JPH08161036A - Vehicle traveling information collection device - Google Patents

Abstract

(57) [Summary] [Purpose] Deflection of the vehicle from the center of the driving lane is reliably detected to efficiently obtain a large amount of driving information. [Structure] Magnetic markers 1a to 1f and 2a to 2f, which are provided on the left and right sides of the travel lanes P1 and P2 at predetermined intervals L along the same and are magnetized to predetermined magnetic poles representing travel information, and the left and right sides of the vehicle. It has magnetic sensors 3a and 3b provided on the computer, and a computer that obtains the traveling information from the magnetic flux detected by the magnetic sensors 3a and 3b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for collecting traveling information from a magnetic marker provided on a traveling road surface of a vehicle.

[0002]

2. Description of the Related Art The realization of an automatic vehicle driving system has been vigorously studied (for example, Automatic Ve).
single Control Development
s in the PATH Program, IEEE
E TRANSACTION VEHICULLA
R TECHNOLOGY, VOL. 40, NO1, F
EB. 1991), where magnetic markers are installed in the center of the driving lane in a row along the road surface at intervals and the magnetic flux is detected by a magnetic sensor mounted on the vehicle, and the magnetic flux density in a two-dimensional direction in a plane perpendicular to the road surface is calculated. In addition to calculating the deviation of the vehicle, N in the magnetic flux direction of the magnetic marker that appears in sequence as the vehicle travels,
Driving information such as a curve of a traveling road surface, which is binary coded, is obtained from the S change, and steering operation of the vehicle is performed.

[0003]

By the way, as described above, the traveling information is collected by the magnetic marker provided at the center of the traveling lane in the above automatic traveling system. If it deviates to a certain extent or more, the magnetic flux density decreases rapidly, making detection difficult. Therefore, if the vehicle is largely deviated due to a disturbance or the like, there is a possibility that the vehicle cannot be recovered. Further, since one linear magnetic marker is sequentially detected as the vehicle travels, it is necessary to travel for a long time when there is a large amount of information, and there is also a problem of lack of responsiveness.

The present invention solves such a problem and is capable of reliably detecting the deviation of the vehicle from the center of the driving lane and efficiently collecting a large amount of information on the traveling information of the vehicle. The purpose is to provide a device.

[0005]

According to the first aspect of the present invention, magnetic markers are provided on both left and right sides of a driving lane at predetermined intervals along the same, and magnetic markers magnetized to predetermined magnetic poles, and left and right sides of a vehicle. And a data collecting unit for obtaining traveling information from the magnetic flux detected by each of the magnetic detecting units.

In the second structure of the present invention, the information collecting means compares the intensities of the magnetic fluxes detected by the left and right magnetism detecting means, thereby biasing the vehicle in the left and right direction in the lane. It is set to obtain rank information.

In the third configuration of the present invention, the information collecting means is set so as to obtain predetermined traveling information from the direction of the magnetic flux detected by the left and right magnetism detecting means.

In a fourth structure of the present invention, a plurality of the magnetic detecting means are provided on both left and right sides of the vehicle in the front-rear direction equal to the installation intervals of the magnetic markers, and the information collecting means is provided on each of the front, rear, left and right sides. It is set so as to obtain predetermined traveling information from the direction of the magnetic flux detected by the magnetic detection means.

[0009]

In the first structure, since the magnetic markers are provided on both the left and right sides of the traveling lane, even if the vehicle is deviated from the center of the traveling lane, the magnetic flux of sufficient strength can be detected by either of the left and right magnetic detecting means. Therefore, the traveling information can be surely obtained. Further, since the magnetic markers are provided on both the left and right sides of the traveling lane, the range of deviation where the magnetic detecting means can detect the magnetic flux is widened, and the traveling information can be surely obtained by this.

In the second structure, the deviation information of the vehicle can be easily and surely obtained by comparing the intensities of the magnetic fluxes detected by the left and right magnetism detecting means.

In the above third structure, 2-bit binary coded information can be obtained at the same time by detecting the magnetic flux direction by the left and right magnetism detecting means, and the vehicle traveling distance until obtaining all information is short. Become.

In the fourth structure, since binary coded information of even bits of 4 bits or more can be obtained at the same time, the traveling distance of the vehicle until all the information is obtained is further shortened.

