JP6962646B1 - How to know the position of a car across the road and obstacles ahead - Google Patents

How to know the position of a car across the road and obstacles ahead Download PDF

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JP6962646B1
JP6962646B1 JP2020219848A JP2020219848A JP6962646B1 JP 6962646 B1 JP6962646 B1 JP 6962646B1 JP 2020219848 A JP2020219848 A JP 2020219848A JP 2020219848 A JP2020219848 A JP 2020219848A JP 6962646 B1 JP6962646 B1 JP 6962646B1
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貴志 山崎
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山崎 明美
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Abstract

【課題】吹雪や濃霧の視界不良時等の自動車走行において、自車の道路横断方向位置または前方障害物またはその両方を把握する方法を提供する。【解決手段】ラインレーザー光１を、自車に設置したレーザー発振器２から、自車進行方向の前方地表または前方またはその両方に向けて照射する。たとえば、自車進行方向の前方地表に照射した道路横断方向のラインレーザー光１により描かれるラインは、主に道路表面の横断方向形状を表すため、自車の道路横断方向位置の把握に資する。【選択図】図１PROBLEM TO BE SOLVED: To provide a method for grasping a position in a road crossing direction of an own vehicle and / or an obstacle in front of the vehicle in a vehicle traveling such as when the visibility of a snowstorm or thick fog is poor. SOLUTION: A line laser beam 1 is irradiated from a laser oscillator 2 installed in a vehicle toward the front ground surface in the traveling direction of the vehicle and / or in front of the vehicle. For example, the line drawn by the line laser beam 1 in the road crossing direction irradiating the ground surface in front of the vehicle in the traveling direction mainly represents the shape of the road surface in the crossing direction, which contributes to grasping the position of the vehicle in the road crossing direction. [Selection diagram] Fig. 1

Description

本発明は、吹雪や濃霧の視界不良時等の自動車走行において、自車の道路横断方向位置または前方障害物またはその両方を把握するのに好適な方法に関する。 The present invention relates to a method suitable for grasping the position of the own vehicle in the road crossing direction and / or the obstacle in front of the vehicle in a vehicle traveling such as when the visibility of a snowstorm or thick fog is poor.

ホワイトアウト呼ばれるような吹雪や濃霧の中を自動車で走行する場合、運転者の視界一面が真っ白で、道路表面の形状や前方障害物を把握するための目視情報がほとんど無いことから、自車の道路横断方向位置や前方障害物を把握できず、道路逸脱、対向車線へのはみ出し、路側雪堤への接触、前方車両への追突、吹きだまりへの突っ込みなどが発生しやすい。 When driving in a snowstorm or thick fog, which is called whiteout, the driver's view is pure white and there is almost no visual information to grasp the shape of the road surface or obstacles in front of the vehicle. It is difficult to grasp the position in the crossing direction of the road and obstacles ahead, and it is easy for road deviation, protrusion to the oncoming lane, contact with the roadside snow embankment, rear-end collision with the vehicle in front, and plunge into a blizzard.

従来技術では、吹雪や濃霧の視界不良時等の自動車走行において、自車の道路横断方向位置や前方障害物を把握しやすくするため、すなわち視認性向上のために、特許文献１に示されるようなフォグランプが使用されている。 According to the prior art, as shown in Patent Document 1, in order to make it easier to grasp the position of the own vehicle in the road crossing direction and obstacles in front of the vehicle when the vehicle is running due to poor visibility in a snowstorm or thick fog, that is, to improve visibility. Fog lamp is used.

特開２０１５−１３７０７１号公報Japanese Unexamined Patent Publication No. 2015-137071

従来技術であるフォグランプでは、道路表面を面状に照らすものであるため、道路表面や前方障害物が積雪により真っ白な場合には道路表面や前方障害物の形状がわかりにくく、自車の道路横断方向位置や前方障害物を把握しにくい場合がある。 Since the fog lamp, which is a conventional technology, illuminates the road surface in a planar manner, it is difficult to understand the shape of the road surface or the front obstacle when the road surface or the front obstacle is white due to snow, and the vehicle crosses the road. It may be difficult to grasp the direction position and obstacles ahead.

