JPH07168993A - Road information communication system and vehicle related to the system - Google Patents

Abstract

PURPOSE:To impart complicated road information to a vehicle and to perform the control of the vehicle based on this information at an exact location. CONSTITUTION:A marker m on road is installed on the road before an intersection and a transmitter S1 imparting information on the state of a signal S in this intersection, etc., to a vehicle A, is provided. Exactly detecting the location of the vehicle A by the detection of the road marker m on road, the controls such as the generation of an alarm and an automatic brake, etc., of the vehicle A based on the road information from the transmitter S1 are performed. In particular, for the road information changing with the lapse of time such as the signal S, the control of the vehicle is performed at an exact location.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a road information communication system for issuing a warning to a driver or automatically braking a vehicle at a predetermined position on a road, and a vehicle relating to the road information communication system. Is.

[0002]

2. Description of the Related Art Conventionally, as a system for ensuring safe running of a vehicle, a road information transmitter (so-called beacon) is provided on the side of a running road as disclosed in, for example, Japanese Patent Laid-Open No. 61-136199. It is known that the vehicle is installed and given road information (such as a display state of a traffic light) to a vehicle by a signal emitted from the beacon. As another system, for example, as disclosed in Japanese Patent Laid-Open No. 63-172399, a sheet-shaped thin plate with a bar code written is installed on a traveling road, and a vehicle is mounted on the thin plate. There is also known a device in which, when traveling, the bar code information is read by a magnetic sensor provided in the vehicle and the vehicle is controlled based on the information.

[0003]

By the way, for example, at an intersection equipped with a traffic light, when it is desired to control the vehicle such as automatic braking in accordance with the state of the traffic light, the beacon as described above is emitted. In the one that controls the running state of the vehicle by the road information that is provided,
Even if the beacon sends an information signal indicating the current state of the traffic light, it is not possible to accurately stop the vehicle at the stop position because the distance between the stop position at the intersection and the vehicle cannot be recognized. is there. On the other hand, with a sheet-shaped thin plate with a bar code written on the road, it is impossible to change the bar code information according to the state of the traffic signal that changes with the passage of time. Therefore, it was not applicable to such road conditions that change over time. In other words, it is impossible to give complicated road information to the vehicle by the system using this barcode.

The present invention has been made in view of the above points, and it is possible to give complicated road information to a vehicle and to control the vehicle based on this information at an accurate position. An object is to obtain an information communication system and a vehicle relating to the road information communication system.

[0005]

In order to achieve the above object, the present invention provides a position information providing means installed on the road,
The vehicle is provided with a condition providing means for giving the road condition to the vehicle. Specifically, the invention according to claim 1 has a road information providing means for giving the vehicle road information at a predetermined position in front of the vehicle, and the vehicle is provided with a predetermined information based on the road information from the road information providing means. It is premised on a road information communication system that is controlled. And, to the road information providing means, position information of the vehicle with respect to a predetermined position in front of the vehicle is provided to a position information receiving means provided on the vehicle, and a position information providing means installed on the road, A situation providing means for providing an information signal based on the road situation at a predetermined position in front of the vehicle to a situation receiving means provided in the vehicle is provided.

According to a second aspect of the present invention, in the road information communication system according to the first aspect, the position information providing means is installed on the road, and when the vehicle passes, the position information providing means is provided to the position information receiving means of the vehicle. On the other hand, the condition providing means is composed of a transmitter which gives a radio signal as road condition information to the condition receiving means of the vehicle based on the road condition at a predetermined position in front of the vehicle, while the road marker gives a magnetic signal as information. It has such a configuration.

According to a third aspect of the present invention, in the road information communication system according to the second aspect, a road marker is installed on a road before the traffic light, and the transmitter transmits at least the display state of the traffic light as a radio signal. It was configured like this.

According to a fourth aspect of the present invention, in the road information communication system according to the second aspect, a road marker is temporarily installed on a road before a stop line, and a transmitter temporarily stops at least at the installation position of the road marker. The configuration is such that distance information to the line is transmitted as a radio signal.

According to a fifth aspect of the present invention, in the road information communication system according to the second aspect, a road marker is installed on a road before the vehicle speed regulation area, and a transmitter at least the installation position of the road marker and the vehicle speed regulation. The configuration is such that distance information to the area is transmitted as a radio signal.

According to a sixth aspect of the present invention, in the road information communication system according to the second aspect, a road marker is installed on a road before the traveling direction regulation area, and the transmitter is at least in the traveling direction regulation area. The control information is transmitted as a radio signal.

The invention according to claim 7 is the same as claim 2,
In the road information communication system described in 3, 4, 5 or 6, the transmitter transmits the friction coefficient information of the road surface as a radio wave signal.

