WO2020085505A1 - Dispositif de tracé de surface routière pour véhicule - Google Patents

Dispositif de tracé de surface routière pour véhicule Download PDF

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Publication number
WO2020085505A1
WO2020085505A1 PCT/JP2019/042012 JP2019042012W WO2020085505A1 WO 2020085505 A1 WO2020085505 A1 WO 2020085505A1 JP 2019042012 W JP2019042012 W JP 2019042012W WO 2020085505 A1 WO2020085505 A1 WO 2020085505A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
road surface
road
surface drawing
drawing device
Prior art date
Application number
PCT/JP2019/042012
Other languages
English (en)
Japanese (ja)
Inventor
石田　裕之
Original Assignee
株式会社小糸製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2019189352A external-priority patent/JP7370805B2/ja
Application filed by 株式会社小糸製作所 filed Critical 株式会社小糸製作所
Priority to CN201980070797.3A priority Critical patent/CN112912278A/zh
Priority to EP19877151.1A priority patent/EP3871924A4/fr
Publication of WO2020085505A1 publication Critical patent/WO2020085505A1/fr

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Classifications

    • 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
    • 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
    • B60Q1/52—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 emergencies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • Patent Document 1 calculates a braking distance according to a vehicle speed, draws a road surface display extending from a vehicle to a stop position ahead of the vehicle by a braking distance on the road surface of a traveling lane in front of the vehicle, and exists in front of the stop position.
  • a road surface drawing device for a vehicle that allows a driver to recognize the risk of collision with a road obstacle such as a front running vehicle or a pedestrian.
  • Patent Document 1 Since the vehicle road surface drawing device of Patent Document 1 draws a linear road surface display on the road surface in front of the vehicle, when a mark is drawn on a curved road, the driver runs off the running lane to cause the driver to recognize the danger of the running lane. There is a problem in that you cannot do it.
  • the present disclosure provides a vehicle road surface drawing device that allows a driver of a vehicle traveling on a road having various shapes such as a curved road to recognize the danger of a driving lane.
  • a road surface drawing device for a vehicle that is mounted on a vehicle and has a road surface drawing unit that draws a road surface display on the road surface in the traveling direction of the vehicle based on the control of the control unit,
  • the control unit is configured to draw a road surface display having a shape that follows the curved shape of the traveling lane on the road surface in the traveling lane based on the detection of the curved shape of the traveling lane of the vehicle. Controls the drawing unit.
  • the road surface display is displayed inside the traveling lane along the traveling lane having a curved form.
  • the road surface display is a collision warning display indicating the stop position of the vehicle
  • the control unit calculates a braking distance based on a vehicle speed of the vehicle and a stoppable position of the vehicle based on the braking distance, and extends from the vicinity of the vehicle to the stoppable position of the vehicle according to a curved shape of the traveling lane.
  • the road surface drawing unit is controlled to draw a collision warning display on the road surface.
  • the collision warning display is drawn inside the traveling lane along the traveling lane having a curved shape from the vicinity of the vehicle to the stoppable position of the vehicle on the curved road.
  • the control unit controls the road surface drawing unit to draw the collision warning display on the road surface based on the detection of a road lane of the vehicle or a road obstacle near the road lane.
  • the collision warning display is drawn on the road surface only when the road obstacle is detected, and is not drawn on the road surface when the road obstacle is not detected.
  • the control unit calculates the position of the road obstacle based on the detection of the road obstacle, and draws a second collision warning display extending from the vehicle to the road obstacle on the road surface. And controlling the road surface drawing unit.
  • the second collision warning display when the road obstacle near the vehicle is detected, the second collision warning display is drawn so as to extend from the vehicle to the detected road obstacle.
  • the control unit corrects the braking distance and the stoppable position calculated from the vehicle speed of the vehicle based on the detected change in the braking distance of the vehicle, and extends from the vehicle to the corrected stoppable position.
  • the road surface drawing unit is controlled to draw a collision warning display on the road surface.
  • the control unit corrects the braking distance calculated from the vehicle speed of the vehicle to be longer based on the detection result indicating that the traveling lane is wet.
  • the length in the direction along the lane becomes longer.
  • the control unit corrects the braking distance calculated from the vehicle speed of the vehicle to be shorter based on the detection result indicating that the traveling lane is an uphill grade, or indicates that the traveling lane is a downhill grade. Based on the detection result, the braking distance calculated from the vehicle speed of the vehicle is corrected to be longer.
  • the lane of the collision warning display drawn in the lane so as to extend from the vehicle to the stoppable position
  • the length along the direction will be shorter.
