JP4922084B2 - Vehicle guidance device - Google Patents

Description

  The present invention allows the driver to return to the speed before entering the change point when the vehicle speed actually changes through a change point that can change the vehicle speed, such as a point where the road gradient changes. The present invention relates to a vehicle guidance device that provides an opportunity for guidance.

  For example, in situations where it is difficult for the driver to grasp changes in the road gradient, such as when driving in a tunnel or a highway with a distance, the vehicle speed changes from a downward gradient to a horizontal gradient or from a horizontal gradient to an upward gradient. Often, changes in the slope are not noticed even at a point where the value drops. When the vehicle passes through a point where the road gradient has changed, the vehicle speed decreases unless the accelerator pedal is depressed before the vehicle passes, so that natural traffic congestion is likely to occur behind the point.

  As a method for preventing such a natural traffic congestion due to a change in road gradient, a method of calling attention by character information so that the vehicle does not decelerate is generally used (see Patent Document 1). There is also a method of attaching a pattern for intuitively informing that a slope exists on the side wall facing the road (see Patent Document 2).

  There is a method of notifying the curvature of a curve, the presence of an oncoming vehicle, etc. by light emission of a light emitter when the change in vehicle speed is caused by a curve rather than a road gradient (see Patent Documents 3 and 4). In addition, there is a method of adjusting the movement speed of light emission so as to induce walking of a person (see Patent Document 5). From the above, when the light emitters described in Patent Documents 3 to 5 are combined with the side walls in Patent Document 2, a system that informs the driver of the presence of a road gradient by controlling the light emission to the light emitter can be configured. It can be considered as well.

JP-A-6-306825 (Claim 1, paragraphs 0011 to 0019, FIG. 1) JP 2003-105724 A (Claim 1, paragraphs 0022 to 0043, FIG. 1, FIG. 4, FIG. 6) JP 2001-283393 A (Claim 1, paragraphs 0020 to 0035, FIGS. 1 and 2) JP-A-7-150528 (Claim 1, paragraph 0018, FIG. 1) Japanese Patent No. 2688329 (paragraphs 0028 to 0034, FIGS. 1 and 3)

  In Patent Document 3, based on the detection of the vehicle speed, the light emission timing is controlled so that the light emission of the light emitter located in front of the vehicle always maintains a moving speed substantially equal to the vehicle speed (paragraph 0005). Specifically, the light emission timing of the light emitter is controlled based on the speed of the vehicle traveling in front of the light emitter and the interval between adjacent light emitters (paragraphs 0007 and 0024).

  Here, the movement speed of light emission (hereinafter referred to as the light emission speed) is the distance between adjacent light emitters when the plurality of light emitters are arranged at equal intervals. It is a value divided by (time difference), and refers to the speed at which light emission of a plurality of light emitters flows in the direction of vehicle movement from the vehicle entry side.

  In Patent Document 3, a light emission command is issued to a light emitter located in front of the traveling direction of the vehicle based on detection of the speed of the vehicle entering before the light emitter, so that the light emitter located in front of the vehicle always emits light. Like to do. However, since the light emission timing and light emission speed of each light emitter are determined by the vehicle speed detected first and are dependent on the vehicle speed at the time of entry, the light emission speed acts to prompt the driver to control the vehicle speed. Never do.

  In Patent Document 5, the movement speed can be set so that a pedestrian can walk at a speed according to the light emission speed (flow blinking speed) (paragraphs 0016 and 0033). The light emission speed does not change according to the change in speed. That is, when the walking speed decreases or increases during walking, the light emission speed does not increase or decrease in accordance with the change, so when the pedestrian is replaced by the driver, the light emission speed is It does not act to promote speed control.

  From the above background, the present invention proposes a vehicle guidance device in which, for example, when the vehicle speed changes via a point where the road gradient changes, the light emission speed by a plurality of light emitters prompts the driver to control the vehicle speed. To do.

The vehicle guidance device according to claim 1 is:
A front speed sensor that is installed at a position facing a road including a change point that can change the vehicle speed, detects a traveling speed of the vehicle before passing through the change point, and a vehicle after passing through the change point. A rear speed sensor for detecting the traveling speed;
A plurality of light emitters installed along the road;
A controller that transmits a light emission command to the plurality of light emitters based on the presence or absence of a difference between a detection value of the rear speed sensor and a detection value of the front speed sensor;
The controller sets a light emission speed at which light emission of the plurality of light emitters flows in the traveling direction of the vehicle based on the difference between the detection values.

  The light emission speed v refers to the speed at which the light emission of the plurality of light emitters flows from the vehicle entry side to the vehicle traveling direction as described above, and is based on the difference between the detection value of the rear speed sensor and the detection value of the front speed sensor. Is set. If the detection value V2 of the rear speed sensor is smaller than the detection value V1 of the front speed sensor, the light emission speed v is set to be equal to or higher than the detection value V1 of the front speed sensor as described in claim 5, for example. If V2 is larger than the detection value V1 of the front speed sensor, the light emission speed v is set to be equal to or lower than the detection value V1 of the front speed sensor, for example, as described in claim 6.

