WO2017110936A1 - 車両用照明装置、車両及び照明制御システム - Google Patents
車両用照明装置、車両及び照明制御システム Download PDFInfo
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- WO2017110936A1 WO2017110936A1 PCT/JP2016/088228 JP2016088228W WO2017110936A1 WO 2017110936 A1 WO2017110936 A1 WO 2017110936A1 JP 2016088228 W JP2016088228 W JP 2016088228W WO 2017110936 A1 WO2017110936 A1 WO 2017110936A1
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- vehicle
- illumination
- unit
- lighting
- control
- Prior art date
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- 238000005286 illumination Methods 0.000 title claims abstract description 202
- 238000004891 communication Methods 0.000 claims description 63
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000015572 biosynthetic process Effects 0.000 description 7
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004397 blinking Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- 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
- B60Q1/507—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to autonomous vehicles
-
- 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
- B60Q1/508—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking specific to vehicles driving in fleets or convoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/543—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating other states or conditions of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
Definitions
- the present disclosure relates to a vehicle lighting device.
- the present disclosure relates to a vehicle lighting device provided in a vehicle that can travel in an automatic driving mode.
- the present disclosure also relates to a vehicle including a vehicle lighting device and an illumination control system including the vehicle.
- the vehicle system automatically controls the traveling of the vehicle. Specifically, in the automatic driving mode, the vehicle system performs steering control (control of the traveling direction of the vehicle), brake control and accelerator control (braking, acceleration of the vehicle) based on various information obtained from cameras, sensors, radars, and the like. At least one of (deceleration control) is automatically performed.
- the driver controls the traveling of the vehicle, as is the case with many conventional vehicles.
- vehicle travel is controlled in accordance with driver operations (steering operation, brake operation, accelerator operation), and the vehicle system does not automatically perform steering control, brake control, and accelerator control.
- driver operations steering operation, brake operation, accelerator operation
- the vehicle driving mode is not a concept that exists only in some vehicles, but a concept that exists in all vehicles including conventional vehicles that do not have an automatic driving function. It is classified according to the method.
- a vehicle running in the automatic driving mode (hereinafter referred to as “automatic driving vehicle” as appropriate) and a vehicle running in the manual driving mode (hereinafter referred to as “manual driving vehicle” as appropriate).
- automatic driving vehicle a vehicle running in the automatic driving mode
- manual driving vehicle a vehicle running in the manual driving mode
- the state of inter-vehicle communication between one autonomous driving vehicle and the other autonomous driving vehicle is shown to the outside from the viewpoint of safety.
- Patent Document 1 discloses an automatic following traveling system in which a following vehicle automatically follows a preceding vehicle.
- each of the preceding vehicle and the following vehicle has a display device, and character information for preventing another vehicle from interrupting between the preceding vehicle and the following vehicle is displayed on the display device of the preceding vehicle.
- character information indicating that the vehicle is following the vehicle is displayed on the display device of the following vehicle.
- Patent Document 1 it can be indicated to the outside of a pedestrian or the like that one autonomous driving vehicle is communicating with the other autonomous driving vehicle in a specific situation (for example, in a situation at an intersection).
- a vehicle lighting device and a lighting control system have not been studied.
- This disclosure is intended to provide a vehicle lighting device that can present information indicating that one autonomous driving vehicle is communicating with the other autonomous driving vehicle to the outside of a pedestrian or the like.
- Another object of the present disclosure is to provide a vehicle including the vehicle illumination device and an illumination control system including the vehicle.
- a lighting device for a vehicle is a lighting device for a vehicle provided in a vehicle that can travel in an automatic operation mode, A first lighting unit configured to emit light toward the outside of the vehicle; The lighting state of the first lighting unit corresponds to the lighting state of the second lighting unit based on a lighting control signal transmitted from another vehicle equipped with the second lighting unit while being able to travel in the automatic driving mode. And a first illumination control unit configured to control the first illumination unit.
- the vehicle lighting device capable of presenting information indicating that the own vehicle capable of traveling in the automatic driving mode is communicating with another vehicle capable of traveling in the automatic driving mode to the outside of the pedestrian or the like.
- the vehicle lighting device can visualize the state of inter-vehicle communication between vehicles that can travel in the automatic driving mode. For example, since pedestrians can confirm the safety of their own vehicle and other vehicles by looking at information indicating that their own vehicle is communicating with other vehicles, they may cross pedestrian crossings, etc. with peace of mind. it can.
- the driver of another vehicle can confirm the safety of the host vehicle and the other vehicle by looking at the information indicating that the host vehicle is communicating with the other vehicle, and thus passes through the intersection with peace of mind. Or overtake the vehicle and other vehicles with confidence.
- the first lighting control unit may be configured to control the first lighting unit so that the first lighting unit blinks in synchronization with the second lighting unit.
- a pedestrian or the like can grasp that the host vehicle is communicating with another vehicle by watching the first lighting unit blinking in synchronization with the second lighting unit. it can.
- the first illumination control unit may be configured to control the first illumination unit so that the illumination color of the first illumination unit corresponds to the illumination color of the second illumination unit.
- a pedestrian or the like grasps that the host vehicle is communicating with another vehicle by observing how the illumination color of the first illumination unit corresponds to the illumination color of the second illumination unit. can do.
- An automatic driving comprising the vehicle illumination device, a first wireless communication unit configured to receive the illumination control signal, and a vehicle control unit configured to control traveling of the vehicle.
