WO2016204037A1 - Automatic driving system - Google Patents

Automatic driving system Download PDF

Info

Publication number
WO2016204037A1
WO2016204037A1 PCT/JP2016/067039 JP2016067039W WO2016204037A1 WO 2016204037 A1 WO2016204037 A1 WO 2016204037A1 JP 2016067039 W JP2016067039 W JP 2016067039W WO 2016204037 A1 WO2016204037 A1 WO 2016204037A1
Authority
WO
WIPO (PCT)
Prior art keywords
automatic driving
vehicle
automatic
driving system
automobile
Prior art date
Application number
PCT/JP2016/067039
Other languages
French (fr)
Japanese (ja)
Inventor
修一 田山
幸生 渡部
Original Assignee
修一 田山
株式会社イマージュ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 修一 田山, 株式会社イマージュ filed Critical 修一 田山
Publication of WO2016204037A1 publication Critical patent/WO2016204037A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/503—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking using luminous text or symbol displays in or on the vehicle, e.g. static text
    • 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
    • B60Q1/543—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
    • B60Q1/545—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 traffic conditions, e.g. fog, heavy traffic
    • 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
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • 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
    • B60W30/10—Path keeping
    • 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

  • the present invention relates to an automatic driving system that enables a vehicle such as an automobile to perform a safety assistance driving, a semi-automatic driving or an automatic driving state.
  • Level 1 is called a safe driving support system, where the vehicle performs acceleration, steering, or braking.
  • Level 2 is called a semi-automatic driving system (semi-automatic driving), in which a vehicle performs a plurality of operations of acceleration, steering, and braking simultaneously.
  • Level 3 is a state in which acceleration, steering, and braking are all performed by the vehicle, and the driver responds only in an emergency.
  • Level 4 is called a fully automatic driving system in which acceleration, steering and braking are all performed by a person other than the driver and the driver is not involved at all.
  • Automated driving basically includes automatic driving at a fully automated level from level 1 to level 4 unless otherwise specified.
  • Such an automatic driving system includes a camera and various sensors for recognizing driving information such as road conditions and the driving state of the host vehicle. From the obtained driving information, a steering amount, a vehicle speed, and the like are obtained by a DCU (Drive Control Unit). Is calculated and determined, and automatic driving is performed by driving a steering, an accelerator, a brake, and the like based on the determined target value (see, for example, Patent Document 1).
  • a DCU Drive Control Unit
  • an automatic driving system a function of traveling along a preset traveling route from position information from a beacon, an artificial satellite, etc. and built-in map information, and a function of performing slow driving or stopping by accident information from communication, etc.
  • an automatic traveling vehicle that notifies a passenger of the own vehicle of the next action taken by the own vehicle during automatic traveling based on these functions (see, for example, Patent Document 2).
  • the present invention has been made to solve such problems, and the purpose thereof is an automatic driving system capable of notifying the surroundings of automatic driving in the automatic driving of a vehicle such as an automobile. Is to provide.
  • the automatic driving system is an automatic driving system for automatically driving a vehicle according to a planned driving action along a predetermined driving route to a destination.
  • An external notification device for notifying that the vehicle is in automatic driving is provided.
  • the external notification device is a display device that displays the fact that the vehicle is in automatic operation, and includes a mounting case that has a window portion and is engaged with both ends of the roof of the automobile, and the window And a display unit that is incorporated in the casing so as to be visible from the surroundings through the unit and displays that the vehicle is in automatic operation.
  • This external notification device can be detached from the vehicle body as required.
  • the display device can be configured to be fitted into holes formed at the front and rear ends and the left and right sides of the roof of the automobile.
  • the display device includes a transparent film attached to a glass surface of a front windshield and / or a rear windshield of an automobile, and a transparent film that is formed on the transparent film and emits or scatters light of a specific wavelength. And a light emitting body that emits light of the specific wavelength toward the latent image body from an end of the transparent film, the latent image body being a character or When the vehicle is in an automatic operation mode and the light emitter emits light, the latent image can also emit light so that it can be visually observed. Thereby, the window glass which has a large area in the outer surface of the whole vehicle body can be effectively used for display.
  • a communication device that transmits data indicating automatic driving to another vehicle can be used.
  • the external notification device can also be configured with a speaker that notifies by voice or melody that automatic driving is in progress.
  • the automatic driving system of the present invention it is possible to reliably notify the surroundings that the vehicle is in an automatic driving state, and therefore it is possible to prevent an accident caused by performing a predetermined driving run.
  • FIG. 1 is a block diagram showing the overall configuration of an automatic driving system according to a preferred embodiment of the present invention.
  • positioned a camera and a sensor is shown.
  • operation system is shown.
  • 3 is a sectional side view showing the main part of FIG.
  • the structure of the external notification apparatus by 1st Embodiment is shown with a block diagram.
  • operation system is shown.
  • a part of the external notification device of FIG. 6 is shown in a side sectional view.
  • FIG. 7 is a plan view of FIG. 6.
  • FIG. 1 conceptually shows the entire configuration of the automatic driving system 1 of the present embodiment.
  • the external notification device 3 is provided to notify the surroundings that the vehicle is in an automatic driving state by the operation of the automatic driving system 1.
  • the automatic driving system 1 includes an automatic driving control unit 2, an external notification device 3, an information input unit 4, and an automatic travel information storage unit 5.
  • the automatic driving control unit 2 performs automatic driving by controlling the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 of the host vehicle. That is, under the control of the automatic operation control unit 2, the acceleration system 10 functions to increase or maintain the speed by increasing the number of revolutions of the prime mover or changing gears, and increasing or maintaining the speed.
  • the braking system 12 performs the function of reducing the speed of the motor or changing the gears to reduce the speed of the automobile or stopping the driving, and the instruction system 13 Turns on and off the turn indicator, parking light, emergency flashing indicator light, headlight, tail light, reverse light, etc.
  • the automatic operation control unit 2 is also connected to an electric system (not shown) such as a fuel system and a battery.
  • the information input unit 4 includes a shift position sensor installed in the steering system 11, a rotation sensor of a prime mover installed in the acceleration system 10, a brake sensor installed in the braking system 12, a speed sensor installed in a wheel, etc. Information on the running state of the host vehicle is obtained and output to the automatic driving control unit 2.
  • the information input unit 4 grasps the surrounding situation through a camera or various sensors installed in the own vehicle and outputs the information to the automatic operation control unit 2.
  • the camera in this case recognizes a pair of left and right front cameras 6 and left and right rear objects on the front windshield 15 in order to recognize straight and left and right front objects of the automobile 14. Therefore, a pair of left and right rear cameras 7 are provided below the left and right door mirrors 17a and 17b.
  • another camera can be added to these cameras to provide a 360 ° camera.
  • various sensors are shown in the center of the upper portion of the rear windshield 19, for example, a millimeter wave radar, a microwave radar, a laser radar, an infrared sensor, an ultrasonic sensor, etc.
  • a radar sensor 8 comprising: In order to cope with bad weather such as heavy fog and heavy rain and nighttime, a similar radar sensor can be mounted at the front center of the automobile 14 (for example, in a radiator grill or a hood). In another embodiment, instead of or in addition to the radar sensor 20, a central rear camera can be mounted at the rear center of the automobile 4.
  • the information input unit 4 can also input the position information of the own vehicle through the position information detection device 9.
  • the position information detection device 9 receives a signal or image data transmitted from a satellite orbiting the earth by a global positioning system (GPS) device, or information from a beacon or antenna installed on a road. Is received, the position of the own vehicle is accurately grasped.
  • GPS global positioning system
  • the information input unit 4 uses the communication device 16 to communicate with other vehicles that are traveling or parked around the host vehicle (inter-vehicle communication), so that the position, course, and traveling state of the other vehicles are determined.
  • inter-vehicle communication connection with other vehicles is not limited to direct connection, but includes indirect connection via an antenna on a road, a communication chip, and / or a satellite or a relay center. The inter-vehicle communication will be described in detail later.
  • the communication device 16 in this example can be used for infrastructure such as traffic signal information, regulation information, pedestrian information, and accident vehicle information from traffic lights and communication devices (roadside devices) installed on the road. Data can also be received.
  • infrastructure such as traffic signal information, regulation information, pedestrian information, and accident vehicle information from traffic lights and communication devices (roadside devices) installed on the road. Data can also be received.
  • the information input unit 4 may obtain traffic information in the vicinity of the vehicle by communicating with the traffic information center through the Internet or public broadcasting.
