32, the transmitter / receiver 3 transmits the danger information regarding the road determined to have been received in step 31. It should be noted that other vehicles located around the vehicle 1 (for example, behind the vehicle 1) can receive the transmitted information and execute the danger avoidance process based on the transmitted information.

In step 33, it is determined whether or not the vehicle 1 has detected a danger related to the road within a predetermined time. If it is detected, the process proceeds to step 34, and if it is not detected, the process proceeds to step 35.
In step 34, the transmitter / receiver 3 transmits the danger information regarding the road determined to have been detected in step 33. It should be noted that other vehicles located around the vehicle 1 (for example, behind the vehicle 1) can receive the transmitted information and execute the danger avoidance process based on the transmitted information.

In step 35, it is determined whether or not the vehicle 1 is executing the danger avoidance process. If the danger avoidance process is being executed, the process proceeds to step 36, and if it is not being executed, the present process is terminated.
In step 36, the fact that the danger avoidance process is being executed, the type of danger related to the road, and the type of the danger avoidance process are transmitted by using the transmitter / receiver 3. Other vehicles located around the vehicle 1 (for example, behind the vehicle 1) receive the information transmitted by the vehicle 1, and based on the information, a process for avoiding a collision with the vehicle 1 (for example,). , Decelerate, stop, change course, etc.).

Further, the information in steps 32, 34, and 36 may be transmitted by using visible light communication. In particular, when the road is curved and a mirror is installed near the curve, the visible light emitted by the vehicle 1 can be reflected by the mirror to reach other vehicles located on the other side of the curve. it can.

(7) Information distribution processing to the mobile terminal 106 executed by the control center 103 The user (which may be the driver of the vehicle 1 or another person) travels via the Internet line 104. The route information can be transmitted to the control center 103. This travel route information includes a travel route that has been used in the past and a travel route that is planned to be used in the future.

The travel route information regarding the travel route used in the past includes the user's identification number, the travel route (route on the map data from the starting point to the arrival point), and the date and time when the traveling route was used.

In addition, the travel route information regarding the travel route to be used in the future includes the user's identification number, the travel route (route on the map data from the starting point to the arrival point), and the date and time when the traveling route is scheduled to be used. Is included.

The travel route information may be transmitted by the mobile terminal (for example, a mobile phone (for example, a so-called smartphone), a portable navigation system, a tablet terminal, a laptop computer, etc.) owned by the user 106, or the navigation system 5 of the vehicle 1. You may go.

The mobile terminal 106 and the navigation system 5 have well-known functions such as a function of setting a traveling route according to a user's input and a function of connecting to an Internet line 104 to send and receive information.

The control center 103 accumulates the travel route information transmitted by the user, and creates the travel route information database shown in FIG. 15 in the storage device 113. The travel route information database is classified for each user, and the travel route of that user is stored in each user's division.

When the travel route information is related to a travel route used in the past (for example, A-1, A-2, B-1, C-1 to 4 in FIG. 15), it is associated with each travel route. , The cumulative number of times the travel route was used, and the date and time (including the day of the week) used are stored. When the travel route information is related to a travel route to be used in the future (for example, A-3 and B-2 in FIG. 15), the scheduled date and time to be used is stored in association with each travel route. There is.

The travel route information database is updated every time the control center 103 receives new travel route information.
The control center 103 repeatedly executes the process shown in the flowchart of FIG. 16 at predetermined time intervals using the above-mentioned travel route information database.

In step 21 of FIG. 16, the travel route information database is collated with the danger information database, and for each of the travel routes stored in the travel route information database, the danger related to the road stored in the danger information database on the travel route. Check if exists.

In step 22, it is determined whether or not there is a road-related danger on the travel route (hereinafter referred to as a danger existence travel route) among the travel routes stored in the travel route information database. If there is a dangerous existence travel route, the process proceeds to step 24, and if not, this process ends.

In step 24, it is determined whether or not the dangerous existence traveling route satisfies the following notification conditions C3, C4, and C5.
C3: The cumulative number of times of use of the dangerous existence traveling route is equal to or more than a predetermined threshold value.

C4: The day of the week that used the dangerous driving route in the past coincides with the day of the week.
C5: The scheduled date for using the dangerous driving route is that day.
If any one of the above notification conditions C3 to C5 is satisfied, the process proceeds to step 25, and if none of the above notification conditions is satisfied, this process ends.

