WO2020250658A1 - Infractructure for traffic - Google Patents
Infractructure for traffic Download PDFInfo
- Publication number
- WO2020250658A1 WO2020250658A1 PCT/JP2020/020601 JP2020020601W WO2020250658A1 WO 2020250658 A1 WO2020250658 A1 WO 2020250658A1 JP 2020020601 W JP2020020601 W JP 2020020601W WO 2020250658 A1 WO2020250658 A1 WO 2020250658A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- road surface
- vehicle
- drawing device
- traffic
- draw
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
Definitions
- This disclosure relates to transportation infrastructure.
- Patent Document 1 discloses a violation deterrence system capable of deterring traffic violations by projecting a predetermined image near a road using switching information of a pedestrian traffic light installed at an intersection or the like. ing.
- the purpose of this disclosure is to provide a traffic infrastructure that enables a driver of a vehicle to recognize a traffic sign regardless of the road surface condition.
- the transportation infrastructure is A detection unit that can detect traffic signs drawn on the road surface and is fixed to the ground, Based on the information detected by the detection unit, when it is determined that the visible ratio of the traffic sign drawn on the road surface is equal to or less than a predetermined value, an image showing the same meaning as the traffic sign can be drawn on the road surface.
- the road surface drawing device is provided with a drawing command unit for drawing the image on the road surface.
- the drawing command unit determines that the visible ratio of the traffic sign is equal to or less than a predetermined value
- the drawing command unit has the same meaning as the traffic sign drawn on the road surface on the road surface drawing device.
- the image shown is drawn on the road surface. That is, when it is difficult for the driver of the automobile to recognize the traffic sign, an image showing the same meaning as the traffic sign drawn on the road surface is drawn on the road surface by the road surface drawing device.
- the transportation infrastructure according to one aspect of this disclosure is
- the road surface drawing device may be provided.
- the road surface drawing device is installed in the transportation infrastructure. Therefore, for example, even if there is no vehicle equipped with a road surface drawing device around the traffic infrastructure, an image showing the same meaning as a traffic sign can be drawn on the road surface.
- the road surface drawing device is provided in the vehicle.
- the transportation infrastructure may be communicable with the vehicle.
- the transportation infrastructure can communicate with a vehicle equipped with a road surface drawing device. Therefore, for example, when the traffic infrastructure does not have a road surface drawing device, or when the traffic infrastructure has a road surface drawing device but the road surface drawing device of the traffic infrastructure does not work well.
- the traffic infrastructure allows a vehicle equipped with a road surface drawing device to draw an image showing the same meaning as a traffic sign on the road surface.
- the drawing command unit may cause the road surface drawing device to draw the image on the road surface.
- the drawing command unit causes the road surface drawing device to draw an image having the same meaning as the traffic sign. Therefore, the road surface drawing device can draw an image showing the same meaning as a traffic sign only when necessary.
- the road surface drawing device can further draw the grid lines on the road surface.
- the drawing command unit may cause the road surface drawing device to draw the grid lines on the road surface.
- the drawing command unit causes the road surface drawing device to draw the grid lines on the road surface. Therefore, for example, even when the autonomous driving vehicle cannot recognize the uneven state of the road surface, the autonomous driving vehicle can easily recognize the uneven state of the road surface by detecting the drawn grid lines. As a result, the self-driving car can travel in an appropriate area based on the grid lines drawn on the road surface.
- the road surface drawing device may be configured to draw the grid lines by infrared rays.
- the grid lines are drawn by infrared rays. Humans cannot see infrared rays, but sensors can recognize grid lines. Therefore, the above-mentioned transportation infrastructure provides useful information for the autonomous vehicle only to the autonomous vehicle and does not cause confusion for the driver or pedestrian of the manually driven vehicle.
- FIG. 1 is a block diagram of a street light according to an embodiment of the present disclosure.
- FIG. 2 is a diagram illustrating a street light according to an embodiment of the present disclosure.
- FIG. 3 is a flow diagram illustrating the flow until the road surface drawing device draws the road surface.
- FIG. 4A is a diagram illustrating a state when the road surface is covered with snow.
- FIG. 4B is a diagram illustrating a state when the road surface is covered with snow.
- FIG. 5 is a flow diagram illustrating the flow until the road surface drawing device draws the road surface.
- FIG. 6A is a diagram illustrating a state when the road surface is covered with snow.
- FIG. 6B is a diagram illustrating a state when the road surface is covered with snow.
- FIG. 1 illustrates a block diagram of the street light 50.
- FIG. 2 is a diagram illustrating a street light 50 according to one of the present embodiments.
- the street light 50 includes a lighting unit 51, a detection unit 52, and a control unit 53.
- the lighting unit 51, the detection unit 52, and the control unit 53 are connected to each other so as to be able to communicate with each other via the bus 54.
- the street light 50 is installed on the ground near a roadway, a sidewalk, or the like. That is, the detection unit 52 provided in the street light 50 is fixed to the ground.
- the lighting unit 51 includes a road surface drawing device 511 and a lighting device 512.
- the lighting unit 51 is arranged outside the street light 50 (see FIG. 2).
- the lighting unit 51 may be arranged inside the street light 50, for example.
- the road surface drawing device 511 is, for example, a laser scanning device including a laser light source and a light deflecting device that deflects the laser light emitted from the laser light source.
- the laser light source includes a visible light source and an infrared light source.
- the light deflector is, for example, a movable mirror such as a MEMS (Micro Electro Mechanical Systems) mirror or a galvano mirror.
- the road surface drawing device 511 scans the laser beam to irradiate an object such as a road surface with a light pattern (for example, a ring-shaped light pattern or a linear light pattern). In particular, the road surface drawing device 511 draws an optical pattern on the road surface by scanning the laser beam.
- the road surface drawing device 511 can also draw grid lines on the road surface by scanning the infrared laser.
- the term "road surface drawing” in the present specification includes not only drawing on roads, etc., but also drawing on road signs installed beside or above the road, and drawings on the walls of buildings located beside the road. Is done.
- the lighting device 512 is, for example, an LED lamp or the like.
- the lighting device 512 can emit light for lighting toward a road surface near the installation position of the street light 50.
- the detection unit 52 includes a camera 521 and a radar 522.
- the camera 521 and the radar 522 are arranged outside the street light 50 (see FIG. 2).
- the camera 521 and the radar 522 may be arranged inside the street light 50.
- the camera 521 is, for example, a camera including an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS).
- the radar 522 is a millimeter wave radar, a microwave radar, a laser radar, or the like.
- the camera 521 and / or the radar 522 detects the surrounding environment (vehicle, pedestrian, road shape, traffic sign, obstacle, etc.) of the street light 50, and the detected surrounding environment information (detected by the detection unit 52). Information) is configured to be output to the control unit 53.
- the traffic signs are various signs related to traffic such as speed limit signs, stop signs, and running lines.
- the traveling line is a line that separates the traveling lane, that is, a central separation line of the roadway, a line that separates the roadway from the sidewalk, and the like.
- the control unit 53 is composed of an electronic control unit (ECU).
- the electronic control unit includes a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) in which control programs for various street lights are stored, and a RAM (Random) in which control data for various street lights are temporarily stored. It is composed of Access Memory).
- the processor is configured to expand a program designated from various street light control programs stored in the ROM on the RAM and execute various processes in cooperation with the RAM.
- the control unit 53 is arranged inside the street light 50 (see FIG. 2).
- the control unit 53 includes a drawing command unit 531 as illustrated in FIG.
- the drawing command unit 531 is configured to control the road surface drawing device 511, for example, so that the laser beam is irradiated toward the road surface around the street light 50.
- the control unit 53 can determine whether or not a vehicle or the like exists in a predetermined area based on the surrounding environment information of the street light 50 received from the detection unit 52.
- the drawing command unit 531 can determine whether or not it is necessary to draw predetermined information toward the road surface around the street light 50. For example, if at least a part of various traffic signs (signs related to running lines and speed limits, etc.) drawn on the road surface is hidden by snow or fallen leaves, it is difficult for the driver of the vehicle to visually recognize the various traffic signs. May become.
- the drawing command unit 531 is visually recognized by a vehicle driver or the like among the traffic signs in the area where the detection unit 52 of the street light 50 can detect the surrounding environment information (hereinafter referred to as “detectable area”). Calculate the ratio X of the part that can be done.
- the drawing command unit 531 determines that the calculated ratio X is equal to or less than a predetermined value, the drawing command unit 531 displays an image showing the same meaning as the traffic sign in the detectable area on the road surface drawing device 511 in the detectable area. Let it draw.
- An image showing the same meaning as a traffic sign may be an image having the same shape as a hidden traffic sign, or a different form capable of transmitting the same meaning as a hidden traffic sign to a vehicle or a driver of a vehicle. It may be an image.
- the ratio X calculated by the drawing command unit 531 is calculated by the following equation 1.
- Y in Equation 1 represents the area of the entire area of the traffic sign that can be visually recognized by the driver of the vehicle
- Z in Equation 1 represents the area of the entire traffic sign.
- Y and Z in Equation 1 are not limited to information on area, and may be, for example, information on length. Information on the area of the entire traffic sign and the like is stored in advance in the control unit 53.
- the drawing command unit 531 causes the road surface drawing device 511 to draw an image having the same meaning as a traffic sign in the detectable area in the detectable area.
- the predetermined value in this embodiment will be described as being 50%.
- the predetermined value is not limited to 50%.
- FIG. 3 is a flow diagram illustrating the flow until the road surface drawing device 511 draws the road surface.
- 4A and 4B are diagrams illustrating a state when the road surface is covered with snow S1. In the situations illustrated in FIGS. 4A and 4B, the camera 521 and the radar 522 of the street light 50 detect the surrounding environment information regarding the area A around the street light 50.
- the road surface area A has a traveling line R (an example of a traffic sign).
- the length of the traveling line R in the area A is 20 m.
- a part of the running line R is covered with snow S1.
- the length of the portion of the traveling line R in the region A that is visible to the driver of the vehicle V, that is, the portion that is not covered by the snow S1, is 4 m.
- step S01 the control unit 53 determines whether or not the vehicle exists in a predetermined area based on the surrounding environment information of the street light 50 received from the detection unit 52.
- the radar 522 of the detection unit 52 emits radio waves toward the region A.
- the detection unit 52 detects the vehicle V by detecting the reflected wave of the radio wave emitted from the radar 522.