  • the automatic travel information storage unit 5 selects and changes the travel route to the destination, such as road map, lane information, traffic regulation such as speed limit and road sign, and is changed as necessary. Map road information necessary for traveling by automatic driving according to the travel route is stored in advance. Further, the automatic travel information storage unit 5 is used for detecting and recognizing a vehicle such as an automobile or a pedestrian existing around the vehicle from the information acquired by the information input unit 4 and recognizing it. It is possible to store a reference data file in which data of various objects images or shape characteristics are accumulated.
  • the automatic driving control unit 2 is composed of a microcomputer including a CPU, a ROM, and a RAM, and the CPU executes a program stored in the ROM to perform automatic driving of the automobile.
  • the automatic driving control unit 2 Prior to the start of automatic driving, when a driver or another occupant inputs a destination, the automatic driving control unit 2 calculates a travel route to the destination and presents one or more candidates.
  • the automatic operation control unit 2 drives and controls the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 according to the travel route, and the information input unit 4 Autonomous driving is performed while judging the various information input from.
  • the automatic operation control unit 2 switches between the automatic operation mode and the manual operation mode in accordance with the switching operation by the occupant. At the time of automatic operation, the automatic operation control unit 2 outputs an operation signal to the external notification device 3 so that the own vehicle is “automatic operation in progress”. ”Is instructed.
  • the external notification device 3 notifies the surroundings of the host vehicle that the vehicle is “automatic driving” by emitting sound from a speaker or emitting a melody or displaying on a display device. However, since sound emitted by voice or melody generates noise to the surroundings, it is preferable to display “automatic driving” by the display device.
  • each embodiment of the external notification device 3 using a display device will be described.
  • the display device 20 includes a mounting case 21 whose longitudinal dimension is shorter than the width on both sides of the roof 23 of the automobile 14, and two display panels 22.
  • the mounting case 21 includes a pair of suction cups 25 that are attracted to the surface of the roof 23 on the bottom plate, and includes a support plate 24 at the bottom of each side plate.
  • the support plate 24 has a locking claw formed at the tip, and the locking claw is hooked on the side edge 23a of the roof 23 and fixed with a screw or the like.
  • the display panel 22 has characters “automatic driving” formed by an arrangement of light emitters such as light emitting diodes, and the inside of the mounting case 21 so that each character display surface faces forward and backward in the traveling direction of the host vehicle. Is arranged.
  • the mounting case 21 is provided with a transparent window 26 so that the character display surface can be seen from the periphery.
  • the mounting case 21 is configured with an inclined surface on the front side so that the cross-sectional shape in the traveling direction of the host vehicle reduces air resistance.
  • the display device 20 includes a display drive circuit 27, and when connected to an electrical circuit of the automobile 14 by a connector (not shown), the display device 20 is charged from the alternator 29 and various types of the automobile 14. It is connected to a battery 28 that supplies electric power to the electrical components.
  • the display drive circuit 27 supplies the power of the battery 28 to the display panel 22 when the operation signal from the automatic operation control unit 2 is input. As a result, the display panel 22 is energized, and “automatic driving” is displayed in front of and behind the host vehicle so that other vehicles ahead and behind recognize that the host vehicle is in the automatic driving mode. Can do.
  • a warning light may be arranged to notify that automatic driving is being performed by lighting or flashing.
  • FIG. 6 shows an example of the display device according to the second embodiment fitted and attached to the vehicle body of the automobile 14, and the display device 30 in this case includes a front end, a rear end, and left and right ends of the roof 23 as shown in FIG.
  • the indicator 32 is fitted into the elongated hole 31 formed at each of the four locations, and attached to the automobile 14.
  • the display device 32 has a plurality of light emitting diodes 35 arranged in a predetermined pattern on a substrate 34 accommodated in a main body case 33.
  • a plurality of light emitting diode arrays arranged in a horizontally long direction are arranged in a plurality of stages, but a pattern of displaying “automatic driving” may be used.
  • the upper surface of the main body case 33 is covered with a transparent cover so that the light emission of the light emitting diode 35 can be visually recognized from the outside.
  • the display drive circuit similar to that described with reference to FIG. The light is displayed from the four directions, and it is notified that the vehicle is in automatic driving.
  • the display device 40 of the third embodiment shown in FIG. 9 has a transparent “automatic driving” character that emits or scatters light of a specific wavelength, for example, red light, on the surface of the glass 37 of the automobile 14.
  • a transparent film 38 coated with the image 39 of a pattern to be displayed is attached, and a plurality of red light emitting diodes 36 are arranged on the end face of the glass 37 to constitute a light emitter.
  • the display driving circuit similar to that described in FIG. 5 when the display driving circuit similar to that described in FIG. 5 is supplied with the power of the battery 28 to the red light emitting diode 36 by the operation signal from the automatic operation control unit 2, the red light is converted into glass.
  • the latent image 39 applied to the transparent film 38 emits red light after passing through both ends of the film 37. Therefore, the word “in automatic operation” is raised on the surface of the glass 37, and it can be notified to the outside that automatic operation is in progress.
  • the transparent film 38 is affixed to the upper half or the lower half of the outer glass 37 in order to ensure the outside view of the passenger in the vehicle.
  • the window glass having a large area in the outer surface of the entire vehicle body is used for display, it can be noticed by highlighting that the vehicle is in automatic operation.
  • the window glass is used for display, the field of view of the passengers in the vehicle is limited, so that the above-mentioned automatic driving automation level is at least level 3, a semi-automatic driving system, preferably level 4 complete. It should be used in an automated driving system.
  • the external notification device 3 is not limited to the sound or melody emission from the speaker as described above or the display on the display device, but may notify “automatic driving” to other vehicles capable of communication using message data. it can. Therefore, in 4th Embodiment, the communication apparatus 16 which transmits / receives data by inter-vehicle communication with the other vehicle which exists in the predetermined range from the own vehicle becomes the external notification apparatus 3.
  • message data indicating the position and vehicle state of the own vehicle is transmitted and received between the vehicles 41 and 42 by inter-vehicle communication by one-way broadcast communication.
  • the vehicles 41 and 42 may communicate directly, or via the relay center 44 through the communication line 46 such as the Internet from an antenna 43 or a communication chip (not shown) installed on the road. May be communicated indirectly.
  • the vehicles 41 and 42 traveling toward the same intersection are in a situation where the buildings 45 cannot be confirmed because they block each other's field of view, but both vehicles 41 and 42 communicate with each other through communication. By communicating vehicle speed, etc., it will be safe driving support to prevent collision accidents.
  • FIG. 12 schematically shows a configuration example of a data frame DF of a message exchanged by inter-vehicle communication.
  • a time information data frame DF1 in which an hour / minute / second data element is written and a latitude acquired by GPS or the like.
  • a position information data frame DF2 in which each data element of longitude is written
  • a vehicle state information data frame DF3 in which each data element of vehicle speed information, vehicle azimuth information, automatic driving information, shift position information, and steering angle information is written
  • the vehicle It consists of a vehicle attribute information data frame DF4 in which data elements of size (large, normal, motorcycle, etc.) information, vehicle width information, and vehicle length information are written.
  • a data frame DF is not shown, data for performing well-known communication system management and security management is added and transmitted.
  • a data element DE indicating automatic driving information is provided in the vehicle state information data frame DF3.
  • the automatic driving control unit 2 inputs the position and vehicle speed of the own vehicle acquired by the information input unit 4 (S01), and acquires the position and vehicle speed of another vehicle through the communication device 16 (S02).
  • the data frame includes the position information of the other vehicle, the vehicle state information such as the speed and the azimuth angle, and the like from other vehicles equipped with a communication device that is the same as or compatible with the communication device 16.
  • a message is output.
  • the automatic driving control unit 2 performs data when the host vehicle is in the automatic driving mode (“YES” in S05).
  • a message in which 1-bit automatic driving information is added to the vehicle state information of the frame is created and transmitted (S06). This allows other vehicles to recognize that the host vehicle is in the automatic driving mode, and identifies the vehicle that is “automatic driving” from the position information and vehicle attribute information included in the message. Can do. As a result, the other vehicle, for example, notifies that the vehicle is “automatic driving” from a car navigation device or the like, and transmits it to the occupant.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Provided is an automatic driving system capable of notifying people in the vicinity that a vehicle such as an automobile is being automatically operated when automatic driving is activated. An automatic driving system (1) for causing a host vehicle to travel by means of automatic driving along a planned traveling route to a preset destination in accordance with a planned traveling procedure, wherein the system is provided with an external notification device (3) for performing a notification operation when the automobile (14) has entered an automatic traveling mode. The external notification device (3) issues the notification to people in the vicinity by generating a sound or a melody, or visually by use of a display device (20). Also, it is possible to transmit data indicating that the automatic driving has been activated to other vehicles by using a communication device (16) as the external notification device.