  “Direction” in “vehicle traveling direction” means that “light emission direction” has positive and negative directions, and light emission may flow in the opposite direction to the direction of movement of the vehicle. In the former case, the light emission speed is positive, and in the latter case, it is negative.

  If the light emission speed v is set, the timing (timing) of the light emission command to each light emitter is determined from the light emission speed v and the distance La between the adjacent light emitters as described in claim 2. The timing of the light emission command is obtained as a time difference Δt (= La / v) of light emission. The time difference Δt of light emission refers to the time from when an illuminant that should start illuminating first, such as the vehicle approaching side, until the illuminant adjacent to it emits light. A light emission command is sequentially transmitted to the light emitter with this time difference Δt. After the first light emission command, the timing of the next light emission command is the time with this time difference Δt. The time difference Δt of light emission can also be said to be a light emission (command) interval.

  “Change point that can change the vehicle speed” mainly refers to a point where the road gradient changes, but in addition to the entrance / exit of the tunnel, the junction / division of the road, a curved road (curved), under construction Or roads under regulation. In any case, when the road changes due to its form and situation and changes the vehicle speed through the change point, it indicates the point where the vehicle speed should be returned to the speed before the change after the change point.

  Like the point where the road gradient changes at the entrance and exit of the tunnel, the driver tends to decrease the vehicle speed without being particularly aware of the change in speed, so drive the same guidance as the point where the gradient changes from down to up Give them. Since the driver intentionally tries to accelerate at the junction of the road and decelerates at the diversion part, the driver is guided by the light emission speed v so as to increase or decrease to the target speed after traveling a certain distance. This makes it possible to ensure safety at the time of merging or after diversion.

  On a curved road, the driver intentionally decreases the vehicle speed, but after passing the curve, the driver accelerates and tries to return to the speed before deceleration. It becomes easier to return smoothly than in the case of depending on. Even on roads under construction, the driver is forced to decelerate in the construction section, but since it accelerates after passing through the construction section, it is understood that acceleration is adjusted by being guided by the light emission of the light emitter. It becomes easy.

  The point at which the road gradient changes is a point where the vehicle speed is likely to decrease, from a downward gradient to an upward gradient or horizontal, or a point where the vehicle speed is likely to increase, from an upward gradient to a downward gradient, or horizontally. Refers to a changing point. Regardless of whether the shape of the road when viewed in a plane is linear or curved, it does not matter whether the shape of the road surface along the traveling direction of the vehicle is also curved or linear . A point that changes from a downward slope to an upward slope is particularly called a sag portion.

  “Based on presence / absence of difference in detection value” in claim 1 refers to a case where a light emission command is transmitted to a light emitter when there is a difference in detection value, and a case where a light emission command is transmitted even if there is no difference in detection value Say there is. Basically, when there is a difference in detection values as described in claim 3, the light emitting body is caused to emit light in the sense of giving the driver guidance to restore the changed speed. Since there is also an effect of prompting the driver to drive to maintain the current speed, it is meaningful to cause the light emitter to emit light even if there is no difference in the detected value.

  When there is no difference between the detection values of the rear speed sensor and the front speed sensor (V2 = V1), for example, the light emission speed v is detected by the front speed sensor or the rear speed sensor so that the driver can be given a signal for maintaining the current speed. Control is performed so as to be equal to the value. In that case, after the controller sends a light emission command to the light emitter that should start light emission, the controller emits light with a time difference Δt so that the light emission speed v becomes equal to the detection value (V1 or V2) for the subsequent light emitters. Send a command. The time difference Δt in this case is Δt = La / v (= V1).

  The front speed sensor and the rear speed sensor are paired to detect changes in the vehicle speed before and after the change point, and if there is a change in the vehicle speed, the speed decreases or increases after the change point. The controller determines that the The controller sends a light emission command to each light emitter based on the determination of the change in the vehicle speed, that is, the speed decrease or the speed increase. The next light emission command after the first light emission command is transmitted according to the light emission speed v calculated (set) by the controller. The interval (time difference Δt) at which the light emission command is transmitted is determined by the setting of the light emission speed v as described above. For example, if the light emission speed v = V1 is set, Δt = La / v (= V1) as described above.

  Each of the front speed sensor and the rear speed sensor is not necessarily one, and there may be a plurality. In order to send a light emission command to all the light emitters, one controller is sufficient for the vehicle guidance device, but it may be attached to each light emitter, for example.

  In the case of one controller, for example, as described in claim 4, a light emission command is transmitted to all the light emitters sequentially from the light emitter located on the entry side of the vehicle toward the light emitter located on the far side. . When a controller is attached to each light emitter, the light emitters adjacent to the front side in the traveling direction of the vehicle emit light sequentially by receiving a light emission command from the controller of the light emitter previously emitted. In any case, the light emission command may be transmitted in the reverse direction, that is, from the front side to the rear side in the traveling direction of the vehicle. The plurality of light emitters are arranged along the road at intervals or continuously in the traveling direction of the vehicle.

