JP7284705B2 - vehicle lamp system - Google Patents

Description

The present invention relates to vehicle lamp systems.

At present, many countries are actively researching automatic driving technology for automobiles, and each country is considering legislation to enable vehicles to run on public roads in automatic driving mode. Here, the automatic driving mode refers to a mode in which the running of the vehicle is automatically controlled. On the other hand, the manual driving mode refers to a mode in which driving of the vehicle is controlled by the driver. In self-driving cars, a computer automatically controls the running of the vehicle.

Japanese Patent Laid-Open No. 9-277887

By the way, for example, when a vehicle changes from a stopped state to a running state, if it suddenly starts running or tries to change lanes, other vehicles and pedestrians may feel uncomfortable.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a vehicular lamp system capable of informing others of an operation before actually executing the operation.

In order to achieve the above object, the vehicle lamp system of the present invention comprises:
A vehicle lamp system used in conjunction with a vehicle control unit that controls a running state of a vehicle,
a lamp mounted on a vehicle;
Having a lamp control unit that controls lighting of the lamp,
The vehicle control unit is configured to output to the lamp control unit a notice signal for notifying the change before changing the running state,
The lamp control unit is configured to control the lamp so as to be interlocked with the time until the running state is changed when the warning signal is input from the vehicle control unit.

According to the vehicle lamp system of the present invention, it is possible to inform others of the action before actually executing the action.

1 is a top view of a vehicle equipped with a vehicle lamp system according to an embodiment of the invention; FIG. 1 is a side view of a vehicle equipped with a vehicle lamp system according to an embodiment of the invention; FIG. 1 is a block diagram of a vehicle system and a vehicle lamp system; FIG. 1 is a vertical sectional view of a road marking ramp; FIG. FIG. 4 is a side view showing the configuration of the light source unit of the road marking lamp; FIG. 4 is a perspective view showing a configuration of a light distribution section of the road drawing lamp; 4 is a flowchart for explaining a first operation example of the vehicle lamp system; It is a figure which shows the change of a display in a 1st example of operation. It is a figure which shows the change of a display in a 1st example of operation. It is a figure which shows the change of a display in a 1st example of operation. 7 is a flowchart for explaining a second operation example of the vehicle lamp system; It is a figure which shows the change of a display in a 2nd operation example. It is a figure which shows the change of a display in a 2nd operation example. It is a figure which shows the change of a display in a 2nd operation example. 9 is a flowchart for explaining a third operation example of the vehicle lamp system; It is a figure which shows the change of a display in a 3rd operation example. It is a figure which shows the change of a display in a 3rd operation example. It is a figure which shows the change of a display in a 3rd operation example.

An embodiment of the present invention (hereinafter referred to as the present embodiment) will be described below with reference to the drawings. For the sake of convenience, descriptions of members having the same reference numbers as members already described in the description of the present embodiment will be omitted.

Further, in the description of the present embodiment, for convenience of description, the terms “horizontal direction”, “front-rear direction”, and “vertical direction” will be referred to as appropriate. These directions are relative directions set for the vehicle 1 shown in FIGS. 1A and 1B. Here, the "vertical direction" is a direction including the "upward direction" and the "downward direction". "Fore-and-aft direction" is a direction that includes "forward direction" and "rearward direction." A "left-right direction" is a direction including a "left direction" and a "right direction."

1A and 1B show a vehicle 1 equipped with a vehicle lamp system according to this embodiment. 1A shows a top view of the vehicle 1, and FIG. 1B shows a side view of the vehicle 1. FIG. A vehicle 1 is an automobile that can run in an automatic driving mode. The vehicle 1 is equipped with a lamp unit 100 in which a headlamp (HeadLamp: HL) 101 and a road drawing lamp 102 are installed in the left and right front portions.

The vehicle 1 also has an identification lamp (hereinafter referred to as an ID lamp) 150 (an example of a lamp), a right signaling lamp 160R, and a left signaling lamp 160L on the roof.
The ID lamp 150 is a lamp that indicates that the vehicle 1 is in the automatic driving mode. In this embodiment, the ID lamp 150 is provided at the central portion of the vehicle 1 in the left-right direction. In this embodiment, the ID lamp 150 is divided into three parts in the horizontal direction. Each of the three divided regions of the ID lamp 150 can be turned on and off individually.
The signaling lamps 160R and 160L are lamps for transmitting the intention (will) of the vehicle 1 in the automatic driving mode to other traffic persons such as other vehicles and pedestrians. The signaling lamp 160R is arranged on the right side of the ID lamp 150. As shown in FIG. The signaling lamp 160L is arranged on the left side of the ID lamp 150. As shown in FIG. The signaling lamps 160R and 160L are mounted symmetrically with respect to a center line extending in the longitudinal direction of the vehicle 1. As shown in FIG.