In step 25, an e-mail is sent to the user corresponding to the dangerous driving route to the effect that there is a danger related to the road on the traveling route. The email will show an alternative route to avoid where the danger was detected. The destination of the e-mail may be the mobile terminal 106 owned by the user, or the navigation system 5 of the vehicle 1 on which the user rides.

The user's e-mail address is stored in the travel route information database. The user can include the e-mail address in the travel route information transmitted to the control center 103.

4. Effects of the vehicle 1 and the information distribution system 101 (1) The vehicle 1 can detect a danger related to the road and execute a process of avoiding the danger. As a result, the safety of the vehicle 1 is improved.

(2) The information distribution system 101 can detect a danger related to the road and distribute the danger information to the vehicle 1. In particular, the information distribution system 101 also detects dangers in a place far from the vehicle 1 that cannot be detected by the vehicle 1 and dangers of a type that are difficult to detect by the vehicle 1 (for example, the collapse of the tunnel 203). Information can be delivered to the vehicle 1. As a result, the safety of the vehicle 1 is improved.

(3) When a danger exists on the travel route of the vehicle 1, the information distribution system 101 notifies the vehicle 1 to that effect and transmits an alternative travel route to avoid the place where the danger is detected. As a result, the safety of the vehicle 1 is improved.

(4) The vehicle 1 can transmit the danger information about the road detected by itself and the danger information about the road received from the information distribution system 101 to the surroundings of the vehicle 1. Other vehicles located around the vehicle 1 can receive the information and execute the danger avoidance process.

(5) The vehicle 1 transmits to the surroundings of the vehicle 1 that the danger avoidance process is being executed, that the danger avoidance process is being executed, the type of danger related to the road, and the type of the danger avoidance process. Other vehicles located around the vehicle 1 receive the information and execute a process (for example, deceleration, stop, change of course, etc.) to avoid a collision with the vehicle 1 that is executing the danger avoidance process. can do.

<Second embodiment>
1. 1. Configuration of Vehicle 1 The configuration of the vehicle 1 in the present embodiment will be described with reference to FIGS. 18 and 19. The vehicle 1 basically has the same configuration as that of the first embodiment. The vehicle 1 further includes a pair of infrared sensors 151 and 153. As shown in FIG. 19, the infrared sensors 151 and 153 are mounted at positions closer to the front on both side surfaces of the vehicle 1. The infrared sensors 151 and 153 can detect infrared rays emitted from the lateral direction of the vehicle 1.

As shown in FIG. 19, the gate member 215 can be installed along the road 201. The gate member 215 irradiates the infrared beam 217 in the direction across the road 201. The height of the infrared beam 217 is the same as the height of the infrared sensors 151 and 153. When the vehicle 1 traveling on the road 201 reaches the gate member 215, the infrared sensors 151 and 153 detect the infrared beam 217.

The gate member 215 may constantly irradiate the infrared beam 217, may irradiate the infrared beam 217 at a preset time zone, or may irradiate the infrared beam 217 in response to an external instruction. Good.

2. 2. Processing executed by the vehicle 1 The vehicle 1 of the present embodiment basically executes the same processing as that of the first embodiment. Further, the vehicle 1 repeatedly executes the process shown in FIG. 20 at predetermined time intervals while traveling. In step 41 of FIG. 20, it is determined whether or not infrared rays are detected at at least one of the infrared sensors 151 and 153. If infrared rays are detected, the process proceeds to step 42, and if infrared rays are not detected, this process ends. In step 42, the process of stopping the vehicle 1 is executed.

3. 3. Effects of the vehicle 1 (1) The vehicle 1 can exert substantially the same effects as those of the first embodiment.
(2) The vehicle 1 can be stopped at the gate member 215. If the gate member 215 is installed in front of an area where the vehicle 1 should not enter (for example, a construction site, a disaster site, a traffic accident site, a school road, etc.), the vehicle 1 can enter the area. Can be suppressed.

4. Modification Example The process executed in step 42 may be, for example, a process of decelerating the vehicle 1 to a certain speed or less. Further, the process executed in the step 42 may be a process of issuing a voice alarm by the speaker 7.

