WO2017056995A1 - 車両状態表示システム - Google Patents
車両状態表示システム Download PDFInfo
- Publication number
- WO2017056995A1 WO2017056995A1 PCT/JP2016/077117 JP2016077117W WO2017056995A1 WO 2017056995 A1 WO2017056995 A1 WO 2017056995A1 JP 2016077117 W JP2016077117 W JP 2016077117W WO 2017056995 A1 WO2017056995 A1 WO 2017056995A1
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- vehicle
- state
- display system
- display
- mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/506—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to silent vehicles, e.g. for warning that a hybrid or electric vehicle is approaching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/0029—Spatial arrangement
- B60Q1/0035—Spatial arrangement relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
- B60Q1/5035—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays
- B60Q1/5037—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text electronic displays the display content changing automatically, e.g. depending on traffic situation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Definitions
- the present invention generally relates to a vehicle status display system. More specifically, the present invention relates to a vehicle state display system that displays the state or intention of a certain vehicle to an external observer such as a pedestrian or a remote vehicle.
- a display system that tries to notify an external observer of the intention of the driver of the vehicle.
- many vehicles include a brake light that displays the braking state of the vehicle and a direction indicator that displays the intention of the vehicle turning in a particular direction.
- a system that displays the vehicle intention toward the rear with respect to a remote vehicle located behind the vehicle can be cited.
- these conventional systems may display a character string that the vehicle is in a stopped state or that the vehicle is in a low speed forward state.
- the system should communicate all possible interaction agents and vehicle status externally.
- the system should also facilitate flexibility in interactions based on inputs from vehicle recognition systems or sensor systems, vehicle interaction history systems, and vehicle-to-vehicle communication systems.
- the vehicle state display system includes a detection system and a character string display.
- the sensing system is configured to sense an external moving object.
- the character string display is arranged on the vehicle so that the first state of the vehicle and the second state of the vehicle can be selectively displayed outward in the forward direction of the vehicle.
- FIG. 1 is a schematic view of a vehicle having a vehicle state display system according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram of the vehicle state display system shown in FIG.
- FIG. 3 is a front perspective view of an external display and an optical display for the vehicle status display system shown in FIG.
- FIG. 4 is a front perspective view of an external display and light display for the vehicle status display system shown in FIG. 3 that displays the direction of the pedestrian and the surrender status of the vehicle.
- FIG. 5 is a front perspective view of an external display and light display for the vehicle status display system shown in FIG. 3 that displays the direction of the pedestrian and the vehicle stop condition.
- 6 is a front perspective view of an external display and light display for the vehicle status display system shown in FIG.
- FIG. 7 is a front perspective view of an external display and light display for the vehicle status display system shown in FIG. 3 that displays various pedestrian directions and vehicle standby states.
- FIG. 8 is a front perspective view of the external display and light display for the vehicle status display system shown in FIG. 3 that displays the direction of the pedestrian group and the standby state of the vehicle.
- FIG. 9A is a flowchart (part 1) illustrating a process of displaying the vehicle state of the vehicle state display system.
- FIG. 9B is a flowchart (part 2) illustrating the process of displaying the vehicle state of the vehicle state display system.
- FIG. 10 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment and approaching an intersection.
- FIG. 11 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment and sensing a pedestrian waiting for a pedestrian crossing while approaching an intersection.
- FIG. 12 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment, approaching an intersection, decelerating, and giving up to a pedestrian waiting at a pedestrian crossing.
- FIG. 13 is a vehicle equipped with a vehicle state display system according to an embodiment, and is a schematic plan view of a vehicle that is approaching an intersection and is about to stop to allow a pedestrian waiting at the intersection to cross. It is.
- FIG. 14 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment and waiting at a crossing and waiting for a pedestrian to cross.
- FIG. 14 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment and waiting at a crossing and waiting for a pedestrian to cross.
- FIG. 15 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment, which is waiting for a pedestrian to finish crossing after stopping at an intersection.
- FIG. 16 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment, which senses that a pedestrian has crossed after stopping at an intersection.
- FIG. 17 shows a vehicle equipped with a vehicle state display system according to an embodiment, which stops at an intersection and senses that a pedestrian has crossed and displays that the vehicle will move forward soon. It is a schematic plan view.