  • the traveling lane of the vehicle is downhill and the braking distance increases, the length of the collision warning display in the direction along the lane becomes longer.
  • the control unit controls the road surface drawing unit to draw the collision warning display on the road surface based on a detection result indicating that the road is dark.
  • the collision warning display is drawn on the road surface only when the road is dark, and is not drawn on the road surface when the road is bright.
  • the road surface drawing unit draws the collision warning display on the road surface with a laser beam.
  • the road surface display including the collision warning is clearly drawn by the laser light during the daytime driving when the surroundings of the vehicle are bright.
  • the road surface display is drawn on the driving lane without protruding from the curved driving lane, so that the driver can recognize the danger on the driving lane.
  • FIG. 1A is a block diagram of a vehicle road surface drawing device according to an embodiment of the present disclosure.
  • 1B is a block diagram illustrating a road surface drawing system including a modified example of the road surface drawing device in FIG. 1A.
  • FIG. 2 is a plan view of a vehicle equipped with the road surface drawing device.
  • 3 is a cross-sectional view taken along the line I-I of FIG. 2 regarding a vehicle lamp including a road surface drawing device.
  • FIG. 4A is a diagram relating to the optical deflecting device of the road surface drawing unit, and is a sectional view taken along line II-II of FIG. 3.
  • FIG. 4B is a diagram relating to the optical deflecting device of the road surface drawing unit, and is a sectional view taken along line III-III of FIG. 4A.
  • FIG. 5 is an explanatory diagram of the first embodiment in which a collision warning display is drawn from the vehicle in the traveling lane on a curved road.
  • FIG. 6 is an explanatory diagram of a second embodiment in which a collision warning display is drawn from the vehicle in the traveling lane of the curved road in the wet road surface state.
  • FIG. 7A is an explanatory diagram of a third embodiment in which a vehicle displays a collision warning display on the road surface of a sloped road, and is a diagram exemplifying a road surface having an ascending slope.
  • FIG. 5 is an explanatory diagram of the first embodiment in which a collision warning display is drawn from the vehicle in the traveling lane on a curved road.
  • FIG. 6 is an explanatory diagram of a second embodiment in which a collision warning display is drawn from the vehicle
  • FIG. 7B is an explanatory diagram of a third embodiment in which a vehicle displays a collision warning display on the road surface of a road having a slope, and is a diagram illustrating a road surface having a slope of 0.
  • FIG. 7C is an explanatory diagram of the third embodiment in which a collision warning display is drawn from the vehicle on the road surface of a sloped road, and is an example of a road surface with a downward slope.
  • a pair of left and right vehicle headlamps 1 of the vehicle C illustrated in FIG. 2 are equipped with road surface drawing lamps 2, respectively.
  • the road surface drawing lamp 2 includes a road surface drawing device 3 (see FIGS. 1A and 1B) that irradiates a road surface in front of the vehicle with light to draw a road surface display such as a figure or a character having a predetermined shape.
  • the pair of left and right road surface drawing lamps 2 draw on the road surface a combined road surface display by overlapping light, a combined road surface display that is a combination of divided displays sharing the irradiation range, or an independent road surface display by separated irradiation light.
  • the road surface drawing device 3 may not be mounted on one of the left and right vehicle headlamps 1 and may be mounted at any place such as the center outside the vehicle body.
  • the road surface drawing device 3 illustrated in FIG. 1A includes a control unit 5, a road surface drawing unit 6, a photographing unit 7, a car navigation system 8, a road information communication system 9, a vehicle speed sensor 10, a radar sensor 11, a rain sensor 12, and a road surface sensor. Any one or all of 13, the wiper sensor 14, the inclination angle sensor 15, the headlight sensor 16a, and the illuminance sensor 16b may be included.
  • the control unit 5 can be configured by a calculation control device such as a CPU.
  • FIG. 1B shows a vehicle road surface drawing system 33 including a vehicle road surface drawing device 3 shown in FIG. 1A which is a modified example 3A.
  • the vehicle road surface drawing system 33 of FIG. 1B is a system used for a vehicle equipped with an automatic driving device.
  • the road surface drawing system 33 of the vehicle includes a road surface drawing device 3A and a photographing unit 7, a car navigation system 8, a road information communication system 9, of the road surface drawing device 3 of FIG. 1A, excluding the control unit 5 and the road surface drawing unit 6. It includes a vehicle speed sensor 10, a radar sensor 11, a rain sensor 12, a road surface sensor 13, a wiper sensor 14, an inclination angle sensor 15, a headlight sensor 16a and an illuminance sensor 16b.