  In claim 3, when there is a difference between the detection value of the rear speed sensor and the detection value of the front speed sensor, the light emission speed is controlled, so that the change occurs when the vehicle speed decreases or increases through the change point. It is possible to cause the illuminant to emit light at a moving speed (light emission speed) that restores the corresponding speed.

  When the vehicle speed decreases through the changing point, the driver is guided to drive the vehicle at a speed equal to the light emission speed by causing the light emitter to emit light at a moving speed that increases the vehicle speed. It is possible to prompt the person to recover the reduced speed. The moving speed that increases the vehicle speed is, for example, a speed that is equal to or higher than the vehicle speed before passing through the change point. Since the vehicle speed that has decreased due to the passage of the changing point is restored, the conditions for the occurrence of natural congestion are eliminated, and the occurrence of natural congestion at the rear is avoided.

  Conversely, when the vehicle speed increases through the change point, the driver is guided to drive the vehicle at a speed equal to the light emission speed by causing the light emitter to emit light at a moving speed that decreases the vehicle speed. It is possible to prompt the driver to decrease the increased speed and eliminate the increased speed. The moving speed that decreases the vehicle speed is, for example, a speed equal to or lower than the vehicle speed before passing through the changing point. By recovering the increased vehicle speed due to the passage of the changing point, the tendency of excessive speed is prevented in advance.

  Basically, the light emission command is transmitted to the plurality of light emitters sequentially from the light emitters located on the approaching side of the vehicle to the change point as described in claim 4 and to the light emitters located on the far side. . However, when the vehicle speed increases through the change point, a command may be issued to emit light from the opposite side of the vehicle entry side toward the entry side as described above in order to promote deceleration. The light emitters may be arranged from the changing point to the traveling side of the vehicle, or may be arranged from the front of the changing point (vehicle entry side).

  When the detection value of the rear speed sensor is smaller than the detection value of the front speed sensor, that is, when the vehicle speed decreases, the light emitter emits light so as to prompt the driver to increase (accelerate) the vehicle speed as described above. Specifically, as described in claim 5, in the third and fourth aspects, the controller sets the light emission speed to be equal to or higher than the detection value of the previous speed sensor, thereby adjusting the light emission speed.

  If the light emission speed is equal to or greater than the detection value of the front speed sensor, which is the vehicle speed before the speed decrease, the driver can recognize that the vehicle speed has decreased through the changing point, so The consciousness to follow and increase the speed works. As a result, the speed reduced by the driver depressing the accelerator pedal is recovered, and the occurrence of natural traffic jams is prevented.

  In order to compensate for guidance to the driver due to the flow of light, a display board that can display an explanation such as `` I am making a traffic jam if it is slower than the light '' on the road surface, side or sky. The display operation on the display board can be executed by the controller in conjunction with the light emission command. In addition, this kind of explanation is stored in advance in a navigation device mounted on the vehicle, and the instruction is displayed on the navigation device by sending a command from the controller to each traveling vehicle that has passed the changing point. It is also possible to make it. In the case of transmission to the navigation device, it is also possible to utter voice guidance with recorded explanations.

  When the detection value of the rear speed sensor is larger than the detection value of the front speed sensor, that is, when the vehicle speed increases, the light emitter emits light so as to prompt the driver to decrease (decelerate) the vehicle speed. Specifically, as described in claim 6, in the third and fourth aspects, the controller sets the light emission speed to be equal to or lower than the detection value of the previous speed sensor, thereby adjusting the light emission speed.

  If the light emission speed is equal to or less than the detection value of the front speed sensor, which is the vehicle speed before the speed increase, the driver can recognize that the vehicle speed has increased through the change point, and therefore the driver will be able to adjust the light emission speed. The consciousness to follow and reduce the speed works. As a result, the speed increased by the driver loosening the accelerator pedal is recovered, and the tendency of overspeed is prevented in advance.

  When the vehicle speed exceeds or falls below the speed limit, the driver can give guidance to the driver to decelerate the excess or accelerate the shortage. In addition, when multiple vehicles enter the section between the front speed sensor and the rear speed sensor and there is a difference in the speed of each vehicle, the light emission speed is set to the average speed of all the vehicles. It is also possible to guide the entire vehicle so as to prevent approaching and spacing.

  When the light emission speed exceeds the vehicle speed, such as when the vehicle speed decreases through a change point, the movement (flow) of the light emission overtakes the vehicle even if the light emission starts from the rear of the traveling vehicle. As long as the vehicle is within the row of light emitters, it is possible to enter the driver's view. Therefore, the timing of the light emission command to the start side light emitter, which is the light emitter closest to the vehicle entrance side, is not limited, and light emission may be started after the vehicle passes through the start side light emitter.