Description

自動運転システムAutomated driving system
　本発明は、自動車等の車両が安全支援運転、半自動運転又は自動運転状態を可能にする自動運転システムに関する。 The present invention relates to an automatic driving system that enables a vehicle such as an automobile to perform a safety assistance driving, a semi-automatic driving or an automatic driving state.
　近年、道路交通の安全をより一層向上させるための自動運転システムの研究開発が進められている。我が国では、自動車等の車輌の自動走行システムについて、その自動化レベルがレベル１からレベル４まで４段階に分けて定義されている。レベル１は、加速・操舵・制動のいずれかを自動車が行い、安全運転支援システムと呼ばれる。レベル２は、加速・操舵・制動の内複数の操作を同時に自動車が行い、準自動走行システム（半自動運転）と呼ばれる。レベル３は、加速・操舵・制動を全て自動車が行い、緊急時のみドライバーが対応する状態で、これも準自動走行システムと呼ばれる。レベル４は、加速・操舵・制動を全てドライバー以外が行い、ドライバーが全く関与しない状態で完全自動走行システムと呼ばれる。また、レベル２からレベル４までを自動走行システムとも呼んでいる（「ＳＩＰ（戦略的イノベーション創造プログラム）自動走行システム研究開発計画」、２０１４年１１月１３日、内閣府、政策統括官（科学技術・イノベーション担当））。これに従って、本明細書において「自動運転」は、特に明言しない限り、基本的に上記レベル１からレベル４まで全自動化レベルの自動走行を含むものとする。 In recent years, research and development of automated driving systems to further improve road traffic safety has been promoted. In Japan, the automated level of an automated driving system for vehicles such as automobiles is defined in four stages from level 1 to level 4. Level 1 is called a safe driving support system, where the vehicle performs acceleration, steering, or braking. Level 2 is called a semi-automatic driving system (semi-automatic driving), in which a vehicle performs a plurality of operations of acceleration, steering, and braking simultaneously. Level 3 is a state in which acceleration, steering, and braking are all performed by the vehicle, and the driver responds only in an emergency. Level 4 is called a fully automatic driving system in which acceleration, steering and braking are all performed by a person other than the driver and the driver is not involved at all. Levels 2 to 4 are also called automated driving systems ("SIP (Strategic Innovation Creation Program) Automated Driving System Research and Development Plan", November 13, 2014, Cabinet Office, Policy Director (Science and Technology・ Innovation))). Accordingly, in the present specification, “automatic driving” basically includes automatic driving at a fully automated level from level 1 to level 4 unless otherwise specified.
　このような自動運転システムは、道路状況や自車両の運転状態等の運転情報を認識するカメラや各種センサ類を備えて、得られた運転情報からＤＣＵ（ドライブコントロールユニット）により操舵量や車速等の目標値を算出・決定して、決定された目標値に基づいてステアリングやアクセル、ブレーキ等を駆動して自動走行を行う（例えば、特許文献１を参照）。 Such an automatic driving system includes a camera and various sensors for recognizing driving information such as road conditions and the driving state of the host vehicle. From the obtained driving information, a steering amount, a vehicle speed, and the like are obtained by a DCU (Drive Control Unit). Is calculated and determined, and automatic driving is performed by driving a steering, an accelerator, a brake, and the like based on the determined target value (see, for example, Patent Document 1).
　また、自動運転システムとしては、ビーコンや人工衛星等からの位置情報と内蔵した地図情報とから予め設定された走行経路を走行する機能及び通信等からの事故情報等により徐行運転や停止を行う機能を有して、これらの機能に基づいて、自動走行中の自車輌がとる次の行動を自車の乗員に報知する自動走行車も知られている（例えば、特許文献２を参照）。 In addition, as an automatic driving system, a function of traveling along a preset traveling route from position information from a beacon, an artificial satellite, etc. and built-in map information, and a function of performing slow driving or stopping by accident information from communication, etc. There is also known an automatic traveling vehicle that notifies a passenger of the own vehicle of the next action taken by the own vehicle during automatic traveling based on these functions (see, for example, Patent Document 2).
特開２０１５－０６３２４４号公報Japanese Patent Laying-Open No. 2015-063244 特開平１０－１０５８８５号公報Japanese Patent Laid-Open No. 10-105885
　しかしながら、このような自動運転モードにある自動車が、例えば、発進から停止までを前走車と一定の車間距離を保ちながら追従走行する「ＡＣＣ」（アダプティブ・クルーズ・コントロール）を行うとき、前走車を運転しているドライバーが不審に感じることがある。また、前走車を追尾している状態で、後続車によって前走車との間に割り込みが行われるとき、マニュアル運転であれば人が危険を予期することで、事前にスピードを落とすなどして対応することができるが、自動運転システムでは、割り込みされたことで車間距離が急に縮まってからの反応となるため、対応が遅れると事故を誘発する。 However, when an automobile in such an automatic driving mode performs “ACC” (adaptive cruise control), for example, to follow the vehicle while keeping a certain distance from the preceding vehicle from start to stop, A driver driving a car may feel suspicious. In addition, when the preceding vehicle is being tracked and the following vehicle is interrupted by the following vehicle, manual driving will cause the person to anticipate the danger and reduce the speed in advance. However, in the automatic driving system, the reaction occurs after the distance between the vehicles has suddenly decreased due to the interruption, so if the response is delayed, an accident is triggered.
　よって、本発明は、このような問題点を解消するためになされたもので、その目的は、自動車等の車輌の自動運転において、周囲に自動運転であることを報知することができる自動運転システムを提供することにある。 Therefore, the present invention has been made to solve such problems, and the purpose thereof is an automatic driving system capable of notifying the surroundings of automatic driving in the automatic driving of a vehicle such as an automobile. Is to provide.
　本発明による自動運転システムは、予め設定された目的地までの走行予定ルートに沿って、予定した走行行動に従って自車輌を自動運転により走行させる自動運転システムであって、自動運転モードに入ると自車両が自動運転であることを報知する対外報知装置を備えたことを特徴としている。 The automatic driving system according to the present invention is an automatic driving system for automatically driving a vehicle according to a planned driving action along a predetermined driving route to a destination. An external notification device for notifying that the vehicle is in automatic driving is provided.
　この場合、前記対外報知装置は、自動運転中であることを目視可能に表示する表示装置であって、窓部を有して自動車のルーフの両側端に係止される取付ケースと、前記窓部を通して周囲から視認可能なよう前記筐体内に組込まれて自動運転中であることを表示する表示器と、を備えている。この対外報知装置は、必要に応じて車体から着脱することができる。 In this case, the external notification device is a display device that displays the fact that the vehicle is in automatic operation, and includes a mounting case that has a window portion and is engaged with both ends of the roof of the automobile, and the window And a display unit that is incorporated in the casing so as to be visible from the surroundings through the unit and displays that the vehicle is in automatic operation. This external notification device can be detached from the vehicle body as required.
　また、前記表示装置は、自動車のルーフの前後端及び左右に形成される孔部に嵌合して構成することもできる。 Further, the display device can be configured to be fitted into holes formed at the front and rear ends and the left and right sides of the roof of the automobile.
　さらに、前記表示装置は、自動車のフロントウインドシールド及び／又はリアウインドシールドのガラス面に貼付される透明フィルムと、前記透明フィルムに形成されて、特定の波長の光に対して発光若しくは散乱する透明の潛像体と、前記透明フィルムの端部から前記潜像体に向けて前記特定の波長の光を照射する発光体と、を備えて、前記潜像体は、自動運転と認識できる文字又は絵柄のパターンで構成されており、自動車が自動運転モードとなって前記発光体が発光すると、前記潜像体が目視可能に発光することもできる。これにより、車体全体の外表面の中で大きな面積を有するウインドウガラスを表示に有効利用できる。 Further, the display device includes a transparent film attached to a glass surface of a front windshield and / or a rear windshield of an automobile, and a transparent film that is formed on the transparent film and emits or scatters light of a specific wavelength. And a light emitting body that emits light of the specific wavelength toward the latent image body from an end of the transparent film, the latent image body being a character or When the vehicle is in an automatic operation mode and the light emitter emits light, the latent image can also emit light so that it can be visually observed. Thereby, the window glass which has a large area in the outer surface of the whole vehicle body can be effectively used for display.
　また、前記対外報知装置として、自動運転であることを示すデータを他車両に送信する通信装置を利用することもできる。 Further, as the external notification device, a communication device that transmits data indicating automatic driving to another vehicle can be used.
　さらに、前記対外報知装置は、自動運転中であることを音声又はメロディで報知するスピーカでも構成できる。 Furthermore, the external notification device can also be configured with a speaker that notifies by voice or melody that automatic driving is in progress.
　本発明の自動運転システムによれば、自動運転状態にあることを周囲に確実に報知することができるため、定まった運転走行を行うことにより却って引き起こされる事故を防止することができる。 According to the automatic driving system of the present invention, it is possible to reliably notify the surroundings that the vehicle is in an automatic driving state, and therefore it is possible to prevent an accident caused by performing a predetermined driving run.