  • the road surface drawing device 3A includes a control unit 5 and a road surface drawing unit 6. The control unit 5 and the road surface drawing unit 6 are mounted on the vehicle C.
  • the sensor 16b is installed outside the vehicle (however, it may be installed inside the vehicle except for the road monitoring camera 7b described later), and is connected to the control unit 5 of the road surface drawing device 3A mounted on the vehicle, respectively. Has been done.
  • the road surface drawing device 3A including the control unit 5 and the road surface drawing unit 6 used for road surface drawing is mounted on the vehicle C, and the other configuration, that is, the photographing unit 7 to the illuminance sensor 16b. Either or all of these are installed outside the vehicle C, so that the road surface drawing device 3A is removed from the existing sensors such as the vehicle speed sensor and the car navigation system that are installed in the vehicle C in advance. It is possible to add (retrofit) the missing configuration.
  • a configuration other than the road surface drawing device 3A is installed outside the vehicle C, and a plurality of vehicles equipped with the road surface drawing device 3A are controlled by the single road surface drawing system 33, thereby performing road surface drawing.
  • the device can also be simplified.
  • the control unit 5 includes a photographing unit 7, a car navigation system 8, a road information communication system 9, a vehicle speed sensor 10, a radar sensor 11, a rain sensor 12, a road surface sensor 13, a wiper sensor 14, a tilt angle sensor 15, and a headlight sensor 16a. Also, the road surface drawing unit 6 is controlled based on the detection result of the illuminance sensor 16b to draw a road surface display in a predetermined form such as the collision warning display 27 on the road surface of the traveling lane of the vehicle C.
  • the road surface drawing unit 6 will be described with reference to FIGS. 1A, 1B and 3.
  • the road surface drawing unit 6 has a light source 18 and a light deflection device 19.
  • the road surface drawing unit 6 constitutes a part of the road surface drawing unit 17.
  • the road surface drawing unit 17 is configured by providing a light source 18, a light deflecting device 19, a reflecting optical member 20 such as a reflector, a projection optical member 21 such as a plano-convex lens, and a light absorbing member 22 on the unit main body 17a.
  • the road surface drawing unit 17 is arranged in a lamp chamber 2 formed inside a lamp body 2a having an opening in front of the vehicle and a transparent or translucent front cover 2b closing the opening for road surface drawing.
  • the lamp 2 is configured.
  • the road surface drawing unit 17 is horizontally rotatably held inside the lamp body 2a, and is configured to swing around the central axis L1 by a motor 23 or the like.
  • the road surface drawing unit 17 is tilted to the left or right under the control of the control unit 5 so that the irradiation direction of the road surface drawing display on the road surface is forward or obliquely forward of the vehicle C (in the road surface drawing unit 17 of the rear combination lamp 4, the vehicle C Back or diagonally forward).
  • the light source 18 is, for example, a semiconductor light emitting element such as an LED (Light Emitting Diode), an LD (Laser Diode), an EL (Electro Luminescence) element, a light bulb, an incandescent lamp (halogen lamp), a discharge (discharge lamp), or the like.
  • the light source 18 is preferably an LD element in that it can draw a highly visible display on the road even in daylight with high illuminance.
  • the light source 18 may emit, for example, white light, yellow light, or the like to the front light, and may emit light of a color such as red to the rear light.
  • the reflective optical member 20 reflects the light emitted from the light source 18 to the light deflector 19.
  • the light deflection device 19 is arranged on the optical axis of the projection optical member 21.
  • the light deflecting device 19 selectively re-reflects the light reflected by the reflective optical member 20 to the projection optical member 21 and emits it to the outside of the road surface drawing lamp 2.
  • the light emitted from the road surface drawing lamp 2 of the vehicle headlamp 1 draws a road surface display in a form described later in a range from the front of the vehicle C to an oblique front based on the horizontal swing of the road surface drawing unit 17.
  • a DMD Digital Mirror Device
  • the optical deflecting device 19 includes a micromirror array 25 in which a plurality of minute mirror elements 24 having a reflecting surface 24a on the surface are arranged in a matrix.
  • the light deflecting device 19 has a transparent cover material 26 arranged on the light emitting side of the reflecting surface 24 a of the mirror element 24.