- the detection unit 52 detects the vehicle V (YES in step S01)
- the detection unit 52 outputs the surrounding environment information detected by the radar 522, that is, the information indicating the existence of the vehicle V to the control unit 53.
- step S01 is repeated. In this embodiment, as illustrated in FIG. 4A, since the vehicle V is in the region A (YES in step S01), the process proceeds to step S02.
- the control unit 53 controls the camera 521 of the detection unit 52 so as to image the area A.
- the camera 521 takes an image of the area A and detects the surrounding environment information regarding the area A (step S02).
- the detection unit 52 provides information indicating that the length of the portion not covered by the snow S1 is 4 m based on the image data of the camera 521 that images the region A in the example shown in FIG. 4A. Detects surrounding environment information including.
- the detected surrounding environment information is output to the control unit 53.
- the drawing command unit 531 of the control unit 53 calculates the ratio X of the portion of the traffic sign in the area A that is visible to the driver of the vehicle V (step S03).
- the ratio X the above formula 1 is used.
- Y in Equation 1 is the length of the portion of the total length of the traveling line R in the region A that can be visually recognized by the driver of the vehicle V.
- Z represents the total length of the traveling line R in the region A.
- Y is 4 m and Z is 20 m. Therefore, the ratio X is 20%.
- the drawing command unit 531 of the control unit 53 calculates the ratio X, it determines whether or not the calculated ratio X is equal to or less than a predetermined value (step S04). In this embodiment, since the ratio X is 20%, the drawing command unit 531 determines that the ratio X is 50% or less (YES in step S04). When the ratio X is equal to or less than a predetermined value, the drawing command unit 531 of the control unit 53 draws an image showing the same meaning as the traffic sign, that is, an image showing the same meaning as the traveling line R on the road surface drawing device 511 in the area A. (Step S05). As a result, as illustrated in FIG. 4B, an image showing the same meaning as the traveling line R is drawn on the snow S1, so that the driver of the vehicle V can recognize the position of the traveling line R.
- step S04 when it is determined that the ratio X is larger than 50% (NO in step S04), the image showing the same meaning as the traveling line R is not drawn on the road surface in the area A.
- the drawing command unit 531 determines that the visible ratio X of the traveling line R (an example of a traffic sign) is equal to or less than a predetermined value, the drawing command unit 531 draws the road surface.
- the device 511 draws an image showing the same meaning as the traveling line R drawn on the road surface. Therefore, the driver of the automobile can recognize the traveling line R without depending on the road surface condition.
- the drawing command unit 531 causes the road surface drawing device 511 to draw an image showing the same meaning as the traffic sign. Therefore, the road surface drawing device 511 can draw an image showing the same meaning as the traffic sign only when necessary.
- FIG. 5 is a flow diagram illustrating the flow until the road surface drawing device 511 draws the road surface.
- 6A and 6B are diagrams illustrating a state when the road surface is covered with snow S1 and snow S2. In this embodiment, it is assumed that the snow S2 is piled up higher than the snow S1.
- the vehicle V is an autonomous driving vehicle that realizes traveling control by using a camera, a sensor, or the like. In the following description, the description of the portion overlapping with the first embodiment will be omitted.
- the vehicle V is a vehicle capable of traveling in the automatic driving mode.
- 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 driving mode of the vehicle V will be described as an automatic driving mode.
- Vehicle V is equipped with a camera.
- the camera may have the same configuration as the camera 521.
- the camera of the vehicle V can detect the grid line G such as infrared rays.
- the vehicle V can detect the uneven state of the road surface based on the detected grid line G.
- the vehicle V can travel at an appropriate place on the road surface based on the detected uneven state of the road surface.
- steps S11 to S12 are the same as steps S01 to S02 in FIG. 3, description thereof will be omitted.
- step S13 the drawing command unit 531 of the control unit 53 detects the current uneven state of the road surface based on the surrounding environment information received from the camera 521. Based on the detection result, the drawing command unit 531 calculates the ratio W in which the current uneven state of the road surface is different from the uneven state of the road surface in normal times (normal time). In step S14, it is determined whether or not the calculated ratio W is equal to or greater than a predetermined value. If YES in step S14, the process proceeds to step S15. In step S15, the road surface drawing device 511 draws a grid line G on the road surface so that the vehicle V can easily recognize the uneven state on the road surface (step S15).
- the drawing command unit 531 calculates the ratio W based on the surrounding environment information received from the camera 521 (step S13 in FIG. 5).
- the predetermined value in step S14 is 10% and the ratio W is 20%.
- the drawing command unit 531 determines that the ratio W (20%) is 10% or more (YES in step S14 of FIG. 5).
- the drawing command unit 531 causes the road surface drawing device 511 to draw the grid line G on the road surface including the snow S1 and the snow S2 (step S15 in FIG. 5).
- the grid line G is drawn by infrared rays.
- the grid line G at the uneven portion such as the boundary between the road surface and the snow S1 or the snow S2 and the boundary between the roadway and the sidewalk is curved in an uneven shape. Therefore, the vehicle V in the automatic driving mode can recognize the uneven state of the road surface based on the shape of the grid line G detected by the camera included in the vehicle V.
- the vehicle V can travel in a region to be traveled (for example, a flat road surface that is not uneven) based on the recognized unevenness of the road surface. In the case of this embodiment, the vehicle V can travel so as to avoid the snow S2.
- an image showing the same meaning as the traveling line R (an example of a traffic sign) is drawn on the road surface (see FIG. 6B). That is, also in the second embodiment, when the ratio X is equal to or less than a predetermined value, an image showing the same meaning as the traveling line R is drawn on the road surface. Therefore, the driver of the automobile can recognize the traveling line R without depending on the road surface condition.
- the detection unit 52 of the street light 50 detects that the uneven state of the current road surface is different from the normal state, the uneven state on the road surface is changed to the vehicle V (autonomous driving vehicle).
- the vehicle V autonomous driving vehicle
- the method by which the detection unit 52 detects that the current uneven state of the road surface is different from the normal state is not limited to the method of calculating the ratio W described above.
- the detection unit 52 has a different uneven state of the current road surface from the normal state because a part of the current road surface is locally significantly different in shape from the normal road surface. It may be a method of detecting that.
- the grid line G is drawn by infrared rays, the information about the traveling area can be transmitted to the driver and the pedestrian of the manually driven vehicle without causing visual confusion. Can only be provided to.
- control unit 53 determines whether or not the vehicle V exists in the area A based on the surrounding environment information received from the radar 522, but the present invention is not limited to this example.
- control unit 53 may determine whether or not the vehicle V exists in the area A based on the surrounding environment information received from the camera 521.
- the transportation infrastructure according to the present disclosure has been described using the street light 50, but the present invention is not limited to this example.
- the present disclosure can be applied to traffic lights, utility poles, and the like.
- the snow S1 covers the traveling line R, but the description is not limited to this example.
- the present disclosure is applicable even when the traveling line disappears due to wear, or when the fallen leaves cover the traveling line R.
- the road surface drawing device 511 draws the grid line G by irradiating infrared rays, but the present invention is not limited to this example.
- the road surface drawing device 511 may draw grid lines by irradiating with visible light.
- the road surface drawing device 511 may draw only the grid line G without drawing the traveling line R.
- the road surface drawing device 511 has described using an example of drawing predetermined information on the road surface toward the road surface around the street light 50, but the present invention is not limited to this.
- the road surface drawing device 511 may draw predetermined information on a road surface toward a road sign installed near or above the road, a wall of a building located near the road, or the like.
- the wireless communication unit 55 is configured to perform wireless communication with the wireless communication unit V2 of the vehicle V.
- the wireless communication unit 55 may communicate directly with the wireless communication unit V2 in an ad hoc mode, or may communicate with the wireless communication unit V2 via a network, for example.
- the wireless communication unit 55 is configured to transmit instruction signals and various information to the wireless communication unit V2 of the vehicle V, and receive traveling information of the vehicle V and the like from the wireless communication unit V2 of the vehicle V (road-to-vehicle distance). communication).
- the road surface drawing device V1 may have the same configuration as the road surface drawing device 511.
- the road surface drawing device V1 can draw a light pattern or the like on a road surface, a road sign, or the like.
- the wireless communication unit V2 may have the same configuration as the wireless communication unit 55.
- the wireless communication unit V2 can communicate with the wireless communication unit 55 of the street light 50.
- an instruction signal for causing the road surface drawing device V1 to draw an image showing the same meaning as the traffic sign on the road surface To generate.
- the instruction signal is transmitted to the vehicle V via the wireless communication unit 55 and the wireless communication unit V2 of the vehicle V.
- the road surface drawing device V1 draws an image showing the same meaning as the traffic sign on the road surface.
- An example in which an image showing the same meaning as a traffic sign is drawn on the road surface by the road surface drawing device V1 is, for example, when the road surface drawing device 511 of the street light 50 breaks down or when the road surface drawing device 511 does not operate well due to snow or the like. Is.
- the control unit 53 of the street light 50 first determines whether or not the road surface drawing device 511 can draw the road surface at a predetermined location.
- the drawing command unit 531 of the control unit 53 is used by the road surface drawing device V1 of the vehicle V to draw the road surface.
- the road surface drawing device V1 may be controlled so as to do so.
- the control unit 53 determines that the road surface drawing device 511 cannot draw the road surface at a predetermined place.
- the drawing command unit 531 of the control unit 53 may control the road surface drawing device so that the road surface drawing device of the other vehicle draws the road surface.
- the street light 50 can be applied when an emergency occurs in the area A.
- An emergency situation is, for example, a collision between vehicles, a fire or a crack in the ground in or around the area A.
- the control unit 53 of the street light 50 according to the modified example controls the camera 521 of the detection unit 52 to take an image of the area A at all times or at predetermined intervals. For example, when vehicles collide with each other in the area A, the control unit 53 recognizes the collision between vehicles based on the surrounding environment information received from the detection unit 52. When the control unit 53 recognizes a collision between vehicles, it generates emergency information indicating the occurrence of an emergency.
- the emergency information is transmitted to the drawing command unit 531.
- the drawing command unit 531 controls the road surface drawing device 511 to draw the information corresponding to the received emergency information on the road surface A or around the area A. As a result, a character such as "dangerous" is drawn on the road surface around the area A or the area A.