本発明は、吹雪や濃霧の視界不良時等の自動車走行において、自車の道路横断方向位置または前方障害物またはその両方を把握するのに好適な方法を提供することにある。 It is an object of the present invention to provide a method suitable for grasping the position of the own vehicle in the road crossing direction and / or the obstacle in front of the vehicle in a vehicle traveling such as when the visibility of a snowstorm or thick fog is poor.

レーザー光のレンズ屈折またはミラー反射のみにより生成したラインレーザー光１を、自車に設置したレーザー発振器２から、自車進行方向の前方地表または前方またはその両方に向けて照射することにより、自車の道路横断方向位置または前方障害物またはその両方を把握する。 By irradiating the line laser light 1 generated only by the lens refraction or mirror reflection of the laser light from the laser oscillator 2 installed in the own vehicle toward the front ground surface in the direction of travel of the own vehicle and / or in front of the own vehicle, the own vehicle Understand the cross-road position and / or obstacles ahead of the road.

ラインレーザー光１を、自車に設置したレーザー発振器２から、自車進行方向の前方地表や前方に向けて照射することで、ラインレーザー光１が道路表面や雪堤４表面や前方障害物表面に反射して、反射光によるラインが描かれる。 By irradiating the line laser light 1 from the laser oscillator 2 installed in the own vehicle toward the front ground surface or the front in the direction of travel of the own vehicle, the line laser light 1 is emitted from the road surface, the snow bank 4 surface, or the front obstacle surface. A line is drawn by the reflected light.

自車進行方向の前方地表に照射した道路横断方向のラインレーザー光１により描かれるライン（図２）は、主に道路表面の横断方向形状を表す。自車進行方向の前方に照射した道路横断方向のラインレーザー光１により描かれるライン（図３）は、主に前方および斜前方障害物表面の水平方向形状を表す。自車進行方向の前方地表および前方に照射した道路縦断方向のラインレーザー光１により描かれるライン（図４）は、主に道路表面の縦断方向形状および前方障害物表面の鉛直方向形状を表す。 The line drawn by the line laser beam 1 in the road crossing direction irradiating the ground surface in front of the vehicle in the traveling direction (FIG. 2) mainly represents the crossing direction shape of the road surface. The line (FIG. 3) drawn by the line laser beam 1 in the road crossing direction irradiated forward in the vehicle traveling direction mainly represents the horizontal shape of the front and oblique front obstacle surfaces. The front ground surface in the direction of travel of the vehicle and the line in the road longitudinal direction irradiated forward The line (FIG. 4) drawn by the laser beam 1 mainly represents the longitudinal shape of the road surface and the vertical shape of the front obstacle surface.

運転者は、ラインレーザー光１により描かれるラインで表された道路表面の形状や前方障害物表面の形状を把握することにより、路側雪堤、歩道段差、前方車両、吹きだまりなどの存在や位置を把握できるため、自車の道路横断方向位置を把握することや、前方車両への追突、吹きだまりへの突っ込みを回避することができる。 By grasping the shape of the road surface represented by the line drawn by the line laser beam 1 and the shape of the front obstacle surface, the driver can determine the existence and position of roadside snow embankments, sidewalk steps, vehicles in front, snowdrifts, etc. Since it can be grasped, it is possible to grasp the position of the own vehicle in the crossing direction of the road, and to avoid a collision with a vehicle in front and a plunge into a snowdrift.

従来技術であるフォグランプは道路表面等を面状に照らすものであるのに対し、本発明は道路表面等を線状に照らすことで道路表面等の形状を詳細に把握できるようにするものである。 While the fog lamp of the prior art illuminates the road surface or the like in a planar manner, the present invention illuminates the road surface or the like linearly so that the shape of the road surface or the like can be grasped in detail. ..

本発明の効果は、レーザー光の反射光から得られる目視情報によるものであるため、明るい日中では効果が低い場合もあるが、夜間など周囲が暗い場合には高い効果を得られる。 Since the effect of the present invention is based on visual information obtained from the reflected light of the laser beam, the effect may be low in bright daytime, but a high effect can be obtained in dark surroundings such as at night.