[0013]

[Embodiment 1] In FIG. 1, on the left and right boundary lines P1 and P2 of a lane on which a vehicle travels, a large number of magnetic markers 1a to 1f and 2a to 2f are arranged at equal intervals L on the lines P1 and P2 in the longitudinal direction.
Is provided. Left and right magnetic markers 1a-1f, 2a-2
f is a permanent magnet, is provided at positions facing each other, and is magnetized to the N pole or S pole in the direction orthogonal to the lane. The vehicle A is provided with magnetic sensors 3a and 3b on both left and right sides of the front end, and as the vehicle A runs, the left and right magnetic sensors 3a and 3b are simultaneously provided to the left and right magnetic markers 1a.
Pass just beside 1f and 2a to 2f. The figure shows a state in which the magnetic sensors 3a and 3b pass directly beside the magnetic markers 1c and 2c, respectively. The magnetic sensor 3a detects the magnetic flux from the magnetic marker 1c, as shown in FIG. here,
Bx is a magnetic flux density component parallel to the road surface detected by the magnetic sensor 3a, and Bz is a magnetic flux density component perpendicular to the road surface.

FIG. 3 shows how the absolute values of the magnetic flux density components Bx and Bz change with the horizontal distance x from the magnetic marker 1c and the height z from the road surface. As can be seen from the figure, if the height z is constant, the magnetic flux density component Bx increases rapidly as the magnetic sensor 3a approaches the magnetic marker 1c, that is, as the magnetic sensor 3a deviates from the center of the traveling lane toward the boundary line P1. Become. For example, Bx = Bxp,
When Bz = Bzp, the magnetic sensor 3a is the magnetic marker 1c.
Is at a horizontal distance x between 40 cm and 45 cm, and the height z from the road surface is between 10 cm and 15 cm. Then, the values of Bxp and Bzp for predetermined x and z are stored in advance in the memory of the vehicle-mounted computer 5 (FIG. 2) as a map. The relationship shown in the figure is similarly established for the magnetic marker 2c located on the opposite side of the magnetic marker 1c.

The deviation of the vehicle A from the center of the lane is detected by the computer 5 in the procedure shown in FIG. That is, in step 101, it is confirmed whether the output voltages V1 and V2 of the left and right magnetic sensors 3a and 3b have peaks.
This is because the magnetic sensors 3a and 3b pass right beside the magnetic markers 1C and 2C when the voltage V1 and V2 waveforms show peak values. In step 102, the magnetic sensor 3a
With respect to x, the minimum output voltage component Vbx1 is subtracted from the peak output voltage component Vpx1 in the x direction to obtain the voltage component VBx1 corresponding to the magnetic flux density Bx. The voltage component Vbx1 is due to geomagnetism. Similarly in step 103,
The voltage component VBz corresponding to the magnetic flux density Bz is obtained by subtracting the minimum output voltage component Vbz1 from the peak output voltage component Vpz1 in the z direction.
Get one. In steps 104 and 105, the magnetic sensor 3b
Voltage component VBx corresponding to the magnetic flux density Bx
2, the voltage component VBz2 corresponding to the magnetic flux density Bz is obtained.

If VBx1 ≧ VBx2 in step 106, VBx1 is set to VBx, VBz in the following steps 107 and 108.
Let 1 be VBz. In the above step 106, VBx1 <VBx2
If so, in steps 109 and 110, VBx2 is set to VBx, V
Let Bz2 be VBz. By this step, the magnetic markers 1C, 2 on the side where the voltage output of the magnetic sensors 3a, 3b is large
The following distances x and z are calculated based on C. That is, in step 111, the magnetic flux densities Bxp and Bzp are calculated from the voltage components VBx and VBz, and in the subsequent step 112, FIG.
The distances x and z are calculated from the graph. Thus, the distance from the reference magnetic marker (that is, the displacement from the center of the lane) x and the height of the magnetic sensor from the road surface (that is, the vertical displacement of the vehicle body due to vibration) z are known.

Further, according to the present embodiment, the 2-bit binary-coded travel information is obtained from the magnetic sensors 3a and 2c from the magnetic flux directions of N and S facing the vehicle of the left and right magnetic markers 1c and 2c.
Since 3b can be obtained at the same time, compared to the conventional arrangement of magnetic markers in a line along the center line,
A large amount of information can be obtained with a small mileage.

[0018]

[Embodiment 2] As shown in FIG. 5, if x and z are within a certain range (for example, x = 40 cm to 55 cm and z = 5 cm to 20 cm), a series of points where x is constant has a constant inclination a1. Can be approximated as a straight line, and the coordinates of the points where these straight lines intersect with the Bx axis are stored in the memory together with the value of x as Bx55 to Bx40. Then, the detected magnetic flux density Bxp,
From Bzp, the straight line shown with an inclination a1 passing through this point P is B
It is known that the distance x at this time is between 45 cm and 50 cm by obtaining the coordinates Bxx of the point intersecting the x axis. According to this embodiment, the required memory capacity can be reduced as compared with the first embodiment.