本発明の好適な実施形態による自動運転システムの構成全体をブロック図で示す。1 is a block diagram showing the overall configuration of an automatic driving system according to a preferred embodiment of the present invention. カメラ及びセンサーを配置した自動車の一例の平面図を示す。The top view of an example of the motor vehicle which has arrange | positioned a camera and a sensor is shown. 自動運転システムにおける第１実施形態による対外報知装置を取り付けた自動車の正面からの外観図を示す。The external view from the front of the motor vehicle which attached the external notification apparatus by 1st Embodiment in an automatic driving | operation system is shown. 図３の要部を側断面図で示す3 is a sectional side view showing the main part of FIG. 第１実施形態による対外報知装置の構成をブロック図で示す。The structure of the external notification apparatus by 1st Embodiment is shown with a block diagram. 自動運転システムにおける第２実施形態による対外報知装置を取り付けた自動車の外観斜視図を示す。The external appearance perspective view of the motor vehicle which attached the external notification apparatus by 2nd Embodiment in an automatic driving | operation system is shown. 図６の対外報知装置の一部を側断面図で示す。A part of the external notification device of FIG. 6 is shown in a side sectional view. 図６の平面図を示す。FIG. 7 is a plan view of FIG. 6. 自動運転システムにおける第３実施形態による対外報知装置の説明図を示す。Explanatory drawing of the external alerting | reporting apparatus by 3rd Embodiment in an automatic driving | operation system is shown. 通信装置を利用して対外報知動作を行なう第４実施形態の動作を説明するフローチャートを示す。The flowchart explaining operation | movement of 4th Embodiment which performs external alerting | reporting operation | movement using a communication apparatus is shown. 車両間通信の動作を説明するシステム構成図を示す。The system block diagram explaining the operation | movement of inter-vehicle communication is shown. 車両間通信で伝達するメッセージのデータフレームの構成を模式的な説明図を示す。The typical explanatory view shows the composition of the data frame of the message transmitted by communication between vehicles.
　以下に、添付図面を参照しつつ、本発明による自動運転システムの好適な実施形態について詳細に説明する。 Hereinafter, preferred embodiments of an automatic driving system according to the present invention will be described in detail with reference to the accompanying drawings.
　図１は、本実施形態の自動運転システム１の構成全体を概念的に示している。対外報知装置３は、車両が自動運転システム１の作動で自動運転状態にあることを周囲に報知するために設けられる。 FIG. 1 conceptually shows the entire configuration of the automatic driving system 1 of the present embodiment. The external notification device 3 is provided to notify the surroundings that the vehicle is in an automatic driving state by the operation of the automatic driving system 1.
　先ず、自動運転システム１について説明する。自動運転システム１は、自動運転制御部２、対外報知装置３、情報入力部４、及び自動走行情報記憶部５を備える。自動運転制御部２は、自車両の加速系１０、操舵系１１、制動系１２及び指示系１３を制御して自動運転を行う。すなわち、自動運転制御部２の制御により、加速系１０は、原動機の回転数を上げたりギアチェンジをして自動車を発進させ、その速度を増加又は維持する働きを行い、操舵系１１は、自動車のステアリングホイールを操作する働きを行い、制動系１２は、原動機の回転数を下げたりギアチェンジをして自動車の速度を減少又は走行を停止させたりする働きを行い、指示系１３は、自動車の方向指示器、駐車灯、非常点滅表示灯、前照灯、尾灯、後退灯等を点灯又は消灯させる働きを行う。更に、自動運転制御部２は、図示しない燃料系やバッテリー等の電気系にも接続されている。 First, the automatic driving system 1 will be described. The automatic driving system 1 includes an automatic driving control unit 2, an external notification device 3, an information input unit 4, and an automatic travel information storage unit 5. The automatic driving control unit 2 performs automatic driving by controlling the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 of the host vehicle. That is, under the control of the automatic operation control unit 2, the acceleration system 10 functions to increase or maintain the speed by increasing the number of revolutions of the prime mover or changing gears, and increasing or maintaining the speed. The braking system 12 performs the function of reducing the speed of the motor or changing the gears to reduce the speed of the automobile or stopping the driving, and the instruction system 13 Turns on and off the turn indicator, parking light, emergency flashing indicator light, headlight, tail light, reverse light, etc. Further, the automatic operation control unit 2 is also connected to an electric system (not shown) such as a fuel system and a battery.
　情報入力部４は、操舵系１１に設置されたシフトポジションセンサー、加速系１０に設置された原動機の回転センサー、制動系１２に設置されたブレーキセンサー、車輪等に設置された速度センサー等から、自車輌の走行状態に関する情報を入手して、自動運転制御部２に出力する。 The information input unit 4 includes a shift position sensor installed in the steering system 11, a rotation sensor of a prime mover installed in the acceleration system 10, a brake sensor installed in the braking system 12, a speed sensor installed in a wheel, etc. Information on the running state of the host vehicle is obtained and output to the automatic driving control unit 2.
　また、情報入力部４は、自車輌に設置されたカメラや各種センサーなどを通して周囲の状況を把握して、自動運転制御部２に出力する。この場合のカメラは、図２に例示するように、自動車１４の真直及び左右前方の対象物を認識するために、フロントウインドシールド１５に左右一対のフロントカメラ６及び左右後方の対象物を認識するために、左右のドアミラー１７ａ，１７ｂの下部に左右一対のリアカメラ７である。別の実施形態では、これらのカメラに別のカメラを追加して、３６０°カメラを備えることもできる。 In addition, the information input unit 4 grasps the surrounding situation through a camera or various sensors installed in the own vehicle and outputs the information to the automatic operation control unit 2. As illustrated in FIG. 2, the camera in this case recognizes a pair of left and right front cameras 6 and left and right rear objects on the front windshield 15 in order to recognize straight and left and right front objects of the automobile 14. Therefore, a pair of left and right rear cameras 7 are provided below the left and right door mirrors 17a and 17b. In another embodiment, another camera can be added to these cameras to provide a 360 ° camera.
　そして、各種センサーは、図２では、自動車１４の真直後方を検知するために、リアウインドシールド１９の上部中央に、例えばミリ波レーダー、マイクロ波レーダー、レーザーレーダー、赤外線センサー、超音波センサー等からなるレーダーセンサー８である。濃霧や大雨等の天候不良や夜間に対応するために、同様のレーダーセンサーを自動車１４の前部中央（例えば、ラジエーターグリル又はボンネット内）に装着することもできる。別の実施形態では、レーダーセンサー２０に代えて又はそれに加えて、自動車４の後部中央に中央リアカメラを装着することもできる。 In FIG. 2, various sensors are shown in the center of the upper portion of the rear windshield 19, for example, a millimeter wave radar, a microwave radar, a laser radar, an infrared sensor, an ultrasonic sensor, etc. A radar sensor 8 comprising: In order to cope with bad weather such as heavy fog and heavy rain and nighttime, a similar radar sensor can be mounted at the front center of the automobile 14 (for example, in a radiator grill or a hood). In another embodiment, instead of or in addition to the radar sensor 20, a central rear camera can be mounted at the rear center of the automobile 4.
　更に、情報入力部４は、位置情報検出装置９を通して自車輌の位置情報を入力することもできる。位置情報検出装置９は、地球を周回している衛星から送信されてくる信号や画像データをグローバル・ポジショニング・システム（ＧＰＳ）装置により受信し、又は道路上に設置されたビーコンやアンテナなどから情報を受信することにより、自車両の位置を精度良く把握する。 Furthermore, the information input unit 4 can also input the position information of the own vehicle through the position information detection device 9. The position information detection device 9 receives a signal or image data transmitted from a satellite orbiting the earth by a global positioning system (GPS) device, or information from a beacon or antenna installed on a road. Is received, the position of the own vehicle is accurately grasped.
　また、情報入力部４は、通信装置１６によって、自車輌の周囲を走行又は駐停車している他車両との間での通信（車両間通信）により、当該他車両の位置や進路、走行状態を入手する。このような、他車両との間の車両間通信の接続は直接的な接続に限られず、道路上のアンテナや通信チップ及び／又は衛星又は中継センターなどを介した間接的な接続も含む。尚、車両間通信については、この後、詳細に説明する。 In addition, the information input unit 4 uses the communication device 16 to communicate with other vehicles that are traveling or parked around the host vehicle (inter-vehicle communication), so that the position, course, and traveling state of the other vehicles are determined. Get Such inter-vehicle communication connection with other vehicles is not limited to direct connection, but includes indirect connection via an antenna on a road, a communication chip, and / or a satellite or a relay center. The inter-vehicle communication will be described in detail later.
　また、本例での通信装置１６は、車両間通信以外にも、信号機や道路際に設置された通信機器（路側機）から信号機情報、規制情報、歩行者情報、事故車情報などのインフラのデータも受信可能に構成している。 In addition to the inter-vehicle communication, the communication device 16 in this example can be used for infrastructure such as traffic signal information, regulation information, pedestrian information, and accident vehicle information from traffic lights and communication devices (roadside devices) installed on the road. Data can also be received.
　さらに、情報入力部４は、インターネットや公共放送を通じた交通情報センターとの間の交信によっても、自車両の周辺地域の交通情報を入手してもよい。 Furthermore, the information input unit 4 may obtain traffic information in the vicinity of the vehicle by communicating with the traffic information center through the Internet or public broadcasting.
　自動走行情報記憶部５には、道路地図、車線情報、制限速度や道路標識等の交通規制のような、目的地までの走行ルートを選定し且つ必要に応じて変更するため、及び決定された走行ルートに従って自動運転で走行するために必要な地図道路情報が予め記憶されている。更に自動走行情報記憶部５には、情報入力部４が取得した情報から、自車輌の周囲に存在する自動車等の車輌や歩行者を対象物として検出し、且つ認識するために使用するための様々な対象物の画像又は形状特徴のデータを蓄積した基準データファイルを記憶させることができる。 The automatic travel information storage unit 5 selects and changes the travel route to the destination, such as road map, lane information, traffic regulation such as speed limit and road sign, and is changed as necessary. Map road information necessary for traveling by automatic driving according to the travel route is stored in advance. Further, the automatic travel information storage unit 5 is used for detecting and recognizing a vehicle such as an automobile or a pedestrian existing around the vehicle from the information acquired by the information input unit 4 and recognizing it. It is possible to store a reference data file in which data of various objects images or shape characteristics are accumulated.
