WO2016027314A1 - 路面照射装置 - Google Patents
路面照射装置 Download PDFInfo
- Publication number
- WO2016027314A1 WO2016027314A1 PCT/JP2014/071655 JP2014071655W WO2016027314A1 WO 2016027314 A1 WO2016027314 A1 WO 2016027314A1 JP 2014071655 W JP2014071655 W JP 2014071655W WO 2016027314 A1 WO2016027314 A1 WO 2016027314A1
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- WIPO (PCT)
- Prior art keywords
- vehicle
- irradiation
- unit
- road surface
- irradiation pattern
- Prior art date
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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
- B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
- B60Q1/24—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead
- B60Q1/247—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments for lighting other areas than only the way ahead for illuminating the close surroundings of the vehicle, e.g. to facilitate entry or exit
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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
- B60Q1/34—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 change of drive direction
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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
- B60Q1/34—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 change of drive direction
- B60Q1/38—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 change of drive direction using immovably-mounted light sources, e.g. fixed flashing lamps
- B60Q1/381—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 change of drive direction using immovably-mounted light sources, e.g. fixed flashing lamps with several light sources activated in sequence, e.g. to create a sweep effect
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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
- B60Q1/54—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 speed outside 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
- B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
- B60Q2400/50—Projected symbol or information, e.g. onto the road or car body
Definitions
- the present invention relates to a road surface irradiation device that irradiates light to a road surface around the host vehicle.
- Patent Documents 1 and 2 disclose a method of transmitting the state of the host vehicle to a pedestrian or the like by irradiating the road surface with light according to the driving situation of the host vehicle.
- the safety device for a moving body of Patent Document 1 calculates a moving travel locus estimated to travel by the host vehicle in order to inform other vehicles of the presence of the host vehicle, and irradiates the travel track with a visible light beam on the road surface. To do. Also, road surface projection information projected on the road surface by a visible light beam emitted from the own vehicle and other vehicles is acquired, and the route information of the own vehicle and other vehicles is detected to determine a state that the own vehicle should be careful of. .
- the road surface irradiation device of Patent Document 2 is interlocked with blinking of the direction indicator lamp in order to exert the direction indication function without being affected by glare phenomenon such as a headlamp and without restricting the design of the vehicle. Then, light is applied to the road surface below the front of the vehicle body and below the rear of the vehicle body.
- Patent Documents 1 and 2 depending on the positional relationship between the host vehicle and a pedestrian or the like, even if the light irradiated on the road surface from other than the traveling direction of the own vehicle is viewed, the traveling direction and speed of the vehicle There was a problem that the state could not be grasped.
- a vehicle that is about to turn to the left side irradiates the road surface below the front and rear parts on the left side of the vehicle body. It may not be understood.
- the necessity of irradiating light on the road surface may be low. Even when the necessity of light irradiation is low, it is not preferable from the viewpoints of electricity consumption, environmental considerations, etc., and the town is full of irradiation light, even if the necessity for light irradiation is low.
- the present invention has been made to solve the above-described problems, and it is an object of the present invention to convey the traveling direction of a vehicle to a person outside the vehicle, particularly a person who is not in the traveling direction.
- the road surface irradiation apparatus includes a vehicle information acquisition unit that acquires vehicle information from an in-vehicle device mounted on the vehicle, and a vehicle state that determines a traveling direction of the vehicle based on the vehicle information acquired by the vehicle information acquisition unit. Select an irradiation pattern that represents the traveling direction determined by the vehicle state determination unit from the determination unit and the irradiation pattern according to the traveling direction, and the road surface in a direction different from at least the traveling direction of the selected irradiation pattern And an irradiation pattern selection unit for irradiation from an irradiation unit mounted on the vehicle.
- the traveling direction of the vehicle is set to a person outside the vehicle, particularly a person other than the traveling direction. I can tell you.
- FIG. 3 is a flowchart showing an operation of the road surface irradiation apparatus according to the first embodiment. It is a figure which shows the example of the irradiation pattern for a stop which the road surface irradiation apparatus which concerns on Embodiment 1 irradiates. It is a figure which shows the example of the irradiation pattern for advance which the road surface irradiation apparatus which concerns on Embodiment 1 irradiates. It is a figure which shows the example of the reverse irradiation pattern which the road surface irradiation apparatus which concerns on Embodiment 1 irradiates.
- FIG.7 (a) is at the time of high speed driving
- FIG.7 (b) is at the time of low speed driving
- FIG. 8 (a) is at the time of high speed driving
- FIG.8 (b) is at the time of low speed driving
- FIG. 6 It is a block diagram which shows the structure of the road surface irradiation apparatus which concerns on Embodiment 2 of this invention.
- 6 is a flowchart showing the operation of the road surface irradiation apparatus according to the second embodiment. It is a figure which shows the example which changed the irradiation range of the irradiation pattern for a stop according to the periphery target object. It is a figure which shows the example which changed the irradiation range of the irradiation pattern for a forward according to a periphery target object.