[0019]

[Third Embodiment] As shown in FIG. 6, the magnetic sensors 3a to 3d are located at the front and rear positions of the left and right side surfaces of the vehicle A so as to match the intervals L between the magnetic markers 1a to 1f and 2a to 2f on the left and right lane boundaries. Vehicle A will be installed in
It is possible to simultaneously obtain 4-bit binary-coded traveling information from one magnetic marker 1e, 1f, 2e, 2f,
When the amount of information is large, the required mileage is further reduced,
The speed of obtaining information is improved.

When there are a plurality of traveling lanes as shown in the figure and the traveling information of each lane is the same, the magnetic markers 2a to 2f and 4a to 4f can be shared by the adjacent lanes. That is, the magnetization of the four magnetic markers 1c, 1d, 2c, 2d in each lane is repeated as shown by N and S in the figure, and the N pole is "1" and the S pole is " If it is recognized as "0", the binary coded information "1011" is obtained from the positive / negative of the output voltage of the magnetic sensors 3a → 3b → 3d → 3c sequentially. Also, while traveling in an even lane, the N pole is recognized as "0" and the S pole is recognized as "1", and the binary code of "1011" is similarly obtained from the positive / negative of the output voltage of the magnetic sensors 3b → 3a → 3c → 3d. Information is obtained.

[0021]

[Embodiment 4] When the traveling information is different in each lane, a set of magnetic markers for giving the traveling information and a magnetic marker (hereinafter referred to as a reference position marker) indicating a reference position for identifying the set of magnetic markers are provided. An example of the arrangement is shown in FIG. In the figure, ordinary magnetic markers 1a to 1f, 2a to 2f, 4
All of a to 4f are provided on the lane boundary line at equal intervals L, and a set of four magnetic markers (X in the figure) that give travel information.
(In the frame), so that they do not overlap in adjacent lanes,
The positions are staggered.

The reference position markers 11a to 11e are provided between ordinary magnetic markers at an interval of L / 2. Therefore, when the front side magnetic sensors 3a, 3b of the vehicle A are located right beside the reference position markers 11a, 11b, the magnetic markers face the rear side magnetic sensors 3c, 3d provided at the rear of the vehicle A at the interval L. Therefore, the reference position markers 11a and 11b can be identified by this. Further, the lanes can be discriminated from the four lanes as shown by 2-bit binary coded information by the set of N and S poles of the reference position markers 11a to 11e appearing on the left and right of the vehicle A.

In order to more surely identify the reference position markers 11a to 11e, when the vehicle A further advances L / 2 after the reference position markers 11a and 11b appear right next to the front side magnetic sensors 3a and 3b, the front, rear, left and right sides are detected. 4 magnetic markers on 1
When d, 2d, 1e, and 2e appear, and then further L / 2, the reference position marker 1 is applied only to the rear magnetic sensors 3c and 3d.
Confirm that 1a and 11b face each other.

When a larger number of lanes are discriminated, it is possible to discriminate up to 16 lanes by further increasing the reference position markers by one row between the usual magnetic markers.

[0025]

Fifth Embodiment FIG. 8 shows an example in which reference position markers are provided at the same intervals as normal magnetic markers. In the figure,
The reference position marker of each lane is composed of 6 sets of magnetic markers (in the Y frame in the figure), and the magnetic pole arrangement of each lane is the same as the magnetic markers 1h to 1m and 2h to 2m of the first lane. The six reasons for using the magnetic markers 1h to 1m and 2h to 2m are as follows. That is, since the magnetic poles can be arranged in any set of four magnetic markers (inside the X-frame in the figure) that give the traveling information of each lane, the magnetic poles of the four magnetic markers 1b to 1e and 2b to 2e in the Z-frame can be arranged. As shown, four sets of magnetic markers 1j to 1m, 2j of reference position markers are arranged.
It may be the same as the magnetic pole arrangement of ˜2 m. So Y
For the reference position markers within the frame, a pair of magnetic pole markers having the same arrangement is further provided to distinguish between them. further,
A magnetic marker for lane discrimination is provided next to the reference position marker (in the W frame in the figure), but in the first lane, the magnetic pole arrangement of the left and right magnetic markers 1g and 2g is the above-mentioned five sets of reference position markers 1.
It becomes the same as i-1m, 2i-2m and cannot be identified. Therefore, magnetic markers for lane discrimination 1g, 2g
Between the reference position markers 1h and 2 with the magnetic pole arrangement reversed
h is provided.