The invention according to claim 8 is the above-mentioned claim 2,
In the road information communication system described in 3, 4, 5, 6 or 7, the content of the radio signal transmitted from the transmitter is changed according to the situation.

According to a ninth aspect of the present invention, there is provided road information providing means for providing the vehicle with road information at a predetermined position in front of the vehicle, and predetermined control for the vehicle is performed based on the road information from the road information providing means. It is assumed that the vehicle is related to the road information communication system. Then, this vehicle receives a position information receiving means for receiving a vehicle position information signal for a predetermined position on the road front from the road information providing means, and an information signal based on the road condition of the predetermined position on the road front from the road information providing means. And a status receiving means.

According to a tenth aspect of the invention, in the vehicle according to the ninth aspect, the vehicle receives the output signals of the position information receiving means and the status receiving means, and issues an alarm to the driver based on these signals. The configuration is such that a means is provided.

According to an eleventh aspect of the present invention, in the vehicle according to the ninth or tenth aspect, the vehicle receives the output signals of the position information receiving means and the status receiving means, and generates a braking force based on these signals. The configuration is such that a braking means is provided.

[0016]

With the above construction, the present invention provides the following effects. According to the first aspect of the present invention, while the vehicle is traveling, the vehicle position information for the predetermined position in front of the vehicle is given from the position information providing means of the road information providing means to the position information receiving means of the vehicle, and the predetermined position in front of the vehicle An information signal based on the road condition is given from the condition providing unit of the road information providing unit to the condition receiving unit of the vehicle. Thereby, the position of the vehicle is accurately recognized by the position information from the position information providing unit and the information signal from the situation providing unit,
The vehicle control, which is performed based on the information signal from the situation providing means, is accurately performed at a predetermined position in front of the vehicle.

According to the present invention, when the vehicle passes through the road marker, a magnetic signal is given to the vehicle position information receiving means from the road marker, and the vehicle status receiving means is sent from the transmitter. A radio signal is given to.
Then, the position of the vehicle is accurately recognized based on the magnetic signal and the radio signal, and the control of the vehicle based on the radio signal is accurately performed at a predetermined position in front of the vehicle.

According to the third aspect of the present invention, the state of the traffic signal that changes with the passage of time is transmitted from the transmitter as a radio signal, and while the position of the vehicle is accurately recognized by the magnetic signal of the road marker, The vehicle is controlled according to the state of the traffic light that changes with the change. That is, vehicle control such as alarm generation and automatic braking is performed while recognizing the state of the traffic light and the position of the stop line.

In the invention according to claim 4, the distance between the vehicle and the stop line is recognized based on the distance information from the transmitter, and the vehicle is reliably stopped at the stop line. It will be.

According to the fifth aspect of the invention, the distance between the vehicle and the vehicle speed regulation area is recognized based on the vehicle speed regulation information from the transmitter, so that the control based on the vehicle speed regulation can be performed at an accurate position. Will be done. That is, vehicle control such as alarm generation and vehicle speed regulation is performed at an accurate position in the vehicle speed regulation area.

According to the sixth aspect of the invention, the distance between the vehicle and the traveling direction regulation area is recognized based on the traveling direction regulation information from the transmitter, and the vehicle control based on the traveling direction regulation is performed. Will be done in the correct position.

According to the seventh aspect of the invention, the vehicle control is performed based on the friction coefficient information provided from the transmitter, so that the vehicle control is performed at the optimum position according to the road surface condition.

In the eighth aspect of the invention, the vehicle is controlled in accordance with the changing road conditions.

According to the present invention, when the vehicle is traveling, the vehicle position information signal for a predetermined position on the road ahead and the information signal based on the road condition at the predetermined position on the road front are received from the road information providing means. Means and status receiving means, respectively. As a result, the position of the vehicle is accurately recognized, and the vehicle is controlled based on the road conditions.

According to the tenth aspect of the invention, the warning means gives a warning to the driver based on the vehicle position information signal and the road condition, and the alarm operation based on the road condition while the vehicle position is accurately recognized. Will be done.

According to the eleventh aspect of the present invention, braking is performed by the braking means based on the vehicle position information signal and the road condition, and the braking operation based on the road condition is performed while the position of the vehicle is accurately recognized. Will be seen.

[0027]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a vehicle safety device according to this embodiment. Further, FIG. 2 shows a vehicle stop line k as a predetermined position in front of the vehicle at an intersection equipped with a traffic light S, a road marker m as a position information providing means, a traffic light S, a host vehicle A and a preceding vehicle B. It is a top view which shows a relationship. The running state of the vehicle A is not limited to the running state toward the intersection equipped with the traffic light S as shown in FIG.
There are various things such as running state toward an intersection with a stop line (see Fig. 3), running state toward an intersection where one direction is prohibited (under construction or one-way) (see Fig. 4). However, here, first, the traveling state toward the intersection equipped with the traffic light S will be representatively described.