- FIG.13 (a) is before a deformation
- FIG.13 (b) is after a deformation
- Embodiment 1 the road surface irradiation apparatus according to Embodiment 1 includes an irradiation content setting unit 1 and a vehicle state supervision unit 6, and irradiates visible light around the vehicle from an irradiation unit 7 mounted on the vehicle. It is.
- This road surface irradiation apparatus is comprised from CPU (Central Processing Unit), memory, etc., and performs the function of the irradiation content setting part 1 and the vehicle state supervision part 6 by running a program.
- the irradiation unit 7 is a laser or the like mounted on the vehicle, and displays a figure or the like by irradiating visible light on a road surface below and around the vehicle.
- the irradiation content setting unit 1 includes a vehicle information acquisition unit 2, a vehicle state determination unit 3, an irradiation pattern selection unit 4, and an animation processing unit 5.
- the vehicle information acquisition unit 2 acquires vehicle information from an in-vehicle device or directly from the in-vehicle device through an in-vehicle network such as a CAN (Controller Area Network).
- the vehicle information only needs to include at least information that can determine whether the vehicle is stopped and running and information that can determine the traveling direction. For example, CAN data (such as operation information on turn signals, steering wheels, accelerators, brakes, and shift levers), car information, and the like. Use the information output by the navigation device.
- the vehicle information acquisition unit 2 outputs the obtained vehicle information to the vehicle state determination unit 3, the animation processing unit 5, and the vehicle state supervision unit 6.
- the vehicle state determination unit 3 determines the vehicle state based on the vehicle information received from the vehicle information acquisition unit 2 and outputs the vehicle state information to the irradiation pattern selection unit 4.
- the vehicle state information is, for example, information indicating whether the vehicle is stopped or traveling, and information indicating the traveling direction (forward, backward, right turn, left turn) in the case of traveling.
- the irradiation pattern selection unit 4 has an irradiation pattern for each vehicle state, and selects an irradiation pattern based on the vehicle state information received from the vehicle state determination unit 3. For example, there are an irradiation pattern for stopping when the vehicle is stopped, an irradiation pattern for forward movement, an irradiation pattern for backward movement, an irradiation pattern for right turn, an irradiation pattern for left turn, and the like.
- the irradiation pattern is a figure that clearly conveys the directionality of the traveling direction, such as lines, symbols, and characters in accordance with general road regulations.
- Each of the traveling directions is a forward direction when moving forward, a backward direction when moving backward, a right direction when turning right, and a left direction when turning left. Moreover, since it does not advance in any direction at the time of a stop, it becomes all directions.
- the irradiation pattern selection unit 4 outputs the selected irradiation pattern to the irradiation unit 7 when stopped, and outputs the selected irradiation pattern to the animation processing unit 5 when traveling.
- the animation processing unit 5 processes the irradiation pattern received from the irradiation pattern selection unit 4 based on the vehicle information received from the vehicle information acquisition unit 2, and outputs the animation to the irradiation unit 7.
- an animation that emphasizes the traveling direction and an animation that expresses the vehicle speed are used.
- the vehicle state supervision unit 6 supervises whether there is a change in the vehicle state based on the vehicle information received from the vehicle information acquisition unit 2.
- the vehicle state here refers to the stopping, running, traveling direction, and vehicle speed of the vehicle.
- the vehicle state supervision unit 6 instructs the irradiation unit 7 to continue the irradiation without changing the irradiation pattern, and instructs the irradiation unit 7 to stop the irradiation when the vehicle state changes. To do.
- the vehicle state supervision unit 6 instructs the irradiation pattern selection unit 4 to redo the selection of the irradiation pattern.
- the irradiation unit 7 irradiates the road surface with the irradiation pattern received from the irradiation pattern selection unit 4 or the animation processing unit 5 of the irradiation content setting unit 1.
- the irradiation method may be a method of projecting laser light onto the road surface as described above, but is not limited to this method.
- the vehicle information acquisition unit 2 periodically acquires vehicle information from the vehicle side and outputs the vehicle information to the vehicle state determination unit 3, the animation processing unit 5, and the vehicle state supervision unit 6. Shall.
- step ST1 the vehicle state determination unit 3 determines whether or not the host vehicle is stopped based on the vehicle information.
- vehicle state information indicating that the vehicle is stopped is output from the vehicle state determination unit 3 to the irradiation pattern selection unit 4.
- the irradiation pattern selection unit 4 selects a stop irradiation pattern from a plurality of irradiation patterns based on the vehicle state information received from the vehicle state determination unit 3, and outputs the stop irradiation pattern to the irradiation unit 7 (step ST2).
- step ST1 “NO” the process proceeds to step ST3.
- step ST3 the vehicle state determination unit 3 determines whether the host vehicle is moving forward based on the vehicle information.
- vehicle state information indicating that the vehicle is moving forward is output from the vehicle state determining unit 3 to the irradiation pattern selecting unit 4.
- the irradiation pattern selection unit 4 selects a forward irradiation pattern from among a plurality of irradiation patterns based on the vehicle state information received from the vehicle state determination unit 3, and outputs it to the animation processing unit 5 (step ST4).
- step ST3 “NO” the process proceeds to step ST5.