- a vehicle capable of traveling in the mode may be provided.
- a vehicle capable of presenting information indicating that the own vehicle capable of traveling in the automatic driving mode is communicating with another vehicle capable of traveling in the automatic driving mode to the outside such as a pedestrian. be able to.
- a lighting control system includes: A second lighting unit configured to emit light toward the outside; A second lighting control unit configured to control the second lighting unit; A control signal generator configured to generate an illumination control signal; A second wireless communication unit configured to transmit the illumination control signal; A second vehicle capable of traveling in an automatic driving mode; A first wireless communication unit configured to receive the illumination control signal; A first lighting unit configured to emit light toward the outside; A first illumination control unit configured to control the first illumination unit based on the illumination control signal so that an illumination state of the first illumination unit corresponds to an illumination state of the second illumination unit; And a first vehicle capable of traveling in an automatic operation mode.
- the lighting control capable of presenting information indicating that the first vehicle capable of traveling in the automatic driving mode is communicating with the second vehicle capable of traveling in the automatic driving mode to the outside of the pedestrian or the like.
- the first wireless communication unit may be able to receive the illumination control signal from the second wireless communication unit.
- the first vehicle existing within a predetermined range from the second vehicle can present information indicating that it is communicating with the second vehicle to the outside of the pedestrian or the like. For this reason, a pedestrian or the like in the vicinity of the first vehicle or the second vehicle can confirm the safety of the first vehicle and the second vehicle by looking at the information.
- the first wireless communication unit may be able to receive the illumination control signal from the second wireless communication unit.
- the first vehicle existing near the intersection can present information indicating that it is communicating with the second vehicle to the outside of the pedestrian or the like. Therefore, a pedestrian or the like in the vicinity of the intersection can confirm the safety of the first vehicle and the second vehicle by looking at the information, and can cross the pedestrian crossing and the like with peace of mind.
- the second vehicle may be a vehicle that appears in the vicinity of the intersection earlier in time than the first vehicle.
- the vehicle that appears in the vicinity of the intersection earliest in time becomes the master vehicle (second vehicle), and the vehicle that appears in the vicinity of the intersection later in time than the master vehicle is the slave vehicle (first vehicle). Vehicle).
- the first vehicle and the second vehicle belong to a group of vehicles that are traveling in a platooning mode, and the second vehicle is a leading vehicle of the group of vehicles, and the first vehicle The vehicle may be a succeeding vehicle of the group of vehicles.
- the leading vehicle among the group of vehicles traveling in the platooning mode becomes the master vehicle (second vehicle), and the subsequent vehicle other than the leading vehicle becomes the slave vehicle (first vehicle).
- an illumination control system capable of presenting information indicating that the leading vehicle belonging to the group of vehicles traveling in the platooning mode and the following vehicle are communicating to the outside. For example, a driver of a rear vehicle traveling behind the group of vehicles in the manual operation mode can visually recognize that the group of vehicles are traveling in the platooning mode, so that the group of vehicles can be overtaken with peace of mind. .
- a vehicle lighting device that can present information indicating that one autonomous driving vehicle is communicating with the other autonomous driving vehicle to the outside of a pedestrian or the like.
- (A) is a top view of the vehicle by which the illuminating device for vehicles which concerns on embodiment of this invention is mounted.
- (B) is a left side view of the vehicle shown in (a).
- It is a block diagram of a vehicle system provided with the illuminating device for vehicles which concerns on embodiment of this invention.
- the block diagram of the illumination control system which concerns on embodiment of this invention is shown. It is a figure for demonstrating the condition where the illumination state of the illumination unit of one vehicle and the illumination state of the illumination unit of the other vehicle respond
- left-right direction is a direction including “upward direction” and “downward direction”.
- front-rear direction is a direction including “front direction” and “rear direction”.
- left / right direction is a direction including “left direction” and “right direction”.
- FIG. 1A shows a plan view of the vehicle 1
- FIG. 1B shows a left side view of the vehicle 1.
- the vehicle 1 is a vehicle that can travel in the automatic operation mode, and includes a lighting device 4.
- the lighting device 4 includes a lighting unit 42 and a lighting control unit 43 (see FIG. 2).
- the lighting unit 42 is disposed on the vehicle body roof 100 ⁇ / b> A of the vehicle 1 and is configured to irradiate light toward the outside of the vehicle 1.
- the illumination unit 42 irradiates light to the entire periphery (360 degrees) of the illumination unit 42 in the horizontal direction.
- the horizontal direction is a direction including the front-rear direction and the left-right direction.
- the single lighting unit 42 is arranged on the vehicle body roof 100A, but the number, arrangement, shape, and the like of the lighting units 42 are not particularly limited.
- each of the two lighting units 42 is disposed in the left head lamp 20L and the right head lamp 20R, and each of the remaining two lighting units 42 is a left rear combination lamp 30L. It may be arranged in the right rear combination lamp 30R.
- the lighting unit 42 may be disposed so as to surround the side surface 100B of the vehicle 1.
- FIG. 2 shows a block diagram of the vehicle system 2.
- the vehicle system 2 includes a vehicle control unit 3, a lighting device 4, a sensor 5, a camera 6, a radar 7, an HMI (Human Machine Interface) 8, and a GPS (Global Positioning System). 9, a wireless communication unit 10 (first wireless communication unit), and a map information storage unit 11.