- FIG. 18 is a schematic plan view of a vehicle equipped with a vehicle state display system according to an embodiment and traveling forward through an intersection.
- a vehicle 10 equipped with a vehicle state display system 12 is shown.
- the vehicle 10 is preferably an autonomous vehicle, but can be any suitable vehicle.
- the vehicle state display system 12 has a plurality of modes (or on modes) for displaying the state of the vehicle with respect to the external target P (such as a pedestrian and a remote vehicle).
- the vehicle state display system 12 includes a controller 14, a sound generator 16, a display system 18, a detection system 20, and a light display system (light display) 22.
- the vehicle state display system 12 communicates with the vehicle position determination system 24.
- the controller 14 preferably includes a microcomputer with a control program that controls the vehicle status display system 12 as discussed below.
- the controller 14 may also include input interface circuits, output interface circuits, and other conventional components such as ROM (Read Only Memory) devices, RAM (Random Access Memory) devices, and other storage devices.
- the microcomputer of the controller 14 is programmed to control one or more of the sound generator 16, display system 18, sensing system 20, and light display system 22 and make the decisions and decisions discussed herein. To be programmed.
- the memory circuit stores the processing results and stores a control program executed by the processor circuit such as a control program for the sound generator 16, the display system 18, the detection system 20, and the light display system 22.
- Controller 14 is operably coupled with sound generator 16, display system 18, sensing system 20 and light display system 22 as before, and also provides direction indicators, wipers, lights, and vehicle operation (whether autonomous or not). Regardless of) any system or device necessary or desirable for, or any other suitable system. Such a connection allows the controller 14 to monitor and control any of these systems as desired.
- the internal RAM of the controller 14 stores the state of the operation flag and various control data.
- the internal ROM of the controller 14 stores information for various operations.
- the controller 14 can selectively control any component of the vehicle state display system 12 according to a control program. It should be apparent to those skilled in the art from this disclosure that the exact structure and algorithms for controller 14 can be any combination of hardware and software that implements the various functions of the present invention.
- the vehicle status display system 12 can include a detection system 20.
- the detection system includes a plurality of vehicle sensors 26, 28, 30, and 32 configured to detect a remote target that is relatively close to the vehicle.
- the vehicle sensors 26, 28, 30, and 32 are preferably attached to the front quarter panels 34a and 34b and the rear quarter panels 36a and 36b of the vehicle 10 from the outside.
- the sensors 26, 28, 30, and 32 may be attached to any suitable external portion of the vehicle 10, such as suitable front and rear bumpers, external mirrors, or suitable areas. Including any combination of Sensors 26, 28, 30, and 32 transmit data to position determination system 24, which can then use the sensor data to calculate the position of vehicle 10.
- Vehicle sensors 26, 28, 30, and 32 may be any type of preferred sensor.
- the front sensor may include a long range radar device for target detection in front of the host vehicle.
- the front sensor may be configured to detect a target at a predetermined distance (for example, a distance up to 200 m), and thus may have a narrow viewing angle (for example, about 15 °). Due to the narrow viewing angle, long range radar may not be able to detect all targets in front of the host vehicle.
- the front corner sensor can include a short range radar device that assists in monitoring the area in front of the host vehicle.
- the rear sensor may include a short range radar device that assists in monitoring traffic approaching beside or behind the host vehicle.
- the vehicle sensors 26, 28, 30, and 32 can be located at any location on the vehicle 10 and can be any type of sensor and / or combination of such sensors that allows remote target detection. May contain. Also, these sensors may be cameras, radar sensors, photo sensors, or any combination thereof. Although FIG. 1 shows four vehicle sensors 26, 28, 30, and 32, there may be fewer or more sensors as desired or appropriate.
- the vehicle sensors 26, 28, 30, and 32 are preferably electronic sensing devices that transmit electromagnetic waves (eg, radar), but these sensors capture images that have been computer processed, for example, with a digital camera. Or any suitable sensor known in the art that emits a laser. These sensors may be capable of detecting at least the speed, direction, yaw, acceleration, and distance of the vehicle 10 relative to the remote target.
- the vehicle sensors 26, 28, 30, and 32 are FM-CW (frequency modulated continuous wave) radar, pulse and FSK (frequency shift keying) that rely on effects such as Doppler effect measurements to determine the position of the target ahead. It may include target position sensing devices including ranging sensors, such as radar, sonar and Lidar (light detection and ranging) devices and ultrasound devices.