- the street light 50 according to this modification when an emergency occurs in the area A, the pedestrians and vehicles around the area A are notified that the emergency has occurred by drawing the road surface with the street light 50. To. Therefore, according to the street light 50 according to the present modification, it is possible to prevent pedestrians and vehicles from entering the area A.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
Provided is an infrastructure for traffic provided with: a detection unit (52) that is capable of detecting a road marker painted on a road surface and is fixed on the ground; and a drawing instruction unit (531) that, when it is determined that a visually recognizable rate of the road marker painted on the road surface is no greater than a predetermined value, causes a road surface drawing device (511), which is capable of drawing on the road surface an image representing the same meaning as the road marker, to draw an image on the road surface.
Description
本開示は、交通用インフラストラクチャに関する。
This disclosure relates to transportation infrastructure.
特許文献1は、交差点等に設置された歩行者用の信号機の切替情報を用いて、道路付近に所定の画像を投影することにより、交通違反を抑止することが可能な違反抑止システムを開示している。
Patent Document 1 discloses a violation deterrence system capable of deterring traffic violations by projecting a predetermined image near a road using switching information of a pedestrian traffic light installed at an intersection or the like. ing.
ところで、従来、自動車やその運転手は、路面に付された白線等の交通標識に基づいて、走行していた。しかし、例えば、白線等の交通標識が雪や落ち葉に覆われると、自動車の運転主体(人、自動運転車)は、当該交通標識を認識しにくくなる。
By the way, conventionally, automobiles and their drivers have been driving based on traffic signs such as white lines attached to the road surface. However, for example, when a traffic sign such as a white line is covered with snow or fallen leaves, it becomes difficult for the driver of the automobile (person, self-driving car) to recognize the traffic sign.
本開示は、路面状況に依存することなく、自動車の運転主体が交通標識を認識することを可能にする交通用インフラストラクチャを提供することを目的とする。
The purpose of this disclosure is to provide a traffic infrastructure that enables a driver of a vehicle to recognize a traffic sign regardless of the road surface condition.
本開示の一態様に係る交通用インフラストラクチャは、
路面に描かれている交通標識を検知可能であって、地面に固定された検知部と、
前記検知部により検知された情報に基づき、前記路面に描かれている交通標識の視認可能な割合が所定値以下であると判定したときに、前記交通標識と同じ意味を示す画像を路面描画可能な路面描画装置に前記画像を路面描画させる描画指令部と、を備える。 The transportation infrastructure according to one aspect of this disclosure is
A detection unit that can detect traffic signs drawn on the road surface and is fixed to the ground,
Based on the information detected by the detection unit, when it is determined that the visible ratio of the traffic sign drawn on the road surface is equal to or less than a predetermined value, an image showing the same meaning as the traffic sign can be drawn on the road surface. The road surface drawing device is provided with a drawing command unit for drawing the image on the road surface.
路面に描かれている交通標識を検知可能であって、地面に固定された検知部と、
前記検知部により検知された情報に基づき、前記路面に描かれている交通標識の視認可能な割合が所定値以下であると判定したときに、前記交通標識と同じ意味を示す画像を路面描画可能な路面描画装置に前記画像を路面描画させる描画指令部と、を備える。 The transportation infrastructure according to one aspect of this disclosure is
A detection unit that can detect traffic signs drawn on the road surface and is fixed to the ground,
Based on the information detected by the detection unit, when it is determined that the visible ratio of the traffic sign drawn on the road surface is equal to or less than a predetermined value, an image showing the same meaning as the traffic sign can be drawn on the road surface. The road surface drawing device is provided with a drawing command unit for drawing the image on the road surface.
上記構成によれば、描画指令部が、交通標識の視認可能な割合が所定値以下であると判定した場合、描画指令部は、路面描画装置に路面に描かれている交通標識と同じ意味を示す画像を路面描画させる。すなわち、自動車の運転主体が交通標識を認識しにくい状態であるとき、路面に描かれている交通標識と同じ意味を示す画像が路面描画装置により路面描画される。
このように、上記構成によれば、路面状況に依存することなく、自動車の運転主体が交通標識を認識することを可能にする交通用インフラストラクチャを提供することができる。 According to the above configuration, when the drawing command unit determines that the visible ratio of the traffic sign is equal to or less than a predetermined value, the drawing command unit has the same meaning as the traffic sign drawn on the road surface on the road surface drawing device. The image shown is drawn on the road surface. That is, when it is difficult for the driver of the automobile to recognize the traffic sign, an image showing the same meaning as the traffic sign drawn on the road surface is drawn on the road surface by the road surface drawing device.
As described above, according to the above configuration, it is possible to provide a traffic infrastructure that enables a driver of an automobile to recognize a traffic sign without depending on a road surface condition.
このように、上記構成によれば、路面状況に依存することなく、自動車の運転主体が交通標識を認識することを可能にする交通用インフラストラクチャを提供することができる。 According to the above configuration, when the drawing command unit determines that the visible ratio of the traffic sign is equal to or less than a predetermined value, the drawing command unit has the same meaning as the traffic sign drawn on the road surface on the road surface drawing device. The image shown is drawn on the road surface. That is, when it is difficult for the driver of the automobile to recognize the traffic sign, an image showing the same meaning as the traffic sign drawn on the road surface is drawn on the road surface by the road surface drawing device.
As described above, according to the above configuration, it is possible to provide a traffic infrastructure that enables a driver of an automobile to recognize a traffic sign without depending on a road surface condition.
また、本開示の一態様に係る交通用インフラストラクチャは、
前記路面描画装置を備えていてもよい。 In addition, the transportation infrastructure according to one aspect of this disclosure is
The road surface drawing device may be provided.
前記路面描画装置を備えていてもよい。 In addition, the transportation infrastructure according to one aspect of this disclosure is
The road surface drawing device may be provided.
上記構成によれば、路面描画装置は交通用インフラストラクチャに備わっている。このため、例えば、交通用インフラストラクチャの周囲に路面描画装置を備えた車両等がいなくても、交通標識と同じ意味を示す画像を路面描画することができる。
According to the above configuration, the road surface drawing device is installed in the transportation infrastructure. Therefore, for example, even if there is no vehicle equipped with a road surface drawing device around the traffic infrastructure, an image showing the same meaning as a traffic sign can be drawn on the road surface.
また、本開示の一態様に係る交通用インフラストラクチャにおいて、
前記路面描画装置は車両に備わっており、
前記交通用インフラストラクチャは、前記車両と通信可能であってもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device is provided in the vehicle.
The transportation infrastructure may be communicable with the vehicle.
前記路面描画装置は車両に備わっており、
前記交通用インフラストラクチャは、前記車両と通信可能であってもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device is provided in the vehicle.
The transportation infrastructure may be communicable with the vehicle.
上記構成によれば、交通用インフラストラクチャは、路面描画装置を備えた車両と通信可能である。このため、例えば、交通用インフラストラクチャが路面描画装置を有していない場合や、交通用インフラストラクチャが路面描画装置を有しているものの、交通用インフラストラクチャが有する路面描画装置がうまく作動しない場合において、交通用インフラストラクチャは、路面描画装置を備えた車両に、交通標識と同じ意味を示す画像を路面描画させることができる。
According to the above configuration, the transportation infrastructure can communicate with a vehicle equipped with a road surface drawing device. Therefore, for example, when the traffic infrastructure does not have a road surface drawing device, or when the traffic infrastructure has a road surface drawing device but the road surface drawing device of the traffic infrastructure does not work well. In, the traffic infrastructure allows a vehicle equipped with a road surface drawing device to draw an image showing the same meaning as a traffic sign on the road surface.
また、本開示の一態様に係る交通用インフラストラクチャにおいて、
前記検知部が、車両が所定の領域内に進入したことを検知すると、前記描画指令部は前記路面描画装置に前記画像を路面描画させてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
When the detection unit detects that the vehicle has entered the predetermined area, the drawing command unit may cause the road surface drawing device to draw the image on the road surface.
前記検知部が、車両が所定の領域内に進入したことを検知すると、前記描画指令部は前記路面描画装置に前記画像を路面描画させてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
When the detection unit detects that the vehicle has entered the predetermined area, the drawing command unit may cause the road surface drawing device to draw the image on the road surface.
上記構成によれば、検知部が、車両が所定の領域内に進入したことを検知すると、描画指令部は、交通標識と同じ意味を示す画像を路面描画装置に路面描画させる。このため、路面描画装置は、必要なときにのみ交通標識と同じ意味を示す画像を路面描画することができる。
According to the above configuration, when the detection unit detects that the vehicle has entered the predetermined area, the drawing command unit causes the road surface drawing device to draw an image having the same meaning as the traffic sign. Therefore, the road surface drawing device can draw an image showing the same meaning as a traffic sign only when necessary.
また、本開示の一態様に係る交通用インフラストラクチャにおいて、
前記路面描画装置は、グリッド線をさらに路面描画可能であり、
前記検知部が、路面の凹凸状態が通常の状態とは異なることを検知したとき、前記描画指令部は、前記グリッド線を前記路面描画装置に路面描画させてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device can further draw the grid lines on the road surface.
When the detection unit detects that the uneven state of the road surface is different from the normal state, the drawing command unit may cause the road surface drawing device to draw the grid lines on the road surface.
前記路面描画装置は、グリッド線をさらに路面描画可能であり、
前記検知部が、路面の凹凸状態が通常の状態とは異なることを検知したとき、前記描画指令部は、前記グリッド線を前記路面描画装置に路面描画させてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device can further draw the grid lines on the road surface.
When the detection unit detects that the uneven state of the road surface is different from the normal state, the drawing command unit may cause the road surface drawing device to draw the grid lines on the road surface.
上記構成によれば、検知部が、路面の凹凸状態が通常の状態とは異なることを検知したとき、描画指令部は、グリッド線を路面描画装置に路面描画させる。このため、例えば、自動運転車が路面の凹凸状態を認識できない場合であっても、当該自動運転車は、描画されたグリッド線を検知することで、路面の凹凸状態を認識しやすくなる。その結果、自動運転車は、路面描画されたグリッド線に基づいて、適切な領域を走行することができる。
According to the above configuration, when the detection unit detects that the uneven state of the road surface is different from the normal state, the drawing command unit causes the road surface drawing device to draw the grid lines on the road surface. Therefore, for example, even when the autonomous driving vehicle cannot recognize the uneven state of the road surface, the autonomous driving vehicle can easily recognize the uneven state of the road surface by detecting the drawn grid lines. As a result, the self-driving car can travel in an appropriate area based on the grid lines drawn on the road surface.