  On the other hand, when the light emission speed is lower than the vehicle speed, as in the case where the vehicle speed increases through the change point, the movement (flow) of the light emission is not visible to the driver even if the light emission starts from the position of the vehicle. May not enter. For this reason, in order that light emission is always located in front of the vehicle, it is preferable that the light emitter from which light emission is started is ahead of the vehicle in the traveling direction than the vehicle when passing through the change point.

  Therefore, when at least the light emission speed is lower than the vehicle speed, the controller instructs the timing of the light emission command to the light emitter to start the light emission before the vehicle passes through the light emitter as described in claim 7. Set as follows.

  The timing of the light emission command to the light emitter in claim 7 is, for example, the rate of change dL (= δL / δt) of the distance between the light emitter to start light emission and the running vehicle as described in claim 8 Determined from. As described later, δL is a distance difference (δL = Lb−Lc) every certain minute time (δt). When the vehicle approaches a light emitter that should start emitting light, the distance between the light emitter and the vehicle decreases with time, and the rate of change of the distance becomes negative. Conversely, when the vehicle moves away from the light emitter that should start emitting light, the distance between the two increases with time, and the rate of change of the distance becomes positive.

  From this, it is possible to emit light even when the light emission speed is lower than the vehicle speed by issuing a light emission command to the light emitter that should start light emission while it is confirmed that the change rate of the distance is negative. Light emission can be started at a point (timing) when the light emitter to be started is on the front side of the vehicle.

  When the light emission speed exceeds the vehicle speed, even if the light emitter that starts light emission is located behind the vehicle as described above, the movement (flow) of light emission can overtake the traveling vehicle. Even if light emission is started with a time difference from a plurality of light emitters in the body, it is possible to enter the driver's field of view.

  A change in vehicle speed before and after a change point that can change the vehicle speed is detected, and if there is a change in the vehicle speed, the controller sends a light emission command to a plurality of light emitters based on the change in the vehicle speed, In order to control the light emission speed of the body, the driver can be made aware when the vehicle speed decreases or increases through the change point.

  As a result, it is possible to give the driver an awareness of trying to increase or decrease the speed, thus generating a natural traffic jam caused by the driver not recognizing the decrease in speed, and increasing the speed. It is possible to prevent the tendency of excessive speed due to not recognizing the problem.

  Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

  1 and 2 are a front speed sensor 2 that is installed at a position facing a road including a change point P that can change the vehicle speed, and that detects a traveling speed V1 of the vehicle 6 before passing the change point P; The rear speed sensor 3 that detects the traveling speed V2 of the vehicle 6 after passing through the change point P, the plurality of light emitters 4 installed along the road, the detected value of the rear speed sensor 3, and the front speed sensor 2 The structural example of the vehicle guidance apparatus 1 provided with the controller 5 which transmits the light emission instruction | command to the several light-emitting body 4 based on the presence or absence of difference (DELTA) V (| V1-V2 |) with a detection value is shown. In the drawing, the change point P indicates a point where the road gradient changes, but the change point P may be a curved or bent point on the plane without changing the gradient.

  Based on the detected value difference ΔV (| V1−V2 |), the controller 5 first sets a light emission speed v at which the light emission of the plurality of light emitters 4 flows in the traveling (moving) direction of the vehicle 6. Subsequently, the timing (timing) of the light emission command to each light emitter 4, that is, the time difference Δt for transmitting the light emission command, is determined from the set light emission speed v and the distance La between the adjacent light emitters 4 and 4. Since the distance La between the adjacent light emitters 4 and 4 is determined in advance at the time of installation, the time difference Δt of light emission is obtained as Δt = La / v by setting the light emission speed v.

  Hereinafter, the light emitter 41 located closest to the entry side of the vehicle 6 may be referred to as a start side light emitter, and the light emitter located at the opposite end may be referred to as an end point side light emitter. The plurality of light emitters 4 or any one of the light emitters 41, 42... 410 may be represented by the light emitter 4.

  FIG. 1 and FIG. 2 show examples of points where the vehicle speed is likely to decrease via the changing point P, the point where the road gradient changes from the downward gradient to the upward gradient or the horizontal, In other cases, the vehicle speed may be a point where the vehicle speed is likely to increase, an upward gradient, a downward gradient, or a horizontal change point. In the road including the change point P as shown in FIG. 1, the vehicle speed tends to decrease through the change point P. Therefore, the front speed sensor 2 is installed mainly on the front side of the change point P, and the change point P is The rear speed sensor 3 is installed beyond the point.

  When the change point P is a change point of the road gradient, the speed of the vehicle 6 traveling in front of the change point P does not vary greatly depending on the distance from the change point P, so the installation position of the front speed sensor 2 is the change point. If it is before P, it will not ask in particular.

  On the other hand, immediately after passing through the change point P, the vehicle speed does not change, and as the distance from the change point P increases, the speed is more likely to decrease. It is reasonable to be installed ahead of a certain distance. The fact that the vehicle speed does not change immediately after passing through the change point P is that the road surface changes from a downward slope to an upward slope as shown in FIG. This is true for both.