- the vehicle system 2 includes a steering actuator 12, a steering device 13, a brake actuator 14, a brake device 15, an accelerator actuator 16, and an accelerator device 17.
- the vehicle control unit 3 is configured to control the traveling of the vehicle 1.
- the vehicle control unit 3 is configured by, for example, an electronic control unit (ECU: Electronic Control Unit).
- the electronic control unit includes a microcontroller including a processor and a memory, and other electronic circuits (for example, transistors).
- the processor is, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and / or a GPU (Graphics Processing Unit).
- the memory includes a ROM (Read Only Memory) that stores various vehicle control programs (for example, an artificial intelligence (AI) program for automatic driving), and a RAM (Random Access Memory) that temporarily stores various vehicle control data. )including.
- the processor is configured to develop a program designated from various vehicle control programs stored in the ROM on the RAM and execute various processes in cooperation with the RAM.
- the lighting device 4 includes a lighting unit 42 and a lighting control unit 43.
- the illumination unit 42 includes a light emitting element such as one or more LEDs (Light Emitting Diode) and a laser, and is configured to emit light toward the outside of the vehicle 1.
- the illumination control unit 43 is configured by an electronic control unit (ECU).
- the electronic control unit is electrically connected to a power source (not shown), and includes a microcontroller including a processor such as a CPU and MPU and a memory such as a ROM and a RAM, and other electronic circuits (for example, a drive circuit such as an LED driver).
- the vehicle control unit 3 and the illumination control unit 43 are provided as separate configurations, but may be configured integrally.
- the illumination control unit 43 and the vehicle control unit 3 may be configured by a single electronic control unit.
- the lighting control unit 43 controls the lighting unit 42 based on the lighting control signal transmitted from the other vehicle including the lighting unit so that the lighting state of the lighting unit 42 corresponds to the lighting state of the lighting unit of the other vehicle. It is configured.
- the illumination control unit 43 may control the illumination unit 42 so that the illumination unit 42 blinks in synchronization with the illumination units of other vehicles.
- the illumination control part 43 may control the illumination unit 42 so that the illumination color of the illumination unit 42 may correspond to the illumination color of the illumination unit of another vehicle.
- Sensor 5 includes an acceleration sensor, a speed sensor, a gyro sensor, and the like.
- the sensor 5 is configured to detect the traveling state of the vehicle 1 and output traveling state information to the vehicle control unit 3.
- the sensor 5 is a seating sensor that detects whether the driver is sitting in the driver's seat, a face direction sensor that detects the direction of the driver's face, an external weather sensor that detects external weather conditions, and whether there is a person in the vehicle. You may further provide the human sensor etc. to detect.
- the camera 6 is a camera including an image pickup element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS).
- the radar 7 is a millimeter wave radar, a microwave radar, a laser radar, or the like.
- the camera 6 and / or the radar 7 are configured to detect a surrounding environment (another vehicle, a pedestrian, a road shape, a traffic sign, an obstacle, etc.) of the vehicle 1 and output the surrounding environment information to the vehicle control unit 3. ing.
- the HMI 8 includes an input unit that receives an input operation from the driver, and an output unit that outputs traveling information and the like to the driver.
- the input unit includes a steering wheel, an accelerator pedal, a brake pedal, an operation mode switching switch for switching the operation mode of the vehicle 1, and the like.
- the output unit is a display that displays various travel information.
- the GPS 9 is configured to acquire the current position information of the vehicle 1 and output the acquired current position information to the vehicle control unit 3.
- the wireless communication unit 10 receives information (for example, travel information) about other vehicles around the vehicle 1 from the other vehicle and transmits information about the vehicle 1 (for example, travel information) to the other vehicles. It is configured (vehicle-to-vehicle communication).
- the wireless communication unit 10 is configured to receive a lighting control signal from the traffic infrastructure facility. Further, the wireless communication unit 10 is configured to receive infrastructure information from the traffic infrastructure facility and to transmit the travel information of the vehicle 1 to the traffic infrastructure facility (road-to-vehicle communication).
- the vehicle 1 may communicate directly with other vehicles and transportation infrastructure facilities, or may communicate via an access point.
- the map information storage unit 11 is an external storage device such as a hard disk drive in which map information is stored, and is configured to output the map information to the vehicle control unit 3.
- the vehicle control unit 3 uses at least one of a steering control signal, an accelerator control signal, and a brake control signal based on traveling state information, surrounding environment information, current position information, map information, and the like. Generate one automatically.
- the steering actuator 12 is configured to receive a steering control signal from the vehicle control unit 3 and control the steering device 13 based on the received steering control signal.
- the brake actuator 14 is configured to receive a brake control signal from the vehicle control unit 3 and control the brake device 15 based on the received brake control signal.
- the accelerator actuator 16 is configured to receive an accelerator control signal from the vehicle control unit 3 and to control the accelerator device 17 based on the received accelerator control signal.
- the vehicle system 2 automatically controls the traveling of the vehicle 1.
- the vehicle control unit 3 when the vehicle 1 travels in the manual operation mode, the vehicle control unit 3 generates a steering control signal, an accelerator control signal, and a brake control signal according to the manual operation of the driver with respect to the accelerator pedal, the brake pedal, and the steering wheel.
- the steering control signal, the accelerator control signal, and the brake control signal are generated by the driver's manual operation, so that the traveling of the vehicle 1 is controlled by the driver.
