JP4412664B2 - Vehicle recognition device - Google Patents

Description

  The present invention relates to a recognized apparatus for a vehicle that recognizes the presence or absence of a host vehicle to the surroundings, and more particularly to a recognized apparatus for a vehicle that is suitable for causing a succeeding vehicle or an oncoming vehicle to recognize the presence or absence of a two-wheeled vehicle.

  In some areas, motorcycles are obligated to turn on the headlights regardless of day or night in order to allow the driver of the following vehicle or oncoming vehicle to recognize the existence of the motorcycle. Also, the presence of the own vehicle is recognized by the other vehicle and the other vehicle is caused to execute a predetermined control process, or conversely, the existence of the other vehicle is recognized by the own vehicle and the subject vehicle is subjected to the predetermined control process. A vehicle recognition system has been developed, and part of it has been realized.

In Patent Document 1, three or more infrared LEDs are arranged on the rear surface of the preceding vehicle, and a camera that captures the rear surface of the preceding vehicle is installed on the following vehicle. A vehicle position recognition device that measures an inter-vehicle distance and a relative yaw angle based on an infrared image has been proposed.
Japanese Patent Laid-Open No. 10-115519

  In the recognition / recognition system using infrared light, the infrared light detected by the image sensor in the recognition-side vehicle is normal infrared light emitted from the light-emitting element of the recognition-side vehicle or simply external light. Must be recognized accurately and in a short time. Moreover, since the mounting position, color development, brightness, etc. of the lighting equipment installed in the vehicle are defined, in order to meet the safety standards and ensure a high recognition rate, an advanced image is applied to the vehicle on the recognition side. A recognition system with a processing function is required.

  Further, in Patent Document 1, it is necessary to arrange infrared LEDs for recognition on a preceding vehicle at a plurality of locations. However, if the preceding vehicle or the oncoming vehicle is a two-wheeled vehicle, it is difficult to secure a space for installing the infrared LED. There was a problem.

  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-described problems of the prior art, and to provide a recognized apparatus for a vehicle that does not require an advanced image processing function on a recognition-side vehicle and can be easily applied to a two-wheeled vehicle as a recognized vehicle. It is in.

In order to achieve the above-described object, the present invention is characterized in that the following measures are taken in a vehicle-recognized apparatus that recognizes the presence or absence of the host vehicle.
(1) A plurality of light emitting markers and a drive circuit that regularly blinks each light emitting marker are provided, and each light emitting marker is invisible to the naked eye.
(2) The light emitting marker emits visible light, and the driving circuit blinks the light emitting marker at a frequency in an invisible region with the naked eye.
(3) The light emitting marker is a vehicle lighting device.
(4) The light emitting marker is an infrared marker.
(5) The flashing timings of the plurality of light emitting markers are synchronized with each other.
(6) A means for detecting the running state of the vehicle is further provided, and the running state of the vehicle is represented by the blinking frequency of the plurality of light emitting markers.
(7) The blinking frequency of the plurality of light emitting markers is a function of the interval between the light emitting markers.

According to the present invention, the following effects are achieved.
(1) Since each light emitting marker blinks regularly, whether the infrared light source detected on the image of the vehicle is that of the light emitting marker or other external light Can be easily identified. Further, since the light emission of the light emitting marker is invisible to the naked eye, there are no legal restrictions on the mounting position, color development, luminance, and the like. Accordingly, it is possible to freely set the attachment position of the light emitting marker, the color development, the luminance, and the like so that the recognizability by the recognition device is increased.
(2) Since the light emitting marker is made invisible by blinking at a frequency in the invisible region with the naked eye, there is no restriction on the wavelength of light output from the light emitting marker.
(3) Since the vehicle lighting device is used as a light emitting marker, a space and a mounting member for separately providing the light emitting marker become unnecessary.
(4) Since an infrared marker is employed as the light emitting marker, there is no restriction on the frequency at which the light emitting marker blinks.
(5) Since the blinking timings of the plurality of light emitting markers are synchronized with each other, on the recognition device side, the light source detected on the infrared image of the vehicle is that of the light emitting marker, or other external light It is possible to easily identify whether it is a thing in a short time.
(6) Since the running state of the vehicle is represented by the blinking frequency of each light emitting marker, the following vehicle or the oncoming vehicle equipped with the recognition device can accurately recognize the running state of the recognized vehicle.
(7) Since the blinking frequency of the plurality of light emitting markers is a function of the arrangement interval of each light emitting marker, the succeeding vehicle or the oncoming vehicle equipped with the recognition device automatically determines the blinking frequency and interval of each light emitting marker. The distance between the vehicle and the vehicle to be recognized can be accurately recognized.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a front view of a motorcycle equipped with a recognized apparatus for a vehicle according to the present invention.