本発明に係る実施例の斜視図。The perspective view of the Example which concerns on this invention. 前方地表に照射した道路横断方向のラインレーザー光１により描かれるライン。A line drawn by the line laser beam 1 in the crossing direction of the road that irradiates the front ground surface. 前方に照射した道路横断方向のラインレーザー光１により描かれるライン。A line drawn by the laser beam 1 in the crossing direction of the road illuminated forward. 道路縦断方向のラインレーザー光１により描かれるライン。Line in the direction of traversing the road A line drawn by laser light 1. 複数本の道路横断方向のラインレーザー光１により描かれるライン。Lines in multiple road crossing directions Lines drawn by laser light 1.

レーザー光のレンズ屈折またはミラー反射のみにより生成したラインレーザー光１を、自車に設置したレーザー発振器２から、自車進行方向の前方地表または前方またはその両方に向けて照射する。図１に示す実施例では、道路横断方向と道路縦断方向のラインレーザー光１をそれぞれ１本ずつ、それぞれ別々のレーザー発振器２により照射し、レーザー発振器２の設置位置はそれぞれ車両前方上部と車両先端としているが、ラインレーザー光１の本数やレーザー発振器２の設置位置を限定するものではない。 The line laser beam 1 generated only by the lens refraction or mirror reflection of the laser beam is emitted from the laser oscillator 2 installed in the own vehicle toward the front ground surface in the traveling direction of the own vehicle, the front surface, or both. In the embodiment shown in FIG. 1, one line laser beam 1 in the road crossing direction and one line laser beam 1 in the road longitudinal direction are irradiated by separate laser oscillators 2, and the laser oscillators 2 are installed at the upper front portion of the vehicle and the tip of the vehicle, respectively. However, the number of line laser beams 1 and the installation position of the laser oscillator 2 are not limited.

図５に示す実施例ように、複数本の道路横断方向のラインレーザー光１を、それぞれ進行方向にずらした位置の地表に照射することにより、道路横断方向の表面形状をより詳細に把握できるため、自車の道路横断方向位置を把握するための効果が高くなる。 As in the embodiment shown in FIG. 5, by irradiating a plurality of line laser beams 1 in the road crossing direction on the ground surface at positions shifted in the traveling direction, the surface shape in the road crossing direction can be grasped in more detail. , The effect of grasping the position of the own vehicle in the crossing direction of the road is enhanced.

複数本のラインレーザー光１を照射する方法としては、複数台のレーザー発振器２を用いる方法のほかに、１台のレーザー発振器２による方法もある。 As a method of irradiating a plurality of line laser beams 1, in addition to a method using a plurality of laser oscillators 2, there is also a method using one laser oscillator 2.

ラインレーザー光１は必ずしも直線状である必要はなく、また、照射の方向も道路横断方向または道路縦断方向に限らず斜め方向の照射パターンも考えられる。 The line laser beam 1 does not necessarily have to be linear, and the irradiation direction is not limited to the road crossing direction or the road longitudinal direction, and an oblique irradiation pattern is also conceivable.

レーザー発振器２の設置位置について、運転者の目線より高い位置の場合、道路表面横断方向形状の把握に有利であるが、浮遊雪粒子や霧滴による反射光が運転者の視界に入る悪影響が発生する。運転者の目線より低い位置の場合、浮遊雪粒子や霧滴による反射光の悪影響は前者に比べて少ないが、道路表面横断方向形状の把握には前者に比べて不利である。 When the laser oscillator 2 is installed at a position higher than the driver's line of sight, it is advantageous for grasping the shape in the crossing direction of the road surface, but the reflected light due to floating snow particles and fog droplets has an adverse effect on the driver's view. do. When the position is lower than the driver's line of sight, the adverse effect of the reflected light due to floating snow particles and fog droplets is less than that of the former, but it is disadvantageous compared to the former for grasping the shape in the crossing direction of the road surface.

道路横断方向のラインレーザー光１の照射範囲は、必ずしも自車の車幅をカバーする必要は無く、雪堤や歩道が存在することが多い自車の左側のみに照射する範囲設定も考えられる。自車の左側にレーザー発振器２を設置し、ラインレーザー光１を自車の左側のみに照射することで、前記の運転者に対する浮遊雪粒子や霧滴による反射光の悪影響を軽減することができる。 The irradiation range of the line laser beam 1 in the crossing direction of the road does not necessarily cover the width of the own vehicle, and it is conceivable to set the irradiation range to irradiate only the left side of the own vehicle, which often has a snow bank or a sidewalk. By installing the laser oscillator 2 on the left side of the own vehicle and irradiating only the left side of the own vehicle with the line laser light 1, it is possible to reduce the adverse effect of the reflected light due to the floating snow particles and fog droplets on the driver. ..