- the operation mode includes an automatic operation mode and a manual operation mode.
- the automatic driving mode includes a fully automatic driving mode, an advanced driving support mode, and a driving support mode.
- the vehicle system 2 In the fully automatic driving mode, the vehicle system 2 automatically performs all traveling control of steering control, brake control, and accelerator control, and the driver is not in a state where the vehicle 1 can be driven.
- the vehicle system 2 In the advanced driving support mode, the vehicle system 2 automatically performs all travel control of steering control, brake control, and accelerator control, and the driver does not drive the vehicle 1 although it is in a state where the vehicle 1 can be driven.
- the vehicle system 2 In the driving support mode, the vehicle system 2 automatically performs some traveling control among the steering control, the brake control, and the accelerator control, and the driver drives the vehicle 1 under the driving support of the vehicle system 2.
- the vehicle system 2 In the manual operation mode, the vehicle system 2 does not automatically perform traveling control, and the driver drives the vehicle 1 without driving assistance from the vehicle system 2.
- the operation mode of the vehicle 1 may be switched by operating an operation mode changeover switch.
- the vehicle control unit 3 changes the driving mode of the vehicle 1 into four driving modes (fully automatic driving mode, advanced driving support mode, driving support mode, manual driving mode) according to the driver's operation on the driving mode changeover switch. ).
- the driving mode of the vehicle 1 is automatically set based on information on a travelable section where the autonomous driving vehicle can travel, a travel prohibition section where travel of the autonomous driving vehicle is prohibited, or information on an external weather condition. It may be switched.
- the vehicle control unit 3 switches the operation mode of the vehicle 1 based on these pieces of information.
- the driving mode of the vehicle 1 may be automatically switched by using a seating sensor, a face direction sensor, or the like. In this case, the vehicle control unit 3 switches the operation mode of the vehicle 1 based on output signals from the seating sensor and the face direction sensor.
- FIG. 3 is a configuration diagram of the illumination control system 100 according to the present embodiment.
- the illumination control system 100 includes a vehicle 1A (second vehicle) and a vehicle 1B (first vehicle) that can travel in the automatic operation mode.
- the vehicle 1A is a master vehicle
- the vehicle 1B is a slave vehicle.
- the master vehicle is a vehicle that transmits a lighting control signal
- the slave vehicle is a vehicle that receives a lighting control signal.
- Vehicle systems 2A and 2B of vehicles 1A and 1B have the same configuration as vehicle system 2 of vehicle 1 shown in FIG.
- Only some of the components are shown in the vehicles 1A and 1B shown in FIG. 3 (for example, illustration of components such as a camera, a sensor, and a radar is omitted for convenience of explanation). Note that there is)
- the wireless communication unit 10A (second wireless communication unit) and the wireless communication unit 10B (first wireless communication unit) have the same configuration as the wireless communication unit 10 shown in FIG.
- Vehicle control units 3A and 3B have the same configuration as vehicle control unit 3 shown in FIG.
- the vehicle control unit 3A includes a control signal generation unit 30A configured to generate an illumination control signal
- the vehicle control unit 3B includes a control signal generation unit configured to generate an illumination control signal. 30B.
- the control signal generation unit 30B since the vehicle 1B is a slave vehicle, the control signal generation unit 30B does not generate an illumination control signal.
- the control signal generation unit 30B when the vehicle 1B is a master vehicle, the control signal generation unit 30B generates an illumination control signal.
- Vehicle lighting devices 4A and 4B have the same configuration as lighting device 4 shown in FIG.
- the illumination control unit 43A (second illumination control unit) and the illumination control unit 43B (first illumination control unit) have the same configuration as the illumination control unit 43 shown in FIG.
- the illumination unit 42A (second illumination unit) and the illumination unit 42B (first illumination unit) have the same configuration as the illumination unit 42 shown in FIG.
- two vehicles 1A and 1B are shown, but the number of vehicles is not particularly limited.
- FIG. 4 is a diagram for explaining a situation in which the illumination state of the illumination unit 42A of the vehicle 1A corresponds to the illumination state of the illumination unit 42B of the vehicle 1B at the intersection.
- vehicles 1A and 1B exist in the vicinity of the intersection, and vehicle 1A is a master vehicle and vehicle 1B is a slave vehicle. An example of a method for determining the master vehicle and the slave vehicle will be described later.
- the wireless communication unit 10B can receive an illumination control signal, travel information of the vehicle 1A, and the like from the wireless communication unit 10A. Furthermore, when the vehicle 1B is within a predetermined range from the vehicle 1A, the wireless communication unit 10B can receive an illumination control signal, travel information of the vehicle 1A, and the like from the wireless communication unit 10A.
- FIG. 5 is a sequence diagram for explaining an example of the operation of the illumination control system 100.
- the vehicle 1A appears near the intersection earlier in time than the vehicle 1B, and the vehicle 1A becomes a master vehicle.
- the vehicle 1A detects the vehicle 1B (step S1).
- the vehicle 1 ⁇ / b> A may detect the vehicle 1 ⁇ / b> B using a camera or a sensor after detecting that the vehicle 1 ⁇ / b> A is near the intersection based on the surrounding environment information or the map information.
- the vehicle 1A may detect the vehicle 1B by receiving information indicating the presence of the vehicle 1B from a traffic infrastructure facility arranged near the intersection. Further, the vehicle 1A may detect the vehicle 1B by broadcasting a beacon to the outside in a predetermined cycle and then receiving a response signal for the broadcast beacon from the vehicle 1B. The vehicle 1B can receive a beacon broadcast from the vehicle 1A when the vehicle 1B exists within a predetermined range from the vehicle 1A.