- Target location determination devices utilize charge coupled devices (CCD) or complementary metal oxide semiconductor (CMOS) video image sensors, and digital photography to “see” other targets including one or more remote vehicles Known camera / video image processors. These sensors can communicate with the controller 14 via the positioning system 24 and can transmit information to the controller 14.
- CCD charge coupled devices
- CMOS complementary metal oxide semiconductor
- the vehicle state display system 12 includes a light display system 22.
- the light display system 22 may include at least a lighting device 38 on the front 42 of the vehicle 10 and a light band 40 extending around the vehicle 10.
- Such an arrangement of the lighting device 38 allows the vehicle 10 to clearly display an intention on an external target P in front of the vehicle 10 (eg, a pedestrian or a remote vehicle that the vehicle 10 is approaching).
- the lighting device 38 may be disposed at any place on the vehicle 10 as desired or appropriate.
- the lighting device 38 can emit a plurality of colors at a plurality of positions. That is, the lighting device 38 can display a plurality of modes for displaying the state of the vehicle 10. For example, in one mode, the light display system 22 can display a red light that indicates that the vehicle 10 is in a forward state and therefore it is not recommended to cross the front of the vehicle 10. In another mode, the light display system 22 may display a yellow light that indicates that the vehicle 10 is in a transition state (ie, a more passive state compared to the forward state). Such an indication may occur when the vehicle 10 is decelerating or giving up to a pedestrian or other vehicle. The light display system 22 can display green light indicating that the vehicle 10 is in a stopped state and is therefore prompting to cross the front of the vehicle 10.
- a transition state ie, a more passive state compared to the forward state
- the light display system 22 can display five distinct and distinct colors, each color representing a distinct mode of the vehicle 10. That is, the light display system 22 can display yellow-green for displaying a partial passive state or a partial concession state in addition to the three colors (red, yellow and green) described above. Also, an orange color can be displayed to indicate a state that is more aggressive than yellow but less aggressive than red. Also, the color of the light can be a continuous spectrum that dynamically changes between various states. On the other hand, the light display system 22 may be capable of simply displaying various colors for displaying the state of the vehicle 10. The various colors discussed here are merely used as an example, and the color that indicates the condition of the vehicle can be any suitable color or any desired color. That is, in the above example, green indicates a standby state, and thus indicates that it is urging to cross the front of the vehicle 10. However, green may indicate a forward state and therefore a state that is not advised to cross.
- the light display system 22 has a plurality of modes (or on modes) for displaying the state of the vehicle 10 with respect to the external target P (pedestrian, remote vehicle, etc.).
- the plurality of modes are modes in which the light display system 22 is “ON”, that is, the lighting device is turned on or the display is displaying a character string.
- Each of the plurality of modes can be different from the other modes.
- the optical band 40 can have a plurality of portions 40a, 40b and 40c that are lit. Therefore, when an external target P such as a pedestrian or a remote vehicle is sensed or detected by the detection system 20, the light band 40 can display the direction of the external target P.
- the light band 40 is generally connected to the sides 38 a and 38 b of the lighting device 38 at the front of the vehicle 10 and extends around the vehicle 10 (ie surrounds the vehicle 10) or around the vehicle 10. It extends substantially.
- the optical band 40 moves a portion of the optical band 40 (eg, the portion 40a) in the direction of the external target P or adjacent to the external target P, as shown in FIGS. Display. Additionally, as shown in FIGS. 7 and 8, each target can be displayed individually (portions 40a and 40b) when various (ie, multiple) external targets are detected, or a large group of When adjacent to the vehicle 10 and grouped together, the light band 40 can display a large portion 40c in the direction of the group.
- the optical band 40 can display the state of the vehicle 10 using different modes.
- the light band 40 can display a plurality of modes for displaying the state of the vehicle 10. For example, in one mode, the light band 40 may display a red light indicating that the vehicle 10 is in a forward state and therefore it is not recommended to cross the front of the vehicle 10. In another mode, the light band 40 may display a yellow light that indicates that the vehicle 10 is in a transition state (ie, a more passive state compared to the forward state). Such an indication may occur when the vehicle 10 is decelerating or giving up to a pedestrian or other vehicle.