- step ST5 the vehicle state determination unit 3 determines whether the host vehicle is moving backward based on the vehicle information.
- vehicle state information indicating that the vehicle is traveling in reverse is output from the vehicle state determination unit 3 to the irradiation pattern selection unit 4.
- the irradiation pattern selection unit 4 selects a reverse irradiation pattern from a plurality of irradiation patterns based on the vehicle state information received from the vehicle state determination unit 3, and outputs the reverse irradiation pattern to the animation processing unit 5 (step ST6). If it is not in reverse (step ST5 “NO”), the process proceeds to step ST7.
- step ST7 the vehicle state determination unit 3 determines whether the host vehicle is turning right or left based on the vehicle information.
- vehicle state information indicating that the vehicle is turning right or left is output from the vehicle state determination unit 3 to the irradiation pattern selection unit 4.
- the irradiation pattern selection unit 4 selects a right-turn irradiation pattern or a left-turn irradiation pattern from among a plurality of irradiation patterns based on the vehicle state information received from the vehicle state determination unit 3, and outputs the selected pattern to the animation processing unit 5 (step). ST8).
- the process proceeds to step ST9.
- step ST ⁇ b> 9 the animation processing unit 5 determines a range to be animated among the irradiation patterns received from the irradiation pattern selection unit 4 based on the information on the traveling direction included in the vehicle information received from the vehicle information acquisition unit 2. To do. Further, the animation processing unit 5 changes the change speed of the animation, the irradiation range, and the like based on the vehicle speed information included in the vehicle information received from the vehicle information acquisition unit 2. For example, the vehicle speed is reduced, such as slow running below 20 km / h, low speed driving of 20 to 40 km / h, general driving of 40 to 50 km / h, medium speed driving of 50 to 80 km / h, high speed driving of over 80 km / h. Dividing into several stages, the higher the speed, the faster the animation changes to express the vehicle speed.
- the animation processing unit 5 outputs the irradiated irradiation pattern to the irradiation unit 7.
- step ST10 the irradiation unit 7 irradiates the road surface with the irradiation pattern for stopping received from the irradiation pattern selecting unit 4 or the irradiation pattern for forward, backward, or right / left turn that has been animated and received from the animation processing unit 5. To do.
- step ST11 the vehicle state supervision unit 6 determines whether the vehicle state has changed based on the vehicle information received from the vehicle information acquisition unit 2.
- the vehicle state supervision unit 6 instructs the irradiation unit 7 to stop irradiation and the irradiation pattern selection unit at step ST12. 4 is instructed to redo the selection of the irradiation pattern, and the process returns to step ST1.
- the vehicle state does not change (step ST11 “NO”), the process returns to step ST10, and the vehicle state supervision unit 6 instructs the irradiation unit 7 to continue irradiation without changing the irradiation pattern.
- FIGS. 3A to 3C show examples of stop irradiation patterns.
- a solid line drawn on the road surface is meant to prohibit overhang and overtaking. Therefore, in FIG. 3A, a stop state is expressed by irradiating a stop irradiation pattern surrounding the vehicle with a solid line.
- the irradiation pattern for a stop is irradiated to all directions. There is a possibility of people getting off the vehicle when it is stopped. Therefore, in FIG. 3B, a stop state is expressed by irradiating a stop irradiation pattern having a footprint in front of each door. In FIG.
- a stop state is expressed by irradiating a stop irradiation pattern in which icons or characters such as “STOP” that can be intuitively recognized as a stop state are arranged around the vehicle.
- the stop irradiation pattern is irradiated in all directions to indicate that the vehicle does not travel in any direction.
- FIGS. 4A to 4C show examples of the forward irradiation pattern.
- an arrow pointing in the direction of travel is irradiated in front of the vehicle (that is, the road surface in the traveling direction of the vehicle) and travels to the left and right of the vehicle (that is, the road surface in a direction different from the traveling direction of the vehicle). Irradiate a line-symmetric diagonal line that spreads from the direction toward the opposite side of the traveling direction, and a solid line that has the meaning of prohibiting protrusion and overtaking to the rear of the vehicle (that is, the road surface in a direction different from the traveling direction of the vehicle) Irradiating.
- the direction of travel is emphasized by making the arrow in front blink.
- the speed at which the arrow blinks may be expressed faster when the vehicle speed is faster and slower when the vehicle speed is slower, to express the vehicle speed.
- the traveling direction is expressed by enclosing the vehicle other than the traveling direction with a solid line having the meaning of prohibiting the protrusion and overtaking.
- the color or brightness of the solid lines on the left and right sides of the vehicle is changed to an animation that changes in a gradation from the back to the front.
- the speed at which the gradation changes may be changed according to the vehicle speed to express the vehicle speed.
- the traveling direction is expressed by irradiating a plurality of axisymmetric oblique lines (arrows) spreading from the traveling direction toward the opposite side of the traveling direction around the vehicle.
- the animation should be such that the arrow flows from the back to the front.
- the speed at which the arrow flows may be changed according to the vehicle speed to express the vehicle speed.
- FIG. 5A to FIG. 5C show examples of reverse irradiation patterns.