FIG. 2 shows a block diagram of a vehicle system 2 and a vehicle lamp system 20 mounted on the vehicle 1. As shown in FIG. First, the vehicle system 2 will be described with reference to FIG. As shown in FIG. 2, the vehicle system 2 includes a vehicle control unit 3, a sensor 5, a camera 6, a radar 7, an HMI (Human Machine Interface) 8, a GPS (Global Positioning System) 9, and wireless communication. 10 and a map information storage unit 11 . Further, the vehicle system 2 includes a steering actuator 12 , a steering device 13 , a brake actuator 14 , a brake device 15 , an accelerator actuator 16 and an accelerator device 17 .

The vehicle control section 3 is configured by an electronic control unit (ECU). The electronic control unit includes a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) storing various vehicle control programs, and a RAM (Random Access Memory) temporarily storing various vehicle control data. It is composed of The processor develops on the RAM a program specified from various vehicle control programs stored in the ROM, and cooperates with the RAM to execute various processes. The vehicle control unit 3 controls traveling of the vehicle 1 based on external information of the vehicle 1 .

The sensor 5 includes an acceleration sensor, a speed sensor, a gyro sensor, and the like. The sensor 5 is configured to detect the running state of the vehicle 1 and output running state information to the vehicle control unit 3 . The sensors 5 include a seating sensor that detects whether the driver is sitting in the driver's seat, a face direction sensor that detects the direction of the driver's face, an external weather sensor that detects external weather conditions, and a sensor that detects whether or not there is a person inside the vehicle. A human sensor or the like for detection may be further provided. Furthermore, the sensor 5 may include an illuminance sensor that detects the illuminance of the surrounding environment of the vehicle 1 .

The camera 6 is, for example, a camera including an imaging device such as a CCD (Charge-Coupled Device) or CMOS (Complementary MOS). The camera 6 is a camera that detects visible light or an infrared camera that detects infrared rays. The radar 7 is a millimeter wave radar, microwave radar, laser radar, or the like. The camera 6 and the radar 7 are configured to detect the surrounding environment of the vehicle 1 (other vehicles, pedestrians, road shape, traffic signs, obstacles, etc.) and output the surrounding environment information to the vehicle control unit 3. .

The HMI 8 is composed of an input section that receives an input operation from the driver and an output section that outputs travel information and the like to the driver. The input unit includes a steering wheel, an accelerator pedal, a brake pedal, an operation mode switch for switching the operation mode of the vehicle 1, and the like. The output unit is a display that displays various running information.

The GPS 9 is configured to acquire current position information of the vehicle 1 and output the acquired current position information to the vehicle control section 3 . The wireless communication unit 10 is configured to receive travel information of other vehicles around the vehicle 1 from other vehicles and to transmit travel information of the vehicle 1 to the other vehicles (vehicle-to-vehicle communication). Further, the wireless communication unit 10 is configured to receive infrastructure information from infrastructure equipment such as traffic lights and marker lights, and to transmit travel information of the vehicle 1 to the infrastructure equipment (road-to-vehicle communication). The map information storage unit 11 is an external storage device such as a hard disk drive storing map information, and is configured to output the map information to the vehicle control unit 3 .

The driving modes of the vehicle 1 include a fully automatic driving mode, an advanced driving assistance mode, a driving assistance mode, and a fully manual driving mode.
When the vehicle 1 runs in a fully automatic driving mode or an advanced driving support mode, the vehicle control unit 3 generates a steering control signal, accelerator Automatically generating at least one of a control signal and a brake control signal. The steering actuator 12 is configured to receive a steering control signal from the vehicle control unit 3 and control the steering device 13 based on the received steering control signal. The brake actuator 14 is configured to receive a brake control signal from the vehicle control unit 3 and control the brake device 15 based on the received brake control signal. The accelerator actuator 16 is configured to receive an accelerator control signal from the vehicle control unit 3 and control the accelerator device 17 based on the received accelerator control signal. Thus, in these modes, the running of the vehicle 1 is automatically controlled by the vehicle system 2 .

On the other hand, when the vehicle 1 travels in the driving support mode or the fully manual driving mode, the vehicle control unit 3 generates a steering control signal, an accelerator control signal, and brake control according to the driver's manual operation of the accelerator pedal, the brake pedal, and the steering wheel. Generate a signal. Thus, in these modes, the steering control signal, the accelerator control signal and the brake control signal are generated by the driver's manual operation, so the running of the vehicle 1 is controlled by the driver.

