JP7408536B2 - mobile object - Google Patents

Description

TECHNICAL FIELD The present invention relates to a mobile body including a display device and a lamp body.

Conventionally, moving objects such as vehicles (vehicles are used as an example here) are equipped with a display device that displays information to the outside of the vehicle, and the display device shows the operating status of the vehicle. Some vehicles display text information to inform pedestrians and others around the vehicle of the operating state of the vehicle (for example, see Patent Document 1 below).

In addition, conventionally, vehicles capable of autonomous driving are equipped with lamps to visually present information related to autonomous driving to pedestrians and other objects around the vehicle, and the brightness of the lamps is There is a system in which the distance is determined based on the distance between the host vehicle and the object or the attributes of the object (see, for example, Patent Document 2 below).

Japanese Patent Application Publication No. 2008-081048 Japanese Patent Application Publication No. 2019-119302

Even if the operating state of a moving object is displayed on a display device as in the above conventional technology, if the visibility of the display device is low, the operating state of the moving object cannot be appropriately displayed to traffic participants outside the moving object. There is a possibility that the notification may not be made.

The present invention improves the visibility of the display device in a moving body equipped with a display device and a light body, and appropriately informs traffic participants outside the moving body of the operating state of the moving body through the display of the display device. We provide a mobile body that can

The first invention is
A moving body comprising a display device, a light body, and a control device that controls the display device and the light body,
The display device displays the operating state of the mobile body to the outside of the mobile body,
The light body includes a first light body that is configured to be able to emit light toward the outside of the movable body and turns on and off depending on the environmental condition around the movable body,
The control device reduces the brightness of the first light body if the first light body is lit when the display device performs display;
The light body is configured to be able to emit light toward the outside of the movable body, turns on and off depending on the environmental condition around the movable body, and has lower brightness when turned on than the first light body. further including a second light body;
The control device is configured to control the mobile object so that when the second lamp is turned on when the display device performs display, the brightness when the display device performs display is equal to the brightness of the second lamp. It is.
The second invention is
A moving body comprising a display device, a light body, and a control device that controls the display device and the light body,
The display device displays the operating state of the mobile body to the outside of the mobile body,
The light body includes a first light body that is configured to be able to emit light toward the outside of the movable body and turns on and off depending on the environmental condition around the movable body,
The control device reduces the brightness of the first light body if the first light body is lit when the display device performs display;
The light body is configured to be able to emit light toward the outside of the movable body, is always turned on when the movable body moves, and has a third light whose brightness when turned on is lower than that of the first light body. further including the body;
The control device is a moving body that makes the brightness when the display device performs display equal to the brightness of the third lighting body.

According to the present invention, in a moving body equipped with a display device and a light body, the visibility of the display device is improved, and the operating state of the moving body is appropriately indicated to traffic participants outside the moving body by the display of the display device. It is possible to provide a mobile body that can make notifications.

1 is a perspective view of a vehicle according to an embodiment of the present invention, viewed diagonally from the left front. FIG. 1 is a front view of the vehicle according to the present embodiment, seen from the front. FIG. 1 is a block diagram showing a schematic configuration of a vehicle according to the present embodiment. FIG. 2 is a diagram showing an example of control performed by the vehicle control device when the vehicle of the present embodiment is traveling in a non-dark place. FIG. 3 is a diagram showing an example of control performed by the vehicle control device when the vehicle of the present embodiment is traveling in a dark place.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle as an embodiment of a mobile object of the present invention will be described below with reference to the accompanying drawings. Note that the drawings should be viewed in the direction of the symbols. In addition, in this specification, etc., in order to simplify and clarify the explanation, front and rear, left and right, and up and down directions are described according to the direction seen from the vehicle occupant (for example, the driver), and in the drawings, the front and rear directions of the vehicle are is shown as Fr, the rear as Rr, the left side as L, the right side as R, the upper side as U, and the lower side as D.

(vehicle)
First, the configuration of the vehicle V of this embodiment will be described with reference to FIGS. 1 and 2.

Vehicle V is a mobile body that can move autonomously. The autonomous movement of the vehicle V is hereinafter also referred to as autonomous driving.

As shown in FIGS. 1 and 2, the vehicle V is an automobile that has a drive source (not shown) and wheels including drive wheels driven by the power of the drive source and steerable wheels. In this embodiment, the vehicle V is a four-wheeled automobile having a pair of left and right front wheels FW and rear wheels RW. The drive source of the vehicle V is, for example, an electric motor. Note that the drive source of the vehicle V may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a combination of an electric motor and an internal combustion engine. Further, the drive source of the vehicle V may drive a pair of left and right front wheels FW, a pair of left and right rear wheels RW, or a pair of left and right front wheels FW and rear wheels RW. You may. The front wheel FW and the rear wheel RW may both be steerable wheels, or one of them may be a steerable wheel.