- the vehicle 1A establishes a wireless communication connection with the vehicle 1B.
- the vehicle 1A and the vehicle 1B may directly communicate with each other in an ad hoc mode.
- the wireless communication connection between the vehicle 1A and the vehicle 1B is established by the passive scan method or the active scan method.
- wireless communication parts transmit the beacon containing the information regarding radio
- the wireless communication unit 10B receives a beacon transmitted from the vehicle 1A.
- the vehicle 1A establishes a wireless communication connection with the vehicle 1B through authentication / association between the vehicle 1A and the vehicle 1B. Further, the vehicle 1A and the vehicle 1B may communicate with each other via a traffic infrastructure facility having an access point function.
- the vehicle 1A transmits, for example, traveling information of the vehicle 1A (for example, traveling information indicating that the vehicle turns left / right / straight at the intersection) to the vehicle 1B.
- traveling information of the vehicle 1A for example, traveling information indicating that the vehicle turns left / right / straight at the intersection
- the wireless communication unit 10A transmits travel information of the vehicle 1A to the vehicle 1B.
- the wireless communication unit 10B of the vehicle 1B receives travel information of the vehicle 1A from the vehicle 1A (step S4).
- the vehicle 1B may transmit the travel information of the vehicle 1B to the vehicle 1A, and the vehicle 1A may receive the travel information of the vehicle 1B from the vehicle 1B.
- the vehicle control unit 3B In the vehicle 1B traveling in the automatic operation mode, the vehicle control unit 3B automatically controls the traveling of the vehicle 1B based on the surrounding environment information and the like acquired by the vehicle system 2B and the traveling information of the vehicle 1A. Similarly, in the vehicle 1A traveling in the automatic driving mode, the vehicle control unit 3A automatically controls the traveling of the vehicle 1A based on the surrounding environment information acquired by the vehicle system 2A and the traveling information of the vehicle 1B. As described above, the vehicle 1A (1B) acquires travel information of the vehicle 1B (1A), so that it is possible to execute more accurate automatic driving control of the vehicle 1A (1B).
- control signal generation unit 30A generates an illumination control signal indicating the illumination state of the illumination unit 42A (step S5). Thereafter, according to the command of the vehicle control unit 3A, the wireless communication unit 10A transmits the generated illumination control signal to the vehicle 1B (step S6).
- the wireless communication unit 10B receives an illumination control signal from the vehicle 1A (step S7). Thereafter, the illumination control unit 43B controls the illumination unit 42B based on the received illumination control signal so that the illumination state of the illumination unit 42B corresponds to the illumination state of the illumination unit 42A (step S8). For example, when the illumination control unit 43A is controlled so that the illumination unit 42A blinks at a predetermined cycle, the illumination control unit 43B is based on an illumination control signal indicating the blink control information of the illumination unit 42A. May control the lighting unit 42B so as to blink in synchronization with the lighting unit 42A.
- the illumination control unit 43A controls the illumination color of the illumination unit 42A to be a predetermined illumination color
- the illumination control unit 43B performs illumination based on an illumination control signal indicating the illumination color of the illumination unit 42A.
- the illumination unit 42B may be controlled so that the illumination color of the unit 42B corresponds to the illumination color of the illumination unit 42A.
- the illumination control unit 43A may blink the illumination unit 42A, and the illumination color of the illumination unit 42A is changed from the first illumination color to the second illumination color. You may change to the illumination color. In this way, a series of illumination control processes are executed.
- the vehicle 1A is a master vehicle, while the vehicle 1B is a slave vehicle.
- the vehicle 1A is a slave vehicle.
- Lighting control is executed.
- the control signal generation unit 30B of the vehicle control unit 3B generates an illumination control signal.
- step S3 the vehicle 1A transmits the traveling information of the vehicle 1A to the vehicle 1B. Instead, the vehicle 1A transmits predetermined information other than the traveling information to the vehicle 1B. May be.
- the control signal generation unit 30A generates a travel control signal for controlling the travel of the vehicle 1B, and the wireless communication unit 10A transmits the generated travel control signal to the vehicle 1B. Also good.
- the vehicle control unit 3B executes automatic traveling control at the intersection based on the traveling control signal transmitted from the vehicle 1A.
- the vehicle 1A may establish a wireless communication connection with an electronic device (for example, a mobile phone, a smartphone, a tablet, a wearable device, etc.) possessed by the pedestrian P1 existing near the intersection.
- the vehicle 1A wireless communication unit 10A
- the control unit of the electronic device responds to the received illumination control signal so that the illumination state of the display unit (or light emitting unit) of the electronic device corresponds to the illumination state of the illumination unit 42A. Part) may be controlled. In this way, the illumination state of the illumination units 42A and 42B may correspond to the illumination state of the display unit (or light emitting unit) of the electronic device.
- the vehicle that has arrived near the intersection first may be the master vehicle, and the vehicle that has subsequently reached the intersection may be the slave vehicle.
- the vehicle 1A that has reached the vicinity of the intersection outputs a beacon indicating that it has reached the vicinity of the intersection to the outside. Thereafter, when the vehicle 1A receives an ACK beacon for the beacon from another vehicle, the vehicle 1A (vehicle control unit 3A) determines that there is another vehicle that has reached the intersection before the vehicle 1A. The vehicle control unit 3A determines that the vehicle 1A is a slave vehicle.