In FIG. 1, reference numeral 1 is a road marker detecting means as position information receiving means for detecting a road marker m installed on the front side of the vehicle stop line k by a predetermined distance on a traveling road, and 2 is a front of the own vehicle A. An obstacle detecting means for detecting an obstacle such as a preceding vehicle B existing in the vehicle, a road surface μ detecting means for detecting a road surface friction coefficient (hereinafter referred to as road surface μ),
Reference numeral 4 is a vehicle speed detection means for detecting the speed of the vehicle A, that is, the vehicle speed from the wheel speed of the driven wheels, reference numeral 5 is a steering angle detection means for detecting the steering steering angle, and reference numeral 6 is a status providing means provided in the traffic light S. It is a radio wave information detecting means as a status receiving means for detecting a radio wave signal as an information signal emitted from the transmitter S1. Then, the road marker m and the transmitter S
1 constitutes the road information providing means in the present invention.

The road marker detecting means 1 is, for example, as shown in FIG.
As shown in FIG. 5, the road marker reading device reads the magnetism of the road marker m provided on the front side of the vehicle stop line k by a predetermined distance on the road on which the vehicle A travels. In FIG. 2, L's is the distance from the road marker m to the vehicle stop line k, L'1 is the distance between the own vehicle A and the vehicle stop line k, and L'2 is the own vehicle A from the vehicle stop line k. The warning start distance that issues a warning to warn the driver of the own vehicle A to stop at L0 'is the own vehicle A
Is an automatic braking start distance for starting automatic braking to stop the vehicle at the vehicle stop line k, and the automatic braking start distance L'0 is set smaller than the alarm start distance L'2 (L'0 <L'2). There is. L'a is the travel distance of the vehicle A from the road marker m,
L1 is a vehicle-to-vehicle distance between the host vehicle A and the preceding vehicle B, and L2 is an alarm which calls attention to the driver of the host vehicle A in order to avoid a contact (collision collision) between the host vehicle A and the preceding vehicle B. L0 is an automatic braking start distance at which automatic braking is started to avoid contact between the own vehicle A and the preceding vehicle B. The automatic braking start distance L0 is smaller than the alarm starting distance L2 (L0 < L2) It is set.

The obstacle detecting means 2 emits ultrasonic waves, laser waves, radio waves, etc. as radar waves toward a predetermined included angle in front of the host vehicle and reflects the obstacles present within the included angle. The received reflected wave is received, and the distance between each obstacle existing within the included angle and the own vehicle A and the direction of the obstacle with respect to the own vehicle A, etc., depending on the time difference between the time point at which the ultrasonic wave is transmitted and the time point at which the ultrasonic wave is received. A radar device for calculating The road surface μ detection means 3 measures the actual acceleration / deceleration during acceleration / deceleration of the host vehicle A, and the road surface μ is determined from the acceleration / deceleration.
To detect the presence or absence of rainfall by irradiating the road surface with light configured to detect light and detecting the reflectance of the light on the road surface, and to detect the road surface μ based on this. The one configured in is adopted.

The signals of the various detecting means 1 to 6 are all input to the control unit 11.
The control unit 11 controls the automatic braking means 12 so that the host vehicle A stops at the vehicle stop line k on the traveling road.
The actuator unit 12a outputs an actuation signal to brake the vehicle, and outputs an actuation signal to the warning means 13 to issue a warning to the driver of the vehicle A prior to the braking. In addition, the control unit 1
In order to avoid contact between an obstacle such as the preceding vehicle B detected by the obstacle detecting means 2 and the own vehicle A, 1 is attached to the actuator portion 12a of the automatic braking means 12. While outputting an operation signal to apply braking, an operation signal is output to the alarm means 13 prior to the braking to issue an alarm to the driver of the own vehicle A. The actuator section 12a has a pressure regulating valve or the like for regulating the hydraulic pressure of a brake device provided on each wheel, and is controlled by a control section (not shown) of a control unit 11 that controls the operation of the actuator section 12a on a traveling road. The automatic braking means 12 is configured to apply braking so that the host vehicle A stops at the vehicle stop line k or the contact between the host vehicle A and an obstacle is avoided. The alarm means 1
A display 3 provided on the instrument panel prompts the driver of the own vehicle A to stop the vehicle.