また、本開示の一態様に係る交通用インフラストラクチャにおいて、
前記路面描画装置は、赤外線により前記グリッド線を描くように構成されていてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device may be configured to draw the grid lines by infrared rays.
前記路面描画装置は、赤外線により前記グリッド線を描くように構成されていてもよい。 In addition, in the transportation infrastructure according to one aspect of the present disclosure,
The road surface drawing device may be configured to draw the grid lines by infrared rays.
上記構成によれば、グリッド線は赤外線によって描かれる。人間は赤外線を視認することができないが、センサはグリッド線を認識することができる。したがって、上記のような交通用インフラストラクチャであれば、自動運転車にとって有益な情報を自動運転車にのみ提供し、手動運転車両の運転手や歩行者に混乱を生じさせない。
According to the above configuration, the grid lines are drawn by infrared rays. Humans cannot see infrared rays, but sensors can recognize grid lines. Therefore, the above-mentioned transportation infrastructure provides useful information for the autonomous vehicle only to the autonomous vehicle and does not cause confusion for the driver or pedestrian of the manually driven vehicle.
本開示によれば、路面状況に依存することなく、自動車の運転主体が交通標識を認識することを可能にする交通用インフラストラクチャを提供することができる。
According to the present disclosure, it is possible to provide a traffic infrastructure that enables an automobile driver to recognize a traffic sign without depending on the road surface condition.
以下、本開示の実施形態(以下、本実施形態という。)について図面を参照しながら説明する。尚、本実施形態の説明において既に説明された部材と同一の参照番号を有する部材については、説明の便宜上、その説明は省略する。また、本図面に示された各部材の寸法は、説明の便宜上、実際の各部材の寸法とは異なる場合がある。
Hereinafter, the embodiment of the present disclosure (hereinafter, referred to as the present embodiment) will be described with reference to the drawings. For convenience of explanation, the description of the member having the same reference number as the member already described in the description of the present embodiment will be omitted. Further, the dimensions of each member shown in this drawing may differ from the actual dimensions of each member for convenience of explanation.
(全体構成)
図1及び図2を参照して、本実施形態の一つに係る街路灯50(交通用インフラストラクチャの一例)について説明する。図1は、街路灯50のブロック図を例示している。図2は、本実施形態の一つに係る街路灯50を例示する図である。図1に例示するように、街路灯50は、照明部51と、検知部52と、制御部53と、を備える。照明部51、検知部52および、制御部53は、バス54を介して互いに通信可能に接続されている。街路灯50は、車道や歩道等の近くの地面に設置されている。つまり、街路灯50に備わる検知部52は地面に固定されている。 (overall structure)
A street light 50 (an example of a transportation infrastructure) according to one of the present embodiments will be described with reference to FIGS. 1 and 2. FIG. 1 illustrates a block diagram of thestreet light 50. FIG. 2 is a diagram illustrating a street light 50 according to one of the present embodiments. As illustrated in FIG. 1, the street light 50 includes a lighting unit 51, a detection unit 52, and a control unit 53. The lighting unit 51, the detection unit 52, and the control unit 53 are connected to each other so as to be able to communicate with each other via the bus 54. The street light 50 is installed on the ground near a roadway, a sidewalk, or the like. That is, the detection unit 52 provided in the street light 50 is fixed to the ground.
図1及び図2を参照して、本実施形態の一つに係る街路灯50(交通用インフラストラクチャの一例)について説明する。図1は、街路灯50のブロック図を例示している。図2は、本実施形態の一つに係る街路灯50を例示する図である。図1に例示するように、街路灯50は、照明部51と、検知部52と、制御部53と、を備える。照明部51、検知部52および、制御部53は、バス54を介して互いに通信可能に接続されている。街路灯50は、車道や歩道等の近くの地面に設置されている。つまり、街路灯50に備わる検知部52は地面に固定されている。 (overall structure)
A street light 50 (an example of a transportation infrastructure) according to one of the present embodiments will be described with reference to FIGS. 1 and 2. FIG. 1 illustrates a block diagram of the
照明部51は、路面描画装置511と、照明装置512と、を備えている。なお、本実施形態において、照明部51は、街路灯50の外部に配置されている(図2参照)。ただし、照明部51は、例えば街路灯50の内部に配置されていてもよい。
The lighting unit 51 includes a road surface drawing device 511 and a lighting device 512. In this embodiment, the lighting unit 51 is arranged outside the street light 50 (see FIG. 2). However, the lighting unit 51 may be arranged inside the street light 50, for example.
路面描画装置511は、例えば、レーザ光源と、レーザ光源から出射されるレーザ光を偏向する光偏向装置とを備えるレーザ走査装置である。レーザ光源は、可視光の光源と、赤外線の光源と、を備えている。光偏向装置は、例えば、MEMS(Micro Electro Mechanical Systems)ミラーやガルバノミラー等の可動ミラーである。路面描画装置511は、レーザ光を走査することで光パターン(例えば、リング状の光パターンや線状の光パターン)を路面等の対象物に向けて照射する。特に、路面描画装置511は、レーザ光を走査することで、光パターンを路面上に描画する。また、路面描画装置511は、赤外線レーザを走査することで、グリッド線を路面上に描画することもできる。なお、本明細書における「路面描画」という語句には、道路等に対する描画のみならず、道路の傍らまたは上空に設置された道路標識や、道路の傍らに位置する建物の壁等に対する描画も含まれる。
The road surface drawing device 511 is, for example, a laser scanning device including a laser light source and a light deflecting device that deflects the laser light emitted from the laser light source. The laser light source includes a visible light source and an infrared light source. The light deflector is, for example, a movable mirror such as a MEMS (Micro Electro Mechanical Systems) mirror or a galvano mirror. The road surface drawing device 511 scans the laser beam to irradiate an object such as a road surface with a light pattern (for example, a ring-shaped light pattern or a linear light pattern). In particular, the road surface drawing device 511 draws an optical pattern on the road surface by scanning the laser beam. The road surface drawing device 511 can also draw grid lines on the road surface by scanning the infrared laser. The term "road surface drawing" in the present specification includes not only drawing on roads, etc., but also drawing on road signs installed beside or above the road, and drawings on the walls of buildings located beside the road. Is done.
照明装置512は、例えばLEDランプ等である。照明装置512は、街路灯50の設置位置の近くにある路面に向けて照明用の光を出射することができる。
The lighting device 512 is, for example, an LED lamp or the like. The lighting device 512 can emit light for lighting toward a road surface near the installation position of the street light 50.
検知部52は、カメラ521と、レーダ522と、を含む。本実施形態において、カメラ521とレーダ522は、街路灯50の外部に配置されている(図2参照)。ただし、カメラ521とレーダ522は、街路灯50の内部に配置されていてもよい。
The detection unit 52 includes a camera 521 and a radar 522. In the present embodiment, the camera 521 and the radar 522 are arranged outside the street light 50 (see FIG. 2). However, the camera 521 and the radar 522 may be arranged inside the street light 50.
カメラ521は、例えば、CCD(Charge-Coupled Device)やCMOS(相補型MOS)等の撮像素子を含むカメラである。レーダ522は、ミリ波レーダ、マイクロ波レーダ又はレーザーレーダ等である。カメラ521及び/又はレーダ522は、街路灯50の周辺環境(車両、歩行者、道路形状、交通標識、障害物等)を検知し、当該検知された周辺環境情報(検知部52によって検知された情報)を制御部53に出力するように構成されている。なお、本明細書において交通標識とは、速度制限に関する標識、一時停止に関する標識、走行線等の交通に関する様々な標識である。なお、走行線とは、走行レーンを区切る線、すなわち車道の中央分離線や、車道と歩道を区切る線等である。
The camera 521 is, for example, a camera including an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary MOS). The radar 522 is a millimeter wave radar, a microwave radar, a laser radar, or the like. The camera 521 and / or the radar 522 detects the surrounding environment (vehicle, pedestrian, road shape, traffic sign, obstacle, etc.) of the street light 50, and the detected surrounding environment information (detected by the detection unit 52). Information) is configured to be output to the control unit 53. In the present specification, the traffic signs are various signs related to traffic such as speed limit signs, stop signs, and running lines. The traveling line is a line that separates the traveling lane, that is, a central separation line of the roadway, a line that separates the roadway from the sidewalk, and the like.
制御部53は、電子制御ユニット(ECU)により構成されている。電子制御ユニットは、CPU(Central Processing Unit)等のプロセッサと、各種街路灯用制御プログラムが記憶されたROM(Read Only Memory)と、各種街路灯用制御データが一時的に記憶されるRAM(Random Access Memory)とにより構成されている。プロセッサは、ROMに記憶された各種街路灯用制御プログラムから指定されたプログラムをRAM上に展開し、RAMとの協働で各種処理を実行するように構成されている。また、本実施形態において、制御部53は、街路灯50の内部に配置されている(図2参照)。さらに、制御部53は、図1に例示するように、描画指令部531を備えている。描画指令部531は、例えば、街路灯50の周囲の路面に向けてレーザ光が照射されるように、路面描画装置511を制御するように構成されている。
The control unit 53 is composed of an electronic control unit (ECU). The electronic control unit includes a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) in which control programs for various street lights are stored, and a RAM (Random) in which control data for various street lights are temporarily stored. It is composed of Access Memory). The processor is configured to expand a program designated from various street light control programs stored in the ROM on the RAM and execute various processes in cooperation with the RAM. Further, in the present embodiment, the control unit 53 is arranged inside the street light 50 (see FIG. 2). Further, the control unit 53 includes a drawing command unit 531 as illustrated in FIG. The drawing command unit 531 is configured to control the road surface drawing device 511, for example, so that the laser beam is irradiated toward the road surface around the street light 50.
制御部53は、検知部52から受信した街路灯50の周辺環境情報に基づいて、所定の領域内に車両等が存在しているか否かを判断することができる。
The control unit 53 can determine whether or not a vehicle or the like exists in a predetermined area based on the surrounding environment information of the street light 50 received from the detection unit 52.