- the vehicle 1A determines that there is no vehicle near the intersection and waits for the appearance of another vehicle near the intersection ( Thus, the vehicle control unit 3A determines that the vehicle 1A is a master vehicle).
- the vehicle 1A executes a series of processes shown in FIG.
- the vehicle 1A (master vehicle) instructs the vehicle 1B that has reached the intersection next to the vehicle 1A to become the master vehicle, and then stops transmitting the lighting control signal to the vehicle 1B. May be.
- a traffic infrastructure facility arranged near the intersection may be used. For example, when the vehicle 1A reaches the vicinity of an intersection, the traffic infrastructure facility detects the presence of the vehicle 1A. If the traffic infrastructure facility determines that there is no vehicle near the intersection other than the vehicle 1A, the traffic infrastructure facility transmits a signal indicating that the vehicle 1A is a master vehicle to the vehicle 1A. On the other hand, when the traffic infrastructure facility determines that there is a vehicle near the intersection other than the vehicle 1A, the traffic infrastructure facility transmits a signal indicating that the vehicle 1A is a slave vehicle to the vehicle 1A.
- the vehicle 1A master vehicle
- the vehicle 1B slave vehicle
- the vehicle 1A may notify the traffic infrastructure facility that the vehicle 1A has passed the intersection after passing the intersection.
- the lighting device 4B that can present information indicating that the vehicle 1B is communicating with the vehicle 1A to the outside such as the pedestrian P1.
- the state of the inter-vehicle communication between vehicles that can travel in the automatic driving mode can be visualized by the lighting device 4B.
- the pedestrian P1 can confirm the safety of the vehicles 1A and 1B by looking at information indicating that the vehicle 1B is communicating with the vehicle 1A, the pedestrian P1 can cross a pedestrian crossing or the like with peace of mind.
- the driver of another vehicle can confirm the safety of the vehicles 1A and 1B by looking at the information indicating that the vehicles 1A and 1B are communicating. Can pass through.
- the illumination control unit 43B controls the illumination unit 42B so that the illumination unit 42B blinks in synchronization with the illumination unit 42A
- the pedestrian P1 blinks in synchronization with the illumination unit 42A.
- the vehicle 1B can grasp that it is communicating with the vehicle 1A.
- the illumination control unit 43B controls the illumination unit 42B so that the illumination color of the illumination unit 42B corresponds to the illumination color of the illumination unit 42A
- the pedestrian P1 has the illumination color of the illumination unit 42B.
- the wireless communication unit 10B can receive an illumination control signal from the wireless communication unit 10A.
- the vehicle 1B existing within a predetermined range from the vehicle 1A can present information indicating that it is communicating with the vehicle 1A to the pedestrian P1.
- the wireless communication unit 10B may be able to receive an illumination control signal from the wireless communication unit 10A.
- the vehicle 1B existing in the vicinity of the intersection can present information indicating that it is communicating with the vehicle 1A to the outside of the pedestrian P1 and the like.
- the pedestrian P1 near the intersection can confirm the safety of the vehicles 1A and 1B by looking at the information, and can cross the pedestrian crossing with peace of mind.
- the pedestrian P1 has the vehicle 1A, Since it can be visually recognized that 1B and the electronic device communicate with each other, the safety of the vehicles 1A and 1B can be clearly grasped.
- FIG. 6 is a diagram for explaining a situation where the illumination state of the illumination unit 42A of the vehicle 1A and the illumination state of the illumination unit 42B of the vehicle 1B correspond to each other in the group of vehicles G traveling in the platooning travel mode.
- FIG. 7 is a sequence diagram for explaining an example of the operation of the lighting control system 100 realized by a group of vehicles G traveling in the platooning mode.
- the succeeding vehicle executes automatic cruising control based on the platooning control signal transmitted from the leading vehicle.
- the succeeding vehicle may execute automatic traveling control based only on the convoy travel control signal transmitted from the leading vehicle, or may be acquired by the transmitted convoy traveling control signal and its own camera or radar. Automatic traveling control may be executed based on the surrounding environment information and the like.
- the leading vehicle is a master vehicle
- the subsequent vehicles other than the leading vehicle are slave vehicles.
- the vehicle 1 ⁇ / b> A is the leading vehicle of the group of vehicles G
- the vehicle 1 ⁇ / b> B is a succeeding vehicle of the group of vehicles G.
- the vehicle 1A may travel in the automatic operation mode or may travel in the manual operation mode.
- the number of vehicles belonging to the group of vehicles G may be three or more.
- the vehicle control unit 3A In the vehicle 1A that is the leading vehicle, the vehicle control unit 3A generates a convoy travel control signal. Thereafter, the wireless communication unit 10A transmits the generated convoy travel control signal to the vehicle 1B in accordance with a command from the vehicle control unit 3A. In the vehicle 1B that is the succeeding vehicle, after the wireless communication unit 10B receives the row running control signal, the vehicle control unit 3B automatically controls the running of the vehicle 1B based on the row running control signal.
- the vehicle 1A and the vehicle 1B may communicate directly in the ad hoc mode.
- the vehicle 1B (wireless communication unit 10B) transmits a formation request signal to the vehicle 1A (wireless communication unit 10A) in order to realize the formation running with the vehicle 1A as the leading vehicle (step S10).