Next, driving modes of the vehicle 1 will be described. In the fully automatic driving mode, the vehicle system 2 automatically performs all driving control including steering control, brake control and accelerator control, and the driver is not in a state where the vehicle 1 can be driven. In the advanced driving assistance mode, the vehicle system 2 automatically performs all driving control including steering control, brake control and accelerator control, and the driver does not drive the vehicle 1 although the vehicle 1 is ready to be driven.
On the other hand, in the driving assistance mode, the vehicle system 2 automatically performs part of driving control out of steering control, brake control, and accelerator control, and the driver drives the vehicle 1 under the driving assistance of the vehicle system 2. . In the fully manual driving mode, the vehicle system 2 does not automatically perform cruise control, and the driver drives the vehicle 1 without the driving assistance of the vehicle system 2 .

Moreover, the driving mode of the vehicle 1 may be switched by operating a driving mode changeover switch. In this case, the vehicle control unit 3 changes the driving mode of the vehicle 1 into four driving modes (fully automatic driving mode, advanced driving support mode, driving support mode, fully manual driving mode) according to the operation of the driving mode switch by the driver. mode). In addition, the driving mode of the vehicle 1 is automatically set based on information on travelable sections in which automatic driving vehicles can travel, travel prohibited sections in which automatic driving vehicles are prohibited from traveling, or information on external weather conditions. may be switched. In this case, the vehicle control unit 3 switches the driving mode of the vehicle 1 based on these external information. Furthermore, the driving mode of the vehicle 1 may be automatically switched by using a seat sensor, face direction sensor, or the like. In this case, the vehicle control unit 3 switches the driving mode of the vehicle 1 based on the output signals from the seating sensor and face direction sensor.

FIG. 3 is a vertical sectional view showing a schematic configuration of the road surface drawing lamp 102 built into the lamp unit 100. As shown in FIG. As shown in FIG. 3, the lamp unit 100 includes a lamp body 111 having an opening on the front side of the vehicle, and a transparent front cover 112 attached to cover the opening of the lamp body 111. A lamp chamber 113 formed by the lamp body 111 and the front cover 112 accommodates the road drawing lamp 102, the lamp controller 4, and the like. Although not shown in the cross-sectional view of FIG. 3, the headlamp 101 is also housed inside the lamp chamber 113 in the same manner as the road drawing lamp 102 .

The road drawing lamp 102 includes a light source unit 120 and a light distribution section 130 that reflects the light from the light source unit 120 . The light source unit 120 and the light distribution section 130 are supported at predetermined positions in the lamp chamber 113 by a support plate 141 . The support plate 141 is attached to the lamp body 111 via aiming screws 142 .

The light source unit 120 has a plurality (three in this embodiment) of light sources 121 , a heat sink 122 , a plurality of (four in this embodiment) of lenses 123 , and a condensing section 124 . The light source unit 120 is fixed to the front surface of the support plate 141 . Each light source 121 is electrically connected to the lamp controller 4 .

The light distribution section 130 has a terminal section 137 and a reflecting mirror 138 . The light distribution unit 130 has a positional relationship with the light source unit 120 so that the laser light emitted from the light source unit 120 can be reflected forward of the road drawing lamp 102 via the reflecting mirror 138 . The light distribution part 130 is fixed to the tip of a projecting part 143 projecting forward from the front surface of the support plate 141 . Terminal portion 137 is electrically connected to lamp control portion 4 .

The lamp controller 4 is fixed to the lamp body 111 on the rear side of the support plate 141 . Note that the position where the lamp control unit 4 is provided is not limited to this position. The road surface drawing lamp 102 is configured such that the optical axis can be adjusted in the horizontal and vertical directions by rotating the aiming screw 142 to adjust the attitude of the support plate 141 .

FIG. 4 is a side view of the light source unit 120 that constitutes the road drawing lamp 102. As shown in FIG. As shown in FIG. 4, the light source unit 120 includes a first light source 121a, a second light source 121b, a third light source 121c, a heat sink 122, a first lens 123a, and a second lens 123b. , a third lens 123 c , a fourth lens 123 d and a condensing section 124 .

The first light source 121a is a light source that emits red laser light R, and is composed of a light emitting element that is a red laser diode. Similarly, the second light source 121b is composed of a green laser diode that emits green laser light G, and the third light source 121c is composed of a blue laser diode that emits blue laser light B. FIG. The first light source 121a, the second light source 121b, and the third light source 121c each have a laser light emission surface 125a, a laser light emission surface 125b, and a laser light emission surface 125c, which are light emission surfaces. They are arranged parallel to each other. Note that the light emitting element of each light source is not limited to a laser diode.

The first light source 121a to the third light source 121c are arranged so that the respective laser light emitting surfaces 125a to 125c face the front of the road drawing lamp 102, and are attached to the heat sink 122. As shown in FIG. The heat sink 122 is made of a material with high thermal conductivity such as aluminum, and is attached to the light source unit 120 with the rear side surface of the heat sink 122 in contact with the support plate 141 (see FIG. 3).