　自動運転制御部２は、ＣＰＵ、ＲＯＭ、ＲＡＭを含むマイクロコンピュータで構成されており、前記ＣＰＵは、前記ＲＯＭに格納されているプログラムを実行して、自動車の自動運転を行う。自動運転の開始に先立って、運転者又は他の乗員が目的地を入力すると、自動運転制御部２は、該目的地までの走行ルートを演算して１つ又はそれ以上の候補を提示する。提示された走行ルートの１つを乗員が確認又は選択すると、その走行ルートに従って自動運転制御部２は加速系１０、操舵系１１、制動系１２及び指示系１３を駆動制御し、情報入力部４から入力される各種情報を判断しながら自動運転を行う。 The automatic driving control unit 2 is composed of a microcomputer including a CPU, a ROM, and a RAM, and the CPU executes a program stored in the ROM to perform automatic driving of the automobile. Prior to the start of automatic driving, when a driver or another occupant inputs a destination, the automatic driving control unit 2 calculates a travel route to the destination and presents one or more candidates. When the occupant confirms or selects one of the presented travel routes, the automatic operation control unit 2 drives and controls the acceleration system 10, the steering system 11, the braking system 12, and the instruction system 13 according to the travel route, and the information input unit 4 Autonomous driving is performed while judging the various information input from.
　自動運転制御部２は、乗員による切換操作に従って、自動運転モードと手動運転モードとの切換を行うが、自動運転時には、対外報知装置３に動作信号を出力して、自車両が「自動運転中」であることの報知を指示する。 The automatic operation control unit 2 switches between the automatic operation mode and the manual operation mode in accordance with the switching operation by the occupant. At the time of automatic operation, the automatic operation control unit 2 outputs an operation signal to the external notification device 3 so that the own vehicle is “automatic operation in progress”. ”Is instructed.
　対外報知装置３は、スピーカからの音声又はメロディの放音や表示装置による表示により「自動運転中」であることを自車両の周囲に報知する。しかし、音声やメロディによる放音は周囲への騒音となるため、表示装置によって「自動運転中」を表示するのが好ましい。以下、表示装置による対外報知装置３の各実施形態を説明する。 The external notification device 3 notifies the surroundings of the host vehicle that the vehicle is “automatic driving” by emitting sound from a speaker or emitting a melody or displaying on a display device. However, since sound emitted by voice or melody generates noise to the surroundings, it is preferable to display “automatic driving” by the display device. Hereinafter, each embodiment of the external notification device 3 using a display device will be described.
　図３及び図４は、自動車１４のルーフに着脱自在に取り付けられる第１実施形態による表示装置２０を示している。表示装置２０は、長手方向の寸法が自動車１４のルーフ２３の両側の幅より短い取付ケース２１と、２枚の表示パネル２２とから成る。取付ケース２１は、底板にルーフ２３の表面に吸着する一対の吸盤２５を備えると共に、両側板の底部にはそれぞれ支持板２４を備えている。支持板２４は、先端に係止爪が形成されていて、係止爪をルーフ２３の側縁２３ａに引掛けてビスなどで固定する。表示パネル２２は、発光ダイオード等の発光体の配列により「自動運転中」の文字が形成されており、それぞれの文字表示面が自車両の進行方向で前方と後方に臨むように取付ケース２１内に配置されている。そして、取付ケース２１には、この文字表示面が周囲から目視できるように透明な窓部２６が設けられている。また、取付ケース２１は、自車両の進行方向での断面形状が空気抵抗を少なくするために、前方側を傾斜面で構成されている。 3 and 4 show the display device 20 according to the first embodiment that is detachably attached to the roof of the automobile 14. The display device 20 includes a mounting case 21 whose longitudinal dimension is shorter than the width on both sides of the roof 23 of the automobile 14, and two display panels 22. The mounting case 21 includes a pair of suction cups 25 that are attracted to the surface of the roof 23 on the bottom plate, and includes a support plate 24 at the bottom of each side plate. The support plate 24 has a locking claw formed at the tip, and the locking claw is hooked on the side edge 23a of the roof 23 and fixed with a screw or the like. The display panel 22 has characters “automatic driving” formed by an arrangement of light emitters such as light emitting diodes, and the inside of the mounting case 21 so that each character display surface faces forward and backward in the traveling direction of the host vehicle. Is arranged. The mounting case 21 is provided with a transparent window 26 so that the character display surface can be seen from the periphery. In addition, the mounting case 21 is configured with an inclined surface on the front side so that the cross-sectional shape in the traveling direction of the host vehicle reduces air resistance.
　そして、表示装置２０は、図５で示すように、表示駆動回路２７を備えて、コネクタ（図示せず）により自動車１４の電装回路と連結されると、オルタネータ２９から充電されて自動車１４の各種電装部品に電力を供給するバッテリー２８と接続される。そして、表示駆動回路２７は、自動運転制御部２からの前記動作信号が入力されたとき、表示パネル２２へバッテリー２８の電源を供給する。これにより、表示パネル２２が通電されて、それぞれ「自動運転中」を自車両の前後に表示することで、前方及び後方の他車両に自車両が自動運転モードにあることを認識してもらうことができる。 Then, as shown in FIG. 5, the display device 20 includes a display drive circuit 27, and when connected to an electrical circuit of the automobile 14 by a connector (not shown), the display device 20 is charged from the alternator 29 and various types of the automobile 14. It is connected to a battery 28 that supplies electric power to the electrical components. The display drive circuit 27 supplies the power of the battery 28 to the display panel 22 when the operation signal from the automatic operation control unit 2 is input. As a result, the display panel 22 is energized, and “automatic driving” is displayed in front of and behind the host vehicle so that other vehicles ahead and behind recognize that the host vehicle is in the automatic driving mode. Can do.
　また、「自動運転中」と直接文字を表示する以外にも、警告灯を配置して、点灯又は点滅によって自動運転中であることを報知してもよい。但し、このような警告灯は、その取り付け位置や点灯方法に関しては、道路運送車両の保安基準に適合させるための配慮が必要である。 In addition to displaying the letters “automatic driving” directly, a warning light may be arranged to notify that automatic driving is being performed by lighting or flashing. However, it is necessary to consider such warning lights in order to conform to the safety standards of road transport vehicles with regard to their mounting positions and lighting methods.
　図６は、自動車１４の車体に嵌め込み取り付けられる第２実施形態による表示装置の例を示しており、この場合の表示装置３０は、図７に示すようにルーフ２３の前端、後端及び左右両端の４カ所にそれぞれ形成された細長形状の孔部３１に表示器３２を嵌め込み自動車１４に取り付けられる。表示器３２は、本体ケース３３の中に収容している基板３４の上に複数の発光ダイオード３５を所定のパターンで配設している。本例では、図８に示すように、横長方向に複数配列した発光ダイオード列を複数段配置しているが、「自動運転中」の文字を表示するパターンでもよい。そして、本体ケース３３の上面は透明カバーで覆って、発光ダイオード３５の発光を外から視認可能にしている。 FIG. 6 shows an example of the display device according to the second embodiment fitted and attached to the vehicle body of the automobile 14, and the display device 30 in this case includes a front end, a rear end, and left and right ends of the roof 23 as shown in FIG. The indicator 32 is fitted into the elongated hole 31 formed at each of the four locations, and attached to the automobile 14. The display device 32 has a plurality of light emitting diodes 35 arranged in a predetermined pattern on a substrate 34 accommodated in a main body case 33. In this example, as shown in FIG. 8, a plurality of light emitting diode arrays arranged in a horizontally long direction are arranged in a plurality of stages, but a pattern of displaying “automatic driving” may be used. The upper surface of the main body case 33 is covered with a transparent cover so that the light emission of the light emitting diode 35 can be visually recognized from the outside.
　そして、自動運転制御部２からの前記動作信号により、表示装置３０でも図５で説明したのと同様の表示駆動回路が表示器３２にバッテリー２８の電源を供給することで、ルーフ２３の前後左右の四方向から発光表示されて、周囲に自動運転中であることが報知される。 Then, by the operation signal from the automatic operation control unit 2, the display drive circuit similar to that described with reference to FIG. The light is displayed from the four directions, and it is notified that the vehicle is in automatic driving.
　対外報知装置３実施形態としては、自動車１４のフロントウインドシールド及びリアウインドシールドのガラス面を利用した表示装置がある。図９に示す第３実施形態の表示装置４０は、自動車１４のガラス３７の表面に、特定の波長の光、例えば、赤色光に対して発光若しくは散乱する透明の「自動運転中」の文字を表示するパターンの潛像体３９が塗布されている透明フィルム３８を貼付して、ガラス３７の端面には、複数の赤色発光ダイオード３６を配列して発光体を構成している。 As an embodiment of the external notification device 3, there is a display device that uses the glass surface of the front windshield and the rear windshield of the automobile 14. The display device 40 of the third embodiment shown in FIG. 9 has a transparent “automatic driving” character that emits or scatters light of a specific wavelength, for example, red light, on the surface of the glass 37 of the automobile 14. A transparent film 38 coated with the image 39 of a pattern to be displayed is attached, and a plurality of red light emitting diodes 36 are arranged on the end face of the glass 37 to constitute a light emitter.