The traffic light S will be described below.
The traffic signal S is provided with the above-mentioned transmitter S1, and this transmitter S1 has a distance L's from the road marker m to the vehicle stop line k for the vehicle A traveling toward the intersection and a traffic signal. The current display state (color) of S is transmitted as a radio signal. In addition, this transmitter S1
2 is a region C indicated by a broken line in FIG. 2, and the radio signal is given only to the vehicle A traveling toward the intersection. Also, this traffic signal S
A commander S2 is connected to the transmitter S1, and the commander S2 controls the color switching of the traffic light S and the transmitter S1.
Switching control of the radio wave signal transmitted from is performed.

On the other hand, FIG. 3 shows, as one mode of the traveling state of the host vehicle A, a state in which the host vehicle A is traveling toward a temporary stop line k at an intersection without a traffic light. In addition, L's, L'a, L'0, L'1,
L'2 corresponds to that shown in FIG. 2, respectively. And
Even near this intersection, the road marker m is installed on the near side of the stop line k by a predetermined distance, and the stop line k is located ahead of the vehicle A.
A transmitter S1 (beacon) for providing a distance L's from the road marker m to the stop line k by a radio signal is installed. In addition, FIG. 4 shows, as one mode of the traveling state of the host vehicle A, an intersection where the host vehicle A is in an entry prohibited state in one direction (left turn direction) (traveling direction regulation region in the invention of claim 6). ) Is running toward. In addition, L's, L'a, L'0, L'1,
L'2 also corresponds to that shown in FIG. And
Even near this intersection, a road marker m is installed on the near side of the stop line k at the intersection for a predetermined distance, and the intersection ahead of the vehicle A is prohibited from turning to the left. A transmitter S1 (beacon) for providing a distance L's from the stop line k to the stop line k by a radio signal is installed.