- the backward irradiation pattern is obtained by reversing the forward irradiation pattern shown in FIGS. 4 (a) to 4 (c).
- the arrow at the rear of the vehicle blinks in FIG. 5A, and the color or brightness of the solid line on the left and right of the vehicle changes in a gradation from the front to the rear in FIG. 5B.
- FIG. 5C the arrow flows from the front to the rear.
- FIGS. 5 and 6A and 6B figures having different shapes are irradiated on the front, rear, left and right of the vehicle, but the same figure may be irradiated. For example, arrows pointing in the advancing direction are applied to the front, rear, left and right of the vehicle at four locations.
- FIG. 6A and FIG. 6B show examples of irradiation patterns for right turn.
- a plurality of line-symmetric oblique lines (arrows) that spread from the turning direction toward the opposite side are irradiated around the vehicle to express the turning direction.
- the direction of the turn is emphasized with an animation in which an arrow flows from left to right.
- the left turn irradiation pattern is an irradiation pattern in which the irradiation pattern of FIG. 6A is reversed left and right, and an animation in which an arrow flows from right to left.
- the speed at which the arrow flows may be changed according to the vehicle speed to express the vehicle speed.
- the vehicle is irradiated with a plurality of straight lines whose front and rear lengths are shortened from the turning direction toward the opposite side to represent the turning direction.
- the direction of the turn is emphasized by creating an animation in which a straight line extends from front to back while flowing from left to right.
- the left turn irradiation pattern is a reverse of the irradiation pattern shown in FIG. 6B, and the animation is such that a straight line extends from front to back while flowing from right to left.
- the speed at which the straight line flows may be changed according to the vehicle speed to express the vehicle speed.
- the road surface on the right side of the vehicle corresponds to a road surface in the traveling direction
- the road surface on the left side corresponds to a road surface in a direction different from the traveling direction
- the road surface on the left side of the vehicle corresponds to a road surface in the traveling direction
- the road surface on the right side corresponds to a road surface in a direction different from the traveling direction.
- FIG. 7 is an example in which the irradiation range of the forward irradiation pattern is changed according to the vehicle speed.
- FIG. 7A shows a case where the vehicle is traveling at a high speed, and FIG. Show. While the vehicle is moving forward, the irradiation pattern of the animation in which an arrow pointing to the front of the vehicle flows from the rear to the front is widened when the vehicle speed is fast, and narrowed when the vehicle speed is slow.
- FIG. 8 is an example in which the irradiation range of the irradiation pattern for right turn is changed according to the vehicle speed.
- FIG. 8A shows a case where the vehicle is traveling at a high speed, and FIG. Show.
- the irradiation pattern expressed by a plurality of straight lines is widened when the vehicle speed is fast, and narrowed when the vehicle speed is slow.
- animation processing part 5 demonstrated the structure which animation processes an irradiation pattern in the said example, animation processing (step ST9 of FIG. 2) by the animation processing part 5 may be abbreviate
- a road surface irradiation apparatus is based on the vehicle information acquisition part 2 which acquires vehicle information from the vehicle equipment mounted in the vehicle, and the vehicle information which the vehicle information acquisition part 2 acquired.
- the vehicle state determination unit 3 that determines the traveling direction of the vehicle, and the irradiation pattern that represents the traveling direction determined by the vehicle state determination unit 3 from the irradiation patterns classified by the traveling direction, and the selected irradiation pattern Is provided with an irradiation pattern selection unit 4 for irradiating at least a road surface in a direction different from the traveling direction from the irradiation unit 7, so that the traveling direction of the vehicle is a person outside the vehicle, particularly those who are outside the traveling direction I can tell you.
- a person outside the vehicle comes to know that the vehicle approaches or does not approach the person from the irradiation pattern irradiated on the road surface.
- the road surface irradiation device is configured to include the animation processing unit 5 that makes the irradiation pattern selected by the irradiation pattern selection unit 4 an animation that changes in the traveling direction of the vehicle.
- the traveling direction of the vehicle can be communicated more easily to people outside the vehicle.
- the animation processing unit 5 widens the irradiation range of the irradiation pattern when the vehicle speed is fast and the vehicle speed is slow according to the vehicle speed included in the vehicle information acquired by the vehicle information acquisition unit 2. In this case, since the irradiation range is narrowed, the speed of the vehicle can be easily communicated to people outside the vehicle.
- the animation processing unit 5 increases the irradiation pattern change speed when the vehicle speed is high and the vehicle speed is low when the vehicle speed is high, according to the vehicle speed included in the vehicle information acquired by the vehicle information acquisition unit 2. In this case, since the change speed is slowed down, the speed of the vehicle can be easily communicated to people outside the vehicle.
- the irradiation pattern selection unit 4 is configured to irradiate the irradiation pattern on the road surface in the direction of travel in addition to the road surface in a direction different from the traveling direction of the vehicle. You can tell the direction to people outside the car.
- FIG. 9 is a block diagram illustrating a configuration example of the road surface irradiation apparatus according to the second embodiment. 9, parts that are the same as or equivalent to those in FIG. 1 are given the same reference numerals, and descriptions thereof are omitted.