描画指令部531は、受信した周辺環境情報に基づいて、街路灯50の周辺の路面に向けて、所定の情報を路面描画する必要があるか否かを判断することができる。例えば、雪や落ち葉等によって路面に描かれた各種交通標識(走行線や速度制限に関する標識等)の少なくとも一部が隠れてしまうと、車両の運転手は、各種交通標識を視認することが難しくなることがある。描画指令部531は、街路灯50の検知部52が周辺環境情報を検知することができる領域(以下、「検知可能領域」という)内にある交通標識のうち、車両の運転手等が視認することができる部分の割合Xを算出する。描画指令部531は、算出された割合Xが所定値以下であると判定すると、路面描画装置511に対して、検知可能領域内にある交通標識と同じ意味を示す画像を、検知可能領域に路面描画させる。交通標識と同じ意味を示す画像は、隠れた交通標識と同一の形の画像であってもよいし、車両または車両の運転手に隠れた交通標識と同じ意味を伝達することができる異なる形態の画像であってもよい。
Based on the received surrounding environment information, the drawing command unit 531 can determine whether or not it is necessary to draw predetermined information toward the road surface around the street light 50. For example, if at least a part of various traffic signs (signs related to running lines and speed limits, etc.) drawn on the road surface is hidden by snow or fallen leaves, it is difficult for the driver of the vehicle to visually recognize the various traffic signs. May become. The drawing command unit 531 is visually recognized by a vehicle driver or the like among the traffic signs in the area where the detection unit 52 of the street light 50 can detect the surrounding environment information (hereinafter referred to as “detectable area”). Calculate the ratio X of the part that can be done. When the drawing command unit 531 determines that the calculated ratio X is equal to or less than a predetermined value, the drawing command unit 531 displays an image showing the same meaning as the traffic sign in the detectable area on the road surface drawing device 511 in the detectable area. Let it draw. An image showing the same meaning as a traffic sign may be an image having the same shape as a hidden traffic sign, or a different form capable of transmitting the same meaning as a hidden traffic sign to a vehicle or a driver of a vehicle. It may be an image.
描画指令部531によって算出される割合Xは、以下の式1により算出される。例えば、式1中のYは、交通標識全体の面積のうち、車両の運転手等が視認することができる部分の面積を表し、式1中のZは、交通標識全体の面積を表す。なお、式1中のYおよびZは、面積に関する情報に限られず、例えば長さに関する情報等であってもよい。交通標識全体の面積等に関する情報は、予め制御部53に保存されている。
The ratio X calculated by the drawing command unit 531 is calculated by the following equation 1. For example, Y in Equation 1 represents the area of the entire area of the traffic sign that can be visually recognized by the driver of the vehicle, and Z in Equation 1 represents the area of the entire traffic sign. Note that Y and Z in Equation 1 are not limited to information on area, and may be, for example, information on length. Information on the area of the entire traffic sign and the like is stored in advance in the control unit 53.
X=(Y/Z)*100(%)・・・(式1)
X = (Y / Z) * 100 (%) ... (Equation 1)
本実施形態において、描画指令部531は、割合Xが50%以下のとき、路面描画装置511に対して、検知可能領域内にある交通標識と同じ意味を示す画像を検知可能領域に路面描画させるものとして説明する。つまり、本実施形態における所定値は50%であるものとして説明する。ただし、所定値は、50%に限定されないことは勿論である。
In the present embodiment, when the ratio X is 50% or less, the drawing command unit 531 causes the road surface drawing device 511 to draw an image having the same meaning as a traffic sign in the detectable area in the detectable area. Explain as a thing. That is, the predetermined value in this embodiment will be described as being 50%. However, it goes without saying that the predetermined value is not limited to 50%.
(第一実施例)
次に、図3~図4Bを参照して、第一実施例について説明する。図3は、路面描画装置511が路面描画を行うまでの流れを例示するフロー図である。図4Aおよび図4Bは、路面が雪S1に覆われているときの状態を例示する図である。なお、図4Aおよび図4Bに例示する状況において、街路灯50のカメラ521およびレーダ522は、街路灯50の周囲である領域Aに関する周辺環境情報を検知する。 (First Example)
Next, the first embodiment will be described with reference to FIGS. 3 to 4B. FIG. 3 is a flow diagram illustrating the flow until the roadsurface drawing device 511 draws the road surface. 4A and 4B are diagrams illustrating a state when the road surface is covered with snow S1. In the situations illustrated in FIGS. 4A and 4B, the camera 521 and the radar 522 of the street light 50 detect the surrounding environment information regarding the area A around the street light 50.
次に、図3~図4Bを参照して、第一実施例について説明する。図3は、路面描画装置511が路面描画を行うまでの流れを例示するフロー図である。図4Aおよび図4Bは、路面が雪S1に覆われているときの状態を例示する図である。なお、図4Aおよび図4Bに例示する状況において、街路灯50のカメラ521およびレーダ522は、街路灯50の周囲である領域Aに関する周辺環境情報を検知する。 (First Example)
Next, the first embodiment will be described with reference to FIGS. 3 to 4B. FIG. 3 is a flow diagram illustrating the flow until the road
本実施例において、図4Aおよび図4Bに例示するように、路面の領域Aには、走行線R(交通標識の一例)がある。領域Aにおける走行線Rの長さは20mである。走行線Rの一部は雪S1に覆われている。領域Aにおける走行線Rのうち、車両Vの運転手が視認可能な部分、すなわち雪S1に覆われていない部分の長さは4mである。
In this embodiment, as illustrated in FIGS. 4A and 4B, the road surface area A has a traveling line R (an example of a traffic sign). The length of the traveling line R in the area A is 20 m. A part of the running line R is covered with snow S1. The length of the portion of the traveling line R in the region A that is visible to the driver of the vehicle V, that is, the portion that is not covered by the snow S1, is 4 m.
図3を参照して、本実施例における、路面描画装置511が路面描画を行うまでの流れを説明する。ステップS01において、制御部53は、検知部52から受信した街路灯50の周辺環境情報に基づいて、車両が所定の領域内に存在するか否かを判断する。例えば、検知部52のレーダ522は、電波を領域Aに向けて発射している。領域Aに車両Vが進入すると、検知部52は、レーダ522から発射される電波の反射波を検知することで、車両Vを検知する。検知部52が車両Vを検知すると(ステップS01においてYES)、検知部52は、レーダ522によって検知された周辺環境情報、すなわち車両Vの存在を示す情報を、制御部53に出力する。一方、領域Aに車両がいない場合(ステップS01においてNO)、ステップS01を繰り返す。本実施例では、図4Aに例示するように、車両Vは領域A内にいるので(ステップS01においてYES)、ステップS02に進む。
With reference to FIG. 3, the flow until the road surface drawing device 511 draws the road surface in this embodiment will be described. In step S01, the control unit 53 determines whether or not the vehicle exists in a predetermined area based on the surrounding environment information of the street light 50 received from the detection unit 52. For example, the radar 522 of the detection unit 52 emits radio waves toward the region A. When the vehicle V enters the area A, the detection unit 52 detects the vehicle V by detecting the reflected wave of the radio wave emitted from the radar 522. When the detection unit 52 detects the vehicle V (YES in step S01), the detection unit 52 outputs the surrounding environment information detected by the radar 522, that is, the information indicating the existence of the vehicle V to the control unit 53. On the other hand, when there is no vehicle in the area A (NO in step S01), step S01 is repeated. In this embodiment, as illustrated in FIG. 4A, since the vehicle V is in the region A (YES in step S01), the process proceeds to step S02.
制御部53は、車両Vの存在を示す情報を受信すると、領域Aを撮像するよう、検知部52のカメラ521を制御する。カメラ521は、領域Aを撮像し、領域Aに関する周辺環境情報を検知する(ステップS02)。本実施例では、検知部52は、図4Aに示す例における領域Aを撮像したカメラ521の撮像データに基づいて、雪S1に覆われていない部分の長さは4mであることを示す情報を含む周辺環境情報を検知する。検知された周辺環境情報は、制御部53に出力される。
When the control unit 53 receives the information indicating the existence of the vehicle V, the control unit 53 controls the camera 521 of the detection unit 52 so as to image the area A. The camera 521 takes an image of the area A and detects the surrounding environment information regarding the area A (step S02). In this embodiment, the detection unit 52 provides information indicating that the length of the portion not covered by the snow S1 is 4 m based on the image data of the camera 521 that images the region A in the example shown in FIG. 4A. Detects surrounding environment information including. The detected surrounding environment information is output to the control unit 53.
制御部53の描画指令部531は、受信した周辺環境情報に基づき、領域Aにある交通標識のうち、車両Vの運転手が視認可能な部分の割合Xを算出する(ステップS03)。割合Xの算出にあたっては、上記式1が用いられる。ただし、本実施例では、交通標識が走行線であるため、式1におけるYは領域Aにおける走行線Rの全体の長さのうち車両Vの運転手が視認することができる部分の長さを表しており、式1におけるZは領域Aにおける走行線Rの全体の長さを表している。本実施例では、Yは4mであり、Zは20mである。したがって、割合Xは20%である。
Based on the received surrounding environment information, the drawing command unit 531 of the control unit 53 calculates the ratio X of the portion of the traffic sign in the area A that is visible to the driver of the vehicle V (step S03). In calculating the ratio X, the above formula 1 is used. However, in this embodiment, since the traffic sign is a traveling line, Y in Equation 1 is the length of the portion of the total length of the traveling line R in the region A that can be visually recognized by the driver of the vehicle V. In the equation 1, Z represents the total length of the traveling line R in the region A. In this embodiment, Y is 4 m and Z is 20 m. Therefore, the ratio X is 20%.
制御部53の描画指令部531は、割合Xを算出すると、算出された割合Xが所定値以下か否か判断する(ステップS04)。本実施例において、当該割合Xは20%であるので、描画指令部531は、割合Xは50%以下であると判定する(ステップS04においてYES)。割合Xが所定値以下のとき、制御部53の描画指令部531は、路面描画装置511に、交通標識と同じ意味を示す画像、すなわち走行線Rと同じ意味を示す画像を領域Aに路面描画させる(ステップS05)。その結果、図4Bに例示するように、雪S1上に走行線Rと同じ意味を示す画像が描画されるので、車両Vの運転手は走行線Rの位置を認識することができる。
When the drawing command unit 531 of the control unit 53 calculates the ratio X, it determines whether or not the calculated ratio X is equal to or less than a predetermined value (step S04). In this embodiment, since the ratio X is 20%, the drawing command unit 531 determines that the ratio X is 50% or less (YES in step S04). When the ratio X is equal to or less than a predetermined value, the drawing command unit 531 of the control unit 53 draws an image showing the same meaning as the traffic sign, that is, an image showing the same meaning as the traveling line R on the road surface drawing device 511 in the area A. (Step S05). As a result, as illustrated in FIG. 4B, an image showing the same meaning as the traveling line R is drawn on the snow S1, so that the driver of the vehicle V can recognize the position of the traveling line R.