- the vehicle control unit 3A determines whether or not convoy travel with the vehicle 1A as the leading vehicle is possible.
- the wireless communication unit 10A transmits a platooning possible signal to the vehicle 1B (step S12).
- the vehicle control unit 3B displays the advance information indicating that the operation mode of the vehicle 1B becomes the formation running mode on the display mounted on the vehicle 1B. May be displayed.
- the wireless communication unit 10A transmits the generated convoy travel control signal to the vehicle 1B (step S14).
- the vehicle control unit 3B executes automatic running control based on the received row running control signal.
- the driving mode of the vehicle 1B is the platooning mode.
- the wireless communication unit 10A transmits the illumination control signal to the vehicle 1B (step S17).
- the illumination control unit 43B determines that the illumination state of the illumination unit 42B corresponds to the illumination state of the illumination unit 42A based on the illumination control signal. 42B is controlled (step S19).
- the illumination control unit 43B may control the illumination unit 42B so that the illumination unit 42B blinks in synchronization with the illumination unit 42A, and the illumination color of the illumination unit 42B corresponds to the illumination color of the illumination unit 42A.
- the lighting unit 42B may be controlled as described above. In this way, a series of illumination control processes are executed.
- the succeeding vehicle traveling immediately after the leading vehicle becomes the new leading vehicle (master vehicle).
- the convoy travel control signal and the lighting control signal may be transmitted to the following vehicle.
- the leading vehicle may stop transmitting the platooning control signal and the lighting control signal to the following vehicle.
- the leading vehicle stops sending the platoon traveling control signal and the lighting control signal to the succeeding vehicle after notifying the leading vehicle that the following vehicle leaves the platoon. .
- information indicating that the leading vehicle belonging to the group of vehicles G traveling in the platooning mode communicates with the following vehicle is transmitted to the outside of the rear vehicle (manual driving mode), the pedestrian P1, and the like.
- the lighting control system 100 that can be presented to the user can be provided. For example, a driver of a rear vehicle traveling behind the group of vehicles G in the manual operation mode can visually recognize that the group of vehicles G is traveling in the platooning mode. Overtake.
- the driving mode of the vehicle has been described as including the fully automatic driving mode, the advanced driving support mode, the driving support mode, and the manual driving mode.
- the driving mode of the vehicle includes these four modes. Should not be limited to.
- the classification of the driving mode of the vehicle may be changed as appropriate in accordance with laws and regulations concerning automatic driving in each country.
- the definitions of “fully automated driving mode”, “advanced driving support mode”, and “driving support mode” described in the description of the present embodiment are merely examples, and laws or regulations relating to automatic driving in each country or In accordance with the rules, these definitions may be changed as appropriate.
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Abstract
Description
前記車両の外部に向けて光を照射するように構成された第1照明ユニットと、
自動運転モードで走行可能であると共に、第2照明ユニットを備えた他車両から送信された照明制御信号に基づいて、前記第1照明ユニットの照明状態が前記第2照明ユニットの照明状態と対応するように前記第1照明ユニットを制御するように構成された第1照明制御部と、を備える。