  It is sufficient that the starting side light-emitting body 41 is also installed at a distance from the change point P where the vehicle speed is expected to decrease, but in the sense that the driver is conscious of speed recovery early by light emission, The vehicle 6 may be installed at a position immediately after passing through the change point P or before passing. In FIG. 1, the light emitter 4 is installed on the front side in the traveling direction of the vehicle 6 with respect to the rear speed sensor 3.

  The front speed sensor 2, the rear speed sensor 3, and the light emitter 4 are fixed to, for example, a side wall 7 facing the road, a column, a road surface, or a girder member 8 constructed so as to straddle the road over the road as shown in the figure. It is installed in a state or detachable. FIG. 2 shows a case where the front speed sensor 2 and the rear speed sensor 3 are installed on the girder member 8.

  The front speed sensor 2 and the rear speed sensor 3 measure, for example, the vehicle speed (V1, V2) when the vehicle 6 is closest to each other when passing through the vicinity, and the vehicle 6 is approaching as described later. In order to determine whether or not, the vehicle speed at a certain time (every minute time) when approaching is measured. Vehicle speeds V1 and V2 measured by the front speed sensor 2 and the rear speed sensor 3 are transmitted to the controller 5 as shown in FIG. For example, the controller 5 is built in either the front speed sensor 2 or the rear speed sensor 3, or in the starting side light emitter 41, or is installed separately from these.

  For example, a sensor using a microwave (radar wave) or laser light, an infrared type, a photoelectric tube type sensor, or the like is used for the speed sensors 2 and 3, and the type and form are not limited. The sensor using the microwave irradiates (radiates) the microwave toward the vehicle 6 and calculates the speed of the traveling vehicle 6 from the frequency difference between the irradiated wave and the reflected wave.

  The difference between the detection value of the rear speed sensor 3 and the detection value of the front speed sensor 2 described above is that the detection value V1 of each speed sensor 2, 3 when the vehicle 6 passes in the vicinity of each speed sensor 2, 3, The difference between V2 and the difference between the detected values V1 and V2 (| V1-V2 | = ΔV ≠ 0) indicates that the vehicle speed has changed via the change point P. V1 is the speed (approach speed) of the vehicle 6 before the change point P, and V2 is the speed (passing speed) after passing through the change point P.

  In the case of FIG. 1, the plurality of light emitters 4 are mainly installed at intervals (distance La) from the point beyond the change point P, but may be installed before the change point P. The interval between the adjacent light emitters 4 and 4 is basically constant, but it is only necessary to give the driver of the vehicle 6 the recovery of the changed speed by the light emission speed v by the plurality of light emitters 4. The interval between the light emitters 4 and 4 is not necessarily constant. The plurality of light emitters 4 may also be continuously arranged in the traveling direction of the vehicle 6 without being spaced apart.

  When the controller 5 determines that there is a difference between the detection value V2 of the rear speed sensor 3 and the detection value V1 of the front speed sensor 2 as described above (| V1-V2 | ≠ 0), the controller 5 A light emission command is transmitted at a light emission timing (with a certain time difference) wirelessly or by wire. Each light emitter 4 emits light due to reception of the light emission command. As long as it has a function of emitting light in response to a command from the controller 5 (in an ON state), the type of the light emitter 4 is not limited, and an LED, a light bulb, a fluorescent lamp, or the like is used.

  The plurality of light emitters 4 receive light emission commands from the controller 5 and emit light sequentially from the start side light emitter 41 with a time difference, but the light emission time difference Δt changes depending on the speed V1 when each vehicle 6 enters. The timing of the light emission command for each light emitter 4 is determined by the controller 5 based on the speed V1 of the vehicle 6. For example, on a road transitioning from a downward slope to an upward slope as shown in FIG. 1, the speed V2 after passing through the change point P is smaller than the speed V1 when the vehicle 6 enters, so that the light emission speeds of the plurality of light emitters 4 are V1 or higher. The timing of the light emission command to each light emitter 4 is determined so that

  If a plurality of light emitters 4 are arranged at equal intervals, and the light emission speed v is set equal to V1 (v = V1), the distance (distance) between the adjacent light emitters 41 and 42 is La. Since the light emission interval (time difference) Δt is calculated as Δt = La / V1, the controller 5 issues a light emission command to the next light emitter 42 after Δt of the light emission command to the first light emitter (starting side light emitter) 41. Send. Further, after Δt, a light emission command is issued to the next light emitter 43, and a light emission command is sequentially sent to the adjacent light emitters 4 with a time difference of Δt.

  On the road where the speed of the vehicle 6 decreases through the change point P as in the example of FIGS. 1 and 2, even if the light emission starts from the rear of the vehicle 6, the movement (flow) of the light emission can overtake the traveling vehicle 6. Therefore, the timing of the light emission command to the first light emitter (starting side light emitter) 41 may be before or after the vehicle 6 passes through the light emitter 41.