- the road surface irradiation apparatus of the second embodiment has a configuration in which an irradiation range setting unit 20 is added.
- the irradiation range setting unit 20 includes a peripheral object detection unit 21, an irradiation direction determination unit 22, and an irradiation pattern processing unit 23.
- the peripheral object detection unit 21 acquires sensing information from a sensor mounted on the vehicle, and detects the positions of pedestrians and other vehicles (hereinafter referred to as peripheral objects) existing around the host vehicle. The sensing method is based on the silhouette of the image captured by the image sensor of the camera or the presence / absence of the object detected by the light sensor using the LED light source, and the direction, distance, and content of the surrounding object (the person who is walking, standing Person, child, vehicle, etc.).
- the peripheral object detection unit 21 outputs the obtained peripheral object information to the irradiation direction determination unit 22 and the vehicle state supervision unit 6.
- the irradiation direction determination unit 22 determines the direction in which the irradiation pattern needs to be irradiated and the direction in which the irradiation pattern is less necessary based on the peripheral object information received from the peripheral object detection unit 21, and sends the irradiation direction information to the irradiation pattern processing unit 23. Output.
- the irradiation pattern processing unit 23 receives the irradiation pattern from the irradiation content setting unit 1 and processes it according to the irradiation direction information received from the irradiation direction determination unit 22.
- Irradiation in the direction of low necessity may be a method of reducing the irradiation range of the irradiation pattern, eliminating it, blurring and thinning, or switching to irradiation of invisible light that is not visible.
- the irradiation pattern processing unit 23 outputs the processed irradiation pattern to the irradiation unit 7.
- the vehicle state supervision unit 6 supervises whether there is a change in the vehicle state based on the vehicle information received from the irradiation content setting unit 1 and the peripheral object information received from the peripheral object detection unit 21 of the irradiation range setting unit 20.
- a vehicle state here is a stop of a vehicle, driving
- the vehicle state supervision unit 6 instructs the irradiation unit 7 to continue the irradiation without changing the irradiation pattern, and instructs the irradiation unit 7 to stop the irradiation when the vehicle state changes. To do.
- the vehicle state supervision unit 6 instructs the irradiation pattern selection unit 4 to redo the selection of the irradiation pattern, and determines the irradiation direction to the irradiation direction determination unit 22. Instruct them to start over.
- the irradiation unit 7 irradiates the road surface with the irradiation pattern received from the irradiation pattern processing unit 23 of the irradiation range setting unit 20.
- reducing the irradiation range in addition to processing the irradiation pattern data in the irradiation pattern processing unit 23, there is also a method of reducing the irradiation range of visible light by mechanically reducing the projection area of the laser light in the irradiation unit 7. Conceivable.
- the vehicle information acquisition unit 2 periodically acquires vehicle information from the vehicle side and outputs the vehicle information to the vehicle state determination unit 3, the animation processing unit 5, and the vehicle state supervision unit 6.
- the surrounding object detection unit 21 periodically acquires sensing information from the sensor. Steps ST1 to ST9 and ST12 in FIG. 10 are the same as those in FIG.
- step ST21 the surrounding object detection unit 21 determines whether there is a surrounding object around the host vehicle based on the sensing information.
- the peripheral object exists (step ST21 “YES”)
- the peripheral object information is output from the peripheral object detection unit 21 to the irradiation direction determination unit 22 and the vehicle state supervision unit 6, and the process proceeds to step ST22. If there is no surrounding object (step ST21 “NO”), there is a low need to convey the state of the host vehicle to the surroundings, so the irradiation pattern is not irradiated and the process returns to step ST1.
- the irradiation direction determination unit 22 determines the irradiation direction of the irradiation pattern based on the peripheral object information received from the peripheral object detection unit 21, and outputs the irradiation direction information to the irradiation pattern processing unit 23. For example, when the surrounding object is a parked vehicle, it is determined that the necessity of irradiating the irradiation pattern in that direction is low. When the surrounding object is a traveling vehicle or a person, it is determined that the necessity of irradiating the irradiation pattern in that direction is high and the necessity of irradiating in the other direction is low.
- step ST 23 the irradiation pattern processing unit 23 processes the irradiation range of the irradiation pattern received from the irradiation content setting unit 1 based on the irradiation direction information received from the irradiation direction determination unit 22, and outputs the irradiation range to the irradiation unit 7.
- step ST10 the irradiation unit 7 irradiates the road surface with the irradiation pattern received from the irradiation pattern processing unit 23.
- step ST11 when the vehicle state supervisor 6 determines that the surrounding object or the vehicle state has changed, the irradiation is stopped (step ST12), and the process returns to step ST1.
- FIG. 11A to FIG. 11C show an example in which the irradiation range of the stop irradiation pattern is changed according to the peripheral object.
- the stop irradiation pattern is irradiated only before and after being blocked by the parked vehicle 101.
- FIG.11 (b) since the person 102 exists on the right side of the own vehicle 100, it irradiates the irradiation pattern for a stop in that direction, and tells that it has stopped.