The vehicle V includes a frame member (not shown) having a monocoque structure made by welding and assembling steel plate panels, for example, and an outer shell member 1 that covers the frame member and constitutes the outer shell of the vehicle V. The vehicle V has a cabin CB that accommodates a passenger, and a front room FRM formed in front of the cabin CB. Both the vehicle compartment CB and the front room FRM are spaces surrounded by the outer shell member 1. The vehicle interior CB and the front room FRM are partitioned by a dash panel (not shown) that extends in the vertical and horizontal directions. The front room FRM accommodates the drive source of the vehicle V and the like.

The outer shell member 1 includes a front surface 1a facing forward of the vehicle V, a rear surface 1b facing the rear of the vehicle V, a pair of left and right side surfaces 1c facing the left-right direction of the vehicle V, and an upper surface 1d facing upward of the vehicle V. has.

The outer shell member 1 includes a pair of left and right front doors 10F that constitute left and right side surfaces 1c of the vehicle V on the front side of the vehicle interior CB, and a pair of left and right front doors 10F that constitute the left and right side faces 1c of the vehicle V on the rear side of the vehicle interior CB. A rear door 10R is provided. Furthermore, the outer shell member 1 includes a pair of left and right front fender panels 11 that constitute the left and right side surfaces 1c of the vehicle V in front of the front door 10F, and a pair of left and right front fender panels 11 that constitute the left and right side surfaces 1c of the vehicle V behind the rear door 10R. A rear fender panel 12 is provided. Furthermore, the outer shell member 1 includes a pair of left and right side sills 13 extending in the front-rear direction from the front fender panel 11 to the rear fender panel 12 on the left and right sides of the vehicle V, respectively, along the lower edges of the front door 10F and the rear door 10R. . Further, the outer shell member 1 includes a roof panel 14 that extends in the front-rear direction and the left-right direction along the upper edges of the pair of left and right front doors 10F and rear door 10R, and constitutes the upper surface of the cabin CB of the vehicle V. Further, the outer shell member 1 includes a front bumper 15 that constitutes the lower front surface of the front room FRM of the vehicle V, and a bonnet 16 that constitutes the upper surface of the front room FRM of the vehicle V. Furthermore, the outer shell member 1 includes a rear bumper 17 that constitutes the lower rear surface of the vehicle V, and a tailgate 18 that constitutes the upper rear surface of the vehicle V.

A front wheel arch portion 111 is formed in the front fender panel 11. The lower edge of the front fender panel 11 is curved into a substantially arc shape and is convex upward. A front wheel house 112 is formed below the front wheel arch portion 111, and the front wheel FW is accommodated in the front wheel house 112. The front fender panel 11 is formed with a front blister fender portion 113 that bulges outward in the left-right direction of the vehicle V along the front wheel arch portion 111.

A rear wheel arch portion 121 is formed in the rear fender panel 12. The lower edge of the rear fender panel is curved into a generally arcuate shape and is convex upward. A rear wheel house 122 is formed below the rear wheel arch portion 121, and the rear wheel RW is accommodated in the rear wheel house 122. The rear fender panel 12 is formed with a rear blister fender portion 123 that bulges outward in the left-right direction of the vehicle V along the rear wheel arch portion 121.

The front bumper 15 has a shape in which its left and right ends extend around the left and right front wheel arch portions 111, respectively. As shown in FIG. 2, the front lower part of the front bumper 15 includes a front grill 151 extending in the left-right direction at the center of the vehicle V in the left-right direction, and a substantially long length extending in the left-right direction on both sides of the front grill 151. A circular opening 152 is provided. The front grill 151 introduces running wind from the front of the vehicle V into the front room FRM.

A front garnish 19 is provided above the front bumper 15 and between it and the bonnet 16. The front garnish 19 extends vertically and horizontally from the left front fender panel 11 to the right front fender panel 11.

Light bodies 191 are provided at both left and right ends of the front garnish 19. The light body 191 includes a pair of left and right first light bodies 191a and a second light body 191b when the vehicle V is viewed from the front. The pair of left and right first lighting bodies 191a are provided apart from each other in the left-right direction of the front garnish 19, and are configured to be able to irradiate light toward the front of the vehicle V. The first light body 191a is turned on and off depending on the environmental condition around the vehicle V. Here, the environmental condition can include the amount of light.

For example, when the vehicle V is driving in a dark place where the amount of light is less than a threshold value, the first lighting body 191a emits light toward the front of the vehicle V (i.e., turns on), thereby improving the forward visibility of the occupant. Functions as a headlight to help ensure safety. The first light body 191a is controlled by a vehicle control device 80, which will be described later.

The pair of left and right second lamp bodies 191b each have an annular shape when viewed from the front, and are arranged to surround each of the pair of left and right first lamp bodies 191a. The second lamp body 191b is configured to be able to emit light toward the front of the vehicle V, and is turned on at a brightness that corresponds to the environmental condition (for example, the amount of light) around the vehicle V, for example.

For example, when the vehicle V is driving in a dark place where the amount of light is less than the threshold value, the second lighting body 191b emits light toward the front of the vehicle V (i.e., lights up) to It functions as a position lamp (also referred to as a small lamp) that informs traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.; the same shall apply hereinafter) of the vehicle V's width. At this time (that is, when the amount of light is less than the threshold value), the second lighting body 191b is lit at the first brightness. Here, the first luminance is lower than the luminance when the first lamp body 191a is lit.