  • Each mirror element 24 of the micro mirror array 25 is in an ON state in which the light emitted from the light source 18 is emitted toward the projection optical member 21 so as to be used as a desired light distribution pattern (the solid line position illustrated in FIG. 4B). ) And an OFF state (a broken line position illustrated in FIG. 4B) in which the light emitted from the light source 18 is reflected by the light absorbing member 22 so that the light is not effectively used.
  • each mirror element 24 is configured to be capable of rotation switching between an ON state and an OFF state around the rotation axis.
  • Each mirror element 24 emits a part of the emitted light to the projection optical member 21, and reflects the other light to the light absorbing member 22 so as not to be effectively used.
  • the micromirror array 25 can independently control the on / off states of a large number of mirror elements 24 arranged in a matrix to obtain a light distribution pattern or the like based on a desired projected image.
  • the micromirror array 25 illustrated in FIGS. 4A and 4B performs stepwise representation of light and darkness of light by adjusting the ON time ratio when ON / OFF of each mirror element 24 is switched at high speed,
  • the reflected light of white light is expressed in monochrome.
  • a light source unit of three or more colors such as red, green, and blue is used as the light source 18, and the light deflector 19 is irradiated in time division.
  • the mirror elements are switched on / off at a rate of several thousand times per second to cause an illusion of human eyes (afterimage effect) to cause the human who sees the reflected light to recognize it as mixed light.
  • the minute mirror element 24 expresses a variety of colors having a predetermined brightness and darkness
  • the optical deflecting device 19 has a matrix while having a predetermined brightness and color by a large number of independently controlled mirror elements 24.
  • a mark having a desired shape, that is, a collision warning display or the like can be drawn on the road surface by a set of light points that are emitted in a circular pattern.
  • the light deflecting device 19 reflects the light from the light source by a reflecting mirror that can swing in two dimensions at high speed, and scans the reflected light in two dimensions at high speed.
  • a scanning mechanism that draws the mark (1) on the road surface may be used. That is, the optical deflector 19 can be widely adopted as a rotary scanner, a galvano scanner, a resonant scanner, an optical MEMS (Micro Electro Mechanical Systems) scanner, a polygon mirror, or the like.
  • the image capturing unit 7 of the vehicle road surface drawing device 3 includes an in-vehicle camera 7a, a road monitoring camera 7b, and an image processing device 7c as illustrated in FIGS. 1A and 1B.
  • the image capturing unit 7 functions as a lane shape detecting unit that detects the shape of the traveling lane in which the vehicle C is traveling from an image captured around the vehicle C, or detects whether there is an obstacle on the road or near the traveling lane. It can function as an obstacle detection unit that detects the position from the vehicle C.
  • the vehicle-mounted camera 7a is built in one of the left and right vehicle headlamps 1 (in the present embodiment, built in for the right side) so that the front area of the vehicle C can be photographed. It can be mounted at a position where an image can be taken of the upper surface of the ceiling, the hood, door mirrors, etc., and the periphery of the vehicle C.
  • the vehicle-mounted camera 7a can photograph the periphery of the mounted vehicle C.
  • the road monitoring camera 7b photographs the vicinity of the vehicle C that is installed on the road and is approaching.
  • the image processing device 7c is mounted on the vehicle C, and analyzes the image captured by the vehicle-mounted camera 7a or the image captured by the road monitoring camera 7b transmitted via the communication line to determine the shape of the traveling lane of the vehicle C and the road surface. The presence and position of the obstacle is detected, and the detection result is output to the control unit 5.
  • the types of driving lanes detected by the image capturing unit 7 are straight roads, curved roads, corners, intersections, T-shaped roads, and the like.
  • the road obstacle is a passerby on or near the traveling lane of the vehicle C, another vehicle traveling on an oncoming lane or an intersection, and a fallen object on the traveling lane.
  • the car navigation system 8 and the road information communication system 9 have road information about the form of the road, rainfall, snowfall, road freezing, etc., which they own or are transmitted via communication lines, and GNSS (Global Navigation Satellite System) and A lane shape detection unit that detects the shape of the traveling lane in which the vehicle C is traveling from the position information of the own vehicle obtained by a satellite positioning system such as GPS (Global Positioning System, registered trademark).
  • a vehicle speed detection unit that detects the vehicle speed of C
  • a wet road surface detection unit that detects whether or not the road on which the vehicle C is traveling is wet from road information such as rainfall, snowfall, or road freezing, and the slope of the road on which the vehicle C is traveling from the road information. It functions as a road slope detection unit that detects roads and controls the detection results. And outputs it to the 5.
  • the vehicle speed sensor 10 can function as a speed detection unit that detects the speed of the vehicle C and outputs the detection result to the control unit 5.