外部に向けて光を照射するように構成された第2照明ユニットと、
前記第2照明ユニットを制御するように構成された第2照明制御部と、
照明制御信号を生成するように構成された制御信号生成部と、
前記照明制御信号を送信するように構成された第2無線通信部と、
を備え、自動運転モードで走行可能な第2車両と、
前記照明制御信号を受信するように構成された第1無線通信部と、
外部に向けて光を照射するように構成された第1照明ユニットと、
前記照明制御信号に基づいて、前記第1照明ユニットの照明状態が前記第2照明ユニットの照明状態と対応するように前記第1照明ユニットを制御するように構成された第1照明制御部と、を備え、自動運転モードで走行可能な第1車両と、を備えた照明制御システム。
次に、図3を参照して、照明制御システム100について説明する。図3は、本実施形態に係る照明制御システム100の構成図を示す。図3に示すように、照明制御システム100は、自動運転モードで走行可能な車両1A(第2車両)と車両1B(第1車両)を備える。本実施形態では、車両1Aがマスター車両となり、車両1Bがスレーブ車両となる。ここで、マスター車両とは、照明制御信号を送信する車両であり、スレーブ車両とは、照明制御信号を受信する車両である。車両1A,1Bの車両システム2A,2Bは、図2に示す車両1の車両システム2と同一の構成を有する。また、説明の便宜上、図3に示す車両1A,1Bでは、構成要素の一部のみが示されている(例えば、カメラ、センサ、レーダ等の構成要素の図示は、説明の便宜上、省略されている点に留意されたい)。
次に、交差点における照明制御システム100の動作について図3~図5を用いて説明する。図4は、交差点において車両1Aの照明ユニット42Aの照明状態と車両1Bの照明ユニット42Bの照明状態が対応する状況を説明するための図である。図4に示すように、車両1A,1Bは、交差点の付近に存在しており、車両1Aがマスター車両になっていると共に、車両1Bがスレーブ車両となっている。マスター車両とスレーブ車両の決定方法の一例については後述する。車両1A,1Bが交差点の付近に存在するとき、無線通信部10Bは、無線通信部10Aから照明制御信号及び車両1Aの走行情報等を受信可能である。さらに、車両1Bが車両1Aから所定の範囲に存在するときに、無線通信部10Bは、無線通信部10Aから照明制御信号及び車両1Aの走行情報等を受信可能である。
最初に、交差点付近に到達した車両1Aは、交差点付近に到達したことを示すビーコンを外部に向けて出力する。その後、車両1Aは、当該ビーコンに対するACKビーコンを他車両から受信した場合、車両1A(車両制御部3A)は、車両1Aよりも先に交差点付近に到達した他車両が存在すると判断し、他車両からの通信接続要求を待つ(このように、車両制御部3Aは、車両1Aがスレーブ車両であると判断する)。一方、車両1Aは、当該ビーコンに対するACKビーコンを受信しなかった場合、車両1A(車両制御部3A)は、交差点付近に車両が存在しないと判断して、他車両の交差点付近の出現を待つ(このように、車両制御部3Aは、車両1Aがマスター車両であると判断する)。他車両(車両1B)が交差点付近に出現したとき、車両1Aは、図5に示す一連の処理を実行する。
次に、隊列走行モードで走行中の一群の車両Gにおける照明制御システム100について図3,6,7を参照して説明する。図6は、隊列走行モードで走行中の一群の車両Gにおいて車両1Aの照明ユニット42Aの照明状態と車両1Bの照明ユニット42Bの照明状態が対応する状況を説明するための図である。図7は、隊列走行モードで走行中の一群の車両Gによって実現される照明制御システム100の動作の一例を説明するためのシーケンス図である。
最初に、車両1B(無線通信部10B)は、車両1Aを先頭車両とした隊列走行を実現するために、隊列依頼信号を車両1A(無線通信部10A)に送信する(ステップS10)。無線通信部10Aが隊列依頼信号を受信した後(ステップS11)、車両制御部3Aは、車両1Aを先頭車両とした隊列走行が可能であるかどうかを判断する。車両制御部3Aが隊列走行が可能であると判断した場合、無線通信部10Aは、隊列可能信号を車両1Bに送信する(ステップS12)。無線通信部10Bが隊列可能信号を車両1Aから受信した後に(ステップS13)、車両制御部3Bは、車両1Bに搭載されたディスプレイに車両1Bの運転モードが隊列走行モードとなることを示す予告情報を表示してもよい。
Claims (9)
- 自動運転モードで走行可能な車両に設けられた車両用照明装置であって、
前記車両の外部に向けて光を照射するように構成された第1照明ユニットと、
自動運転モードで走行可能であると共に、第2照明ユニットを備えた他車両から送信された照明制御信号に基づいて、前記第1照明ユニットの照明状態が前記第2照明ユニットの照明状態と対応するように前記第1照明ユニットを制御するように構成された第1照明制御部と、を備えた車両用照明装置。 - 前記第1照明制御部は、前記第1照明ユニットが前記第2照明ユニットと同期して点滅するように前記第1照明ユニットを制御するように構成されている、請求項1に記載の車両用照明装置。
- 前記第1照明制御部は、前記第1照明ユニットの照明色が前記第2照明ユニットの照明色と対応するように前記第1照明ユニットを制御するように構成されている、請求項1に記載の車両用照明装置。
- 請求項1から3のうちいずれか一項に記載の車両用照明装置と、
前記照明制御信号を受信するように構成された第1無線通信部と、
前記車両の走行を制御するように構成された車両制御部と、
を備えた自動運転モードで走行可能な車両。 - 外部に向けて光を照射するように構成された第2照明ユニットと、
前記第2照明ユニットを制御するように構成された第2照明制御部と、
照明制御信号を生成するように構成された制御信号生成部と、
前記照明制御信号を送信するように構成された第2無線通信部と、
を備え、自動運転モードで走行可能な第2車両と、
前記照明制御信号を受信するように構成された第1無線通信部と、
外部に向けて光を照射するように構成された第1照明ユニットと、
前記照明制御信号に基づいて、前記第1照明ユニットの照明状態が前記第2照明ユニットの照明状態と対応するように前記第1照明ユニットを制御するように構成された第1照明制御部と、を備え、自動運転モードで走行可能な第1車両と、を備えた照明制御システム。 - 前記第1車両が前記第2車両から所定の範囲内に存在するときに、前記第1無線通信部は、前記第2無線通信部から前記照明制御信号を受信可能である、請求項5に記載の照明制御システム。
- 前記第1車両と前記第2車両が交差点の付近に存在するとき、前記第1無線通信部は、前記第2無線通信部から前記照明制御信号を受信可能である、請求項5又は6に記載の照明制御システム。
- 前記第2車両は、前記第1車両よりも時間的に早く前記交差点の付近に現れる車両である、請求項7に記載の照明制御システム。
- 前記第1車両と前記第2車両は、隊列走行モードで走行中の一群の車両に属しており、
前記第2車両は、前記一群の車両のうちの先頭車両であると共に、前記第1車両は、前記一群の車両のうちの後続車両である、請求項5又は6に記載の照明制御システム。
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Also Published As
Publication number | Publication date |
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US20190011930A1 (en) | 2019-01-10 |
CN108367707B (zh) | 2021-11-02 |
EP3395615A1 (en) | 2018-10-31 |
EP3395615A4 (en) | 2019-08-28 |
CN108367707A (zh) | 2018-08-03 |
JP6884710B2 (ja) | 2021-06-09 |
JPWO2017110936A1 (ja) | 2018-10-11 |
US10663978B2 (en) | 2020-05-26 |
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