Further, when the vehicle V is traveling in a non-dark place where the amount of light is equal to or higher than the threshold value, the second lighting body 191b emits light toward the front of the vehicle V (i.e., turns on the light). It functions as a daytime running lamp (or daytime running light, hereinafter also referred to as DRL) that alerts traffic participants in front of the presence of the vehicle V. At this time (that is, when the amount of light is equal to or greater than the threshold value), the second lighting body 191b is lit at the second brightness. Here, the second brightness is lower than the brightness when the first lamp body 191a is lit, and higher than the first brightness described above. The second light body 191b is controlled by a vehicle control device 80, which will be described later.

Further, the first light body 191a and/or the second light body 191b may function as a display device that displays predetermined information. To be more specific, in this embodiment, the pair of left and right first light bodies 191a and second light bodies 191b are designed to look like two eyes when the vehicle V is personified as viewed from the front. . The pair of left and right second lighting bodies 191b are each configured to have a variable lighting area. For example, the entire annular shape may be lit, only the left half of the annular shape may be lit, or the entire annular shape may be lit, or only the left half of the annular shape may be lit. For example, only the right half of the shape can be lit.

For example, assume that only the left half of each of the pair of left and right second lamps 191b is turned on while the left and right pair of first lamps 191a are turned off. In this way, when the vehicle V is personified as viewed from the front, it appears as if the vehicle V is looking sideways to the right. Further, assume that only the right half of each of the pair of left and right second lamps 191b is turned on while the left and right pair of first lamps 191a are turned off. In this way, when the vehicle V is personified as viewed from the front, it appears as if the vehicle V is looking sideways to the left.

Furthermore, when the left and right pair of first light bodies 191a are turned off, by alternately lighting only the left half and only the right half of each of the left and right second light bodies 191b, the vehicle V is It appears as if they are looking alternately to the right and to the left. In this manner, in this embodiment, the second lighting body 191b also functions as a display device that performs a display to express the line of sight of the anthropomorphic vehicle V.

In the front garnish 19, an information display section 192 extending in the left-right direction of the vehicle V is provided between the pair of left and right first lighting bodies 191a. That is, the information display section 192 is provided between the pair of left and right first lighting bodies 191a (specifically, approximately at the center of the vehicle V in the left-right direction) when the vehicle V is viewed from the front. The information display section 192 displays various information such as the operating state of the vehicle V toward the front of the vehicle V. Traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.; the same applies hereinafter) in front of the vehicle V can visually recognize various information displayed on the information display section 192. As the information display section 192, various display devices such as an LED display device, a liquid crystal display, an OLED display (OLED: Organic Light Emitting Diode), etc. can be employed, for example.

The front bumper 15 and the front garnish 19 constitute the front surface 1a of the outer shell member 1. The rear bumper 17 and the tailgate 18 constitute the rear surface 1b of the outer shell member 1. A pair of left and right front doors 10F, a pair of left and right rear doors 10R, a pair of left and right front fender panels 11, a pair of left and right rear fender panels 12, and a pair of left and right side sills 13 constitute a pair of left and right side surfaces 1c of the outer shell member 1. The roof panel 14 constitutes the upper surface 1d of the outer shell member 1. In the left-right direction of the vehicle V, the outermost part of the front blister fender part 113 is the outermost part of the side surface 1c of the outer shell member 1. The roof panel 14 is curved to be convex upward in a side view of the vehicle V, and the top of the roof panel 14 is aligned with the top of the top surface 1d of the outer shell member 1 in the vertical direction of the vehicle V. It has become.

A front window 20 is provided at the front of the vehicle compartment CB. The front window 20 is formed of a light-transmitting member, such as glass, that allows the outside of the vehicle to be viewed from inside the vehicle interior CB. The front window 20 extends downward from the front end of the roof panel 14 while tilting forward to near the rear end of the bonnet 16. The front window 20 extends over substantially the entire area of the vehicle V in the left-right direction.

A front window display section 21 is provided at the upper end of the front window 20 and extends in the left-right direction. The front window display section 21 displays information based on the movement state (driving state) of the vehicle V on the outside of the vehicle V. In this embodiment, the front window display section 21 is an LED lighting device (LED: Light Emitting Diode) that extends in the left-right direction at the upper end of the front window 20. The front window display unit 21 lights up when the vehicle V is in an autonomous driving state in which it moves autonomously, and turns off when the vehicle V is not in an autonomous driving state. Traffic participants present in front of the vehicle V can visually confirm information as to whether the vehicle V is in an autonomous driving state from the front window display section 21.

The cabin CB, which is the interior of the vehicle V, is provided with a front seat FS in which a passenger can sit, and a rear seat RS, which is arranged behind the front seat FS and in which a passenger can sit.