  A front cowl 1 is attached to the front of the vehicle body, and a transparent screen 2 is attached to a V-shaped or U-shaped notch that is open at the top. The front end of the front cowl 1 is equipped with a headlamp 3, and both ends of the front cowl 1 are equipped with a pair of left and right turn signal lamps 4 (L, R) sandwiching the headlamp 3. Yes. Both the headlamp 3 and the blinker lamp 4 are lamps that satisfy the safety standards. A pair of left and right side mirrors 6 (L, R) are attached to the bases of the left and right handle grips 5 (L, R), respectively.

  A pair of first light-emitting markers 11 and a second light-emitting marker 12 are provided on the rear surfaces of the left and right side mirrors 6 (the rear surfaces of the mirror surfaces) so as to face the front of the vehicle body. In the present embodiment, as each of the light emitting markers 11 and 12, an infrared marker whose wavelength characteristic is an infrared LED in an invisible region with the naked eye is used. Each of the light emitting markers 11 and 12 may be constituted by only a single LED, or may be constituted by integrating or collecting a plurality of LEDs.

  Further, in the present embodiment, a third light emitting marker 13 similar to the first and second light emitting markers 11 and 12 is provided at a position below the headlamp 3 of the front cowl 1 so as to face the front of the vehicle body. Yes. Therefore, in the infrared image of the vehicle in front view, the inverted triangle 14 in which the headlamps 3 are arranged on the inner sides with the first to third light emitting markers 11, 12 and 13 as vertices is recognized.

  FIG. 2 is a block diagram of a drive circuit that drives each of the light emitting markers 11, 12, and 13 with a current limiting resistor R1 and a switching transistor 15 connected in series to each of the light emitting markers 11, 12, and 13, and the switching A pulse generator 16 is connected to the base of the transistor 15. The pulse generator 16 generates a pulse signal for regularly flashing the light emitting markers 11, 12, and 13 at a predetermined period synchronized with each other.

  According to this embodiment, since each light emitting marker is driven to blink at a predetermined frequency, the infrared light source detected on the image obtained by photographing the vehicle is that of the light emitting marker, or other external light It becomes possible to easily identify whether it is a thing.

  Further, according to the present embodiment, the three light emitting markers 11, 12, and 13 are dispersedly arranged at the vertex positions of the virtual triangle 14 in front view from the front of the vehicle body, and blink in synchronization with each other. On the recognition device side, even when the light emitting markers of a plurality of vehicles are observed simultaneously on an infrared image obtained by photographing the vehicle, the light emitting markers of each vehicle can be easily identified.

  Furthermore, in the present embodiment, the headlamp 3 is arranged inside the triangle 14 having the three light emitting markers 11, 12, and 13 as vertices. If the surroundings are preferentially searched based on the reference, all the light emitting markers can be easily and quickly recognized.

  The frequency of the pulse signal is such that the dispersive arrangement of the light emitting markers 11, 12, 13 is 16 centimeters when the spacing between the light emitting markers 11, 12, and 13 is 60 centimeters, and 17 Hz when the spacing is 70 centimeters. It is desirable to be a function of the interval. Thus, if the blinking frequency of each light emitting marker is a function of the arrangement interval of each light emitting marker, the succeeding vehicle or the oncoming vehicle equipped with the recognition device automatically determines the blinking frequency and interval of each light emitting marker. The distance between the vehicle and the vehicle to be recognized can be accurately recognized.

  Alternatively, as indicated by the wavy line in FIG. 2, a running state detection unit 17 that detects the running state of the vehicle is provided, and the blinking frequency of each light-emitting marker 11, 12, 13 is invisible to the naked eye according to the running state of the vehicle. You may control within the range. For example, the travel state detection unit 17 is caused to detect the travel speed, acceleration / deceleration, steering angle, yaw rate, bank angle, etc. of the vehicle, and the detection result is output to the pulse generator 16. The pulse generator 16 outputs a pulse signal having a frequency representative of the detection result. In this way, in the succeeding vehicle or the oncoming vehicle that has recognized the light emitting marker, the traveling state of the recognized vehicle can be accurately recognized.

  FIG. 3 is a front view of a motorcycle showing another arrangement example of the light emitting marker, and the same reference numerals as those described above represent the same or equivalent parts.

  In the present embodiment, a pair of first light emitting markers 21 and a second light emitting marker 22 are provided at the ends of the left and right handle grips 5 (L, R) so as to be directed to the front of the vehicle body. Further, a third light emitting marker 23 is provided at a position below the headlamp 3 of the front cowl 1 so as to face the front of the vehicle body.

  If the first and second light emitting markers 21 and 22 are provided at the (L, R) ends of the handlebar grip 5 as in the present embodiment, the steering position is particularly determined during low-speed traveling where the steering angle is large. Thus, each light emitting marker can be easily recognized by the recognized device.

  In each of the above-described embodiments, the two-wheeled vehicle provided with the front cowl 1 has been described as an example. However, the present invention is not limited to this, and is similarly applied to a motorcycle not provided with a front cowl. it can.

  FIG. 4 is a front view showing an example of the arrangement of light emitting markers in a motorcycle that does not include a front cowl. The same reference numerals as those described above represent the same or equivalent parts.