  • Radar sensor 11 is a microwave radar sensor, millimeter wave radar sensor, or the like.
  • the radar sensor 11 functions as an obstacle detection unit that detects the presence or absence of a road obstacle on or near the driving lane of the road on which the vehicle C is traveling and the position from the vehicle C, and outputs the detection result to the control unit 5. To do.
  • the rain sensor 12 is mounted on the vehicle C.
  • the rain sensor 12 is, for example, a raindrop sensor that detects the presence of raindrops or snow that contacts the windshield or the vehicle body.
  • the rain sensor 12 can function as a wet road surface detection unit that outputs a detection result indicating that the road surface of the traveling lane is wet to the control unit 5 when detecting the presence of raindrops or snow near the vehicle C.
  • the road surface sensor 13 is mounted on the vehicle C.
  • the road surface sensor 13 is, for example, a sensor that analyzes the reflection of infrared laser waves or the like applied to the road surface to detect water, snow, or ice due to freezing on the road surface due to rainfall or the like.
  • the road surface sensor 13 can function as a wet road surface detection unit that outputs a detection result indicating that the road surface of the traveling lane is wet to the control unit 5 when detecting water, snow, or ice on the road surface.
  • the wiper sensor 14 is a sensor that detects switching on and off of the wiper of the vehicle C.
  • the wiper sensor 14 can function as a wet road surface detection unit that outputs a detection result indicating that the road surface of the traveling lane is wet to the control unit 5 when detecting the manual or automatic switching of the wiper from OFF to ON.
  • the tilt angle sensor 15 is a sensor that detects the tilt of the vehicle C on which the vehicle is mounted.
  • the inclination angle sensor 15 can function as a road inclination detection unit that detects whether the road on which the vehicle is traveling has an upward slope or a downward slope according to the inclination angle of the vehicle C from the horizontal direction on the road.
  • the angle when the vehicle C is in the horizontal state is set to a reference angle of 0 °, and the inclination angle when the front end of the vehicle C is inclined in the ascending direction above the driver's seat is added.
  • the angle at which the front end of the vehicle C inclines in the downward direction located below the driver's seat is a minus angle.
  • the inclination angle sensor 15 detects that the inclination angle of the vehicle C is a plus angle
  • the inclination angle sensor 15 outputs to the control unit 5 a detection result indicating that the road on which the vehicle C is traveling has an uphill slope.
  • the inclination angle sensor 15 detects that the inclination angle of the vehicle C is a negative angle
  • the inclination angle sensor 15 outputs a detection result indicating that the road on which the vehicle C is traveling has a downward slope to the control unit 5.
  • Headlight sensor 16a is mounted on vehicle C.
  • the headlight sensor 16a is a sensor that detects switching between turning on and off of the vehicle headlight 1.
  • the headlight sensor 16a detects the switching of the vehicle headlight 1 of the vehicle C from off to on manually or automatically, the headlight sensor 16a outputs a detection result indicating that the road on which the vehicle is running is dark to the control unit 5. It can function as a bright / dark detecting unit.
  • the illuminance sensor 16b is mounted on the vehicle C.
  • the illuminance sensor 16b is a sensor that detects the brightness of the light emitted to the vehicle C, the road around the vehicle C, or the like.
  • the illuminance sensor 16b can function as a brightness detection unit that outputs a detection result indicating that the road on which the vehicle is running has become dark to the control unit 5 when the irradiation light is below a certain level of brightness.
  • the road surface drawing lamp 2 including the road surface drawing unit 6 in the present embodiment draws a collision warning display 27 extending in a belt shape on the road surface in front of the vehicle C as shown in FIG. 2 as an example.
  • the collision warning display 27 is a curve based on the form of the traveling lane in which the vehicle C is traveling, which is detected by the lane form detecting unit configured by any of the photographing unit 7, the car navigation system 8, or the road information communication system 9.
  • a vehicle C having a form or the like is drawn inside the traveling lane in which the vehicle C is traveling, along the traveling lane, from the vehicle C to a stoppable position on a curved road.
  • the wet road surface detection unit and the road gradient detection unit described above can function as a braking distance change detection unit that detects a change in the braking distance of the vehicle.
  • the control unit 5 of the road surface drawing device 3 analyzes the image data of the image capturing unit 7 and analyzes the image data of the image capturing unit 7 to detect the position, curvature, length, etc. of the lane mark 28c on the left side of the lane 28a in front of the vehicle C and the median lane 28d on the right side. Is obtained to obtain information on the form and position of the traveling lane 28a in front of the vehicle C.