　そして、自動運転制御部２からの前記動作信号により、この例でも、図５で説明したのと同様の表示駆動回路が赤色発光ダイオード３６にバッテリー２８の電源を供給されると、赤色光がガラス３７の両端を通過して、透明フィルム３８に塗布されている潜像体３９が赤色に発光する。よって、ガラス３７の面に「自動運転中」の文字が浮き上がり、外部に自動運転であることを報知することができる。この場合、車内の乗員の外方への視界を確保するために、透明フィルム３８は、外方ガラス３７の上半分又は下半分に貼り付ける。 In this example, when the display driving circuit similar to that described in FIG. 5 is supplied with the power of the battery 28 to the red light emitting diode 36 by the operation signal from the automatic operation control unit 2, the red light is converted into glass. The latent image 39 applied to the transparent film 38 emits red light after passing through both ends of the film 37. Therefore, the word “in automatic operation” is raised on the surface of the glass 37, and it can be notified to the outside that automatic operation is in progress. In this case, the transparent film 38 is affixed to the upper half or the lower half of the outer glass 37 in order to ensure the outside view of the passenger in the vehicle.
　この第３実施形態の表示装置４０では、車体全体の外表面の中で大きな面積を有するウインドウガラスを表示に利用するために、自動運転中であることを周囲に際立たせて知らせることができる。しかし、ウインドウガラスを表示に利用すると、車内の乗員のウインドウからの視界は制限されることになるため、上述した自動運転の自動化レベルが少なくともレベル３の準自動走行システム、好ましくはレベル４の完全自動走行システムで用いるのがよい。 In the display device 40 according to the third embodiment, since the window glass having a large area in the outer surface of the entire vehicle body is used for display, it can be noticed by highlighting that the vehicle is in automatic operation. However, if the window glass is used for display, the field of view of the passengers in the vehicle is limited, so that the above-mentioned automatic driving automation level is at least level 3, a semi-automatic driving system, preferably level 4 complete. It should be used in an automated driving system.
　対外報知装置３は、上記したようなスピーカからの音声又はメロディの放音や表示装置による表示に限ることなく、通信が可能な他車両には「自動運転中」をメッセージデータで報知することができる。したがって、第４実施形態では、自車両から所定の範囲内に存在している他車両との車両間通信によりデータの送受信を行う通信装置１６が対外報知装置３となる。 The external notification device 3 is not limited to the sound or melody emission from the speaker as described above or the display on the display device, but may notify “automatic driving” to other vehicles capable of communication using message data. it can. Therefore, in 4th Embodiment, the communication apparatus 16 which transmits / receives data by inter-vehicle communication with the other vehicle which exists in the predetermined range from the own vehicle becomes the external notification apparatus 3.
　ここで車両間通信は、図１１に示すように、車両４１、４２の間で自車両の位置や車両状態を示すメッセージデータを単向同報通信により車両間通信で授受する。この場合、車両４１、４２は直接通信が行われてもよいし、又は道路際に設置されたアンテナ４３や通信チップ（図示せず）からインターネットなどによる通信回線４６を通して、中継センター４４を経由して間接的に通信されてもよい。図１１で示すケースでは、同じ交差点に向かって進行する車両４１、４２は建物４５が互いの視界を遮るために確認できない状況にあるが、両方の車両４１、４２が通信によって、自らの位置と車速等を伝達し合うことで衝突事故を未然に防ぐ安全運転支援となる。 Here, in the inter-vehicle communication, as shown in FIG. 11, message data indicating the position and vehicle state of the own vehicle is transmitted and received between the vehicles 41 and 42 by inter-vehicle communication by one-way broadcast communication. In this case, the vehicles 41 and 42 may communicate directly, or via the relay center 44 through the communication line 46 such as the Internet from an antenna 43 or a communication chip (not shown) installed on the road. May be communicated indirectly. In the case shown in FIG. 11, the vehicles 41 and 42 traveling toward the same intersection are in a situation where the buildings 45 cannot be confirmed because they block each other's field of view, but both vehicles 41 and 42 communicate with each other through communication. By communicating vehicle speed, etc., it will be safe driving support to prevent collision accidents.
　図１２は、車両間通信で授受するメッセージのデータフレームＤＦの構成例を模式的に示しており、時・分・秒のデータエレメントが書き込まれる時刻情報データフレームＤＦ１と、ＧＰＳ等により取得した緯度・経度の各データエレメントが書き込まれる位置情報データフレームＤＦ２と、車速情報・車両方位角情報・自動運転情報・シフトポジション情報・ステアリング角度情報の各データエレメントが書き込まれる車両状態情報データフレームＤＦ３及び車両サイズ別（大型，普通，自動二輪車等）情報・車幅情報・車長情報の各データエレメントが書き込まれる車両属性情報データフレームＤＦ４で構成されている。このようなデータフレームＤＦは図示しないが、周知の通信システム管理及びセキュリティ管理を行うためのデータが付加されて送信される。ここで、特徴的なのは、車両状態情報データフレームＤＦ３に自動運転情報を示すデータエレメントＤＥを設けている点にある。 FIG. 12 schematically shows a configuration example of a data frame DF of a message exchanged by inter-vehicle communication. A time information data frame DF1 in which an hour / minute / second data element is written and a latitude acquired by GPS or the like. A position information data frame DF2 in which each data element of longitude is written, a vehicle state information data frame DF3 in which each data element of vehicle speed information, vehicle azimuth information, automatic driving information, shift position information, and steering angle information is written, and the vehicle It consists of a vehicle attribute information data frame DF4 in which data elements of size (large, normal, motorcycle, etc.) information, vehicle width information, and vehicle length information are written. Although such a data frame DF is not shown, data for performing well-known communication system management and security management is added and transmitted. Here, what is characteristic is that a data element DE indicating automatic driving information is provided in the vehicle state information data frame DF3.
　以下、自動運転制御部２が通信装置１６を利用して「自動運転中」のメッセージを報知する動作を図１０のフローチャートを用いて説明する。 Hereinafter, the operation in which the automatic driving control unit 2 notifies the message “automatic driving” using the communication device 16 will be described with reference to the flowchart of FIG. 10.
　まず、自動運転制御部２は、情報入力部４が取得した自車両の位置及び車速を入力し（Ｓ０１）、通信装置１６を通じて他車両の位置及び車速を取得する（Ｓ０２）。この場合、通信装置１６と同一又は互換性のある通信装置を搭載する他車両からは、前述したように、当該他車両の位置情報、速度や方位角等の車両状態情報等をデータフレームに含むメッセージが出力されている。 First, the automatic driving control unit 2 inputs the position and vehicle speed of the own vehicle acquired by the information input unit 4 (S01), and acquires the position and vehicle speed of another vehicle through the communication device 16 (S02). In this case, as described above, the data frame includes the position information of the other vehicle, the vehicle state information such as the speed and the azimuth angle, and the like from other vehicles equipped with a communication device that is the same as or compatible with the communication device 16. A message is output.
　そして、これら自車両及び周辺の他車両の位置と車速とを自動走行情報記憶部５に格納している地図情報と照合し（Ｓ０３）、照合結果から自車両の周囲に他車両が存在しているかを判別する（Ｓ０４）。 And the position and vehicle speed of these own vehicles and other surrounding vehicles are collated with the map information stored in the automatic travel information storage unit 5 (S03), and other vehicles exist around the own vehicle from the collation result. (S04).
　そして、自動運転制御部２は、通信が可能な他車両が周囲に存在している場合（Ｓ０４の「ＹＥＳ」）、自車両が自動運転モードにあるときは（Ｓ０５の「ＹＥＳ」）、データフレームの車両状態情報に１ビットの自動運転情報を付加したメッセージを作成して送信する（Ｓ０６）。これにより、他車両に自車両が自動運転モードであることを認識させることができ、そして、メッセージに含まれている位置情報や車両属性情報等から「自動運転中」の当車両を特定することができる。これにより、他車両は、例えば、カーナビゲーション装置等から当車両が「自動運転中」であることを報知して、乗員に伝達する。 Then, when there is another vehicle that can communicate with the surroundings (“YES” in S04), the automatic driving control unit 2 performs data when the host vehicle is in the automatic driving mode (“YES” in S05). A message in which 1-bit automatic driving information is added to the vehicle state information of the frame is created and transmitted (S06). This allows other vehicles to recognize that the host vehicle is in the automatic driving mode, and identifies the vehicle that is “automatic driving” from the position information and vehicle attribute information included in the message. Can do. As a result, the other vehicle, for example, notifies that the vehicle is “automatic driving” from a car navigation device or the like, and transmits it to the occupant.
　以上、本発明の好適な実施形態について詳細に説明したが、本発明は上記実施形態に限定されるものでなく、その技術的範囲内において、様々な変形又は変更を加えて実施することができる。 The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above-described embodiments, and can be implemented with various modifications or changes within the technical scope thereof. .
１　　自動運転システム
２　　対外報知装置
１６　通信装置（対外報知装置）
２０　表示装置（対外報知装置）
２１　取付ケース
２２　表示パネル
２３　ルーフ
３０　表示装置（対外報知装置）
３１　孔部
３２　表示器
３６　赤色発光ダイオード（発光体）
３７　ガラス
３８　透明フィルム
３９　潜像体
４０　表示装置（対外報知装置） 1 Automatic Driving System 2 External Notification Device 16 Communication Device (External Notification Device)
20 Display device (external notification device)
21 Mounting case 22 Display panel 23 Roof 30 Display device (external notification device)
31 Hole 32 Display 36 Red light emitting diode (light emitting body)
37 Glass 38 Transparent film 39 Latent image body 40 Display device (external notification device)