  If the motorcycle does not have a front cowl, a pair of left and right turn signal stays 101 (L, R) that support the left and right turn signal lamps 4 (L, R), a meter unit 102, a handle stay 103, and a pair of left and right handle pipes. The light emitting markers may be dispersedly arranged at 104 (L, R) or the like.

  FIG. 5 is a front view showing an arrangement example of light emitting markers in a scooter type motorcycle, and the same reference numerals as those described above represent the same or equivalent parts.

  In the present embodiment, the first and second light emitting markers 41 and 42 are provided on the left and right sides of the handle cover 8 provided so as to cover the center portion of the handle, respectively, and the third light emitting marker is provided at the center of the front end of the front cover 9. 43 is installed.

  In each of the above-described embodiments, each light emitting marker is described as being provided on the front of the vehicle. However, the present invention is not limited to this, and from other vehicles such as the back and both sides of the vehicle. Any position that can be recognized in a horizontal view may be provided.

  FIG. 6 is a rear view of an embodiment in which a light emitting marker is provided on the rear surface of the vehicle, and the same reference numerals as those described above represent the same or equivalent parts.

  In the present embodiment, a taillight (or brake light) 124 is provided at the center of the rear cowl 128, and a pair of left and right blinker lamps 125 (L, R) is provided below the taillight 124. First and second light emitting markers 51 and 52 are spaced apart from each other on the left and right sides of the taillight 124, and a third light emitting marker 53 is disposed at the lower center of the license plate holder 126.

  In each of the above-described embodiments, the luminescent marker is described as being configured with an invisible infrared marker. However, the present invention is not limited to this, and a luminescent marker that emits visible light is employed to make the marker invisible. You may make it invisible by carrying out blinking drive at the frequency of a field, for example, arbitrary frequencies of 16 Hz or more. In this way, since there is no restriction on the wavelength of the light emitting marker, the degree of freedom in design can be expanded. Further, when the light emitting marker is made invisible by blinking at a frequency in the invisible region, a part of the existing vehicle lighting device can be used as the light emitting marker.

  FIG. 8 is a front view of an embodiment in which a part of a vehicle lighting device is also used as a light emitting marker, and the same reference numerals as above represent the same or equivalent parts.

  In the present embodiment, the pair of left and right blinker lamps 4 (L, R) are used as the first light emitting marker 61 and the second light emitting marker 62 by driving to blink at a frequency in the invisible region. A third light emitting marker 63 is provided at a position below the headlamp 3 on the front cowl 1 so as to face the front of the vehicle body. The third light emitting marker 63 may be a light emitting marker that emits visible light, or may be an invisible infrared marker.

  According to the present embodiment, since the existing blinker lamps 4 (L, R) originally provided at a position having excellent visibility are used as light emitting markers, a plurality of infrared markers are not increased without increasing the number of parts. Can be dispersedly arranged at positions with excellent visibility.

1 is a front view of a first embodiment of a motorcycle on which a vehicle recognition device according to the present invention is mounted. It is a block diagram of the drive circuit which light-emits a light emission marker invisible. FIG. 6 is a front view of a motorcycle showing another arrangement example (No. 1) of the light emitting marker. FIG. 6 is a front view of a motorcycle showing another arrangement example (part 2) of the light emitting marker. FIG. 6 is a front view of a motorcycle showing another arrangement example (No. 3) of the light emitting marker. FIG. 9 is a rear view of a motorcycle showing another arrangement example (No. 4) of the light emitting marker. FIG. 9 is a front view of a motorcycle showing another arrangement example (No. 5) of the light emitting marker.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Front cowl, 2 ... Screen, 3 ... Headlight, 4, 9 ... Winker lamp, 5 ... Grip, 6 ... Side mirror, 11 ... 1st light emission marker, 12 ... 2nd light emission marker, 13 ... 3rd light emission Marker

Claims (7)

In a recognized device for a vehicle that recognizes the presence or absence of the host vehicle
A plurality of luminescent markers that emit visible light ; and
A vehicle recognition apparatus comprising: a drive circuit that blinks each of the light emitting markers at a frequency in an invisible region with the naked eye . The vehicle recognition apparatus according to claim 1, wherein the light emitting marker is a vehicle lighting device. The vehicle recognition apparatus according to claim 1, wherein the light emitting marker is an infrared marker . The vehicle recognition device according to claim 1, wherein blinking timings of the plurality of light emitting markers are synchronized with each other . Means for detecting the running state of the vehicle,
The vehicle recognition apparatus according to claim 1, wherein the blinking frequency of the plurality of light emitting markers represents a running state of the vehicle. 6. The vehicle recognized device according to claim 5, wherein the means for detecting the running state detects at least one of a vehicle speed, a steering angle, an acceleration / deceleration, a yaw rate, and a bank angle . The vehicle recognition device according to claim 1, wherein a blinking frequency of the plurality of light emitting markers is a function of an arrangement interval of each light emitting marker .

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