The first lens 123a to the fourth lens 123d are composed of collimating lenses, for example. The first lens 123a is provided on the optical path of the red laser light R between the first light source 121a and the condensing section 124, and converts the red laser light R emitted from the first light source 121a into parallel light. Then, the light is emitted to the condensing section 124 . The second lens 123b is provided on the optical path of the green laser light G between the second light source 121b and the condenser 124, and converts the green laser light G emitted from the second light source 121b into parallel light. Then, the light is emitted to the condensing section 124 .

The third lens 123c is provided on the optical path of the blue laser light B between the third light source 121c and the condenser 124, and converts the blue laser light B emitted from the third light source 121c into parallel light. Then, the light is emitted to the condensing section 124 . The fourth lens 123 d is fitted into an opening provided in the top of the housing 126 of the light source unit 120 . The fourth lens 123d is provided on the optical path of the white laser light W (described later) between the condensing section 124 and the light distribution section 130 (see FIG. 3), and is the white laser light emitted from the condensing section 124. W is converted into parallel light and emitted to the light distribution section 130 .

The condenser 124 collects the red laser beam R, the green laser beam G, and the blue laser beam B to generate the white laser beam W. As shown in FIG. The light collecting section 124 has a first dichroic mirror 124a, a second dichroic mirror 124b, and a third dichroic mirror 124c.

The first dichroic mirror 124a is a mirror that reflects at least red light and transmits blue light and green light, and reflects the red laser light R that has passed through the first lens 123a toward the fourth lens 123d. are arranged as The second dichroic mirror 124b is a mirror that reflects at least green light and transmits blue light, and is arranged to reflect the green laser light G that has passed through the second lens 123b toward the fourth lens 123d. It is The third dichroic mirror 124c is a mirror that reflects at least blue light, and is arranged to reflect the blue laser light B that has passed through the third lens 123c toward the fourth lens 123d.

In addition, the first dichroic mirror 124a to the third dichroic mirror 124c are arranged so that the optical paths of the laser beams reflected by them are parallel and the respective laser beams are collectively incident on the fourth lens 123d. positional relationship is defined. In the present embodiment, the first dichroic mirror 124a to the third dichroic mirror 124c are arranged so that the areas (reflection points of the laser light) on which the laser light hits each dichroic mirror 124a to 124c are aligned. .

The blue laser beam B emitted from the third light source 121c is reflected by the third dichroic mirror 124c and travels toward the second dichroic mirror 124b. The green laser beam G emitted from the second light source 121b is reflected by the second dichroic mirror 124b toward the first dichroic mirror 124a, and overlaps the blue laser beam B transmitted through the second dichroic mirror 124b. be matched. The red laser beam R emitted from the first light source 121a is reflected by the first dichroic mirror 124a toward the fourth lens 123d, and the blue laser beam B and the green laser beam transmitted through the first dichroic mirror 124a. It is superimposed with the collective light of light G. As a result, the white laser light W is formed, and the formed white laser light W travels toward the light distribution section 130 through the fourth lens 123d.

First light source 121a to third light source 121c are arranged so that first light source 121a that emits red laser beam R is closest to condensing unit 124, and third light source 121c that emits blue laser beam B is arranged. is arranged at the farthest position from the condensing section 124, and the second light source 121b for emitting the green laser light G is arranged at an intermediate position. That is, the first light source 121a to the third light source 121c are arranged closer to the condensing section 124 as the wavelength of the emitted laser light is longer.

FIG. 5 is a perspective view of the light distribution section 130 that constitutes the road surface rendering lamp 102 when viewed from the front side. As shown in FIG. 5, the light distribution unit 130 includes a base 131, a first rotating body 132, a second rotating body 133, a first torsion bar 134, a second torsion bar 135, and a permanent It has magnets 136 a and 136 b , a terminal portion 137 and a reflector 138 . The light distribution unit 130 is composed of, for example, a galvanomirror. Note that the light distribution unit 130 may be composed of, for example, a MEMS mirror.

The base 131 is a frame body having an opening 131a in the center, and is fixed to the projecting portion 143 (see FIG. 3) while being inclined in the front-rear direction of the road surface drawing lamp 102. As shown in FIG. A first rotating body 132 is arranged in the opening 131 a of the base 131 . The first rotating body 132 is a frame body having an opening 132a in the center, and is rotated left and right with respect to the base 131 (vehicle width direction).