- the irradiation range setting part 20 can acquire the information which shows opening / closing of a door from the door sensor etc. of a vehicle, a door-shaped irradiation pattern for a footprint is irradiated to the road surface in front of the door to open, and a door opens around You may be made to tell.
- a door-shaped irradiation pattern for a footprint is irradiated to the road surface in front of the door to open, and a door opens around You may be made to tell.
- FIG.11 (c) since the person 102 exists in the right front of the own vehicle 100, the irradiation pattern for a stop is irradiated in the direction.
- FIG. 12A to FIG. 12C show an example in which the irradiation range of the forward irradiation pattern is modified according to the peripheral object.
- a forward irradiation pattern is irradiated to the rear of the vehicle to inform that the host vehicle 100 does not move in the direction of the person 102.
- the forward irradiation pattern is irradiated on both sides of the vehicle seen from the front to convey that the person 102 is moving in the direction of the person 102.
- FIG. 12C since there are a plurality of traveling vehicles 103 around the host vehicle 100 moving forward, the forward irradiation pattern is irradiated around the host vehicle 100 so that it can be seen from any direction.
- FIG. 13 shows an example of changing the irradiation range of the irradiation pattern for right turn according to the surrounding object.
- FIG. 13A shows an example of an irradiation pattern for right turn before deformation
- FIG. 13B shows an example after deformation.
- the irradiation pattern for right turn in FIG. 13A represents a right turn with an animation in which a plurality of straight lines extend from front to back while flowing from left to right, but in FIG.
- the right turn is expressed by an animation in which the straight line moves from left to right and moves forward with the person 102.
- the road surface irradiation device includes the irradiation pattern selection unit 4 of the irradiation content setting unit 1 based on the peripheral object information indicating the presence and direction of the peripheral object existing around the vehicle. It was set as the structure provided with the irradiation range setting part 20 which sets the direction which irradiates the selected irradiation pattern. Since it will not irradiate in the direction where the necessity of irradiation is low, it can suppress that the city becomes full of light. In addition, it is possible to consider electricity consumption and the environment.
- the road surface irradiation device is configured to irradiate an irradiation pattern that expresses the traveling direction toward a road surface in a direction different from the traveling direction, a road surface irradiation device that transmits the movement of the vehicle to others outside the vehicle, etc. Suitable for use in.
- 1 irradiation content setting unit 1 irradiation content setting unit, 2 vehicle information acquisition unit, 3 vehicle state determination unit, 4 irradiation pattern selection unit, 5 animation processing unit, 6 vehicle state supervision unit, 7 irradiation unit, 20 irradiation range setting unit, 21 peripheral object detection Unit, 22 irradiation direction determination unit, 23 irradiation pattern processing unit, 100 own vehicle, 101 parked vehicle, 102 people, 103 traveling vehicle.