A tailgate 18 that constitutes the upper part of the rear surface 1b of the outer shell member 1 of the vehicle V is provided with a rear window (not shown). The rear window is formed of a light-transmitting member, such as smoked glass, that allows the outside of the vehicle to be seen from inside the vehicle compartment CB. The rear window extends downward from the upper end of the tailgate 18 near the rear end of the roof panel 14 while tilting rearward. The rear window extends over substantially the entire area of the vehicle V in the left-right direction.

(vehicle control device)
Next, the vehicle control device 80 mounted on the vehicle V will be described with reference to FIG.

In addition to the LiDAR device 30 and information display unit 192 described above, the vehicle V includes a navigation device 91, a communication device 92, a vehicle sensor 93, a manual driving device 94, a driving force output device 95, a steering device 96, and a brake device 97. , is installed.

The vehicle control device 80 communicates with the LiDAR device 30, the information display unit 192, the navigation device 91, the communication device 92, the vehicle sensor 93, the manual driving device 94, the driving force output device 95, the steering device 96, and the brake device 97. They are connected to each other via a medium so that they can communicate data.

The navigation device 91 includes a GNSS receiver (GNSS: Global Navigation Satellite System), map information, and the like. The navigation device 91 has a function of detecting the current position of the vehicle V using a GNSS receiver and deriving a route to a destination designated by the occupant of the vehicle V or the like based on the detected current position and map information.

The communication device 92 performs wireless communication with an information providing server of a system that monitors road traffic conditions, and acquires traffic information indicating the traffic conditions of the road on which the vehicle V is traveling or the road on which it is scheduled to travel. Traffic information includes information on traffic congestion ahead, time required to pass through congestion points, accident/broken vehicle/construction information, speed regulation/lane regulation information, parking lot location information, parking lot/service area/parking area. Contains information such as whether the vehicle is full or empty. The communication device 92 may acquire traffic information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The communication device 92 also performs wireless communication with an information providing server of a traffic signal prediction system (TSPS), and provides signal information of traffic lights installed on the road on which the vehicle V is traveling or scheduled to travel. get. TSPS supports driving to smoothly pass through signalized intersections using signal information from traffic lights. The communication device 92 may acquire signal information through road-to-vehicle communication with a wireless beacon provided on a side strip of a road, or through vehicle-to-vehicle communication with other vehicles traveling around the vehicle V.

The vehicle sensor 93 has a function of detecting various information regarding the vehicle V. The vehicle sensor 93 includes a vehicle speed sensor 931 that detects the vehicle speed of the vehicle V, an acceleration sensor 932 that detects the longitudinal and lateral acceleration of the vehicle V, and a turning direction of the vehicle V from the angular velocity around the vertical axis of the vehicle V. It has various sensors that detect the moving state of the vehicle V, including a turning direction detection sensor 933, a direction sensor 934 that detects the direction of the vehicle V, and a tilt angle sensor 935 that detects the tilt angle of the vehicle V. The vehicle sensor 93 further includes various sensors that detect the external environment of the vehicle V, including an illuminance sensor 936 that detects the illuminance of the location where the vehicle V exists, and a raindrop sensor 937 that detects the amount of raindrops where the vehicle V exists. .

The manual operation device 94 includes an accelerator pedal 941 that is an acceleration/deceleration operating member that receives acceleration/deceleration instructions from the occupant, a brake pedal 942 that is a braking operating member that accepts braking instructions from the occupant, and a gear shifter that receives instructions for changing gears from the occupant. It includes a shift lever 943 that is an operating member, and a steering wheel 944 that is a steering member that receives turning instructions from an occupant.

The manual operation device 94 further detects the amount of depression of the accelerator pedal 941, and an accelerator pedal opening sensor 941a that outputs an accelerator opening signal to the vehicle control device 80, and detects the amount of depression (or depression force) of the brake pedal 942. , a brake pedal depression amount sensor 942a that outputs a brake signal to the vehicle control device 80, a shift position sensor 943a that detects the gear stage instructed by the shift lever 943 and outputs a shift position signal to the vehicle control device 80, and a steering wheel 944. a steering angle sensor 944a that detects the steering angle of the steering wheel and outputs a steering angle signal to the vehicle control device 80; a steering torque sensor that detects the torque applied to the steering wheel 944 and outputs a steering torque signal to the vehicle control device 80; It has a sensor 944b.

The traveling driving force output device 95 is a device that includes a drive source and outputs the motive power of the drive source as the driving force of the vehicle V to the front wheels FW and/or the rear wheels RW, which are drive wheels.

The steering device 96 is a device that changes the direction of front wheels FW and/or rear wheels RW, which are steered wheels of the vehicle V.

The brake device 97 is a device that outputs braking force to the front wheels FW and rear wheels RW.

The vehicle control device 80 is configured by, for example, one or more processors or hardware having equivalent functions. The vehicle control device 80 is a combination of a processor such as a CPU (Central Processing Unit), an ECU (Electronic Control Unit) in which a storage device, and a communication interface are connected via an internal bus, or an MPU (Micro-Processing Unit). It may be.