Further, the wavelength, amplitude, etc. of the infrared beam 217 may be changed with the passage of time, and the information may be transmitted to the vehicle 1 by the infrared beam 217. In this case, the vehicle 1 can execute processing according to the content of the information.

Further, instead of the infrared sensors 151 and 153, sensors for detecting ultrasonic waves, radar waves, visible light and the like may be attached to the vehicle 1. In this case, as the gate member 215, a member that irradiates ultrasonic waves, radar waves, visible light, or the like is used instead of the infrared beam 217.

<Third embodiment>
1. 1. Configuration of Vehicle 1 The vehicle 1 of the present embodiment has the same configuration as that of the first embodiment.

2. 2. Processing executed by the vehicle 1 The vehicle 1 of the present embodiment basically executes the same processing as that of the first embodiment. However, the vehicle 1 executes the process shown in FIG. 21 as the danger avoidance process in step 14 in FIG.

In step 51 of FIG. 21, the situation around the vehicle 1 is acquired by using the camera 15, the infrared camera 17, the radar 19, the navigation system 5, and the like. As for the surrounding conditions, the shape of the road 201 (for example, whether it is a straight line or a curve, if it is a curve, what is its curvature, how wide is the road, etc.), and the slope of the road 201 (of the slope). Direction, magnitude of inclination, etc.), presence / absence of surrounding vehicles (vehicles running in the same direction as vehicle 1, oncoming vehicles, vehicles parked on the roadside, etc.), distance between surrounding vehicles and own vehicle 1 And so on.

In step 52, it is determined whether or not the degree of danger related to the received road (see step 11 in FIG. 13) is high based on the surrounding conditions acquired in step 51. For example, if the type of danger related to the road is frozen road surface or snow cover, if the road 201 is curved, the road 201 is sloped, or there are vehicles around, the degree of danger related to the road is high. In other cases, it is judged that the degree of danger related to the road is low. If the degree of danger related to the road is high, the process proceeds to step 53, and in other cases, this process is terminated.

In step 53, the inside of the vehicle 1 is photographed by using the in-vehicle camera 20, and the state of the inside of the vehicle 1 is acquired.
In step 54, it is determined whether or not there is a risk of danger occurring in the vehicle interior of the vehicle 1 if the danger avoidance process is executed according to the danger related to the road based on the vehicle interior condition acquired in step 53.

For example, the situation in the vehicle interior of the vehicle 1 acquired in step 53 is a situation in which there are occupants who are standing up or occupants who are not tightening the seat belt, and the danger avoidance process is deceleration of the vehicle 1 or change of course. If this is the case, it is determined that if the danger avoidance process is executed, a danger (such as a fall of an occupant) may occur in the passenger compartment of the vehicle 1.

On the other hand, if there are no standing occupants or occupants who have not fastened their seat belts, it is determined that there is no risk of danger occurring in the passenger compartment of the vehicle 1 even if the danger avoidance process is executed. In addition, even if there are occupants who are standing up or who have not fastened their seat belts, if the type of danger avoidance processing is one that does not involve deceleration of vehicle 1 or course change (for example, processing to sound a horn), It is determined that there is no risk of danger occurring in the vehicle interior of the vehicle 1 even if the danger avoidance process is executed.

If there is no risk of danger occurring in the vehicle interior of the vehicle 1, the process proceeds to step 55 to execute the danger avoidance process. On the other hand, if there is a risk of danger occurring in the vehicle interior of the vehicle 1, this process is terminated without executing the danger avoidance process.

3. 3. Effects of the vehicle 1 (1) The vehicle 1 can exert substantially the same effects as those of the first embodiment.
(2) The vehicle 1 determines the degree of danger related to the road based on the surrounding conditions. Then, the danger avoidance process is executed on condition that the degree of danger related to the road is high. Therefore, it is possible to suppress the execution of the risk avoidance process, which is less necessary.

(3) The vehicle 1 can suppress the danger in the vehicle interior of the vehicle 1 caused by the execution of the danger avoidance process.
4. Modification Example In the process shown in FIG. 21, if a positive judgment is made in step 52, the process may directly proceed to step 55. Further, in the process shown in FIG. 21, the processes of steps 51 and 52 may be omitted. Further, when the affirmative judgment is made in step 54, the danger avoidance process may be executed, which is gentler than usual (for example, decelerating the vehicle 1 or changing the course more gently than usual).