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Abstract
Description
実施の形態1.
図1に示すように、実施の形態1に係る路面照射装置は、照射内容設定部1および車両状態監督部6を含み、車両に搭載された照射部7から車両周辺へ可視光を照射するものである。この路面照射装置は、CPU(Central Processing Unit)およびメモリ等から構成され、プログラムを実行することによって照射内容設定部1および車両状態監督部6の機能を実行する。照射部7は、車両に搭載されたレーザ等であり、車両の下方および周囲の路面に可視光を照射して図形等を表示する。
車両情報取得部2は、CAN(Controller Area Network)等の車内ネットワークを通じて車載機器から、または車載機器から直接、車両情報を取得する。車両情報としては、少なくとも停車と走行を判別できる情報および進行方向を判別できる情報が含まれていればよく、例えばCANデータ(ウインカ、ハンドル、アクセル、ブレーキおよびシフトレバー等の操作情報等)、カーナビゲーション装置が出力する情報を使用する。
車両情報取得部2は得られた車両情報を、車両状態判断部3、アニメーション加工部5および車両状態監督部6へ出力する。
進行方向はそれぞれ、前進時は前方向、後進時は後方向、右折時は右方向、左折時は左方向となる。また、停車時はいずれの方向にも進行しないため全方向となる。
照射パターン選定部4は、停車時の場合は選定した照射パターンを照射部7へ出力し、走行時の場合は選定した照射パターンをアニメーション加工部5へ出力する。
停車時でない場合(ステップST1“NO”)はステップST3へ進む。
前進中でない場合(ステップST3“NO”)はステップST5へ進む。
後進中でない場合(ステップST5“NO”)はステップST7へ進む。
右折中および左折中でない場合(ステップST7“NO”)はステップST9へ進む。
図3(a)~図3(c)に、停車用照射パターンの例を示す。
道路標示では、路面に描かれた実線は、はみ出しおよび追い越しを禁止する意味がある。そこで、図3(a)では車両の周囲を実線で囲う停車用照射パターンを照射して、停車状態を表現する。なお、停車時は、いずれの方向にも進行しないため、停車用照射パターンは全方向に照射される。
停車時の車両から人が降りてくる可能性がある。そこで、図3(b)では各ドアの前に足跡の形状をした停車用照射パターンを照射して、停車状態を表現する。
また、図3(c)では、「STOP」等、直感的に停車状態と分かるようなアイコンまたは文字を車両の周囲に配置した停車用照射パターンを照射して、停車状態を表現する。この場合もいずれの方向にも進行しないことを示すため、停車用照射パターンは全方向に照射される。
図4(a)では、車両の前方(つまり、車両の進行方向の路面)に進行方向を指した矢印を照射し、車両の左右(つまり、車両の進行方向とは異なる方向の路面)に進行方向から進行方向逆側に向かって広がるような線対称の斜線を照射し、車両の後方(つまり、車両の進行方向とは異なる方向の路面)にはみ出しおよび追い越しを禁止する意味をもった実線を照射している。また、前方の矢印を点滅するアニメーションにして、進行方向を強調する。さらに、矢印が点滅する速度を、車速が速いときは早く、車速が遅いときは遅くして、車速を表現してもよい。
図4(b)では、はみ出しおよび追い越しを禁止する意味をもった実線で、車両の進行方向以外を囲うことにより、進行方向を表現する。また、車両の左右の実線の色または明るさを、後ろから前に向かってグラデーション状に変化するアニメーションにする。さらに、グラデーションが変化する速度を車速に応じて変化させ、車速を表現してもよい。
図4(c)では、進行方向から進行方向逆側に向かって広がるような線対称の斜線(矢印)を複数、車両の周囲に照射して、進行方向を表現する。また、矢印が後ろから前に流れるようなアニメーションにする。さらに、矢印が流れる速度を車速に応じて変化させ、車速を表現してもよい。
後進用照射パターンは、図4(a)~図4(c)に示した前進用照射パターンを前後逆にしたものである。また、アニメーション化する際、図5(a)では車両の後方の矢印を点滅させ、図5(b)では車両の左右の実線の色または明るさを、前から後ろに向かってグラデーション状に変化させ、図5(c)では矢印を前から後ろに向かって流れるようにする。
なお、図5と図6の(a)と(b)では、車両の前後左右に形の異なる図形を照射したが同じ形の図形を照射してもよい。例えば、進行方向を指した矢印を車両の前後左右4箇所に照射する。
図6(a)では、曲がる方向からその逆側に向かって広がるような線対称の斜線(矢印)を複数、車両の周囲に照射して、曲がる方向を表現する。また、右折の場合は矢印が左から右へ流れるようなアニメーションにして、曲がる方向を強調する。左折用照射パターンは、図6(a)の照射パターンを左右逆にしたものであり、矢印が右から左へ流れるようなアニメーションにする。さらに、矢印が流れる速度を車速に応じて変化させ、車速を表現してもよい。
図6(b)では、曲がる方向からその逆側に向かって前後の長さが短くなるような複数本の直線を車両の周囲に照射して、曲がる方向を表現する。また、右折の場合は直線が左から右へ流れながら前後に伸びていくようなアニメーションにして、曲がる方向を強調する。左折用照射パターンは、図6(b)の照射パターンを左右逆にしたものであり、直線が右から左へ流れながら前後に伸びていくようなアニメーションにする。さらに、直線が流れる速度を車速に応じて変化させ、車速を表現してもよい。
右折の場合、車両の右側の路面が進行方向の路面に該当し、左側の路面が進行方向とは異なる方向の路面に該当する。左折の場合は、車両の左側の路面が進行方向の路面に該当し、右側の路面が進行方向とは異なる方向の路面に該当する。
図7は、車速に応じて前進用照射パターンの照射範囲を変更する例であり、図7(a)は車両が高速走行しているとき、図7(b)は低速走行しているときを示す。車両の前進中、車両前方を指した矢印が後ろから前へ流れるアニメーションの照射パターンを、車速が速いときは前後方向の照射範囲を広くし、車速が遅いときは狭くする。
図9は、実施の形態2に係る路面照射装置の構成例を示すブロック図である。図9において、図1と同一または相当の部分については同一の符号を付し説明を省略する。実施の形態2の路面照射装置は、照射範囲設定部20が追加された構成である。
周辺対象物検出部21は、車両に搭載されたセンサからセンシング情報を取得し、自車両周辺に存在する歩行者および他車両等(以下、周辺対象物と呼ぶ)の位置を検出する。センシングの方法は、カメラの撮像センサで撮像した画像のシルエットまたはLED光源を利用した光センサで検出した物体の有無により、周辺対象物の方向、距離、および内容(歩いている人、立っている人、子供、車両など)を判断する方法がある。