Claims (7)

  1. 　予め設定された目的地までの走行予定ルートに沿って、予定した走行行動に従って自車輌を自動運転により走行させる自動運転システムであって、
    　自動運転モードに入ると自車両が自動運転であることを報知する対外報知装置を備えたことを特徴とする自動運転システム。     An automatic driving system for automatically driving the vehicle according to a scheduled driving action along a predetermined driving route to a destination set in advance,
    An automatic driving system comprising an external notification device for notifying that the host vehicle is in automatic driving when entering the automatic driving mode.
  2. 　前記対外報知装置は、自動運転であることを目視可能に表示する表示装置であることを特徴とする請求項１に記載の自動運転システム。 The automatic operation system according to claim 1, wherein the external notification device is a display device that displays the automatic operation in a visible manner.
  3. 　前記表示装置は、
    　窓部を有して自動車のルーフの両側端に係止される取付ケースと、
    　前記窓部を通して周囲から視認可能なよう前記筐体内に組込まれて自動運転中であることを表示する表示パネルと、
    を備えたことを特徴とする請求項２に記載の自動運転システム。     The display device
    A mounting case that has a window and is locked to both ends of the roof of the automobile;
    A display panel that is incorporated in the housing so as to be visible from the surroundings through the window, and displays that it is in automatic operation;
    The automatic driving system according to claim 2, further comprising:
  4. 　前記表示装置は、
    　自動車の車体に嵌め込まれて、内部に複数の発光ダイオードが平面的に並べて配置される本体ケースと、
    　前記本体ケースの上面を覆っている透明カバーと、
    を備えたことを特徴とする請求項１に記載の自動運転システム。     The display device
    A body case that is fitted into the body of an automobile and in which a plurality of light emitting diodes are arranged in a plane,
    A transparent cover covering the upper surface of the main body case;
    The automatic driving system according to claim 1, further comprising:
  5. 　前記表示装置は、
    　自動車のフロントウインドシールド及び／又はリアウインドシールドのガラス面に貼付される透明フィルムと、
    　前記透明フィルムに形成されて、特定の波長の光に対して発光若しくは散乱する透明の潛像体と、
    　自動車が自動運転モードに入ると前記特定の波長の光を前記潜像体に照射する発光体と、
    を備え、
    　前記潜像体は、自動運転と認識できる文字又は絵柄のパターンで構成されており、前記発光体からの光の照射により前記パターンが目視可能に表示されることを特徴とする請求項２に記載の自動運転システム。     The display device
    A transparent film attached to the glass surface of the front windshield and / or rear windshield of the automobile;
    A transparent image formed on the transparent film and emitting or scattering light of a specific wavelength; and
    A light emitter that irradiates the latent image with light of the specific wavelength when the vehicle enters an automatic driving mode;
    With
    The said latent image body is comprised by the pattern of the character or pattern which can be recognized as automatic driving | operation, The said pattern is displayed so that visual recognition is possible by irradiation of the light from the said light-emitting body. Automatic driving system.
  6. 　前記対外報知装置は、自動運転であることを示すデータを他車両に送信する通信装置であることを特徴とする請求項１に記載の自動運転システム。 The automatic driving system according to claim 1, wherein the external notification device is a communication device that transmits data indicating that it is an automatic driving to another vehicle.
  7. 　前記対外報知装置は、自動運転中であることを音声又はメロディで報知するスピーカであることを特徴とする請求項１に記載の自動運転システム。 2. The automatic driving system according to claim 1, wherein the external notification device is a speaker for notifying that the automatic driving is being performed by voice or melody.
PCT/JP2016/067039 2015-06-18 2016-06-08 Automatic driving system WO2016204037A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015-122525 2015-06-18
JP2015122525A JP2017007417A (en) 2015-06-18 2015-06-18 Automated driving system