5 to 7 show the control unit 1
FIG. 5 is a flowchart showing a control flow when the vehicle A is stopped by automatic braking and an alarm according to the traveling state of the vehicle A shown in FIGS. 2 to 4 in FIG. However, for simplification, the flow chart is created assuming that there is no preceding vehicle B ahead of the host vehicle A. In FIG. 5, first of all, the magnetic signal from the road marker m is input at the start in step ST1. This magnetic signal is input to the road marker detecting means 1 when the vehicle A passes over the road marker m. And
In step ST2, it is determined whether the host vehicle A has passed over the road marker m. This judgment is made in the step ST
In 1, the judgment is made depending on whether or not the magnetic signal from the road marker m is inputted. That is, when the host vehicle A passes over the road marker m and the magnetic signal is input from the road marker m, YES is determined in step ST2. Then, in this step ST2, YES
When it is determined that the traveling distance L'a of the host vehicle A starts from the installation position of the road marker m in step ST3.
The calculation of is started. Then, in step ST4, the radio wave information transmitted from the transmitter S1 is input and the road condition in front of the vehicle is given as information. And step ST
In 5, the radio wave information is displayed on the display provided on the instrument panel to inform the driver of the current road conditions ahead. That is, FIG.
In a driving state toward an intersection equipped with a traffic light S as shown in Fig. 6, if the current traffic light S is red or yellow, it is displayed on the display to prompt the driver to stop. On the other hand, when the current traffic light S is blue, it is displayed on the display to allow the driver to pass the intersection. Further, when the vehicle is traveling toward an intersection having a stop line k as shown in FIG. 3, it is displayed on the display to prompt the driver to stop. Furthermore, when the vehicle is traveling toward an intersection where left-turning is prohibited as shown in FIG. 4, it is displayed on the display to prompt the driver to go straight or turn right. Then, in step ST6, it is determined whether or not the radio wave information input in step ST4 is such information that the stop line k is temporarily present in the front (running state as shown in FIG. 3). And this step ST
When YES is determined in 6, the process proceeds to step ST7, and the distance L's from the road marker m to the stop line k is detected by the radio wave information transmitted from the transmitter S1. Then, in step ST8, the own vehicle speed V0 and the road surface μ are detected based on the detection signals of the own vehicle speed detecting means 4 and the road surface μ detecting means 3, and in step ST9, the automatic braking start distance L'0 is stopped from the own vehicle A. The distance L'1 to the line k and the warning start distance L'2 are calculated respectively. Distance L'1 from this vehicle A to the stop line k
Is calculated by subtracting the traveling distance L'a from the road marker m of the vehicle A from the distance L's from the road marker m detected previously to the stop line k, and the automatic braking start distance L'0
The warning start distance L'2 is calculated from a preset map using the vehicle speed V0, the road surface μ and the like as parameters. Then, in step ST10, the distance L'1 from the host vehicle A to the stop line k is smaller than 0, that is, the host vehicle A
Has exceeded the stop line k. That is, it is determined whether or not this control has been completed or whether the host vehicle A has passed the intersection without requiring this control, and the host vehicle A
If NO is not over stop line k, step ST
At 11 (FIG. 6), it is determined whether the host vehicle speed V0 is a positive value, that is, whether the host vehicle A is traveling forward toward the intersection. When this determination is YES for forward running, it is determined in step ST12 whether the distance L'1 from the host vehicle A to the stop line k is smaller than the warning start distance L'2.
If NO, the process directly returns to step ST8. On the other hand, if this determination is YES, an operation signal is output to the alarm means 13 and an alarm is issued in step ST13. Subsequently, in step ST14, it is determined whether or not the distance L'1 from the own vehicle A to the stop line k is smaller than the automatic braking start distance L'0. If the determination is NO, the process returns to step ST8 while the determination is made. Is YES, an operation signal is output to the actuator section 12a of the automatic braking means 12 to apply automatic braking in step ST15, and thereafter, the process returns to step ST8. Such steps ST1 to S
According to the control procedure of 15, the own vehicle A is surely stopped at the stop line k at the intersection by the driver's brake operation or automatic braking, and the own vehicle speed V0 becomes zero. When the vehicle speed V0 becomes zero in this way, NO is determined in step ST11 and the process proceeds to step ST16. In this step ST16, it is determined whether or not an alarm or automatic braking is operating. This determination is whether the own vehicle A has stopped at the stop line k due to the activation of the alarm or the automatic braking, or whether the own vehicle A has stopped at the stop line k by the driver's braking operation without the activation of the alarm or the automatic braking. To distinguish. Then, in the latter case, the process directly returns, while in the former case, the operation of the alarm or automatic braking is released in step ST17, and then the process returns. In this way, when the vehicle A stops at the stop line k and then starts and crosses the intersection, YES is determined in step ST10 and the process returns to step ST1. On the other hand, in the step ST6, the radio wave information input in the step ST4 is not information indicating that the stop line k is temporarily present in the front (running state as shown in FIG. 3).
If NO is determined, the process proceeds to step ST18 (FIG. 7), and in this step ST18, the radio wave information input at step ST4 has an intersection with a traffic signal S in front (as shown in FIG. 2). It is determined whether or not the information is such as "running state". And YES in this step ST18
If it is determined that the current state of the traffic light S (color) is red or yellow based on the radio wave information, the process returns to step ST7 and returns to step ST7. The operations of steps ST7 to 17 are performed, and the vehicle A
Will be reliably stopped at the stop line k at the intersection. On the other hand, if it is determined in step ST19 that the current state of the traffic light S is blue, that is, NO, it is not necessary to stop the host vehicle A, and the process returns. Further, in step ST18, the radio wave information input in step ST4 is determined to be NO, which is not information indicating that there is an intersection with a traffic signal S in front (running state as shown in FIG. 2). Then, the process proceeds to step ST20, and in this step ST20, the radio wave information input in step ST4 has an intersection where the branching direction is restricted (for example, left turn prohibition) in the forward direction (running state as shown in FIG. 4). Is determined. And
If YES is determined in this step ST20, step ST21
In the same manner as described above, the distance L's from the road marker m to the stop line k and the alarm start distance L'2 are detected. Then, in step ST22, the stop line k is started from the own vehicle A.
The distance L'1 to is calculated. Then, in step ST23, it is determined whether the distance L'1 from the host vehicle A to the stop line k is smaller than 0, that is, whether the host vehicle A exceeds the stop line k. That is, it is determined whether or not this control has been completed or whether the host vehicle A has passed the intersection without requiring this control, and the host vehicle A has not yet passed the intersection.
If NO, stop line k from vehicle A at step ST24
It is determined whether or not the distance L'1 to is smaller than the alarm start distance L'2, and if this determination is NO, the step ST22 is performed as it is.
On the other hand, when this determination is YES, in step ST25, it is determined whether or not the operation in the regulation direction at the intersection has been performed. Specifically, as shown in FIG. 4, at the intersection where the left turn is prohibited, the steering angle detecting means 5 detects that the driver steers the steering in the left turn direction by a predetermined steering angle or more, or the turn indicator in the left turn direction. When it is actuated, it is determined that the operation in the regulation direction has been performed. Then, if YES is determined in this step ST25, the process proceeds to step ST26, an operation signal is output to the alarm means 13 to issue an alarm, and the direction in which the driver is going to proceed is traffic restricted. After notifying that, the process returns to step ST22. That is, the alarm is continuously issued until the operation in the regulation direction is stopped. In addition, such an operation is not limited to a left turn regulation, and is similarly activated to notify a traffic regulation when a right turn or straight traveling is regulated. Thus, according to this example, the stop position k of the host vehicle A can be accurately recognized by the magnetic signal from the road marker m and the radio signal from the transmitter S1, and the vehicle can be accurately positioned at the stop position. Since the vehicle A can be continuously given a road condition that changes over time, such as the display state of the traffic light S, the complicated road condition that changes with time can be obtained. Accordingly, the vehicle A can be controlled at an accurate position.