周辺対象物検出部21は、得られた周辺対象物情報を照射方向判断部22および車両状態監督部6へ出力する。
周辺対象物が存在しない場合(ステップST21“NO”)、自車両の状態を周囲に伝える必要性が低いので照射パターンを照射せず、ステップST1に戻る。
図11(a)~図11(c)に、周辺対象物に応じて停車用照射パターンの照射範囲を変更する例を示す。
図11(a)では、自車両100の左右両脇に駐車車両101がいるので、駐車車両101で遮られない前後のみ停車用照射パターンを照射している。
図11(b)では、自車両100の右側に人102がいるので、その方向に停車用照射パターンを照射して停車していることを伝える。なお、照射範囲設定部20が車両のドアセンサ等からドアの開閉を示す情報を取得可能な場合、開くドアの前の路面に足跡状の停車用照射パターンを照射して、周囲にドアが開くことを伝えるようにしても構わない。
図11(c)では、自車両100の右前方に人102がいるので、その方向に停車用照射パターンを照射している。
図12(a)では、前進中の自車両100の後ろに人102がいるので、車両後方に前進用照射パターンを照射して、自車両100が人102の方向に進まないことを伝える。
図12(b)では、前進中の自車両100の前に人102がいるので、前方から見える車両両脇に前進用照射パターンを照射して、人102の方向に進むことを伝える。
図12(c)では、前進中の自車両100の周囲に複数の走行車両103がいるため、自車両100の周囲に前進用照射パターンを照射して、どの方向からでも見えるようにする。
Claims (6)
- 車両に搭載されている車載機器から車両情報を取得する車両情報取得部と、
前記車両情報取得部が取得した車両情報に基づいて前記車両の進行方向を判断する車両状態判断部と、
保有している進行方向別の照射パターンの中から前記車両状態判断部が判断した進行方向を表現する照射パターンを選択し、選択した照射パターンを少なくとも当該進行方向とは異なる方向の路面に向けて前記車両に搭載された照射部から照射させる照射パターン選択部とを備えることを特徴とする路面照射装置。 - 前記照射パターン選択部が選択した照射パターンを、前記車両の進行方向に向かって変化するアニメーションにするアニメーション加工部を備えることを特徴とする請求項1記載の路面照射装置。
- 前記アニメーション加工部は、前記車両情報取得部が取得した車両情報に含まれる車速に応じて、車速が速い場合は照射パターンの照射範囲を広く、車速が遅い場合は照射範囲を狭くすることを特徴とする請求項2記載の路面照射装置。
- 前記アニメーション加工部は、前記車両情報取得部が取得した車両情報に含まれる車速に応じて、車速が速い場合は照射パターンの変化速度を速く、車速が遅い場合は変化速度を遅くすることを特徴とする請求項2記載の路面照射装置。
- 前記照射パターン選択部は、前記車両の進行方向とは異なる方向の路面に加え、当該進行方向の路面にも照射パターンを照射させることを特徴とする請求項1記載の路面照射装置。
- 前記車両の周辺に存在する対象物の有無および方向を示す情報に基づいて、前記照射パターン選択部が選択した照射パターンを照射する方向を設定する照射範囲設定部を備えることを特徴とする請求項1記載の路面照射装置。
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- 2014-08-19 WO PCT/JP2014/071655 patent/WO2016027314A1/ja active Application Filing
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JP2021192110A (ja) * | 2016-11-17 | 2021-12-16 | 大日本印刷株式会社 | 照明装置およびその製造方法 |
US11530792B2 (en) | 2016-11-17 | 2022-12-20 | Dai Nippon Printing Co., Ltd. | Illumination device and method of manufacturing the same |
JP7306435B2 (ja) | 2016-11-17 | 2023-07-11 | 大日本印刷株式会社 | 照明装置およびその製造方法 |
JP2018086884A (ja) * | 2016-11-28 | 2018-06-07 | 本田技研工業株式会社 | 倒立振子車両 |
WO2018103878A1 (de) * | 2016-12-09 | 2018-06-14 | Daimler Ag | Verfahren zur visualisierung eines fahrzustandes |
JP2018149820A (ja) * | 2017-03-09 | 2018-09-27 | 株式会社小糸製作所 | フォークリフト用安全装置 |
US11518300B2 (en) | 2017-06-06 | 2022-12-06 | Mitsubishi Electric Corporation | Presentation device |
CN110914109A (zh) * | 2017-07-21 | 2020-03-24 | 三菱电机株式会社 | 照射***和照射方法 |
US10960813B2 (en) | 2017-07-21 | 2021-03-30 | Mitsubishi Electric Corporation | Irradiation system and irradiation method |
JP6463549B1 (ja) * | 2017-07-21 | 2019-02-06 | 三菱電機株式会社 | 照射システムおよび照射方法 |
CN110914109B (zh) * | 2017-07-21 | 2023-03-10 | 三菱电机株式会社 | 照射***和照射方法 |
JP2020091506A (ja) * | 2018-12-03 | 2020-06-11 | 日産自動車株式会社 | 駐車時の車両走行制御方法及び車両走行制御装置 |
JP7278760B2 (ja) | 2018-12-03 | 2023-05-22 | 日産自動車株式会社 | 駐車時の車両走行制御方法及び車両走行制御装置 |
WO2021006217A1 (ja) * | 2019-07-05 | 2021-01-14 | 株式会社小糸製作所 | 車両用灯具 |
WO2022070819A1 (ja) * | 2020-10-01 | 2022-04-07 | ソニーグループ株式会社 | 情報処理装置、情報処理方法、プログラム、及び投影装置 |
Also Published As
Publication number | Publication date |
---|---|
DE112014006870T5 (de) | 2017-05-18 |
US20170267167A1 (en) | 2017-09-21 |
JPWO2016027314A1 (ja) | 2017-04-27 |
CN106660479A (zh) | 2017-05-10 |
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