一方、割合Xが50%より大きいと判定したとき(ステップS04においてNO)、走行線Rと同じ意味を示す画像は、領域Aに路面描画されない。
On the other hand, when it is determined that the ratio X is larger than 50% (NO in step S04), the image showing the same meaning as the traveling line R is not drawn on the road surface in the area A.
本実施例に係る構成によれば、描画指令部531が、走行線R(交通標識の一例)の視認可能な割合Xが所定値以下であると判定した場合、描画指令部531は、路面描画装置511に路面に描かれている走行線Rと同じ意味を示す画像を路面描画させる。このため、路面状況に依存することなく、自動車の運転主体は走行線Rを認識することができる。
According to the configuration according to this embodiment, when the drawing command unit 531 determines that the visible ratio X of the traveling line R (an example of a traffic sign) is equal to or less than a predetermined value, the drawing command unit 531 draws the road surface. The device 511 draws an image showing the same meaning as the traveling line R drawn on the road surface. Therefore, the driver of the automobile can recognize the traveling line R without depending on the road surface condition.
また、本実施例に係る構成によれば、描画指令部531は、車両Vが領域A内に進入したときに、交通標識と同じ意味を示す画像を路面描画装置511に路面描画させる。このため、路面描画装置511は、必要なときにのみ、交通標識と同じ意味を示す画像を路面描画することができる。
Further, according to the configuration according to the present embodiment, when the vehicle V enters the area A, the drawing command unit 531 causes the road surface drawing device 511 to draw an image showing the same meaning as the traffic sign. Therefore, the road surface drawing device 511 can draw an image showing the same meaning as the traffic sign only when necessary.
(第二実施例)
次に、図5~図6Bを参照して、第二実施例について説明する。図5は、路面描画装置511が路面描画を行うまでの流れを例示するフロー図である。図6Aおよび図6Bは、路面が雪S1および雪S2に覆われているときの状態を例示する図である。なお、本実施例では、雪S2は雪S1よりも高く積もっているものとして説明する。第二実施例において、車両Vは、カメラやセンサ等を用いて走行制御を実現する自動運転車である。なお、以下の説明において、第一実施例と重複する部分については説明を省略する。 (Second Example)
Next, the second embodiment will be described with reference to FIGS. 5 to 6B. FIG. 5 is a flow diagram illustrating the flow until the roadsurface drawing device 511 draws the road surface. 6A and 6B are diagrams illustrating a state when the road surface is covered with snow S1 and snow S2. In this embodiment, it is assumed that the snow S2 is piled up higher than the snow S1. In the second embodiment, the vehicle V is an autonomous driving vehicle that realizes traveling control by using a camera, a sensor, or the like. In the following description, the description of the portion overlapping with the first embodiment will be omitted.
次に、図5~図6Bを参照して、第二実施例について説明する。図5は、路面描画装置511が路面描画を行うまでの流れを例示するフロー図である。図6Aおよび図6Bは、路面が雪S1および雪S2に覆われているときの状態を例示する図である。なお、本実施例では、雪S2は雪S1よりも高く積もっているものとして説明する。第二実施例において、車両Vは、カメラやセンサ等を用いて走行制御を実現する自動運転車である。なお、以下の説明において、第一実施例と重複する部分については説明を省略する。 (Second Example)
Next, the second embodiment will be described with reference to FIGS. 5 to 6B. FIG. 5 is a flow diagram illustrating the flow until the road
第二実施例において、車両Vは自動運転モードで走行可能な車両である。運転モードは、自動運転モードと手動運転モードとからなる。自動運転モードは、完全自動運転モードと、高度運転支援モードと、運転支援モードとからなる。なお、本実施例においては、車両Vの運転モードは自動運転モードであるとして説明する。
In the second embodiment, the vehicle V is a vehicle capable of traveling in the automatic driving mode. 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. In this embodiment, the driving mode of the vehicle V will be described as an automatic driving mode.
車両Vはカメラを備えている。当該カメラは、カメラ521と同様の構成であってもよい。車両Vのカメラは、赤外線等のグリッド線Gを検知可能である。車両Vは、検知されたグリッド線Gに基づいて路面の凹凸状態を検知することができる。車両Vは、検知した路面の凹凸状態に基づき、路面上の適切な場所を走行することができる。
Vehicle V is equipped with a camera. The camera may have the same configuration as the camera 521. The camera of the vehicle V can detect the grid line G such as infrared rays. The vehicle V can detect the uneven state of the road surface based on the detected grid line G. The vehicle V can travel at an appropriate place on the road surface based on the detected uneven state of the road surface.
図5を参照して、本実施例における、路面描画装置511が路面描画を行うまでの流れを説明する。ステップS11~S12は図3のステップS01~S02と同様なので説明を省略する。
With reference to FIG. 5, the flow until the road surface drawing device 511 draws the road surface in this embodiment will be described. Since steps S11 to S12 are the same as steps S01 to S02 in FIG. 3, description thereof will be omitted.
ステップS13において、制御部53の描画指令部531は、カメラ521から受信した周辺環境情報に基づき、現在の路面の凹凸状態を検知する。描画指令部531は、当該検知結果に基づき、平常時(通常時)の路面の凹凸状態と比べて現在の路面の凹凸状態が異なっている割合Wを算出する。ステップS14では、算出された割合Wが所定値以上であるか否かを判断する。ステップS14においてYESの場合、ステップS15に進む。ステップS15において、路面描画装置511は、路面上の凹凸状態を車両Vに認識させやすくするためのグリッド線Gを路面描画する(ステップS15)。
In step S13, the drawing command unit 531 of the control unit 53 detects the current uneven state of the road surface based on the surrounding environment information received from the camera 521. Based on the detection result, the drawing command unit 531 calculates the ratio W in which the current uneven state of the road surface is different from the uneven state of the road surface in normal times (normal time). In step S14, it is determined whether or not the calculated ratio W is equal to or greater than a predetermined value. If YES in step S14, the process proceeds to step S15. In step S15, the road surface drawing device 511 draws a grid line G on the road surface so that the vehicle V can easily recognize the uneven state on the road surface (step S15).
図6Aに示す例では、第一実施例と異なり、雪S1と、雪S1よりも高く路面に積もっている雪S2とが領域A内にある。このとき、描画指令部531は、カメラ521から受信した周辺環境情報に基づき、割合Wを算出する(図5のステップS13)。第二実施例において、ステップS14の所定値は10%であり、割合Wは20%であるとする。描画指令部531は、割合W(20%)は10%以上であると判定する(図5のステップS14においてYES)。
In the example shown in FIG. 6A, unlike the first embodiment, the snow S1 and the snow S2 that is higher than the snow S1 and accumulated on the road surface are in the region A. At this time, the drawing command unit 531 calculates the ratio W based on the surrounding environment information received from the camera 521 (step S13 in FIG. 5). In the second embodiment, it is assumed that the predetermined value in step S14 is 10% and the ratio W is 20%. The drawing command unit 531 determines that the ratio W (20%) is 10% or more (YES in step S14 of FIG. 5).
その結果、図6Bに例示するように、描画指令部531は、路面描画装置511に、グリッド線Gを、雪S1および雪S2を含む路面上に描画させる(図5のステップS15)。なお、本実施例において、グリッド線Gは赤外線により描かれている。路面と雪S1または雪S2との境界および車道と歩道の境界等の凹凸がある部分におけるグリッド線Gは、凹凸状に曲がっている。このため、自動運転モードである車両Vは、車両Vが備えているカメラが検知したグリッド線Gの形状に基づいて路面の凹凸状態を認識することができる。車両Vは、認識した路面の凹凸状態に基づいて、走行すべき領域(例えば、凹凸状になっていない平坦な路面)を走行することができる。本実施例の場合、車両Vは、雪S2を回避するように走行することができる。
As a result, as illustrated in FIG. 6B, the drawing command unit 531 causes the road surface drawing device 511 to draw the grid line G on the road surface including the snow S1 and the snow S2 (step S15 in FIG. 5). In this embodiment, the grid line G is drawn by infrared rays. The grid line G at the uneven portion such as the boundary between the road surface and the snow S1 or the snow S2 and the boundary between the roadway and the sidewalk is curved in an uneven shape. Therefore, the vehicle V in the automatic driving mode can recognize the uneven state of the road surface based on the shape of the grid line G detected by the camera included in the vehicle V. The vehicle V can travel in a region to be traveled (for example, a flat road surface that is not uneven) based on the recognized unevenness of the road surface. In the case of this embodiment, the vehicle V can travel so as to avoid the snow S2.
また、第二実施例においても、第一実施例と同様に、走行線R(交通標識の一例)と同じ意味を示す画像が路面描画されている(図6B参照)。すなわち、第二実施例においても、割合Xが所定値以下であるとき、走行線Rと同じ意味を示す画像が路面描画される。このため、自動車の運転主体は、路面状況に依存することなく走行線Rを認識することができる。
Also, in the second embodiment, as in the first embodiment, an image showing the same meaning as the traveling line R (an example of a traffic sign) is drawn on the road surface (see FIG. 6B). That is, also in the second embodiment, when the ratio X is equal to or less than a predetermined value, an image showing the same meaning as the traveling line R is drawn on the road surface. Therefore, the driver of the automobile can recognize the traveling line R without depending on the road surface condition.
本実施例に係る構成によれば、街路灯50の検知部52が、現在の路面の凹凸状態が通常の状態とは異なることを検知したとき、路面上の凹凸状態を車両V(自動運転車)に認識させやすくするためのグリッド線Gが領域Aに描画される。このため、例えば、車両V(自動運転車)が路面上の凹凸状態を認識することが難しい場合でも、車両Vは、描画されたグリッド線Gを検知することで、路面の凹凸状態を認識しやすくなる。したがって、自動運転モードで走行する車両Vは、路面描画されたグリッド線Gに基づいて、適切な領域を走行することができる。
According to the configuration according to the present embodiment, when the detection unit 52 of the street light 50 detects that the uneven state of the current road surface is different from the normal state, the uneven state on the road surface is changed to the vehicle V (autonomous driving vehicle). ) Is drawn in the area A as a grid line G for easy recognition. Therefore, for example, even when it is difficult for the vehicle V (autonomous driving vehicle) to recognize the uneven state on the road surface, the vehicle V recognizes the uneven state on the road surface by detecting the drawn grid line G. It will be easier. Therefore, the vehicle V traveling in the automatic driving mode can travel in an appropriate region based on the grid line G drawn on the road surface.