Further, in the present embodiment, the vehicle A is provided with the road surface μ detecting means 3 for detecting the road surface μ, but as an embodiment according to the invention of claim 7, it is possible to use the radio signal of the starter S1. It is also possible to give the road surface μ information to the vehicle A, and in this case, the road surface μ detection means 3 becomes unnecessary. Further, in this example, the information of the distance L's from the road marker m to the vehicle stop line k is given by the radio signal of the starter S1, but the road marker m is added to the road marker m.
Information on the distance L's from the vehicle to the vehicle stop line k may be magnetically written and this information may be read from the road marker m. Further, such a system can be applied not only when entering an intersection but also at a railroad crossing or the like.

In the description of the operation of the above embodiment, the vehicle stop line k at the intersection of the host vehicle A when there is no preceding vehicle B
Although the case where the vehicle is stopped at the vehicle is described above, when there is the preceding vehicle B, the automatic braking is performed in order to avoid the contact between the own vehicle A and the preceding vehicle B in preference to this control, and the traffic safety is improved. It has been secured.

(Modification) Next, a modification of the present invention will be described. In the above-described embodiment, the vehicle control is performed at the time of entering an intersection, but the present example relates to speed control when the vehicle travels through a corner. Further, in this example, a case where the vehicle speed when passing through a corner is regulated to 30 km / h will be described.

FIG. 8 shows a state in which the vehicle A is traveling toward a corner D which is a vehicle speed regulation area according to the invention of claim 5, and L's in FIG. 8 is the corner start point n. The distance from the road marker m provided on the front side by a predetermined distance to the corner starting point n, L'1 is the distance between the own vehicle A and the corner starting point n, and L'2 is the corner starting the own vehicle A. At the point n, a warning start distance that issues a warning to warn the driver of the vehicle A to decelerate to a predetermined speed (30 km / h), L0 'is a predetermined distance at the corner start point n of the vehicle A. It is an automatic deceleration start distance for starting automatic deceleration to decelerate to the speed, and the automatic deceleration start distance L'0 is smaller than the alarm start distance L'2 (L'0 <L '
2) It is set. L'a is the traveling distance of the vehicle A from the road marker m. Further, in the control unit 11 (see FIG. 1) in this example, the actuator portion 12a is adapted to apply braking so that the vehicle A is decelerated to a predetermined speed at the corner start point n on the traveling road. At the same time, the alarm means 13 is designed to urge the driver of the own vehicle A to decelerate by voice or display on the display provided on the instrument panel.

FIG. 9 is a flow chart showing a control flow in the control unit 11 according to this embodiment when the vehicle A passes through a corner and is automatically decelerated and decelerated by an alarm. In FIG. 9, first, at the start, it is determined whether or not the host vehicle A has passed over the road marker m in step ST31. This determination is made based on whether or not the magnetic signal from the road marker m is input to the road marker detecting means 1. Then, if YES is determined in this step ST31, in step ST32, based on the radio wave information transmitted from the transmitter S1,
The distance L's from the road marker m to the corner start point n is detected and the safe speed at the corner (3 in the case of this example) is detected.
0 km / h) is detected. Subsequently, in step ST33, the vehicle speed V0 and the road surface μ are detected based on the detection signals of the vehicle speed detection means 4 and the road surface μ detection means 3, and in step ST34, the automatic deceleration start distance L'0, the vehicle A to the corner The distance L'1 to the start point n and the alarm start distance L'2 are calculated respectively. Then, in step ST35, the corner starting point n from the host vehicle A
Is determined to be less than 0, that is, whether the host vehicle A has exceeded the corner start point n. That is, it is determined whether or not this control has been completed or the host vehicle A has passed the corner start point n without the need for this control, and when the host vehicle A is still under the corner start point n, NO
In step ST36, it is determined whether or not the vehicle speed V0 is higher than 30 km / h, that is, whether the vehicle speed of the vehicle A is a speed that hinders smooth passage through the corner D. Then, if this determination is YES, it is determined in step ST37 whether or not the distance L'1 from the vehicle A to the corner start point n is smaller than the warning start distance L'2, and when this determination is NO. On the other hand, while returning to step ST33 as it is, when this determination is YES, an operation signal is output to the alarm means 13 and an alarm is issued in step ST38. Then, in step ST39, the distance L'1 from the vehicle A to the stop line k is the automatic deceleration start distance L'0.
If it is NO, the process returns to step ST33, while if the result is YES, the actuator portion 12a of the automatic braking means 12 is operated in step ST40.
After outputting the operation signal to automatic deceleration, step ST
Return to 33. By such a control procedure, the vehicle speed is reduced to 30 km / h by the time the driver A operates the brake or automatically decelerates the vehicle A to reach the corner start point n. Then, when the vehicle speed is reduced to 30 km / h in this way, NO is determined in step ST35 and the routine is returned.