A second rotating body 133 is arranged in the opening 132 a of the first rotating body 132 . The second rotating body 133 is a rectangular flat plate, and is supported by a second torsion bar 135 extending in the vehicle width direction so as to be vertically rotatable with respect to the first rotating body 132 . ing. The second rotating body 133 rotates left and right together with the first rotating body 132 when the first rotating body 132 rotates left and right about the first torsion bar 134 as a rotation axis. A reflecting mirror 138 is provided on the surface of the second rotating body 133 by plating, vapor deposition, or the like.

A pair of permanent magnets 136 a are provided on the base 131 at positions orthogonal to the extending direction of the first torsion bar 134 . Permanent magnet 136 a forms a magnetic field orthogonal to first torsion bar 134 . A first coil (not shown) is wired to the first rotating body 132 , and the first coil is connected to the lamp control section 4 via a terminal section 137 . A pair of permanent magnets 136 b are provided on the base 131 at positions orthogonal to the extending direction of the second torsion bar 135 . The permanent magnet 136b forms a magnetic field orthogonal to the second torsion bar 135. FIG. A second coil (not shown) is wired to the second rotating body 133 , and the second coil is connected to the lamp control section 4 via a terminal section 137 .

By controlling the magnitude and direction of the currents flowing through the first coil and the second coil, the first rotating body 132 and the second rotating body 133 reciprocally rotate left and right, and the second rotating body 132 rotates to the left and right. The moving body 133 independently reciprocates up and down. As a result, the reflecting mirror 138 reciprocates vertically and horizontally.

The light source unit 120 and the light distribution unit 130 are positioned so that the white laser light W emitted from the light source unit 120 is reflected forward of the road drawing lamp 102 by the reflecting mirror 138 . The light distribution unit 130 scans the front of the vehicle 1 with laser light by reciprocating rotation of the reflecting mirror 138 . For example, the light distribution unit 130 scans the drawing pattern area to be formed with a laser beam. As a result, the drawing pattern forming area is irradiated with the laser light, and a predetermined drawing pattern is formed in front of the vehicle 1 .

Next, the vehicle lamp system 20 will be described with reference to FIGS. 2, 6 and 7A-7C.
As shown in FIG. 2, the vehicle lamp system 20 includes a lamp controller 4, a road map lamp 102 connected to the lamp controller 4, an ID lamp 150, a right signaling lamp 160R, a left signaling lamp 160L, and a right turn lamp. It has a signal lamp 107R and a left turn signal lamp. The vehicle lamp system 20 is used together with the vehicle controller 3 . The lamp controller 4 is connected to the vehicle controller 3 . The lamp controller 4 controls the road surface drawing lamp 102 , the ID lamp 150 and the signaling lamp 160 based on the signal transmitted from the vehicle controller 3 .

In the following description, when the right signaling lamp 160R and the left signaling lamp 160L are referred to without distinction, they may be collectively referred to as the signaling lamp 160 in some cases.

Next, a first operation example of the vehicle lamp system 20 will be described with reference to FIGS. 6 and 7A-7C. FIG. 6 is a flowchart executed by the vehicle lamp system 20 when the stopped vehicle 1 starts running. 7A to 7C are diagrams showing an example of display changes until vehicle 1 in a stopped state starts running.

FIG. 7A shows a vehicle 1 in fully automatic driving mode approaching a pedestrian crossing Z on a road R. FIG. A pedestrian P is crossing the crosswalk Z. The vehicle control unit 3 controls the vehicle 1 to stop before the crosswalk Z. In this situation, the lamp control unit 4 continuously lights the central area of the three areas of the ID lamp 150 in white to indicate that the vehicle 1 is in the fully automatic driving mode.

FIG. 7B shows a situation in which the pedestrian P has crossed the pedestrian crossing Z completely.
After the vehicle 1 has stopped, the vehicle control unit 3 causes the vehicle 1 to run again. The vehicle control unit 3 determines the waiting time until the vehicle 1 starts running (step S101). The vehicle control unit 3 recognizes the crossing situation of the pedestrian P crossing the pedestrian crossing Z based on external information obtained from the sensor 5, the camera 6, the wireless communication unit 10, the map information storage unit 11, and the like. The vehicle control unit 3 calculates the waiting time so that the vehicle 1 can start running after the pedestrian P has completely crossed the pedestrian crossing Z. For example, the waiting time is determined according to the walking speed of the pedestrian P, the distance from the pedestrian P, and the like. Also, the waiting time is recalculated as needed so that the vehicle 1 starts running after the pedestrian P has actually crossed the pedestrian crossing Z. After calculating the waiting time, the vehicle control unit 3 transmits the travel warning signal and the waiting time to the lamp control unit 4 (step S102).

After the waiting time has elapsed, the vehicle control unit 3 causes the vehicle 1 to travel (steps S103 and S104).