- the light band 40 can display green light indicating that the vehicle 10 is in a stopped state and is therefore urging to cross the front of the vehicle 10.
- the light band 40 can display five distinct and distinct colors, each color representing a distinct mode of the vehicle 10. That is, the light band 40 can also display yellow-green for displaying a partial passive state or a partial concession state in addition to the three colors (red, yellow and green) described above, It is also possible to display orange to indicate a state that is more aggressive than yellow but less aggressive than red.
- the color of the light can be a continuous spectrum that dynamically changes between various states.
- the various colors discussed here are merely used as an example, and the color that indicates the condition of the vehicle can be any suitable color or any desired color. That is, in the above example, green indicates a standby state, and thus indicates that it is urging to cross the front of the vehicle 10. However, green may indicate a forward state and therefore a state that is not advised to cross.
- Display of vehicle status is not limited to color.
- the display of the current state of the vehicle 10 can be displayed by any appropriate method, and such a method is not limited, but includes a monochromatic spectrum, a meter system, a luminance display, a numerical display, an audio Or any other method.
- the driver or user of the vehicle 10 can modify the interaction state bias. That is, the driver or user of the vehicle 10 adjusts the setting of the vehicle 10 that gives priority to the vehicle 10 more frequently and gives priority to the setting of the vehicle 10 that is predicated more frequently as desired. Can do.
- the driver or user of the vehicle 10 can set the vehicle status display system 12 to a passive bias, which is a quick driving and friendly behavior, i.e. the vehicle 10 stops more. Correlating with slow / smooth acceleration / braking.
- the driver or user of the vehicle 10 can set the vehicle status display system 12 to a positive bias, which is a fast drive and unique behavior, i.e. the vehicle 10 is faster from A. It can be correlated to reaching B and accelerating / braking more eagerly.
- Such a setting may be a continuous spectrum between a passive bias and an active bias, or may have multiple settings including, but not limited to, a passive bias and an active bias.
- the vehicle status display system 12 includes a display 18.
- the display 18 is preferably on the vehicle 10 (for example, so that the first state of the vehicle 10 and the second state of the vehicle 10 can be selectively displayed outward in the forward direction of the vehicle 10.
- This is a character string display arranged on the dashboard 44).
- the display 18 can display a plurality of modes for displaying the state of the vehicle 10 as character strings. For example, in one mode, as shown in FIG. 3, the display 18 displays “in progress” indicating that the vehicle 10 is in a forward state and therefore it is not recommended to cross the front of the vehicle 10. can do. In another mode, as shown in FIG.
- the display 18 displays “Nowing” indicating that the vehicle 10 is in a transition state (ie, a more passive state compared to the forward state). be able to. Such an indication may occur when the vehicle 10 is decelerating or giving up to a pedestrian or other vehicle. As shown in FIG. 5, the display 18 can display “stopped” indicating that the vehicle 10 is in a stopped state and is therefore urging to cross the front of the vehicle 10. As shown in FIGS. 6-8, the display 18 may display “Waiting” indicating that the vehicle 10 is in a waiting state and is therefore urging to cross the front of the vehicle 10. it can.
- the vehicle state display system 12 preferably includes an audio generator 16 (a speaker or a plurality of speakers).
- the sound generator 16 may be at any suitable position within the vehicle 10 or may be externally attached to the vehicle.
- the sound generator 16 can be attached to an interior door or wall of the vehicle 10, or it can be attached to a dashboard 44 or instrument panel to activate sound when a signal is received from the controller 14. Configured.
- the sound generator 16 may emit sound from a speaker used for other uses (for example, radio) or a dedicated speaker.
- the sound generator 16 may cooperate with the light display system 22 and the display 18 to provide information about the vehicle state to the occupant of the vehicle 10 and the external target P.
- the sound generator 16 provides a sound indicating that the vehicle 10 is waiting for the external target P to cross the front of the vehicle 10, or that the vehicle 10 is preparing to move forward or is moving forward. can do.
- the sound generator 16 is different from the first sound when the light display system 22 displays the first on mode and the first sound when the light display system 22 displays the second on mode. Configured to generate two voices.
- the sound generator 16 can provide polite feedback to the external target P to indicate that the vehicle 10 has noticed an external target across the front of the vehicle 10.
- the vehicle 10 includes a vehicle position determination system 24 such as GPS that communicates with the vehicle state display system 12.