This embodiment also has the same effect as that of the above-mentioned third embodiment and has an advantage that it is not necessary to change the installation interval of the magnetic pole markers.

[0027]

[Embodiment 6] FIG. 9 shows another example of the arrangement of reference position markers, in which magnetic pole arrays are arranged in front of and behind with a set of four magnetic markers (in the X-frame in the figure) giving travel information of each lane. A first reference position marker (inside the U frame in the figure) and a second reference position marker (inside the V frame in the figure) that are different from each other are provided in a row at the same intervals as the normal magnetic marker. The vehicle distinguishes the set of magnetic markers 1f, 1g, 2f, 2g giving the travel information by the first and second reference position markers 1b, 2b and 1e, 2e which appear alternately at equal intervals as the vehicle travels. You can In addition, the lanes currently being driven are the reference position markers 1e and 2e.
Is known by the magnetic pole arrangement.

In the present embodiment, the magnetic markers 1a, 2a and 1d, 2 immediately after the reference position markers 1b, 2b and 1e, 2e, as shown in the first lane in the figure, are shown.
The magnetic pole arrangements of d may coincide with each other, and in this case, it is necessary to travel for a while until a different magnetic pole arrangement appears, but since the reference position marker appears at a short interval, compared to the third and fourth embodiments. It is possible to check the reference position and lane more quickly when the lane is changed.

It should be noted that two or more sets of magnetic markers for giving travel information may be provided between the first and second reference position markers.

[0030]

As described above, according to the traveling information collecting apparatus of the present invention, magnetic markers are provided on both left and right sides of the traveling lane,
By detecting the magnetic flux from these magnetic markers with the magnetic detection means provided on both the left and right sides of the vehicle, the deviation of the vehicle in the lane can be surely known, and a large amount of traveling information can be obtained in a short traveling distance. be able to.

[Brief description of drawings]

FIG. 1 is a plan layout view of a magnetic marker according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a positional relationship between a magnetic marker and a magnetic sensor in a road vertical plane.

FIG. 3 is a graph showing the relationship between the distance from the magnetic marker and the magnetic flux density.

FIG. 4 is a computer flowchart showing a procedure for calculating a vehicle deviation.

FIG. 5 is a graph showing the relationship between the distance from the magnetic marker and the magnetic flux density in Example 2 of the present invention.

FIG. 6 is a plan layout view of magnetic markers according to a third embodiment of the present invention.

FIG. 7 is a plan layout view of magnetic markers according to a fourth embodiment of the present invention.

FIG. 8 is a plan layout view of magnetic markers according to a fifth embodiment of the present invention.

FIG. 9 is a plan layout view of magnetic markers according to a sixth embodiment of the present invention.

[Explanation of symbols]

 1a-1f, 2a-2f Magnetic marker 3a, 3b, 3c, 3d Magnetic sensor (magnetic detection means) 5 Computer (information collection means) P1, P2 Lane boundary line

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ikuo Hayashi 14 Iwatani, Shimohakaku-cho, Nishio-shi, Aichi Japan Auto Parts Research Institute (72) Inventor Keiji Aoki 1 Toyota-cho, Toyota-shi, Aichi Toyota Automobile Incorporated (72) Inventor Akihide Tachibana 1 Toyota-cho, Toyota-shi, Aichi Toyota Automobile Co., Ltd.

Claims (4)

[Claims] 1. A plurality of magnetic markers, which are provided on both left and right sides of a traveling lane at predetermined intervals along the same and are magnetized in a predetermined magnetic pole pattern representing traveling information, and the magnetic markers provided on both left and right sides of a vehicle. A traveling information collecting device for a vehicle, comprising: a magnetic detecting means for detecting a magnetic flux of a marker; and an information collecting means for obtaining the traveling information from the magnetic flux detected by each of the magnetic detecting means. 2. The information collecting means obtains deviation information in the lateral direction of the vehicle in the lane by comparing the intensities of the magnetic fluxes detected by the left and right magnetism detecting means. The traveling information collection device for a vehicle according to claim 1, which is set. 3. The vehicle traveling information collecting apparatus according to claim 1, wherein the information collecting means is set so as to obtain the traveling information from a direction of a magnetic flux detected by each of the left and right magnetism detecting means. . 4. The magnetic detection means is provided in plural in the front-rear direction of the vehicle at equal intervals between the left and right sides of the vehicle, and the information collecting means is provided in the front-rear and left-right magnetic detection means. The traveling information collection device for a vehicle according to claim 3, wherein the traveling information collecting device is set so as to obtain predetermined traveling information from the direction of the magnetic flux detected by.