  • the control unit 5 acquires information regarding the form and position of the traveling lane 28a from the position information of the vehicle C received from the car navigation system 8 and the road information communication system 9 and the road information during traveling.
  • control unit 5 calculates the braking distance of the vehicle C based on the speed information of the traveling vehicle C obtained from the analysis of the peripheral image by the vehicle speed sensor 10, the car navigation system 8 or the photographing unit 7, and the braking distance is calculated.
  • the stoppable position in front of the vehicle C is calculated based on.
  • the control unit 5 controls the lane mark 28c of the traveling lane 28a and the road surface inside the median strip 28d as shown in FIG.
  • the road surface drawing unit 6 is controlled to draw the curved and belt-shaped collision warning display 27.
  • the curved and belt-shaped collision warning display 27 includes a curved left edge 27a following the lane mark 28c, a curved right edge 27b following the median strip 28d, and brakes so that the vehicle C stops. It has a front edge portion 27c at the front end that indicates a stoppable position when applied, and a rear edge portion 27d that indicates a position near the front of the vehicle C.
  • the curved and belt-shaped collision warning display 27 is drawn so as not to protrude from the traveling lane 28a. Further, the curved and belt-shaped collision warning display 27 has a length L1 along the central portion of the traveling lane 28a from a rear edge portion 27d indicating a position near the front of the vehicle C to a front edge portion 27c indicating a stoppable position. Is drawn to.
  • control unit 5 recalculates the braking distance and the stoppable position based on the change in the vehicle speed of the traveling vehicle C detected by the vehicle speed detection unit, and moves the position of the front edge portion 27c of the collision warning display 27 back and forth. Change to. For example, when the speed of the vehicle C that draws the collision warning display 27 of the length L1 is increased, the braking distance of the vehicle C increases and the stoppable position moves away from the vehicle C. Based on the change, the length from the rear edge portion 27d of the collision warning display 27 is extended from L1 to L3, and the front edge portion 27c is advanced to the position of 27c2.
  • the control unit 5 changes the stoppable position. Based on this, the length from the rear edge 27d of the collision warning display 27 is shortened from L1 to L2, and the front edge 27c is retracted to the position of 27c1.
  • the driver of the vehicle C By visually recognizing the collision warning display 27 by the driver of the vehicle C, if a pedestrian or the like enters the traveling lane 28a at a position before the front edge portion 27c indicating the stoppable position at the current vehicle speed, even if the vehicle decelerates, it will be in time. The driver of the vehicle C is warned that the vehicle C and the pedestrian may collide with each other. Therefore, the driver of the vehicle C is urged to reduce the speed of the vehicle C so that the front edge portion 27c of the collision warning display 27 does not reach the intersection road 31, and a pedestrian trying to cross the road near the intersection road. It is possible to avoid the risk of collision with the vehicle 29 or the oncoming vehicle 30 waiting for a right turn.
  • control unit 5 causes the road surface drawing unit 6 to detect the road obstacles such as the pedestrian 29 and the oncoming vehicle 30 near the traveling lane 28a by the image analysis by the imaging unit 7 and the radar sensor 11. It is also possible to control the collision warning display 27 to be drawn. By doing so, the collision warning display 27 is issued only when an obstacle on the road is detected, and the driver of the vehicle C can recognize that the obstacle on the road is approaching and drive more carefully. it can.
  • the control unit 5 controls the vehicle C as illustrated in FIG.
  • the road surface drawing unit 6 is controlled so as to draw on the road surface the second collision warning displays 32a and 32b extending to the vicinity of the pedestrian 29, the oncoming vehicle 30, and other road obstacles (not shown) detected from the vicinity.
  • the driver of the vehicle C can recognize the specific position of the pedestrian or the road obstacle in advance.
  • the front edge portion 27c of the collision warning display 27 indicating the stoppable position prompts the driver of the vehicle C to decelerate in order to move the vehicle C away from the detected pedestrian or oncoming vehicle position. As a result, the risk of collision between the vehicle C and these can be avoided.
  • the road surface display is drawn on the traveling lane 28a without protruding from the curved traveling lane 28a, so that the driver recognizes the danger on the traveling lane 28a.
  • the collision warning display 27 is drawn up to the stoppable position of the vehicle C on the running lane 28a having a curved shape, so that the collision warning display 27 is drawn on the running lane 28a.
  • road obstacles such as a preceding vehicle and a pedestrian present on the collision warning display 27, it is possible to make the driver of the vehicle C who concentrates on the steering operation on the curved road recognize the danger of collision. .