- the vehicle 10 receives GPS satellite signals.
- GPS processes GPS satellite signals to determine position information of vehicle 10 (in some examples, position, velocity, acceleration, yaw, direction, etc.).
- the position determination system can communicate with the controller 14 and send such position information of the vehicle 10 to the controller 14.
- the vehicle position determination system 24 can also include a storage device that stores map data. Accordingly, when determining the position of the vehicle 10 using any method, device or system described herein, the position determination of the vehicle 10 may be compared to known data stored in a storage device. Thus, in one embodiment, the positioning system 24 may determine whether a pedestrian crossing CW, a stop sign SS, an intersection I, or a remote vehicle or pedestrian (ie, an external target P) may be near or in front of the vehicle 10. It can be determined when the vehicle is approaching any other area. For example, the positioning system 24 can determine when a vehicle is approaching a pedestrian crossing a roadway in an area other than a pedestrian crossing (ie, a pedestrian ignoring traffic rules). The vehicle status display system 12 can communicate as described above.
- the positioning system 24 can also identify devices and structures that emit signals other than stop signs, such as stop signals (eg, such scenarios include a legal right turn with a red light) and vehicle status.
- the display system 12 can communicate the intent accordingly.
- the remote vehicle can be any type of vehicle on the road including but not limited to automobiles, trucks, bicycles and any other vehicles.
- step S1 the vehicle is in a forward movement state. Accordingly, the lighting device 38 displays red light, and the display 18 displays the string “in progress”.
- step S2 the detection system 20 detects an external target P (for example, a pedestrian or a remote vehicle).
- step S3 the vehicle location determination system 24 determines whether the vehicle is approaching a pedestrian crossing CW, a stop sign SS, or other area that needs to be yielded to an external target P. If none of these conditions exists, the vehicle state display system 12 maintains all displays of the vehicle 10 in the forward state.
- step S ⁇ b> 4 the controller 14 causes the vehicle 10 to reduce the speed and displays that the vehicle 10 is in the yielding state via the lighting device 38 and the display 18.
- the optical band 40 displays the sensed direction of the external target P.
- the vehicle 10 continues to yield, the vehicle 10 further reduces the speed to zero, and displays that the vehicle 10 is in a stopped state via the lighting device 38 and the display 18 in step S5 of FIG.
- the direction of the external target P is displayed.
- the vehicle state display system 12 via the light display system 22 is configured to shift the lighting device 38 from one mode to another mode at the same time when the detection system 20 detects the external moving object P.
- step S6 the vehicle 10 is stopped, the fact that the vehicle 10 is in a standby state is displayed via the light display system 22 and the display 18, and the direction of the external target P is displayed.
- step S7 the controller 14 determines whether the external target P has advanced through the intersection I or the pedestrian crossing CW. If the external target P has not yet advanced through the intersection I or the pedestrian crossing CW, the controller 14 determines in step S8 whether the vehicle 10 has waited for a predetermined time for the external target P to cross. To do. If the vehicle 10 has not waited for a predetermined time, the vehicle 10 continues the standby step described in step S6.
- step S ⁇ b> 10 the vehicle 10 starts moving forward, and displays the forward moving state via the lighting device 38 and the display 18.
- FIG. 10 shows a vehicle 10 approaching an intersection I including a stop sign SS for a pedestrian and a pedestrian crossing CW.
- the vehicle 10 displays that the vehicle 10 is in the forward state.
- the detection system 20 detects a pedestrian waiting at the pedestrian crossing CW (that is, the external target P). Additionally, the vehicle 10 may determine that a stop sign SS is present via the detection system 20 and / or the vehicle position determination system 24.
- the vehicle state display system 12 displays the direction of the pedestrian (that is, the external target P) with respect to the vehicle 10 via the light band 40, and the vehicle 10 passes through the light display system 22 and the display 18. Display that you are about to enter a state.
- the vehicle 10 stops and displays that the vehicle 10 is in a stopped state via the light display system 22 and the display 18.
- the vehicle 10 completely stops and displays that the vehicle 10 is in a standby state via the light display system 22 and the display 18.
- the detection system 20 monitors a pedestrian (that is, the external target P) as the pedestrian crosses the road S in front of the vehicle 10.