<Fourth Embodiment>
1. 1. Configuration of Vehicle 1 The configuration of the vehicle 1 in the present embodiment will be described with reference to FIGS. 22 and 23. The vehicle 1 basically has the same configuration as that of the first embodiment. The vehicle 1 further includes a right side pressure gauge 155 and a left side pressure gauge 157. The right side pressure gauge 155 and the left side pressure gauge 157 are instruments capable of measuring atmospheric pressure.

As shown in FIG. 23, the right side pressure gauge 155 is attached to the right side surface of the vehicle 1, and the left side pressure gauge 157 is attached to the left side surface of the vehicle 1. Further, the vehicle 1 has a steering wheel assist function (a function of assisting the rotation of the steering wheel to one of the left and right sides by using a driving force of a motor or the like).

2. 2. Processing executed by the vehicle 1 The vehicle 1 of the present embodiment basically executes the same processing as that of the first embodiment. Further, the vehicle 1 repeatedly executes the process shown in FIG. 24 at predetermined time intervals while traveling. In step 61 of FIG. 24, the measured values of the right side pressure gauge 155 and the left side pressure gauge 157 are acquired.

In step 62, a value obtained by subtracting the measured value of the left side pressure gauge 157 from the measured value of the right side pressure gauge 155 (hereinafter referred to as a difference Δ) is calculated, and whether the absolute value of the difference Δ is equal to or greater than a predetermined threshold value. Judge whether or not. If the absolute value of the difference Δ is equal to or greater than the threshold value, the process proceeds to step 63, and if it is less than the threshold value, the present process ends.

The difference Δ reflects the direction and strength of the crosswind blowing on the vehicle 1. When a crosswind is blowing from the right side of the vehicle 1, the difference Δ becomes a positive value, and the absolute value of the difference Δ increases as the wind speed increases. Further, when a crosswind is blowing from the left side of the vehicle 1, the difference Δ becomes a negative value, and the absolute value of the difference Δ increases as the wind speed increases.

In step 63, the steering wheel assist is performed. The direction of steering wheel assist is to the right when the difference Δ is a positive value (when a crosswind is blowing from the right side), and when the difference Δ is a negative value (when a crosswind is blowing from the left side). Is to the left. Further, the driving force of the steering wheel assist increases as the absolute value of the difference Δ increases.

3. 3. Effects of the vehicle 1 (1) The vehicle 1 can exert substantially the same effects as those of the first embodiment.
(2) The vehicle 1 provides steering wheel assist to the right when a crosswind is blowing from the right side, and handles steering assist to the left when a crosswind is blowing from the left side. Therefore, even in a situation where the crosswind is strong, the straightness of the vehicle 1 is unlikely to deteriorate.

4. Modification example The configuration for detecting the wind direction and the wind speed of the crosswind may be other than the right side pressure gauge 155 and the left side pressure gauge 157. For example, a well-known anemometer capable of measuring the wind direction and speed of a crosswind may be attached to the vehicle 1.

Further, when the vehicle 1 detects a wind having a wind speed equal to or higher than a predetermined speed, the vehicle 1 may perform control to avoid a thing (for example, a seat or the like) that is swept away by the wind.
It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be carried out in various modes without departing from the present invention.

For example, the second information acquisition device 109 is provided in the vicinity of a structure other than a tunnel (for example, a bridge, an elevated road, a dam, an embankment, a slope along a road, etc.), and an abnormality of such a structure is detected. It may be something to detect.

Further, the information on the danger related to the road may consist of 1 or 2 of the type of danger related to the road, the position (latitude, longitude) at which the danger is detected, and the time when the danger is detected. ..

Further, the vehicle 1 can acquire a camera image taken by the preceding vehicle, for example, when the distance from the preceding vehicle is equal to or less than a predetermined value. In addition, the preceding vehicle transmits the camera image taken there to the surroundings by wireless communication. In this case, the vehicle 1 can execute each of the above-described processes by using the camera image acquired from the preceding vehicle as well as the camera image acquired by the own vehicle.