  Changes in the speeds V1 and V2 when the passing speed V2 is lower than the approach speed V1 are as shown in FIG. 3 on a graph with time on the horizontal axis and distance on the vertical axis. In FIG. 3, the origin indicates the change point P. The solid straight line indicates the trajectory of the vehicle 6, and the inclination of the straight line indicates the vehicle speed. The broken straight line indicates the locus of light emission of the light emitter 4, and the inclination thereof indicates the light emission speed v. Here, in order to simplify the figure (straightening the trajectory of the vehicle 6), it is assumed that the vehicle 6 travels at a constant speed before and after the change point P. Sometimes draws a curve.

  In FIG. 3, the number on the solid line indicates the position of the vehicle 6 at each time tn, and the number on the broken line indicates the light emission timing (timing) corresponding to the vehicle position. At t1, the vehicle 6 moves from the change point P to the point L1, and the start point side light emitter 41 located at the point L1 from the change point P emits light at the timing. At this time, since the positions of the vehicle 6 and the starting side light emitter 41 are both at the distance L1 from the change point P, it appears to the driver that light emission has started just beside.

  At t2, the second light emitter 42 emits light, and at t3, the third light emitter 43 emits light. After t2, the light emitter 4 located in front of the vehicle 6 always emits light. However, the distance between the light emitter 4 and the vehicle 6 gradually increases, so that the driver can emit light overtaking the vehicle 6 and running away. You will see.

  The light emitter 4 emits light (lights up) and then turns off, and repeats light emission and light extinction (flashing). For example, at the same time when the start point side light emitter 41 is turned off, the light emission of the second light emitter 42 is repeated toward the end point side light emitter, so that the light emission seems to flow at a speed v.

  In FIG. 3, the third light emitter 43 emits light at the same time, the origin side light emitter 41 emits light again, and the fifth light emitter 45 emits light at the same time that the origin side light emitter 41 emits light. The light emission flow is repeatedly generated in the direction of travel of the vehicle 6 to appeal the light emission speed v to the driver's vision. Since the light emitted from the plurality of light emitters 4 is transmitted as a signal to the driver of the traveling vehicle 6, it is appropriate that the light emitting portion of the light emitter 4 has a shape in which the light emission is recognized from a wide range. .

  When the light emission speed v is in the relationship of v = V1, it appears to the driver in the vehicle 6 traveling at the speed of V2 that the light emission moves forward at a relative speed of | v−V2 |. This flow of light emission gives the driver an awareness that the relative speed becomes 0 (V2 = v), so that the vehicle speed V2 gradually becomes closer to V1.

  FIG. 4 shows the trajectory of the vehicle 6 and the light emission trajectory of the light emitter 4 when the vehicle speed V2 increases through the changing point P as in a road transitioning from an uphill to a downhill. A solid line indicates the locus of the vehicle 6, and a broken line indicates the locus of light emission. The slope of the solid line indicates the vehicle speed, and the slope of the broken line indicates the light emission speed v. Here, the number on the solid line indicates the position of the vehicle 6 at each time tn, and the number on the broken line indicates the light emission timing (timing) corresponding to the vehicle position.

  In the case of FIG. 4, since the light emission speed v is set to V1 smaller than the vehicle speed V2 (v = V1), immediately after passing the change point P, the vehicle 6 overtakes the light emission flow. Therefore, it is effective to start the light emission from the light emitter 4 positioned in front of the vehicle 6.

  At t1, the vehicle 6 moves from the change point P to the point L1, and at that timing, the light emitter 45 located on the front side thereof, for example, located from the change point P to the point L5, emits light. At time t2, the next light emitter 46 emits light, and at time t3, the next light emitter 47 emits light. In this case, since the light emission speed v is smaller than the vehicle speed V2, the distance between the vehicle 6 and the light-emitting body 4 that has emitted light decreases as the vehicle 6 moves, and the flow of light emission relatively reverses to the driver. Looks like going.

  In FIG. 4 as well, the seventh light emitter 47 located at the point L7 from the change point P emits light, and at the same time, the sixth light emitter 46 located at the point L6 is caused to emit light again. The flow is repeatedly generated in the direction of travel of the vehicle 6 to appeal the light emission speed v to the driver's vision.

  When the light emission speed v is in the relationship of v = V1, it appears to the driver in the vehicle 6 traveling at the speed of V2 that the light emission moves backward at a relative speed of | v−V2 | Since the flow of light emission gives the driver awareness that the relative speed becomes 0 (V2 = v), the vehicle speed V2 is gradually brought closer to V1.

  FIGS. 8A and 8B show the state of the light emitter 4 as seen from the inside of the traveling vehicle 6 when the light emitter 4 is installed on the side wall 7. (A) is a case where the luminous body 4 is arranged at the level of the driver's seat, and (b) is a case where it is arranged at the boundary with the road surface. In the case of (b), since the light emitter 4 approaching the vehicle 6 gradually moves out of the window range and hides in the vehicle body, the time for staying in the driver's field of view is short. On the other hand, in the case of (a), until the vehicle 6 passes through the light emitter 4, the light emitter 4 is within the window and the time for staying in the driver's field of view becomes longer. It turns out that it is easy.