As described above, according to this example, the speed at which the vehicle A travels in the corner D can be restricted to a safe speed, and the corner D can be smoothly traveled.

Also in this example, the information of the distance L's from the road marker m to the corner starting point n is given by the radio signal of the starter S1, but the road marker m is turned from the road marker m to the corner. Information on the distance L's to the starting point n may be magnetically written and read. In the system of this example, the vehicle A has a corner D.
The present invention is applicable not only to speed control when traveling in a vehicle, but also when the vehicle travels in a slow speed region.

Further, in each of the above embodiments, the predetermined positions k, n
The case where both the automatic braking means 12 and the warning means 13 are provided as means for stopping or decelerating the host vehicle A has been described above.
The described invention is the automatic braking means 12 and the alarm means 13.
It is needless to say that the same can be applied to a device including only one of the above. Further, although the warning means 13 is to urge the driver of the own vehicle A to stop by the display on the display provided on the instrument panel, a means for issuing a warning by voice may be applied. Further, the information signal transmitted from the transmitter S1 is not limited to a radio wave signal, and may be an optical signal or the like.

[0043]

As described above, according to the present invention, the following effects are exhibited. According to the first aspect of the invention, the position information providing means installed on the road so that the position information of the vehicle with respect to the predetermined position in front of the vehicle is given to the position information receiving means provided in the vehicle, The position information signal from the position information providing unit and the condition providing unit are provided so as to include the condition providing unit for providing the information receiving unit provided in the vehicle with the information signal based on the road condition at the predetermined position in front of the vehicle. By accurately recognizing the position of the vehicle based on the information signal from the vehicle, it is possible to control the vehicle at an accurate position, so that complicated road information can be given to the vehicle and based on this information. The vehicle can be controlled at an accurate position.

According to the second aspect of the invention, the position information providing means is a road marker which is installed on the road and gives a magnetic signal as position information to the position information receiving means of the vehicle when the vehicle passes by. On the other hand, since the condition providing means is constituted by a transmitter which gives a radio signal as road condition information to the condition receiving means of the vehicle based on the road condition at a predetermined position in front of the vehicle, the magnetic signal and the radio signal It is possible to accurately recognize the position of the vehicle based on the above, and to accurately control the vehicle based on the radio signal at a predetermined position in front of the vehicle.

According to the third aspect of the present invention, since the road marker is installed on the road in front of the traffic light and the transmitter transmits at least the display state of the traffic light as a radio signal, the traffic light changes with time. It is possible to control the vehicle according to the above state, and to perform vehicle control such as alarm generation and automatic braking while recognizing the state of the traffic light and the position of the stop line.

According to the fourth aspect of the present invention, the road marker is temporarily installed on the road before the stop line, and the transmitter transmits at least the distance information between the installation position of the road marker and the stop line to the radio signal. Therefore, the vehicle can be reliably stopped at the stop line.

According to the fifth aspect of the present invention, the road marker is installed on the road before the vehicle speed regulation area, and the transmitter transmits at least the distance information between the installation position of the road marker and the vehicle speed regulation area by the radio signal. Because I tried to send it as
The vehicle control based on the vehicle speed regulation can be performed at an accurate position in the vehicle speed regulation area.

According to the sixth aspect of the present invention, the road marker is installed on the road before the traveling direction regulation area, and the transmitter transmits at least the traveling direction regulation information in the traveling direction regulation area as a radio signal. Therefore, the distance between the vehicle and the traveling direction regulation area is recognized, and the vehicle control based on the traveling direction regulation can be performed at an accurate position.

According to the seventh aspect of the invention, since the transmitter transmits the friction coefficient information of the road surface as a radio wave signal, the vehicle can be controlled at an optimum position according to the road surface condition.

According to the invention described in claim 8, since the contents of the information of the radio wave signal transmitted from the transmitter are changed according to the situation, the control of the vehicle corresponding to the changing road situation is performed. It can be carried out.

According to a ninth aspect of the present invention, the vehicle according to the first aspect of the road information communication system of the present invention is provided with position information receiving means for receiving a vehicle position information signal for a predetermined position on the front side of the road, and predetermined front side of the road. Since the vehicle is provided with the situation receiving means for receiving the information signal based on the road situation of the position, it is possible to obtain the vehicle in which the control is performed based on the road situation while the position is accurately recognized.