  • the driver of the vehicle C who concentrates on the steering operation on the curved road is made to recognize the road obstacle by the lighting of the collision warning display 27 itself, and the road obstacle is recognized. More accurate attention can be given to the driver.
  • the driver of the vehicle C who concentrates on the steering operation on the curved road, recognizes the positional relationship between the vehicle C and the detected obstacle on the road, The driver can be alerted more accurately to obstacles.
  • the driver's vehicle C who should concentrate on the steering operation on the curved road, has a dark field around the vehicle such as during nighttime driving or tunneling when the field of view becomes narrow. Then, the road surface display including the collision warning display 27 is drawn on the road surface. This allows the driver to be more accurately alerted to obstacles on the road.
  • the road surface drawing device 3 of the vehicle having the above-described configuration even when the surroundings of the vehicle C are bright and the light is difficult to see, the road surface display including the collision warning display 27 is clearly drawn on the road surface by the laser light. By doing so, it is possible to give the driver more accurate attention to obstacles on the road.
  • FIG. 6 shows a second embodiment relating to a collision warning display for a vehicle C running on a curved road 28 in which the curved road running is moistened by water, snow, ice due to road surface freezing, and the like.
  • the rain lane 12, the road surface sensor 13, the wiper sensor 14, the car navigation system 8 for acquiring rain cloud radar information at the current position of the vehicle C, and the road information communication system 9 allow the traveling lane 28a of the curved road 28 at the current position of the vehicle C to be detected.
  • the control unit 5 recalculates the stoppable position based on the increase in the braking possible distance of the vehicle C, and after the collision warning display 27.
  • the road surface drawing unit 6 is controlled so that the length from the edge portion 27d is extended from L1 to L1 ′ and the front edge portion 27c indicating the stoppable position is advanced to the position of 27c3.
  • the driver of the vehicle C can be prompted to decelerate earlier than in fine weather, and thus the risk of the vehicle C colliding with an obstacle on the road can be avoided.
  • the vehicle stoppable position represented by the tip of the collision warning display 27 is also forward or backward based on the change of the stoppable position of the vehicle C due to the change of the road surface condition or the like. Changes to. Therefore, by allowing the driver of the vehicle C to accurately recognize the change in the stoppable position, it is possible to give the driver more accurate attention to the obstacle on the road.
  • the vehicle stoppable position represented by the tip of the collision warning display 27 is based on the increase in the braking distance due to the moistening of the road surface due to rainfall, snowfall, or the like. Is also farther from vehicle C. Therefore, by making the driver of the vehicle C accurately recognize the increase amount of the stop distance, it is possible to give the driver more accurate attention to the obstacle on the road.
  • FIGS. 7A to 7C show a third embodiment relating to a collision warning display on a vehicle C traveling on a curved road having an ascending slope and a descending slope.
  • the vehicle C is shown as traveling on a straight road because it is viewed from the side for convenience of explanation of the vertical gradient. However, in reality, the vehicle C travels on a curved road. ing.
  • the inclination angle of the vehicle C detected by the inclination angle sensor 15 indicates 0 °, or the curved road 28 at the current position of the vehicle C acquired by the car navigation system 8 and the road information communication system 9 is flat.
  • the control unit 5 determines, based on the vehicle stoppable position calculated by the vehicle speed detection unit, the front edge portion indicating the vehicle stop position from the rear edge portion 27d indicating the vicinity of the vehicle as shown in FIG. 7B.
  • a collision warning display 27 having a length L1 up to 27c is displayed inside the traveling lane 28a of the curved road 28.
  • the inclination angle of the vehicle C detected by the inclination sensor 15 indicates a plus angle, or the road information of the curved road 28 at the current position of the vehicle C acquired by the car navigation system 8 and the road information communication system 9 is displayed.
  • the control unit 5 recalculates the stoppable position of the vehicle based on the shorter braking distance, and the trailing edge 27d of the collision warning display 27 is displayed as shown in FIG. 7A.
  • the length from to is shortened from L1 to La1, and the front edge portion 27c is retracted to the position of 27c4.
  • the inclination angle of the vehicle C detected by the inclination angle sensor 15 indicates a negative angle, or the road information of the curved road 28 at the current position of the vehicle C acquired by the car navigation system 8 and the road information communication system 9 goes down.
  • the control unit 5 recalculates the stoppable position of the vehicle on the basis of the longer braking distance, and from the rear edge portion 27d of the collision warning display 27 as shown in FIG. 7C.