When the vehicle control unit 3 transmits the travel warning signal and the standby time, the lamp control unit 4 controls the ID lamp 150 so as to display a travel warning (step S101). The lamp controller 4 controls the ID lamp 150 so as to be linked with the standby time.
In this embodiment, the lamp control unit 4 turns off the central ID lamp 150, which has been lit in white until then, and lights the three areas of the ID lamp 150 in green one by one from right to left. light up. After lighting the leftmost area, the rightmost area is lit. The lamp control unit 4 controls the ID lamp 150 such that the lighting area moves from right to left. The lamp control unit 4 controls the ID lamp 150 so that the speed at which the areas to be illuminated gradually increase as the standby time elapses and all three areas are illuminated when the standby time reaches zero. do. In this manner, the lamp control unit 4 controls the ID lamp 150 so as to interlock with the time until the vehicle 1 starts running.

When the standby time transmitted from the vehicle control unit 3 has passed (step S112: Yes), the lamp control unit 4 controls the ID lamp 150 to display the operation to start running.

FIG. 7C represents a situation in which the vehicle 1 starts running after the waiting time has elapsed. As described above, after the standby time has elapsed, the lamp control unit 4 continuously lights all three areas of the ID lamp 150 in green as an indication of the running start operation.

Further, when the waiting time has elapsed (step S103) and it is determined that there is no pedestrian P in front, the vehicle control unit 3 starts running. It is preferable that the ID lamp 150 displays the operation to start running immediately before the vehicle 1 actually starts running.

Note that when the vehicle 1 starts running, the display of the ID lamp 150 returns to a state in which the central region of the ID lamp 150 is continuously lit in white after a predetermined time (for example, 1 second).

<effect>
For example, in a place where there is a pedestrian crossing, a vehicle running in autonomous driving mode on a public road will stop and wait when there is a pedestrian on the pedestrian crossing, and start driving when the pedestrian has crossed the pedestrian crossing. . However, when a vehicle in autonomous driving mode changes from a stopped state to a running state without any signal, other vehicles and pedestrians in the surrounding area will feel that the vehicle has suddenly started to move, and the change in movement will cause them to feel that the vehicle has suddenly started to move. I sometimes feel uncomfortable.

On the other hand, according to the vehicle lamp system 20 of the present embodiment, when a pedestrian is waiting to cross at a pedestrian crossing, an advance notice is given before the vehicle 1 starts running. configured to display. This display is configured to change its display mode over time. Specifically, the period at which the ID lamp 150 changes becomes faster as time passes. Therefore, other vehicles and pedestrians in the vicinity can know in advance to some extent when the vehicle will actually start running by seeing the change in the lamp display. Therefore, according to the vehicle lamp system 20, it is difficult for other vehicles and pedestrians to feel uncomfortable.

<Example of operation when changing lanes>
In the above-described embodiment, an example is described in which the display mode is changed when the vehicle 1 waiting for a pedestrian to cross at the pedestrian crossing starts running, but the present invention is not limited to this example. . Next, operation of the vehicle lamp system 20 when changing lanes will be described with reference to FIGS. 8 and 9A to 9C. FIG. 8 is a flowchart executed by the lamp control unit 4 when the vehicle 1 starts changing lanes. 9A to 9C are diagrams showing an example of the display until the vehicle 1 starts changing lanes.

FIG. 9A shows a situation in which the vehicle 1 in the automatic driving mode is traveling in the left lane RL of the two-lane road R. FIG. As shown in FIG. 9A, during normal running, only the central area of the three areas of ID lamp 150 is lit continuously in white. Assume that the host vehicle 1 needs to change lanes to the right lane RR for reasons such as turning right at an intersection ahead or the left lane merging with the right lane RR ahead. Then, as shown in FIG. 8, the vehicle control unit 3 determines, for example, that it is necessary to turn right at the next intersection, and decides to change lanes (step S201).

The vehicle control unit 3, which has decided to change lanes, determines a predetermined time (waiting time) from when the lane change is decided to when the vehicle 1 actually starts changing lanes (step S202). That is, even if it is decided to change lanes, the vehicle 1 is not immediately changed lanes, but continues to run in the left lane RL for a predetermined time.

This waiting time can be determined according to the surrounding traffic conditions. For example, if there are no other vehicles around, the waiting time can be set to 1 second. Alternatively, when another vehicle exists on the right rear of the own vehicle, the relative speed of the other vehicle to the own vehicle can be calculated, and the time until the other vehicle overtakes the own vehicle can be set as the waiting time.

FIG. 9B shows waiting to change lanes. FIG. 9C shows the situation just before changing lanes. When the waiting time is determined, the vehicle control unit 3 transmits a lane change notice signal for notifying that the vehicle will change lanes and the waiting time to the lamp control unit 4 (step S203).