- the pedestrian that is, the external target P
- the light band 40 displays the direction of the pedestrian
- the vehicle state display system 12 is the light display system 22. And the fact that the vehicle 10 will move forward is displayed via the display 18.
- the vehicle state display system 12 displays that the vehicle 10 is moving forward through the intersection I.
- the detection system 20 will detect that pedestrian (ie, external target P). A continuous position can be detected.
- the controller 14 can infer from the lack of movement of the pedestrian (ie, the external target P) that the pedestrian does not intend to cross. In such a situation, the controller 14 then changes the state of the vehicle to the state of forward advance (FIG. 17) and advances the vehicle 10 as described in connection with FIG. Can do.
- the light display system 22 is configured to transition from one mode (ie, standby mode) to another mode (ie, forward mode or mode to advance soon) after a predetermined time.
- the vehicle state display system 12 using the detection system 20 is configured to determine the movement state of the external target P, and the controller 14 determines that the vehicle 10 is the first based on the movement state of the external moving object P. Is programmed to determine whether it is about to enter the second state or the second state.
- the sensing system 20 may also be able to detect a hand signal or other signature from the external target P. That is, the sensing system 20 is configured to detect pedestrian gestures and the controller 14 is programmed to generate an external response in response to the gestures detected by the sensing system 20.
- the external target P is a pedestrian
- the external target P shakes his hand toward the vehicle 10 to indicate that the pedestrian will wait for the vehicle 10 to pass the intersection.
- the remote vehicle may light up or make other movements to indicate that the remote vehicle will wait for the vehicle 10 to pass the intersection.
- the controller 14 can deduce from the sign indicated by the external target P that the forward movement is permitted. In such a situation, the controller 14 then changes the state of the vehicle 10 to the state of advancing soon (FIG. 17) and advances the vehicle 10 as described in connection with FIG. be able to.
- the external target P may be grateful for the vehicle 10 waiting.
- the detection system 20 can detect the sign indicated by the external target P, and the vehicle status display system 12 may display a thank-you string via the display 18 or generate a sound. An appreciation voice may be created via the device 16.
- the vehicle 10 can also display dissatisfaction with the external target P.
- the vehicle state display system 12 displays the display 18 or light.
- Dissatisfaction may be displayed using a character string via the display system 22, or a dissatisfied voice (eg, a sudden horn or tire brake sound) may be generated via the sound generator 16.
- the vehicle status display system 12 described herein increases the transparency and predictability of behavior with respect to the surroundings of vehicles, particularly autonomous vehicles.
- the system also communicates the state of the vehicle 10 with all possible interaction agents externally. Furthermore, the system facilitates flexibility in interaction based on inputs from a vehicle recognition system or vehicle detection system, a vehicle interaction history system, and a vehicle-to-vehicle communication system.
- the controller 14 may be programmed to transition from a first on mode to a second on mode based on a predetermined event, and the controller 14 may be manually set to change the predetermined event. is there.
- the vehicle positioning system 24 is a standard component well known in the art. Since vehicle position detection systems are well known in the art, these structures are not discussed or illustrated in detail here. Rather, it should be apparent to those skilled in the art from the present disclosure that these components can be any type of structure and / or programming that can be used to implement the present invention. ⁇ General interpretation of terms>
- the term “comprising” and its derivatives, as used herein, refers to the presence of a described feature, element, component, group, whole, and / or step. Is intended to be an open-ended term, but does not exclude the presence of other undescribed features, elements, components, groups, completeness, and / or steps.
- the above also applies to words having similar meanings such as the terms “including”, “having” and their derivatives.
- the terms “part”, “section”, “portion”, or “element” when used in the singular refer to the single or double of a single part. Can have.
- detect refers to a component that does not require physical detection, detection, Includes sections, devices, etc., but rather includes determining, measuring, modeling, predicting, computing, etc. to perform an operation or function.
- a term representing a degree means a reasonable amount of deviation of the modified term such that the final result is not significantly altered.