上記ここまでの記載は運転者の目視を対象にした記載であるが、可視光外波長のラインレーザー光１を用いて、カメラ撮影データの処理画像をモニタ出力することにより、運転者が路面表面形状等を把握することもできる。これにより、前記の明るい日中における低効果を改善し得るとともに、前記の運転者に対する浮遊雪粒子や霧滴による反射光の悪影響を解消することができる。また、前記カメラ撮影データは自動運転装置や危険警告装置等への入力情報となり得る。 The above description is intended for the driver's visual inspection, but by using the line laser light 1 having a wavelength outside the visible light and outputting the processed image of the camera shooting data to the monitor, the driver can perform the road surface surface. It is also possible to grasp the shape and the like. Thereby, the low effect in the bright daytime can be improved, and the adverse effect of the reflected light due to the floating snow particles and fog droplets on the driver can be eliminated. In addition, the camera shooting data can be input information to an automatic driving device, a danger warning device, or the like.

１ ラインレーザー光
２ レーザー発振器
３ 自動車
４ 雪堤 1 line laser light 2 laser oscillator 3 automobile 4 snow bank

Claims (1)

レーザー光のレンズ屈折またはミラー反射のみにより生成した、１本の略直線状のラインレーザー光（１）を、自車に設置したレーザー発振器（２）から、自車進行方向の前方地表または前方またはその両方に向けて照射することにより、自車の道路横断方向位置または前方障害物またはその両方を把握する方法。 One substantially linear line laser beam (1) generated only by the lens refraction or mirror reflection of the laser beam is transmitted from the laser oscillator (2) installed in the vehicle to the ground surface or the front surface or the front in the direction of travel of the vehicle. A method of grasping the position of the vehicle in the crossing direction of the road and / or obstacles in front of the vehicle by irradiating the two.
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JPH07305312A (en) * 1994-05-13 1995-11-21 Kogaku Denshi Kk Laser indication method and device thereof
JPH10268067A (en) * 1997-03-25 1998-10-09 Koito Ind Ltd Snow coverage measuring device
JP2012183863A (en) * 2011-03-03 2012-09-27 Stanley Electric Co Ltd Lighting system for vehicle
JP2015155270A (en) * 2014-02-21 2015-08-27 株式会社小糸製作所 Lighting fixtures for vehicle
JP2017119469A (en) * 2015-12-28 2017-07-06 株式会社 オルタステクノロジー Scanning headlight, control method of scanning headlight, and program
JP2018186003A (en) * 2017-04-26 2018-11-22 大日本印刷株式会社 Luminaire
JP2019011634A (en) * 2017-06-30 2019-01-24 本田技研工業株式会社 vehicle
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JP2019214373A (en) * 2015-04-10 2019-12-19 マクセル株式会社 Projection type display device
CN111741872A (en) * 2017-12-20 2020-10-02 普瑞诺斯股份公司 Snow vehicle

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07305312A (en) * 1994-05-13 1995-11-21 Kogaku Denshi Kk Laser indication method and device thereof
JPH10268067A (en) * 1997-03-25 1998-10-09 Koito Ind Ltd Snow coverage measuring device
JP2012183863A (en) * 2011-03-03 2012-09-27 Stanley Electric Co Ltd Lighting system for vehicle
JP2015155270A (en) * 2014-02-21 2015-08-27 株式会社小糸製作所 Lighting fixtures for vehicle
JP2019214373A (en) * 2015-04-10 2019-12-19 マクセル株式会社 Projection type display device
JP2017119469A (en) * 2015-12-28 2017-07-06 株式会社 オルタステクノロジー Scanning headlight, control method of scanning headlight, and program
JP2018186003A (en) * 2017-04-26 2018-11-22 大日本印刷株式会社 Luminaire
JP2019011634A (en) * 2017-06-30 2019-01-24 本田技研工業株式会社 vehicle
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JP2019190838A (en) * 2018-04-18 2019-10-31 コニカミノルタ株式会社 Road surface condition detection system and road surface condition detection method

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