In the present embodiment, when the lamp control unit 4 receives the lane change warning signal from the vehicle control unit 3, the lamp control unit 4 controls the right signaling lamp 160R to perform lane change warning display. The lamp control unit 4 controls the right signaling lamp 160R so as to be interlocked with the waiting time until the start of lane change. Specifically, the lamp controller 4 blinks the right signaling lamp 160R. The lamp controller 4 gradually speeds up the blinking period. When the standby time becomes zero (step S212: Yes), the lamp control unit 4 controls the right signaling lamp 160R so as to continuously light as a lane change operation indication (step S213).

When the waiting time has passed (step S204: Yes) and it is confirmed that there is no other vehicle in the right lane, the vehicle control unit 3 starts lane change (step S205).

Even when the vehicle 1 changes lanes in this way, by applying the present invention, other vehicles and pedestrians around the vehicle 1 can know when the vehicle 1 actually starts changing lanes. can be grasped.

<Example of operation when changing lanes>
10 and FIGS. 11A to 11C, the operation of the vehicle lamp system 20 when passing another vehicle 230 on the bottleneck R2 will be described. FIG. 10 is a flowchart executed by the vehicle lamp system 20 when the vehicle 1 passes an oncoming vehicle 230. FIG. 11A to 11C show examples of displays when the vehicle 1 passes an oncoming vehicle 230. FIG.

FIG. 11A shows a situation in which the vehicle 1 traveling on the road R1 in the fully automatic driving mode is approaching the bottleneck R2. It also shows a situation where there is an oncoming vehicle 230 traveling in the manual driving mode on the road R3 beyond the bottleneck R2.

A vehicle control unit 3 of the vehicle 1 calculates the future course of the vehicle 1 based on external information obtained from the sensor 5, the camera 6, the GPS 9, the wireless communication unit 10, the map information storage unit 11, and the like. In this example, the future course of the vehicle 1 is the course from the road R1 on which the vehicle 1 is currently traveling, through the bottleneck R2, and toward the road R3 ahead.
Further, the vehicle control unit 3 calculates the future course of the oncoming vehicle 230 from the vehicle width and traveling direction of the oncoming vehicle 230 . In the illustrated example, the future course of the oncoming vehicle 230 is a course from the road R3 to the road R1 through the bottleneck R2.

The vehicle control unit 3 determines whether or not the calculated future course of the host vehicle 1 interferes with the future course of the oncoming vehicle 230 (step S301). In the illustrated example, the future course of the vehicle 1 and the future course of the other vehicle 230 overlap at the bottleneck R2, and it is determined that the vehicle 1 will come into contact with the other vehicle 230 if it continues to run (step S301: Yes).

Then, the vehicle control unit 3 stops (waits) the vehicle 1 at the current position and determines the waiting time (step S302). This standby time may be a predetermined time. For example, in this example, the waiting time can be determined to be 20 seconds. Alternatively, the waiting time may be set according to the relative distance between the host vehicle 1 and the oncoming vehicle 230 . In this embodiment, the vehicle control unit 3 is configured to wait for 20 seconds in a stopped state and allow the oncoming vehicle 230 to pass first.

When the waiting time is determined, the vehicle control unit 3 transmits to the lamp control unit 4 a start warning signal for notifying that the vehicle will start after a predetermined time and the waiting time (step S303).

When the waiting time has passed (step S304: Yes) and there is no other vehicle ahead, the vehicle control unit 3 causes the vehicle 1 to start running (step S305).

Upon receiving the start warning signal and the waiting time from the vehicle control unit 3, the lamp control unit 4 controls the road drawing lamp 102 to display the start warning (step S311). The start notice display is a display that conveys the intention of the vehicle 1 to the oncoming vehicle 230 that "I will start after waiting for a predetermined time, so please go ahead." In the illustrated example, the lamp control unit 4 changes the display mode of the road drawing lamp 102 so as to be linked with the time until the vehicle starts moving, that is, linked with the countdown of the waiting time.

FIG. 11A shows an example in which a stop mark 30 is displayed on the road surface in front of the vehicle 1 as the start notice display. As shown in FIG. 11B, the lamp control unit 4 controls the road drawing lamp 102 so that the stop mark 30 disappears according to the waiting time. As shown in FIG. 11C, the lamp control unit 4 controls the road drawing lamp 102 so that the waiting time becomes zero and the stop mark 30 disappears.

If the oncoming vehicle 230 does not move forward and continues to stop on the road R3 even after the waiting time has elapsed, the vehicle control unit 3 determines that the oncoming vehicle 230 has given way and restarts the vehicle 1. You may comprise so that it may be made to start.

Even if the vehicle 1 passes the oncoming vehicle 230 in this way, by applying the present invention, other vehicles and pedestrians around the vehicle 1 will know when the vehicle 1 actually starts moving. You can figure out what to do.