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Abstract
Description
<用語の一般的解釈>
12…車両状態表示システム
14…制御器
16…音声発生器
18…ディスプレイ
20…検知システム
22…光表示器
24…車両位置決定システム
Claims (27)
- 外部移動物体を感知する検知システムと、
車両の前進方向において外部に向けて、前記車両の第1の状態及び前記車両の第2の状態を選択的に表示するように、前記車両に配置されている文字列ディスプレイと、を備える車両状態表示システム。 - 第1のオンモード及び第2のオンモードを含む光表示器を更に備え、
前記光表示器は、検知された前記外部移動物体の方向において外部に向けて、前記車両の前記第1の状態及び前記車両の前記第2の状態を選択的に表示するように、前記車両に配置されている請求項1に記載の車両状態表示システム。 - 前記検知システムと通信する制御器を更に備え、
前記制御器は、前記車両が前記第1の状態に入ろうとしているのか又は前記第2の状態に入ろうとしているのかを決定すると共に、前記車両が前記第1の状態に入ろうとする場合に前記第1のオンモードを起動し、前記車両が前記第2の状態に入ろうとする場合に前記第2のオンモードを起動するようにプログラムされている請求項2に記載の車両状態表示システム。 - 前記制御器は、前記外部移動物体の移動状態に基づき、前記車両が前記第1の状態に入ろうとしているのか又は前記第2の状態に入ろうとしているのかを決定する請求項3に記載の車両状態表示システム。
- 前記検知システムは、歩行者及び遠隔車両の少なくとも一方を検知すると共に前記歩行者及び前記遠隔車両の前記少なくとも一方の前記移動状態を決定するように構成され、
前記制御器は、前記歩行者及び前記遠隔車両の前記少なくとも一方の前記移動状態に基づき、前記車両が前記第1の状態に入ろうとしているのか又は前記第2の状態に入ろうとしているのかを決定する請求項4に記載の車両状態表示システム。 - 前記文字列ディスプレイは、前記車両のダッシュボードに配置される請求項3~5のいずれか一項に記載の車両状態表示システム。
- 前記車両の前記第1の状態は停止状態であり、前記車両の前記第2の状態は前進状態である請求項3~6のいずれか一項に記載の車両状態表示システム。
- 前記車両状態表示システムは車両位置決定システムと通信し、
前記車両が停止標識に接近していることを前記車両位置決定システムが決定した場合、前記制御器は、前記車両が停止状態に入ろうとしている旨を前記文字列ディスプレイ及び前記光表示器の少なくとも一方に表示させる請求項3~7のいずれか一項に記載の車両状態表示システム。 - 前記車両状態表示システムは車両位置決定システムと通信し、
前記車両が横断歩道に接近していることを前記車両位置決定システムが決定し、且つ歩行者が前記横断歩道の近くに居ることを前記検知システムが決定した場合、前記制御器は、前記車両が停止状態に入ろうとしている旨を前記文字列ディスプレイ及び前記光表示器の少なくとも一方に表示させる請求項3~8のいずれか一項に記載の車両状態表示システム。 - 前記文字列ディスプレイは、前記検知システムが前記外部移動物体を検知するのと同時に前記第2の状態から前記第1の状態に移行する請求項3~9のいずれか一項に記載の車両状態表示システム。
- 前記文字列ディスプレイは、所定時間の後に前記第1の状態から第3の状態に移行する請求項10に記載の車両状態表示システム。
- 前記文字列ディスプレイは、前記外部移動物体が所定位置に到達したことを前記検知システムが決定した後に前記第1の状態から第3の状態に移行する請求項10に記載の車両状態表示システム。
- 前記文字列ディスプレイは、前記光表示器によって表示される外部光メッセージに対応する文字列メッセージを表示する請求項3~12のいずれか一項に記載の車両状態表示システム。
- 前記光表示器は、前記車両を実質的に包囲するように配置されている請求項3~13のいずれか一項に記載の車両状態表示システム。
- 前記検知システムは、第1の外部移動物体及び第2の外部移動物体を同時に検知するように構成され、
前記光表示器は、第1の表示デバイス及び第2の表示デバイスを含み、前記光表示器は、検知された前記第1の外部移動物体の方向において前記第1の表示デバイスで前記車両の前記第1の状態及び前記車両の前記第2の状態を表示すると共に検知された前記第2の外部移動物体の方向において前記第2の表示デバイスで前記車両の前記第1の状態及び前記車両の前記第2の状態を表示する請求項3~14のいずれか一項に記載の車両状態表示システム。 - 前記検知システムは、複数の外部移動物体を同時に検知するように構成され、
前記光表示器は、検知された前記複数の外部移動物体の方向において前記車両の前記第1の状態及び前記車両の前記第2の状態を表示する請求項3~14のいずれか一項に記載の車両状態表示システム。 - 前記第1のオンモードは、前記車両が停止状態にとどまろうとしている旨を表示し、前記第2のオンモードは、前記車両が前記前進方向に移動しようとしている旨を表示する請求項3~16のいずれか一項に記載の車両状態表示システム。