Vehicle control device 80 controls the driving (movement) of vehicle V by controlling driving force output device 95, steering device 96, and brake device 97. Vehicle control device 80 controls traveling driving force output device 95, steering device 96, and brake device 97 by a processor executing a program (software). Further, some or all of these control functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. It's okay.

The vehicle control device 80 can control the driving force output device 95, the steering device 96, and the brake device 97 based on the operation of the manual driving device 94 by the occupant, and can manually drive the vehicle V.

When manually driving the vehicle V, the vehicle control device 80 uses the LiDAR device 30 in addition to the accelerator opening signal, brake signal, shift position signal, steering angle signal, steering torque signal, etc. output from the manual driving device 94. External world information 300 acquired by (left external world information 300L, right external world information 300R), the current position of the vehicle V detected by the navigation device 91, map information of the navigation device 91, and the destination of the vehicle V guided by the navigation device 91 Based on one or more of the following information: the route, the traffic information and signal information acquired by the communication device 92, the movement state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V, the driving force output device 95 , a steering device 96, and a brake device 97.

Furthermore, the vehicle control device 80 controls the traveling driving force output device 95, the steering device 96, and the brake device 97, and causes the vehicle V to operate autonomously (move autonomously) without depending on the operation of the manual driving device 94 by the occupant. Can be done.

When driving the vehicle V autonomously, the vehicle control device 80 uses the external world information 300 (left external world information 300L, right external world information 300R) acquired by the LiDAR device 30, the current position of the vehicle V detected by the navigation device 91, and the navigation device 91. map information, the route to the destination of the vehicle V derived by the navigation device 91, traffic information and signal information acquired by the communication device 92, the movement state of the vehicle V acquired by the vehicle sensor 93, and the external environment of the vehicle V. Based on this, the driving force output device 95, the steering device 96, and the brake device 97 are controlled to cause the vehicle V to operate autonomously (move autonomously).

Further, the vehicle control device 80 controls the lamp body 191 and the information display section 192. Specifically, the vehicle control device 80 turns on or off the first light body 191a depending on the environmental condition around the vehicle V.

For example, the vehicle control device 80 lights up the first lighting body 191a if the amount of light detected by an optical sensor (not shown) etc. provided in the vehicle V is less than a threshold value, and if the amount of light detected is greater than or equal to the threshold value. The first light body 191a is turned off. Thereby, the vehicle control device 80 lights up the first light body 191a when the vehicle V is running in a dark place, and turns on the first light body 191a when the vehicle V is running in a non-dark place. 191a can be turned off, and the first lighting body 191a can be properly functioned as a headlight.

Further, the vehicle control device 80 controls lighting of the second lamp body 191b according to the environmental condition around the vehicle V. For example, the vehicle control device 80 lights up the second lighting body 191b at the first brightness if the amount of light detected by an optical sensor or the like provided in the vehicle V is less than a threshold value, and if the amount of light detected is equal to or higher than the threshold value. The second lighting body 191b is turned on at the second brightness. Thereby, the vehicle control device 80 causes the second lighting body 191b to function as a position lamp when the vehicle V is traveling in a dark place, while causing the second lighting body 191b to function as a position lamp when the vehicle V is traveling in a non-dark place. The two light bodies 191b can function as a DRL.

For example, when the vehicle control device 80 recognizes that a traffic participant is in front of the vehicle V based on information acquired by an external world information acquisition device such as the LiDAR device 30, the vehicle control device 80 displays the operating state of the vehicle V on the information display. 192. Thereby, the vehicle control device 80 can notify traffic participants in front of the vehicle V of the operating state of the vehicle V. Note that the external world information acquisition device is not limited to the LiDAR device 30, and may be, for example, a radar device that detects objects around the vehicle V using millimeter waves, a camera device that photographs the surroundings of the vehicle V, etc. .

When the operating state of the vehicle V (that is, the behavior of the vehicle V) changes, the vehicle control device 80 may cause the information display section 192 to display the changed operating state. Thereby, the vehicle control device 80 can notify the traffic participants of the changed operating state and have the traffic participants take action based on the operating state.

Specifically, for example, suppose that while the vehicle V is moving autonomously, there is a pedestrian in front of the vehicle V who is about to cross the crosswalk. In this case, when the vehicle control device 80 recognizes the pedestrian, it stops the vehicle V in front of the crosswalk that the pedestrian is trying to cross. Then, the vehicle control device 80 causes the information display section 192 to display text information (message) such as "Waiting" as the operating state of the vehicle V. Thereafter, when the vehicle control device 80 recognizes that the pedestrian has crossed the crosswalk, the vehicle control device 80 causes the information display section 192 to display text information such as "start" as the operating state of the vehicle V. Then, when a predetermined period of time (for example, several seconds) has elapsed after the display of "Start", the vehicle control device 80 starts the vehicle V and resumes running (autonomous movement) of the vehicle V.