  On the road where the vehicle speed V2 increases through the change point P as shown in FIG. 4, the light emission command to the light emitter 4 (45) to start the light emission is, for example, the rear speed sensor 3 or the front as shown in FIG. It is determined from the rate of change dL of the distance between the speed sensor 2 and the vehicle 6. This rate of change dL is expressed as dL = δL / δt from a difference (δL = Lb−Lc) between the rear speed sensor 3 (front speed sensor 2) and the vehicle 6 at a constant minute time (δt). Calculated. The distances Lb and Lc between the speed sensor 3 (2) and the vehicle 6 are obtained by integrating the speeds Vb and Vc measured by the speed sensor 3 (2) at each point in time (δt).

  When the vehicle 6 approaches the rear speed sensor 3 or the front speed sensor 2, the distance between the speed sensor 3 (2) and the vehicle 6 becomes smaller at each time, so that the distance change rate dL is negative. become. Conversely, when the vehicle 6 moves away from the speed sensor 3 (2), the distance between the two becomes larger at each time, so the change rate dL of the distance becomes positive.

  Thus, if the controller 5 transmits a light emission command to the light emitter 4 that should start light emission when the distance change rate dL is negative, the light emission is performed even when the light emission speed v is lower than the vehicle speed V2. It is possible to control to start light emission when the light-emitting body 4 to be started is on the front side of the vehicle 6.

  When the change rate dL of the distance is going to shift from negative to positive, it is just the time when the vehicle 6 passes the speed sensor 3 (2), and immediately before the vehicle 6 passes the speed sensor 3 (2). Since the distance change rate dL decreases (slows down), it is also possible to determine whether there is a time margin until the vehicle 6 passes the speed sensor 3 (2) by capturing the change in the distance change rate dL. Is possible.

  A control example of a light emission command to the light emitter 4 by the controller 5 will be described with reference to FIG. As shown in FIG. 6, the controller 5 includes a calculation unit that calculates a difference between the detection values V1 and V2 from the speed sensors 2 and 3, a time difference (interval) Δt of a light emission command to each light emitter 4, and a calculation unit. Based on the calculation result, a light emission speed v is set, and each light emitter 4 has a control unit that transmits a light emission command for each time difference Δt.

  First, when the vehicle 6 approaches the front speed sensor 2, the front speed sensor 2 detects the approach speed V1 of the vehicle 6, the rear speed sensor 3 detects the passing speed V2 of the vehicle 6, and the detected values V1 and V2 are obtained. It transmits to the calculating part of the controller 5 (S1).

  In order to determine whether or not to issue a light emission command to the light emitter 4, the calculation unit of the controller 5 determines whether or not there is a difference between the detected values V1 and V2 (| V1-V2 | ≠ 0) (S2). . Subsequently, the light emission speed v is set, and in order to determine (specify) the light emitter 4 to start light emission, it is determined whether or not the passing speed V2 is smaller than the approach speed V1 (V1> V2) (S3).

  As a general rule, if there is no difference between the detected values V1 and V2 in S2 (No), it is not always necessary to prompt the driver of the target vehicle 6 to return the speed, so that it is ready to detect the speed of the subsequent vehicle 6. However, there is a case where the process proceeds to S4 described later without going through the determination of S3.

  Here, the light emission speed v functions to return the passing speed V2 to the approaching speed V1 when there is a difference between the approaching speed V1 and the passing speed V2. Therefore, whether V1> V2 or V1 <V2 Regardless, it is sufficient to set the light emission speed v to v = V1. However, in order to increase the speed recovery effect, v> V1 may be set when V1> V2, and v <V1 may be set when V1 <V2.

  The calculation result (| V1-V2 | ≠ 0) in the calculation unit is sent to the control unit. When V1> V2 as described above, the control unit sets, for example, v ≧ V1 (S4). If V1 <V2, v ≦ V1 is set (S7).

  The control unit also causes the calculation unit to calculate the time difference (Δt = La / V1) of the light emission commands to the plurality of (adjacent) light emitters 4 and 4 (S5) and the first light emitter (starting side light emitter). ) 41 (S6). After Δt, the operation of transmitting a light emission command to the adjacent light emitters 42 is sequentially repeated toward the end point side light emitter with a time difference of Δt.

  In the case of V1 <V2, after setting v ≦ V1 (S7), in order to determine (specify) the illuminant 4 to start emitting light, the speed sensor 2 (3), the vehicle 6 and And a time difference (Δt = La / V1) of a light emission command to the light emitter 4 is calculated (S8).

  If dL <0, the vehicle 6 is approaching the speed sensor 2 (3) and is in a state before passing through the speed sensor 2 (3), so the control unit receives the vehicle 6 from the speed sensor 2 (3). The light emitting body 4 (for example, 45) which is located on the traveling side (front side) to start light emission is determined (S9), and a light emission command is transmitted to the determined light emitting body 4 (S10). After Δt, the operation of transmitting a light emission command to the adjacent light emitters 46 is sequentially repeated toward the end point side light emitter with a time difference of Δt.