- 前記制御器は、前記検知システムが歩行者及び遠隔車両の少なくとも一方を検知するのと同時に前記光表示器を前記第2のオンモードから前記第1のオンモードに移行させるようにプログラムされている請求項9に記載の車両状態表示システム。
- 前記制御器は、所定時間後に前記光表示器を前記第1のオンモードから第3のオンモードに移行させるようにプログラムされている請求項18に記載の車両状態表示システム。
- 前記第1のオンモードは、第1の色であり、前記第2のオンモードは、前記第1の色とは異なる第2の色である請求項3~19のいずれか一項に記載の車両状態表示システム。
- 前記第1のオンモード及び前記第2のオンモードは、少なくとも5つのモードを含む複数のモードのうちのモードであり、前記少なくとも5つのモードは、各々、前記少なくとも5つのモードのうちの他とは異なる色である請求項3~20のいずれか一項に記載の車両状態表示システム。
- 前記検知システムは、前記歩行者の身振りを検出するように構成され、
前記制御器は、前記検知システムによって検出された前記身振りに応答して外部応答を生じるようにプログラムされている請求項5に記載の車両状態表示システム。 - 前記検知システムは、前記遠隔車両を検知するように構成され、前記車両が停止することに続いて前記検知システムが前記遠隔車両を検知した場合に、前記制御器は、前記光表示器に前記車両が移動状態に入ろうとしている旨を表示させる請求項5に記載の車両状態表示システム。
- 前記制御器は、前記検知システムが前記歩行者及び前記遠隔車両の前記少なくとも一方を検知した場合に、前記光表示器を起動するようにプログラムされる請求項5に記載の車両状態表示システム。
- 前記制御器は、前記検知システムが前記歩行者及び前記遠隔車両の前記少なくとも一方によって行われた所定の行動を検出した場合に、前記光表示器を前記第1のオンモードから前記第2のオンモードに移行させるようにプログラムされる請求項5に記載の車両状態表示システム。
- 音声発生器を更に備え、
前記音声発生器は、前記光表示器が前記第1のオンモードを表示するときに第1の音声を生成し、前記光表示器が前記第2のオンモードを表示するときに第2の音声を生成する請求項3~25のいずれか一項に記載の車両状態表示システム。 - 前記制御器は、所定の事象に基づき前記第1のオンモードから前記第2のオンモードに移行するようにプログラムされ、前記制御器は、前記所定の事象を変更するように手動で設定可能である請求項3~26のいずれか一項に記載の車両状態表示システム。
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RU2018115971A RU2722807C1 (ru) | 2015-09-30 | 2016-09-14 | Система индикации состояния транспортного средства |
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- 2016-09-14 EP EP16851169.9A patent/EP3357754B1/en active Active
- 2016-09-14 JP JP2017543108A patent/JP6832284B2/ja active Active
- 2016-09-14 MX MX2018004027A patent/MX370259B/es active IP Right Grant
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- 2016-09-14 KR KR1020187011348A patent/KR101993104B1/ko active IP Right Grant
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Also Published As
Publication number | Publication date |
---|---|
EP3357754B1 (en) | 2020-11-18 |
EP3357754A4 (en) | 2018-11-14 |
CA3000335A1 (en) | 2017-04-06 |
MX370259B (es) | 2019-12-09 |
BR112018006683B1 (pt) | 2023-01-17 |
CN108136959B (zh) | 2023-03-28 |
JP6832284B2 (ja) | 2021-02-24 |
EP3357754A1 (en) | 2018-08-08 |
MX2018004027A (es) | 2018-07-06 |
JPWO2017056995A1 (ja) | 2018-08-09 |
BR112018006683A2 (ja) | 2018-10-09 |
JP2020164162A (ja) | 2020-10-08 |
RU2722807C1 (ru) | 2020-06-04 |
CN108136959A (zh) | 2018-06-08 |
KR20180059485A (ko) | 2018-06-04 |
KR101993104B1 (ko) | 2019-09-30 |
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