なお、検知部52が、現在の路面の凹凸状態が通常の状態とは異なることを検知する方法としては、上述した割合Wを算出する方法に限られない。他の方法として例えば、現在の路面の一部が局所的に通常の路面と比較して形状が大きく異なっていることをもって、検知部52が、現在の路面の凹凸状態が通常の状態とは異なることを検知する方法であってもよい。
Note that the method by which the detection unit 52 detects that the current uneven state of the road surface is different from the normal state is not limited to the method of calculating the ratio W described above. As another method, for example, the detection unit 52 has a different uneven state of the current road surface from the normal state because a part of the current road surface is locally significantly different in shape from the normal road surface. It may be a method of detecting that.
また、本実施例に係る構成によれば、グリッド線Gは赤外線で描かれるため、手動運転車両の運転手や歩行者に、視覚的な混乱を与えることなく、走行エリアに関する情報を自動運転車にのみ提供することができる。
Further, according to the configuration according to the present embodiment, since the grid line G is drawn by infrared rays, the information about the traveling area can be transmitted to the driver and the pedestrian of the manually driven vehicle without causing visual confusion. Can only be provided to.
上述した実施例において、制御部53は、レーダ522から受信した周辺環境情報に基づき、領域A内に車両Vが存在するかどうか判断しているがこの例に限られない。例えば、制御部53は、カメラ521から受信した周辺環境情報に基づき、領域A内に車両Vが存在するかどうかを判断してもよい。
In the above-described embodiment, the control unit 53 determines whether or not the vehicle V exists in the area A based on the surrounding environment information received from the radar 522, but the present invention is not limited to this example. For example, the control unit 53 may determine whether or not the vehicle V exists in the area A based on the surrounding environment information received from the camera 521.
上述した実施例においては、街路灯50を用いて本開示に係る交通用インフラストラクチャについて説明したがこの例に限られない。例えば、信号機、電柱等に対しても本開示を適用させることができる。
In the above-described embodiment, the transportation infrastructure according to the present disclosure has been described using the street light 50, but the present invention is not limited to this example. For example, the present disclosure can be applied to traffic lights, utility poles, and the like.
上述した実施例においては、雪S1が走行線Rを覆っている状態を用いて説明したがこの例に限られない。例えば、走行線が摩耗により消えている場合や、落ち葉が走行線Rを覆っている場合等においても、本開示は適用可能である。
In the above-described embodiment, the snow S1 covers the traveling line R, but the description is not limited to this example. For example, the present disclosure is applicable even when the traveling line disappears due to wear, or when the fallen leaves cover the traveling line R.
第二実施例において、路面描画装置511は赤外線を照射することによってグリッド線Gを描いているがこの例に限られない。例えば、路面描画装置511は可視光線を照射することによってグリッド線を描いてもよい。
In the second embodiment, the road surface drawing device 511 draws the grid line G by irradiating infrared rays, but the present invention is not limited to this example. For example, the road surface drawing device 511 may draw grid lines by irradiating with visible light.
第二実施例において、路面描画装置511は、走行線Rは描画せず、グリッド線Gのみを描画してもよい。
In the second embodiment, the road surface drawing device 511 may draw only the grid line G without drawing the traveling line R.
上述した実施例においては、路面描画装置511が、街路灯50の周辺の路面に向けて、所定の情報を路面描画する例を用いて説明したが、これに限られない。例えば、路面描画装置511は、道路の傍らまたは上空に設置された道路標識や、道路の傍らに位置する建物の壁等に向けて、所定の情報を路面描画してもよい。
In the above-described embodiment, the road surface drawing device 511 has described using an example of drawing predetermined information on the road surface toward the road surface around the street light 50, but the present invention is not limited to this. For example, the road surface drawing device 511 may draw predetermined information on a road surface toward a road sign installed near or above the road, a wall of a building located near the road, or the like.
(街路灯50と車両Vの変形例)
次に、街路灯50と車両Vの変形例について説明する。なお、本変形例において、第一実施例または第二実施例と説明が重複する部分については説明を省略する。図1に例示する街路灯50のブロック図において破線で示されているように、当該変形例に係る街路灯50は、無線通信部55をさらに有している。また、図4A~図4Bおよび図6A~図6Bにおいて破線で示されているように、当該変形例に係る車両Vは、路面描画装置V1と、無線通信部V2と、を備えている。 (Modification example ofstreet light 50 and vehicle V)
Next, a modified example of thestreet light 50 and the vehicle V will be described. In this modified example, the description of the portion where the description overlaps with that of the first embodiment or the second embodiment will be omitted. As shown by the broken line in the block diagram of the street light 50 illustrated in FIG. 1, the street light 50 according to the modified example further has a wireless communication unit 55. Further, as shown by the broken lines in FIGS. 4A to 4B and 6A to 6B, the vehicle V according to the modified example includes a road surface drawing device V1 and a wireless communication unit V2.
次に、街路灯50と車両Vの変形例について説明する。なお、本変形例において、第一実施例または第二実施例と説明が重複する部分については説明を省略する。図1に例示する街路灯50のブロック図において破線で示されているように、当該変形例に係る街路灯50は、無線通信部55をさらに有している。また、図4A~図4Bおよび図6A~図6Bにおいて破線で示されているように、当該変形例に係る車両Vは、路面描画装置V1と、無線通信部V2と、を備えている。 (Modification example of
Next, a modified example of the
無線通信部55は、車両Vの無線通信部V2と無線通信を行うように構成されている。無線通信部55は、例えば、アドホックモードで無線通信部V2と直接通信してもよいし、ネットワークを介して無線通信部V2と通信してもよい。無線通信部55は、指示信号や各種情報を車両Vの無線通信部V2に送信するとともに、車両Vの走行情報等を車両Vの無線通信部V2から受信するように構成されている(路車間通信)。
The wireless communication unit 55 is configured to perform wireless communication with the wireless communication unit V2 of the vehicle V. The wireless communication unit 55 may communicate directly with the wireless communication unit V2 in an ad hoc mode, or may communicate with the wireless communication unit V2 via a network, for example. The wireless communication unit 55 is configured to transmit instruction signals and various information to the wireless communication unit V2 of the vehicle V, and receive traveling information of the vehicle V and the like from the wireless communication unit V2 of the vehicle V (road-to-vehicle distance). communication).
路面描画装置V1は、路面描画装置511と同様の構成であってもよい。路面描画装置V1は、光パターン等を路面や道路標識等に路面描画することができる。
The road surface drawing device V1 may have the same configuration as the road surface drawing device 511. The road surface drawing device V1 can draw a light pattern or the like on a road surface, a road sign, or the like.
無線通信部V2は、無線通信部55と同様の構成であってもよい。無線通信部V2は、街路灯50の無線通信部55と通信可能である。
The wireless communication unit V2 may have the same configuration as the wireless communication unit 55. The wireless communication unit V2 can communicate with the wireless communication unit 55 of the street light 50.
制御部53の描画指令部531は、交通標識と同じ意味を示す画像を路面描画する必要があると判断すると、路面描画装置V1に交通標識と同じ意味を示す画像を路面描画させるための指示信号を生成する。当該指示信号は、無線通信部55および車両Vの無線通信部V2を介して、車両Vに送信される。車両Vが当該指示信号を受信すると、路面描画装置V1は、交通標識と同じ意味を示す画像を路面描画する。
When the drawing command unit 531 of the control unit 53 determines that it is necessary to draw an image showing the same meaning as the traffic sign on the road surface, an instruction signal for causing the road surface drawing device V1 to draw an image showing the same meaning as the traffic sign on the road surface. To generate. The instruction signal is transmitted to the vehicle V via the wireless communication unit 55 and the wireless communication unit V2 of the vehicle V. When the vehicle V receives the instruction signal, the road surface drawing device V1 draws an image showing the same meaning as the traffic sign on the road surface.
路面描画装置V1よって交通標識と同じ意味を示す画像が路面描画される例としては、例えば、街路灯50の路面描画装置511が故障したときや、雪等により路面描画装置511がうまく作動しないときである。この場合、街路灯50の制御部53は、先ずはじめに路面描画装置511により所定の場所に路面描画することができるか否かを判断する。制御部53が、路面描画装置511により所定の場所に路面描画することができないと判断した場合、上記のように、制御部53の描画指令部531は、車両Vの路面描画装置V1が路面描画するよう路面描画装置V1を制御してもよい。また、路面描画装置V1と同様の構成の路面描画装置を有する車両V以外の他の車両がいるとき、制御部53が、路面描画装置511により所定の場所に路面描画することができないと判断した場合、制御部53の描画指令部531は、当該他の車両の路面描画装置が路面描画するよう当該路面描画装置を制御してもよい。
An example in which an image showing the same meaning as a traffic sign is drawn on the road surface by the road surface drawing device V1 is, for example, when the road surface drawing device 511 of the street light 50 breaks down or when the road surface drawing device 511 does not operate well due to snow or the like. Is. In this case, the control unit 53 of the street light 50 first determines whether or not the road surface drawing device 511 can draw the road surface at a predetermined location. When the control unit 53 determines that the road surface drawing device 511 cannot draw the road surface at a predetermined location, as described above, the drawing command unit 531 of the control unit 53 is used by the road surface drawing device V1 of the vehicle V to draw the road surface. The road surface drawing device V1 may be controlled so as to do so. Further, when there is a vehicle other than the vehicle V having a road surface drawing device having the same configuration as the road surface drawing device V1, the control unit 53 determines that the road surface drawing device 511 cannot draw the road surface at a predetermined place. In this case, the drawing command unit 531 of the control unit 53 may control the road surface drawing device so that the road surface drawing device of the other vehicle draws the road surface.