  • the length is increased from L1 to Lab, and the front edge portion 27c is advanced to the position of 27c5.
  • the vehicle stoppable position represented by the tip of the collision warning display 27 is the vehicle C based on the decrease in the braking distance of the vehicle C when traveling on the uphill slope. Get closer to.
  • the vehicle stoppable position represented by the tip of the collision warning display 27 becomes farther from the vehicle C based on the increase in the braking distance of the vehicle C when traveling on the downhill. Therefore, by making the driver who concentrates on the steering wheel operation on the curved road accurately recognize the increase or decrease of the stopping distance of the vehicle C, it is possible to give the driver more accurate attention to the obstacle on the road.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de tracé de surface routière (3) pour un véhicule, qui est monté sur un véhicule (C) et comporte une unité de tracé de surface routière (6) pour tracer un affichage de surface routière avec de la lumière sur une surface routière dans une direction de déplacement du véhicule sur la base d'une commande par une unité de commande (5), l'unité de commande (5), sur la base d'une détection d'une forme de courbure d'une voie de déplacement du véhicule, commandant l'unité de tracé de surface routière (6) pour tracer un affichage de surface routière (27) dans une forme suivant la forme de courbure de la voie de déplacement (28a) sur la surface routière à l'intérieur de la voie de déplacement (28a).
PCT/JP2019/042012 2018-10-26 2019-10-25 Dispositif de tracé de surface routière pour véhicule WO2020085505A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201980070797.3A CN112912278A (zh) 2018-10-26 2019-10-25 车辆的路面描绘装置
EP19877151.1A EP3871924A4 (fr) 2018-10-26 2019-10-25 Dispositif de tracé de surface routière pour véhicule

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2018202065 2018-10-26
JP2018-202065 2018-10-26
JP2019-189352 2019-10-16
JP2019189352A JP7370805B2 (ja) 2018-10-26 2019-10-16 車両の路面描画装置。

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WO2020085505A1 true WO2020085505A1 (fr) 2020-04-30

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11403816B2 (en) * 2017-11-30 2022-08-02 Mitsubishi Electric Corporation Three-dimensional map generation system, three-dimensional map generation method, and computer readable medium
WO2023214532A1 (fr) * 2022-05-02 2023-11-09 株式会社小糸製作所 Dispositif d'avertissement de véhicule

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Publication number Priority date Publication date Assignee Title
JPH03144799A (ja) * 1989-10-31 1991-06-20 Nissan Motor Co Ltd 車両走行ライン表示装置
JPH10320700A (ja) * 1997-05-15 1998-12-04 Toyota Motor Corp 車両制御装置
JP2010039919A (ja) * 2008-08-07 2010-02-18 Toyota Motor Corp 注意喚起装置
JP2014007895A (ja) * 2012-06-26 2014-01-16 Denso Corp 運転支援装置
JP2015164828A (ja) 2014-03-03 2015-09-17 株式会社小糸製作所 車両用灯具及び車両用灯具の制御システム
JP2018202065A (ja) 2017-06-09 2018-12-27 株式会社平和 遊技機
JP2019189352A (ja) 2018-11-16 2019-10-31 株式会社バンダイ 物品供給器、ならびに、物品供給器セット

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Publication number Priority date Publication date Assignee Title
JPH03144799A (ja) * 1989-10-31 1991-06-20 Nissan Motor Co Ltd 車両走行ライン表示装置
JPH10320700A (ja) * 1997-05-15 1998-12-04 Toyota Motor Corp 車両制御装置
JP2010039919A (ja) * 2008-08-07 2010-02-18 Toyota Motor Corp 注意喚起装置
JP2014007895A (ja) * 2012-06-26 2014-01-16 Denso Corp 運転支援装置
JP2015164828A (ja) 2014-03-03 2015-09-17 株式会社小糸製作所 車両用灯具及び車両用灯具の制御システム
JP2018202065A (ja) 2017-06-09 2018-12-27 株式会社平和 遊技機
JP2019189352A (ja) 2018-11-16 2019-10-31 株式会社バンダイ 物品供給器、ならびに、物品供給器セット

Non-Patent Citations (1)

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Title
See also references of EP3871924A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11403816B2 (en) * 2017-11-30 2022-08-02 Mitsubishi Electric Corporation Three-dimensional map generation system, three-dimensional map generation method, and computer readable medium
WO2023214532A1 (fr) * 2022-05-02 2023-11-09 株式会社小糸製作所 Dispositif d'avertissement de véhicule

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