By the way, if the first light body 191a is lit when the information display unit 192 performs the display, the glare caused by the light from the first light body 191a will cause the vehicle V to be There is a possibility that the visibility of the information display section 192 may be reduced. In a state where the visibility of the information display section 192 is reduced in this way, even if the operating state of the vehicle V is displayed on the information display section 192, it is difficult for traffic participants outside the vehicle V to see that the vehicle V is There is a possibility that the operating state may not be properly reported.

Therefore, if the first light body 191a is lit when the information display unit 192 performs display, the vehicle control device 80 reduces the brightness of the first light body 191a. For example, if the first light body 191a is on when the information display unit 192 performs display, the vehicle control device 80 turns off the first light body 191a. Note that the vehicle control device 80 is not limited to turning off the light, and the vehicle control device 80 may set the brightness of the first light body 191a to be lower than the brightness immediately before the information display unit 192 performs the display. In this way, if the first light body 191a is lit when the information display unit 192 performs display, the vehicle control device 80 adjusts the operating state of the vehicle V by reducing the brightness of the first light body 191a. The visibility of the information display section 192 from the perspective of an external traffic participant who is the target of notification is improved, and the operation state of the vehicle V is appropriately notified to the traffic participant by the display of the information display section 192. becomes possible.

(An example of specific control performed by the vehicle control device)
Hereinafter, an example of control of the vehicle V including the light body 191 and the information display section 192 performed by the vehicle control device 80 will be specifically described.

(When vehicle V is running in a non-dark place)
First, an example in which the vehicle V is traveling in a non-dark place (for example, during the day) will be described with reference to FIG. 4.

At time t11, the vehicle V is autonomously moving and traveling on the road at a predetermined speed (for example, legal speed) (illustrated as "AD normal travel"). In the case of the example shown in FIG. 4, at this time, the vehicle control device 80 turns off the first light body 191a and sets the DRL to the second light body 191b because the amount of light around the vehicle V is equal to or greater than the threshold value. It is functioning as. That is, at this time, the vehicle control device 80 lights up the entire annular shape of each of the pair of left and right second lighting bodies 191b at the second brightness.

Assume that at time t12, vehicle control device 80 recognizes that a pedestrian who is attempting to cross the crosswalk is in front of vehicle V. In this case, the vehicle control device 80 starts decelerating the vehicle V from time t12 in order to stop the vehicle V in front of the crosswalk that the pedestrian is trying to cross. Then, from time t13 when the distance from the vehicle V to the pedestrian becomes less than a predetermined value (for example, 10 [m]), the vehicle control device 80 transmits text information of "waiting" as the operating state of the vehicle V. It is displayed on the display section 192.

In this way, when the distance from the vehicle V to the traffic participant to whom the operational status of the vehicle V is to be notified (in this case, a pedestrian attempting to cross the crosswalk) becomes less than a predetermined value, the traffic participant can display the information. By displaying the operating state of the vehicle V on the information display section 192 after the section 192 becomes sufficiently visible, the operating state of the vehicle V is efficiently and effectively notified to the traffic participant. becomes possible.

Furthermore, when displaying the operating state of the vehicle V on the information display unit 192, the vehicle control device 80 keeps the vehicle V in a stopped state or an extremely low speed state (for example, 10 [km/h] or less). This makes it possible to improve the visibility of the information display section 192 from the perspective of the traffic participants to whom the operational status of the vehicle V is to be notified, and to effectively inform the traffic participants of the operational status of the vehicle V. It becomes possible to notify. In the example described here, it is assumed that the vehicle V is running at an extremely low speed at time t13.

In the case of the example shown in FIG. 4, the vehicle control device 80 turns off the first lamp 191a before the time t13 when the operating state of the vehicle V is displayed on the information display section 192. Therefore, the vehicle control device 80 may display the operating state of the vehicle V on the information display section 192 while the first lighting body 191a is turned off.

In addition, if the second light body 191b is lit when the information display unit 192 performs display, the vehicle control device 80 sets the brightness when the information display unit 192 performs the display to the brightness of the second light body 191b. be equivalent.

In the example shown in FIG. 4, the second lighting body 191b is lit at the second brightness at time t13. For this reason, the vehicle control device 80 also sets the brightness when displaying the character information "wait" on the information display section 192 as the operating state of the vehicle V to the second brightness equivalent to the second light body 191b. Thereby, the vehicle control device 80 can eliminate the difference in brightness between the information display section 192 and the second lighting body 191b and ensure the visibility of both of them. Further, the vehicle control device 80 can perform the notification by the information display unit 192 and the notification by the second lamp 191b with the same intensity. Therefore, the vehicle control device 80 can effectively communicate both the notification by the information display unit 192 and the notification by the second light body 191b to traffic participants outside the vehicle V.

Further, as shown in FIG. 4, the vehicle control device 80 uses the second light body 191b to display the operation information of the vehicle V on the information display section 192, as if the vehicle V was about to cross a crosswalk. display as if you were looking at a pedestrian. For example, when a pedestrian attempting to cross a crosswalk is in front of the left of the vehicle V, the vehicle control device 80 uses the second light body 191b to display a display as if the vehicle V is looking to the left. conduct. Furthermore, when a pedestrian attempting to cross the crosswalk is in front of the right side of the vehicle V, the vehicle control device 80 uses the second light body 191b to display a display as if the vehicle V is looking to the right. conduct. Further, if there are multiple pedestrians attempting to cross the crosswalk, and there are pedestrians attempting to cross the crosswalk in front of the left and right front of the vehicle V, the vehicle control device 80 controls the second light body 191b. is used to create a display as if the vehicle V were looking alternately to the right and to the left.