According to the tenth aspect of the invention,
Since the vehicle is provided with the alarm means for issuing an alarm based on the vehicle position information signal and the road condition signal, it is possible to obtain a vehicle capable of performing an alarm operation based on the road condition while accurately recognizing the position.

According to the eleventh aspect of the present invention,
Since the vehicle is provided with the braking means that generates the braking force based on the vehicle position information signal and the road condition signal, it is possible to obtain the vehicle that can perform the braking operation based on the road condition while the position is accurately recognized.

[Brief description of drawings]

FIG. 1 is a block diagram showing a control system of a vehicle.

FIG. 2 is a plan view showing a traveling state of a vehicle heading for an intersection equipped with a traffic light.

FIG. 3 is a plan view showing a traveling state of a vehicle heading for an intersection having a stop line.

FIG. 4 is a plan view showing a traveling state of a vehicle heading for an intersection in which a left turn direction is an entry prohibited state.

FIG. 5 is a flowchart showing a part of a control flow when stopping the host vehicle at a stop line at an intersection.

FIG. 6 is a flowchart showing a part of a control flow when stopping the own vehicle at a stop line at an intersection.

FIG. 7 is a flowchart showing a part of a control flow when stopping the own vehicle at a stop line at an intersection.

FIG. 8 is a plan view showing a state in which a vehicle in a modified example is traveling toward a corner.

FIG. 9 is a flowchart showing a control flow when the vehicle is decelerated before a corner.

[Explanation of symbols]

 1 Road Marker Detecting Means (Position Information Receiving Means) 6 Radio Wave Information Detecting Means (Situation Receiving Means) 12 Automatic Braking Means 13 Alarm Means A Own Vehicle k Stop Line m Road Markers (Position Information Providing Means) S Signals S1 Transmitters (Status Providing means) D corner (vehicle speed regulation area)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shin Hatakeyama 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Motor Corporation

Claims (11)

[Claims] 1. A road information providing means for giving road information of a predetermined position in front of the vehicle to the vehicle, and the vehicle is made to perform predetermined control based on the road information from the road information providing means. In the road information communication system, the road information providing unit is a position information installed on the road so that the position information of the vehicle with respect to a predetermined position in front of the vehicle is given to a position information receiving unit provided in the vehicle. A road information communication system comprising: a providing means; and a situation providing means for giving an information signal based on a road situation at a predetermined position in front of the vehicle to a situation receiving means provided in the vehicle. 2. The position information providing means is installed on the road,
While the vehicle includes a road marker that gives a magnetic signal as position information to the vehicle position information receiving means when the vehicle passes, the situation providing means uses the road situation based on the road situation at a predetermined position in front of the vehicle. 2. The road information communication system according to claim 1, wherein the transmitter comprises a transmitter that gives a radio signal as road condition information to the receiving means. 3. The road according to claim 2, wherein the road marker is installed on the road before the traffic light, and the transmitter transmits at least the display state of the traffic light as a radio signal. Information and communication system. 4. The road marker is once installed on the road before the stop line, and the transmitter transmits at least the distance information between the installation position of the road marker and the stop line as a radio signal. The road information communication system according to claim 2, wherein 5. The road marker is installed on the road before the vehicle speed regulation area, and the transmitter transmits at least the distance information between the installation position of the road marker and the vehicle speed regulation area as a radio signal. The road information communication system according to claim 2, wherein 6. The road marker is installed on the road before the traveling direction regulation area, and the transmitter transmits at least the traveling direction regulation information in the traveling direction regulation area as a radio signal. The road information communication system according to claim 2. 7. The road information communication system according to claim 2, wherein the transmitter transmits the friction coefficient information of the road surface as a radio wave signal. 8. The information of the radio wave signal transmitted from the transmitter is changed in content depending on the situation. Road information communication system. 9. A road information providing means for giving road information of a predetermined position in front of the vehicle to the vehicle, and causing the vehicle to perform predetermined control based on the road information from the road information providing means. A vehicle according to a road information communication system, comprising: a position information receiving means for receiving a vehicle position information signal for a predetermined position on the road ahead from the road information providing means; and an information signal based on the road condition at the predetermined position ahead on the road for the road. A vehicle comprising: a situation receiving means received from the information providing means. 10. The vehicle according to claim 9, further comprising alarm means for receiving output signals from the position information receiving means and the situation receiving means and issuing an alarm to the driver based on these signals. 11. A braking means for receiving the output signals of the position information receiving means and the situation receiving means and generating a braking force based on these signals is provided.
Or the vehicle according to item 10.