  The above operation is performed in units of one vehicle 6, and when a plurality of vehicles 6 enter one after another, a light emission command to the light emitter 4 is sent independently for each vehicle 6.

  FIG. 9 shows a case where the vehicle guidance device 1 is installed ahead of a construction (regulation) section on a road under construction or regulation. Here, the front speed sensor 2, the rear speed sensor 3, and the light emitter 4 are attached to a color cone (pylon) 9 temporarily installed on the road, but the light emitter 4 may be directly installed on the road. . If the vehicle can be easily moved like the color cone 9, road signs such as road sign pillars, safety cones, zone separators, etc., which are small traffic safety facilities used for road construction, can also be installed on the vehicle guidance device 1. Can be used as The controller 5 is installed at an arbitrary position (not shown).

  When the installation target of the light emitter 4 is a movable support (color cone 9) as shown in FIG. 9, the interval (distance La) between the plurality of light emitters 4, 4 can be freely adjusted. It is also possible to make the light emission speed v variable by gradually increasing (gradually decreasing) the interval between the light emitters 4 and 4 while keeping the interval (time difference Δt) of the light emission commands transmitted to the light emitter 4 constant.

(A) is the side view which showed a mode that the vehicle guidance apparatus was installed in the road containing the point which changes from a downward slope to an upward slope, (b) is a top view. It is the side view which showed the connection between each component of the vehicle guidance apparatus shown in FIG. It is the graph which showed the position of the vehicle for every time tn when passage speed V2 fell from approach speed V1, and the light emission timing of each light-emitting body. It is the graph which showed the position of the vehicle for every time tn when passage speed V2 rose from approach speed V1, and the timing of light emission of each light-emitting body. The procedure for calculating the rate of change dL = δL / δt of the distance between the speed sensor and the vehicle from the difference (δL = Lb−Lc) between the speed sensor and the vehicle at constant time intervals (δt) is shown. FIG. It is the block diagram which showed the relationship between the speed sensor which comprises a vehicle guidance apparatus, a light-emitting body, and a controller. It is the flowchart which showed the example of control of the light emission command to the light-emitting body by a controller. It is the conceptual diagram which showed a mode that the light-emitting body installed in the side wall was seen from the inside of a vehicle, (a) when arrange | positioning a light-emitting body in the level of a driver's seat, (b) arrange | positioned on the boundary with a road surface Is the case. It is the elevation which showed a mode that the vehicle guidance apparatus was installed in the tip of a construction (regulation) section on the road under construction (regulation).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle guidance device 2 ... Front speed sensor 3 ... Rear speed sensor 4 ... Light emitter, 41 ... Origin side light emitter 5 ... Controller 6 ... Vehicle 7 ... Side wall 8 ... Girder member 9 ... ... Color cone (movable support)

Claims (8)

A front speed sensor that is installed at a position facing a road including a change point that can change the vehicle speed, detects a traveling speed of the vehicle before passing through the change point, and a vehicle after passing through the change point. A rear speed sensor for detecting the traveling speed;
A plurality of light emitters installed along the road;
A controller that transmits a light emission command to the plurality of light emitters based on the presence or absence of a difference between a detection value of the rear speed sensor and a detection value of the front speed sensor;
The controller is configured to set a light emission speed at which light emission of the plurality of light emitters flows in a traveling direction of the vehicle based on the difference between the detected values.   The vehicle guidance device according to claim 1, wherein the controller determines a timing of a light emission command to each light emitter from the light emission speed and a distance between adjacent light emitters.   2. The controller according to claim 1, wherein when there is a difference between a detection value of the rear speed sensor and a detection value of the front speed sensor, the controller transmits a light emission command to the plurality of light emitters. 2. The vehicle guidance device according to 2.   4. The controller according to claim 1, wherein the controller sequentially transmits a light emission command to a light emitter located on a far side from a light emitter located on a vehicle entrance side to the change point. 5. The vehicle guidance device described in 1.   The said controller sets the said light emission speed more than the detection value of the said front speed sensor, when the detection value of the said rear speed sensor is smaller than the detection value of the said front speed sensor. Item 5. The vehicle guidance device according to Item 4.   The said controller sets the said light emission speed below the detection value of the said front speed sensor, when the detection value of the said rear speed sensor is larger than the detection value of the said front speed sensor. Item 5. The vehicle guidance device according to Item 4.   The said controller sets the time of the light emission instruction | command to the light-emitting body which should start light emission, before the said vehicle passes the light-emitting body, The Claim 1 characterized by the above-mentioned. Vehicle guidance device. 8. The vehicle guidance device according to claim 7, wherein the controller determines a timing of a light emission command to the light emitter from a rate of change in a distance between the light emitter to start light emission and the vehicle. .

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