(街路灯50による路面描画の変形例)
次に、街路灯50による路面描画の変形例について説明する。本変形例に係る街路灯50は、領域A内で非常事態が生じたときに適用され得る。非常事態は、例えば、車両同士の衝突、領域Aまたは領域Aの周囲で発生した火災や地割れ等である。変形例に係る街路灯50の制御部53は、常時、または所定の間隔で、検知部52のカメラ521に対し、領域Aを撮像するように制御する。例えば、領域A内において車両同士が衝突したとき、制御部53は、検知部52から受信した周辺環境情報に基づいて、車両同士の衝突を認識する。制御部53は、車両同士の衝突を認識すると、非常事態の発生を示す非常事態情報を生成する。非常事態情報は、描画指令部531に送信される。描画指令部531は、路面描画装置511に対し、受信した非常事態情報に対応する情報を領域Aまたは領域Aの周囲に路面描画するよう制御する。その結果、領域Aまたは領域Aの周囲には、例えば、「危険です」といった文字が路面描画される。 (Modification example of road surface drawing by street light 50)
Next, a modified example of road surface drawing by thestreet light 50 will be described. The street light 50 according to this modification can be applied when an emergency occurs in the area A. An emergency situation is, for example, a collision between vehicles, a fire or a crack in the ground in or around the area A. The control unit 53 of the street light 50 according to the modified example controls the camera 521 of the detection unit 52 to take an image of the area A at all times or at predetermined intervals. For example, when vehicles collide with each other in the area A, the control unit 53 recognizes the collision between vehicles based on the surrounding environment information received from the detection unit 52. When the control unit 53 recognizes a collision between vehicles, it generates emergency information indicating the occurrence of an emergency. The emergency information is transmitted to the drawing command unit 531. The drawing command unit 531 controls the road surface drawing device 511 to draw the information corresponding to the received emergency information on the road surface A or around the area A. As a result, a character such as "dangerous" is drawn on the road surface around the area A or the area A.
次に、街路灯50による路面描画の変形例について説明する。本変形例に係る街路灯50は、領域A内で非常事態が生じたときに適用され得る。非常事態は、例えば、車両同士の衝突、領域Aまたは領域Aの周囲で発生した火災や地割れ等である。変形例に係る街路灯50の制御部53は、常時、または所定の間隔で、検知部52のカメラ521に対し、領域Aを撮像するように制御する。例えば、領域A内において車両同士が衝突したとき、制御部53は、検知部52から受信した周辺環境情報に基づいて、車両同士の衝突を認識する。制御部53は、車両同士の衝突を認識すると、非常事態の発生を示す非常事態情報を生成する。非常事態情報は、描画指令部531に送信される。描画指令部531は、路面描画装置511に対し、受信した非常事態情報に対応する情報を領域Aまたは領域Aの周囲に路面描画するよう制御する。その結果、領域Aまたは領域Aの周囲には、例えば、「危険です」といった文字が路面描画される。 (Modification example of road surface drawing by street light 50)
Next, a modified example of road surface drawing by the
本変形例に係る街路灯50によれば、領域Aで非常事態が発生したとき、非常事態が発生したことが、街路灯50による路面描画によって領域Aの周囲にいる歩行者や車両に報知される。このため、本変形例に係る街路灯50によれば、歩行者や車両が領域Aに進入することを抑止することができる。
According to the street light 50 according to this modification, when an emergency occurs in the area A, the pedestrians and vehicles around the area A are notified that the emergency has occurred by drawing the road surface with the street light 50. To. Therefore, according to the street light 50 according to the present modification, it is possible to prevent pedestrians and vehicles from entering the area A.
なお、本開示は、上述した実施形態に限定されず、適宜、変形、改良等が自在である。その他、上述した実施形態における各構成要素の材質、形状、寸法、数値、形態、数、配置場所等は、本開示を達成できるものであれば任意であり、限定されない。
Note that the present disclosure is not limited to the above-described embodiment, and can be freely modified, improved, and the like as appropriate. In addition, the material, shape, size, numerical value, form, number, arrangement location, etc. of each component in the above-described embodiment are arbitrary and are not limited as long as the present disclosure can be achieved.
本出願は、2019年6月12日出願の日本国特許出願(特願2019-109504号)に基づくものであり、その内容はここに参照として取り込まれる。
This application is based on a Japanese patent application (Japanese Patent Application No. 2019-109504) filed on June 12, 2019, the contents of which are incorporated herein by reference.
Claims (6)
- 路面に描かれている交通標識を検知可能であって、地面に固定された検知部と、
前記検知部により検知された情報に基づき、前記路面に描かれている交通標識の視認可能な割合が所定値以下であると判定したときに、前記交通標識と同じ意味を示す画像を路面描画可能な路面描画装置に前記画像を路面描画させる描画指令部と、を備えた、交通用インフラストラクチャ。 A detection unit that can detect traffic signs drawn on the road surface and is fixed to the ground,
Based on the information detected by the detection unit, when it is determined that the visible ratio of the traffic sign drawn on the road surface is equal to or less than a predetermined value, an image showing the same meaning as the traffic sign can be drawn on the road surface. A traffic infrastructure provided with a drawing command unit for drawing the image on a road surface drawing device. - 前記交通用インフラストラクチャは、前記路面描画装置を備えている、請求項1に記載の交通用インフラストラクチャ。 The transportation infrastructure according to claim 1, wherein the transportation infrastructure includes the road surface drawing device.
- 前記路面描画装置は車両に備わっており、
前記交通用インフラストラクチャは、前記車両と通信可能である、請求項1に記載の交通用インフラストラクチャ。 The road surface drawing device is provided in the vehicle.
The transportation infrastructure according to claim 1, wherein the transportation infrastructure can communicate with the vehicle. - 前記検知部が、車両が所定の領域内に進入したことを検知すると、前記描画指令部は前記路面描画装置に前記画像を路面描画させる、請求項1から3のいずれか一項に記載の交通用インフラストラクチャ。 The traffic according to any one of claims 1 to 3, wherein when the detection unit detects that the vehicle has entered a predetermined area, the drawing command unit causes the road surface drawing device to draw the image on the road surface. Infrastructure for.
- 前記路面描画装置は、グリッド線をさらに路面描画可能であり、
前記検知部が、路面の凹凸状態が通常の状態とは異なることを検知したとき、前記描画指令部は、前記グリッド線を前記路面描画装置に路面描画させる、請求項1から4のいずれか一項に記載の交通用インフラストラクチャ。 The road surface drawing device can further draw the grid lines on the road surface.
When the detection unit detects that the uneven state of the road surface is different from the normal state, the drawing command unit causes the road surface drawing device to draw the grid lines on the road surface, any one of claims 1 to 4. Transportation infrastructure as described in section. - 前記路面描画装置は、赤外線により前記グリッド線を描くように構成されている、請求項5に記載の交通用インフラストラクチャ。 The transportation infrastructure according to claim 5, wherein the road surface drawing device is configured to draw the grid lines by infrared rays.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021525970A JPWO2020250658A1 (en) | 2019-06-12 | 2020-05-25 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019109504 | 2019-06-12 | ||
JP2019-109504 | 2019-06-12 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020250658A1 true WO2020250658A1 (en) | 2020-12-17 |
Family
ID=73781955
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2020/020601 WO2020250658A1 (en) | 2019-06-12 | 2020-05-25 | Infractructure for traffic |
Country Status (2)
Country | Link |
---|---|
JP (1) | JPWO2020250658A1 (en) |
WO (1) | WO2020250658A1 (en) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012159968A (en) * | 2011-01-31 | 2012-08-23 | Nec Commun Syst Ltd | Wrong-way driving prevention device |
JP2014056434A (en) * | 2012-09-12 | 2014-03-27 | Ricoh Co Ltd | Projection device, projection system, and program |
WO2016163294A1 (en) * | 2015-04-10 | 2016-10-13 | 日立マクセル株式会社 | Video image projection device |
-
2020
- 2020-05-25 JP JP2021525970A patent/JPWO2020250658A1/ja active Pending
- 2020-05-25 WO PCT/JP2020/020601 patent/WO2020250658A1/en active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012159968A (en) * | 2011-01-31 | 2012-08-23 | Nec Commun Syst Ltd | Wrong-way driving prevention device |
JP2014056434A (en) * | 2012-09-12 | 2014-03-27 | Ricoh Co Ltd | Projection device, projection system, and program |
WO2016163294A1 (en) * | 2015-04-10 | 2016-10-13 | 日立マクセル株式会社 | Video image projection device |
Also Published As
Publication number | Publication date |
---|---|
JPWO2020250658A1 (en) | 2020-12-17 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7186352B2 (en) | Automatic driving control device and vehicle | |
JP5869341B2 (en) | Automobile with integrated visual display system | |
JP5042035B2 (en) | Dangerous driving prediction device | |
WO2010110109A1 (en) | Information providing device for vehicle | |
CN110550105B (en) | Driving assistance system and method | |
KR101886325B1 (en) | Warning system for vehicle at intersection of parking lot | |
JP2011108175A (en) | Driving support system, driving support method and driving support program | |
US20190096249A1 (en) | Infrastructure based backup and exit aid | |
JP7087451B2 (en) | Driving support device | |
CN112660043A (en) | Controlling an autonomous vehicle when the autonomous vehicle exceeds its operational design domain | |
CN112185170B (en) | Traffic safety prompting method and road monitoring equipment | |
KR102342764B1 (en) | Approaching vehicle notification system using radar and method thereof | |
WO2020250658A1 (en) | Infractructure for traffic | |
CN113140129B (en) | Vehicle early warning method, device and system | |
JP2009110343A (en) | Drive support device | |
JP4992643B2 (en) | Contact accident prevention device | |
KR102387516B1 (en) | Two-way traffic warning system and operation method therefor | |
WO2021153051A1 (en) | Vehicle control device, vehicle control method, and program | |
WO2022162909A1 (en) | Display control device and display control method | |
JP7399158B2 (en) | Sensing systems and vehicles | |
WO2020100655A1 (en) | Vehicle lighting system | |
JP2011113413A (en) | Obstacle warning device and obstacle warning method | |
KR102443083B1 (en) | Road control system and method using blocking device | |
KR102562538B1 (en) | Vehicle emergency lighting system in specific section of road | |
KR102605104B1 (en) | Crosswalk traffic light notification service system for right turn vehicle and method thereof |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20822512 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2021525970 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20822512 Country of ref document: EP Kind code of ref document: A1 |