In this way, the operating state of the vehicle V is notified by displaying the line of sight of the vehicle V using the second lighting body 191b in conjunction with displaying the operating information of the vehicle V on the information display section 192. Since it is possible to suggest to the target traffic participant that the display is aimed at the traffic participant, it is possible to effectively notify the traffic participant of the operating state of the vehicle V. becomes.

At time t14, the vehicle control device 80 stops the vehicle V because the vehicle V has arrived in front of the crosswalk where the pedestrian is trying to cross. Thereafter, at time t15, the vehicle control device 80 recognizes that the pedestrian has crossed the crosswalk, so this time it causes the information display section 192 to display text information of "Start" as the operating state of the vehicle V. Furthermore, the vehicle control device 80 causes the second light body 191b to function as a DRL from time t15. That is, the vehicle control device 80 lights up the entire annular shape of each of the pair of left and right second lamp bodies 191b at the second brightness.

At time t16, when a predetermined period (for example, several seconds) has elapsed from time t15, vehicle control device 80 starts vehicle V. Then, the vehicle control device 80 accelerates the vehicle V to return to running at the same predetermined speed as before time t12, and when the vehicle V reaches a certain speed (for example, 10 [km/h]). At time t17, the display of "start" on the information display section 192 is ended.

Note that, in order to increase the intensity of the "start" notification on the information display section 192, the vehicle control device 80 sets the second lighting body 191b to a second brightness during the period from time t15 to time t16, as shown in FIG. The light may be turned on at a higher brightness.

(When vehicle V is driving in a dark place)
Next, an example in which the vehicle V is traveling in a dark place (for example, at night) will be described with reference to FIG. 5. Note that the following explanation of FIG. 5 differs in that the vehicle V is traveling in a dark place at each time shown in FIG. Therefore, in the following description of FIG. 5, the same reference numerals are given to the same parts as in FIG. 4, and the description thereof will be omitted as appropriate.

In the example shown in FIG. 5, at time t11, the vehicle control device 80 turns on the first light body 191a and lights the second light body 191b because the amount of light around the vehicle V is less than the threshold value. It functions as a position lamp. That is, at this time, the vehicle control device 80 lights up the entire annular shape of each of the pair of left and right second lamp bodies 191b at the first brightness.

In the example shown in FIG. 5, the vehicle control device 80 turns on the first light body 191a immediately before time t13 at which the operating state of the vehicle V is to be displayed on the information display section 192. Therefore, the vehicle control device 80 turns off the first lamp 191a from time t13 when the operating state of the vehicle V is displayed on the information display section 192. Thereby, the vehicle control device 80 can ensure the visibility of the information display section 192.

Note that, as described above, when displaying the operating state of the vehicle V on the information display section 192, the vehicle control device 80 sets the vehicle V to a stopped state or an extremely low speed state. Therefore, the first lighting body 191a can be turned off while avoiding a decrease in convenience for the occupants of the vehicle V, and the visibility of the information display section 192 can be ensured. Further, as shown in FIG. 5, the vehicle control device 80 may turn off the first lighting body 191a only during a period when the vehicle V is in a stopped state (that is, a period from time t14 to time t16).

Moreover, in the case of the example shown in FIG. 5, the second lighting body 191b is lit at the first brightness at time t13. For this reason, the vehicle control device 80 also sets the brightness when displaying the character information "waiting" on the information display section 192 as the operating state of the vehicle V to the first brightness, which is equivalent to the second light body 191b. Thereby, the vehicle control device 80 can eliminate the difference in brightness between the information display section 192 and the second lighting body 191b and ensure the visibility of both of them. Further, the vehicle control device 80 can perform the notification by the information display unit 192 and the notification by the second lamp 191b with the same intensity. Therefore, the vehicle control device 80 can effectively communicate both the notification by the information display unit 192 and the notification by the second light body 191b to other traffic participants.

As explained above, according to the vehicle control device 80 of the present embodiment, the visibility of the information display section 192 is improved, and the display of the information display section 192 allows other traffic participants around the vehicle V to The operating state of the vehicle V can be appropriately notified.

Although one embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to this embodiment. It is clear that those skilled in the art can come up with various changes or modifications within the scope of the claims, and these naturally fall within the technical scope of the present invention. Understood. Further, each component in the above embodiments may be arbitrarily combined without departing from the spirit of the invention.