Further, the vehicle 1 may be capable of setting either an adventure mode or a safety mode by operating the driver. The adventure mode is a mode in which the danger avoidance process is less likely to be executed (the danger avoidance process is not executed unless the level of danger related to the road is high) as compared with the safety mode. For example, the driver can set the safety mode when the important object is mounted on the vehicle 1, and set the adventure mode at other times.

Further, the vehicle 1 may have a function of detecting a state in which the own vehicle is traveling in a direction opposite to the original traveling direction (reverse travel) on a road or a service area. Then, when a reverse drive is detected, processing such as warning the driver of the vehicle 1, guiding the driver to the opposite lane, and displaying the other vehicle prominently (for example, blinking of the headlight) is executed. be able to.

Further, all or a part of the configurations in the first to fourth embodiments may be appropriately selected and combined.
Further, the vehicle 1 may be a railway vehicle. Railroad vehicles include types that run on rails, magnetically levitated linear motor cars, iron-wheeled linear motor cars, monorails, and the like.

When vehicle 1 is a railroad vehicle, the information distribution system 101 causes dangers in the tracks (including rails and infrastructure for linear motor cars), tunnels, bridges, stations, railroad tracks, and their surroundings on which the railroad vehicles travel. The location information of the danger can be detected and transmitted to the railroad vehicle. In addition, the railroad vehicle itself can detect the above danger. Then, the railroad vehicle can execute the danger avoidance process according to the type of danger and the position information of the danger, like the vehicle traveling on the road.

1 ... Vehicle, 3 ... Transmitter, 5 ... Navigation system, 7 ... Speaker, 9 ... Slip detection system, 15 ... Camera, 17 ... Infrared camera, 19 ... Radar, 20 ... In-vehicle camera, 21 ... Anti-slip agent injection system, 23 ... Automatic braking system, 25 ... Control unit, 31 ... Tank, 33 ... Piping, 33a, 33b ... End, 35 ... Control valve, 39 ... Anti-slip agent, 41 ... High pressure nitrogen, 43 ... Tire, 101 ... Information distribution System, 103 ... Control center, 104 ... Internet line, 105 ... Base station, 106 ... Mobile terminal, 107 ... First information acquisition device, 109 ... Second information acquisition device, 110 ... Communication line, 111 ... Control unit, 113 ... storage device, 115 ... communication interface, 117 ... control unit, 119 ... communication interface, 121 ... transmitter / receiver, 123 ... control unit, 125 ... communication interface, 127 ... camera, 129 ... infrared camera, 131 ... radar, 133 ... Control unit, 135 ... communication interface, 137 ... vibration sensor, 139 ... camera, 143 ... sound wave output device, 145 ... sound wave sensor, 147 ... optical sensor, 149 ... conductivity sensor, 151, 153 ... infrared sensor, 155 ... right side pressure Total, 157 ... Left pressure gauge, 201 ... Road, 203 ... Tunnel, 203A ... Ceiling, 205 ... Rod, 205A ... Lower end, 207 ... Laser emitting device, 209 ... Reflection mirror, 211, 213 ... Electrode, 215 ... Gate member, 217 ... Infrared beam, 301 ... Boundary line, 303 ... Center line, 305 ... Stop line

Claims (2)

A danger information acquisition unit that acquires location information of dangers related to the road from a danger information output unit provided on the infrastructure side of the road,
A vehicle information acquisition unit that acquires the position information of the vehicle and the direction of travel of the vehicle,
When the position information of the danger and the position information of the own vehicle have a predetermined positional relationship and there is a danger related to the road in the traveling direction of the own vehicle, the danger avoidance processing execution unit that executes the danger avoidance processing and the ,
With
The danger related to the road is a vehicle characterized by being an autonomous vehicle. A danger information acquisition unit that acquires location information of dangers related to the road from a danger information output unit provided on the infrastructure side of the road,
A vehicle information acquisition unit that acquires the position information of the vehicle and the direction of travel of the vehicle,
When the position information of the danger and the position information of the own vehicle have a predetermined positional relationship and there is a danger related to the road in the traveling direction of the own vehicle, the danger avoidance processing execution unit that executes the danger avoidance processing and the ,
A transmission unit that transmits the danger position information acquired by the danger information acquisition unit to the surroundings of the vehicle, and a transmission unit.
A vehicle characterized by being equipped with.

Images