Although the embodiments of the present invention have been described above, it goes without saying that the technical scope of the present invention should not be limitedly interpreted by the description of the embodiments. It should be understood by those skilled in the art that this embodiment is merely an example, and that various modifications of the embodiment are possible within the scope of the invention described in the claims. The technical scope of the present invention should be determined based on the scope of the invention described in the claims and their equivalents.

In the above description, an example in which each display is performed using the ID lamp 150 in the first operation example, the signaling lamp 160R in the second operation example, and the road drawing lamp 102 in the third operation example is shown, but the present invention is not limited to this. . In each operation example, at least one of the ID lamp, signaling lamp, turn signal lamp, inter-vehicle lamp, headlight, road drawing lamp, and the like may be used for display. When these lamps are used, the display mode may be changed, for example, in lighting color, flashing period, irradiation range, shape, brightness, and the like.

Moreover, although the example in which the vehicle 1 waiting for a pedestrian to cross at a crosswalk starts running has been shown as a situation in which the vehicle starts running from a stopped state, it is not limited to this. For example, a driver who gets into the vehicle 1 may turn on the main switch of the vehicle 1 to start running. In this case, for example, the travel warning signal may be output when the main switch is turned on, and travel may be started after a predetermined period of time.

Further, in the above description, it is assumed that the lamp control unit 4 is mounted on the lamp unit 100 and the vehicle lamp system 20 is configured as an independent system separate from the vehicle system 2, but this configuration is assumed. is not limited to For example, the vehicle lamp system may be configured as a system including the vehicle controller 3 . Alternatively, the vehicle lamp system may be configured as a system including, for example, cameras, sensors, radar, etc., connected to the vehicle system 2 . Further, the lamp control section 4 may be configured as a part of the ECU that configures the vehicle control section 3 . In this case, the lamp controller 4 is mounted on the vehicle 1 instead of on the lamp unit 100 .

In the present embodiment, the vehicle driving mode includes a fully automatic driving mode, an advanced driving assistance mode, a driving assistance mode, and a fully manual driving mode. It should not be limited to modes.

Furthermore, the classification of the driving mode of the vehicle and the display form may be appropriately changed in accordance with the laws and regulations related to automatic driving in each country. Similarly, the definitions of "fully automatic driving mode", "advanced driving support mode", and "driving support mode" described in the description of the present embodiment are only examples, and laws and ordinances related to automatic driving in each country In keeping with the rules, these definitions may be changed accordingly.

This application is based on Japanese Patent Application No. 2017-202459 filed on October 19, 2017, the contents of which are incorporated herein by reference.

According to the present invention, a vehicle lamp system is provided that can notify others of an action before it actually performs the action.

1: vehicle 2: vehicle system 3: vehicle control unit 4: lamp control unit 20: vehicle lamp system 30: stop mark 102: road drawing lamp (an example of a lamp)
150: ID lamp (an example of a lamp)
160R, 160L: signaling lamps (an example of lamps)

Claims (5)

A vehicle lamp system used in conjunction with a vehicle control unit that controls a running state of a vehicle,
a lamp mounted on a vehicle;
Having a lamp control unit that controls lighting of the lamp,
The vehicle control unit is configured to output to the lamp control unit a notice signal for notifying the change before changing the running state,
The lamp control unit is configured to control the lamp so as to perform an advance notice display linked to the time until the running state is changed when the advance notice signal is input from the vehicle control unit. , vehicle lamp system. The vehicle control unit is configured to output a travel warning signal as the warning signal to the lamp control unit before starting running from a stopped state,
The lamp control unit is configured to control the lamp so as to perform an advance notice display linked to the time from the stop state to the start of traveling when the travel advance notice signal is input from the vehicle control unit. 2. The vehicle lamp system of claim 1, wherein the vehicular lamp system comprises: The vehicle control unit is configured to output a lane change warning signal as the warning signal to the lamp control unit before changing the lane,
The lamp control unit is configured to control the lamp so as to perform an advance notice display linked to the time until the lane change when the lane change advance notice signal is input from the vehicle control unit. A vehicle lamp system according to claim 1. The vehicle control unit is configured to wait for a predetermined time and then start when determining that the future course of the own vehicle will interfere with the future course of the other vehicle,
The vehicle control unit is configured to output a start warning signal as the warning signal to the lamp control unit when it is determined that the future course of the own vehicle will interfere with the future course of the other vehicle,
2. The lamp control unit is configured to control the lamp so as to perform an advance notice display linked to a countdown of the waiting time when the start advance notice signal is input from the vehicle control unit. 1. The vehicle lamp system described in . 2. The vehicle lamp system according to claim 1, wherein said vehicle control unit outputs to said lamp control unit a time until said running state is changed together with said warning signal.

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