For example, in the embodiment described above, the position lamp and the DRL are realized by the same lighting body (second lighting body 191b), but the present invention is not limited to this. For example, the position lamp may be realized by the second light body 191b, and the DRL may be realized by a third light body different from the first light body 191a and the second light body 191b. In this case, for example, the vehicle control device 80 lights up the second lighting body 191b at the first brightness when the amount of light around the vehicle V is less than the threshold value, and when the amount of light around the vehicle V is equal to or higher than the threshold value. It is only necessary to turn off the second light body 191b. Further, the vehicle control device 80 may always turn on the third light body at the second brightness when the vehicle V is traveling.

Furthermore, for example, in the embodiments described above, a vehicle was described as an example of a moving object of the present invention, but the moving object is not limited to a vehicle. The moving body is not limited to a vehicle, but may also be a robot, a ship, an aircraft, etc. that is equipped with a drive source and can be moved by the power of the drive source.

This specification describes at least the following matters. In parentheses, corresponding components in the above-described embodiment are shown as an example, but the present invention is not limited thereto.

(1) A mobile body (vehicle V ) and
The display device displays the operating state of the mobile body to the outside of the mobile body,
The light body includes a first light body (first light body 191a) that is configured to be able to emit light toward the outside of the movable body and turns on and off depending on the environmental condition around the movable body,
The control device is a moving object that reduces the brightness of the first light body when the first light body is lit when the display device performs display.

According to (1), if the first light body is lit when the display device performs a display, the brightness of the first light body is lowered to notify the movement of the moving body to be notified of the operating state. The visibility of the display device as seen from a traffic participant outside the body is improved, and the display on the display device makes it possible to appropriately notify the traffic participant of the operating state of the mobile object.

(2) The mobile body described in (1),
The light body is configured to be able to emit light toward the outside of the movable body, turns on and off depending on the environmental condition around the movable body, and has lower brightness when turned on than the first light body. further including a second light body (second light body 191b),
The control device is configured to control the mobile object so that when the second lamp is turned on when the display device performs display, the brightness when the display device performs display is equal to the brightness of the second lamp. .

According to (2), the difference in brightness between the display device and the second lighting body can be eliminated, and visibility of both can be ensured. Moreover, the notification by the display device and the notification by the second lamp can be performed with the same intensity. Therefore, both the notification by the display device and the notification by the second light body can be effectively communicated to traffic participants outside of the mobile object targeted for notification.

(3) The mobile body described in (1) or (2),
The light body is configured to be able to emit light toward the outside of the movable body, is always turned on when the movable body moves, and has a third light whose brightness when turned on is lower than that of the first light body. further including a body (second lamp body 191b),
The control device is a moving object that makes the brightness when the display device performs display equal to the brightness of the third light body.

According to (3), it is possible to eliminate the difference in brightness between the display device and the third lighting body and ensure the visibility of both. Moreover, the notification by the display device and the notification by the third lamp can be performed with the same intensity. Therefore, both the notification by the display device and the notification by the third light body can be effectively communicated to traffic participants outside the mobile body that is the target of the notification.

(4) The mobile object according to any one of (1) to (3),
The first lighting body is provided as a pair on the left and right when the moving body is viewed from the front,
The display device is a moving body provided between a pair of left and right first lighting bodies when the moving body is viewed from the front.

According to (4), since the display device is provided between the pair of left and right first light bodies when the moving body is viewed from the front, if the first light body is lit when the display device performs display, the first light body By reducing the brightness of one lamp, it is possible to improve the visibility of the display device from the perspective of traffic participants outside the mobile body to which the operating state of the mobile body is to be notified.

V Vehicle (mobile object)
80 Vehicle control device (control device)
191 Light body 191a First light body (first light body)
191b Second light body (second light body, third light body)
192 Information display section (display device)

Claims (3)

A moving body comprising a display device, a light body, and a control device that controls the display device and the light body,
The display device displays the operating state of the mobile body to the outside of the mobile body,
The light body includes a first light body that is configured to be able to emit light toward the outside of the movable body and turns on and off depending on the environmental condition around the movable body,
The control device reduces the brightness of the first light body if the first light body is lit when the display device performs display;
The light body is configured to be able to emit light toward the outside of the movable body, turns on and off depending on the environmental condition around the movable body, and has lower brightness when turned on than the first light body. further including a second light body;
The control device is configured to control the mobile object so that when the second lamp is turned on when the display device performs display, the brightness when the display device performs display is equal to the brightness of the second lamp. . A moving body comprising a display device, a light body, and a control device that controls the display device and the light body,
The display device displays the operating state of the mobile body to the outside of the mobile body,
The light body includes a first light body that is configured to be able to emit light toward the outside of the movable body and turns on and off depending on the environmental condition around the movable body,
The control device reduces the brightness of the first light body if the first light body is lit when the display device performs display;
The light body is configured to be able to emit light toward the outside of the movable body, is always turned on when the movable body moves, and has a third light whose brightness when turned on is lower than that of the first light body. further including the body;
The control device is a moving object that makes the brightness when the display device performs display equal to the brightness of the third light body . The moving body according to claim 1 or 2 ,
The first lighting body is provided as a pair on the left and right when the moving body is viewed from the front,
The display device is a moving body provided between a pair of left and right first lighting bodies when the moving body is viewed from the front.

Images