Publications (1)

Publication Number Publication Date
WO2016204037A1 true WO2016204037A1 (en) 2016-12-22

Family

ID=57545739

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/067039 WO2016204037A1 (en) 2015-06-18 2016-06-08 Automatic driving system

Country Status (2)

Country Link
JP (1) JP2017007417A (en)
WO (1) WO2016204037A1 (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110446627A (en) * 2017-03-23 2019-11-12 标致雪铁龙汽车股份有限公司 It is used to indicate the signalling arrangement of (multiple) driving phase of automatic driving vehicle
CN110576816A (en) * 2019-10-22 2019-12-17 贵州省交通规划勘察设计研究院股份有限公司 Take self-cleaning mechanism's autopilot car
CN112141127A (en) * 2019-06-28 2020-12-29 丰田自动车株式会社 Operation device for automatic driving vehicle
CN112606850A (en) * 2020-12-25 2021-04-06 天津市天波科达科技有限公司 Simple automatic driving device and method
CN114103821A (en) * 2020-08-27 2022-03-01 本田技研工业株式会社 Moving body
WO2022134659A1 (en) * 2020-12-22 2022-06-30 清华大学 Embedded autonomous vehicle intelligent roof cover system and vehicle comprising same
JP7577049B2 (en) 2021-11-30 2024-11-01 本田技研工業株式会社 MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101944478B1 (en) * 2017-08-31 2019-01-31 김정섭 Device and method for alerting self driving mode to surrounding cars of half-autonomous driving vehicle
JP6970612B2 (en) * 2017-12-28 2021-11-24 株式会社小糸製作所 Vehicle lighting system and vehicle
JP6965234B2 (en) * 2018-12-26 2021-11-10 矢崎総業株式会社 Information display system
CN115567891A (en) * 2019-06-05 2023-01-03 华为技术有限公司 Automatic driving information indicating method, automatic driving information acquiring method, automatic driving information sending method and device
DE102019122193B4 (en) * 2019-08-19 2021-03-04 Webasto SE Roof module for a motor vehicle, comprising roof opening system and / or fixed roof element
WO2022230780A1 (en) * 2021-04-27 2022-11-03 株式会社デンソー Notification control device and notification control method for vehicles

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0455139A (en) * 1990-06-21 1992-02-21 Toshiba Corp Un-manned carrying vehicle
JPH0655973A (en) * 1992-06-09 1994-03-01 Nippondenso Co Ltd Back display device for automobile
JPH09277887A (en) * 1996-04-16 1997-10-28 Honda Motor Co Ltd Automatic follow-up running system
JPH1153689A (en) * 1997-08-05 1999-02-26 Toyota Motor Corp Inter-vehicle communication equipment
JPH11334464A (en) * 1998-05-21 1999-12-07 Akihiko Kamioka Display device for automobile
JP2012214124A (en) * 2011-03-31 2012-11-08 Equos Research Co Ltd Vehicle and vehicular control program
JP2014106854A (en) * 2012-11-29 2014-06-09 Toyota Infotechnology Center Co Ltd Automatic driving vehicle control apparatus and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0455139A (en) * 1990-06-21 1992-02-21 Toshiba Corp Un-manned carrying vehicle
JPH0655973A (en) * 1992-06-09 1994-03-01 Nippondenso Co Ltd Back display device for automobile
JPH09277887A (en) * 1996-04-16 1997-10-28 Honda Motor Co Ltd Automatic follow-up running system
JPH1153689A (en) * 1997-08-05 1999-02-26 Toyota Motor Corp Inter-vehicle communication equipment
JPH11334464A (en) * 1998-05-21 1999-12-07 Akihiko Kamioka Display device for automobile
JP2012214124A (en) * 2011-03-31 2012-11-08 Equos Research Co Ltd Vehicle and vehicular control program
JP2014106854A (en) * 2012-11-29 2014-06-09 Toyota Infotechnology Center Co Ltd Automatic driving vehicle control apparatus and method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110446627A (en) * 2017-03-23 2019-11-12 标致雪铁龙汽车股份有限公司 It is used to indicate the signalling arrangement of (multiple) driving phase of automatic driving vehicle
CN112141127A (en) * 2019-06-28 2020-12-29 丰田自动车株式会社 Operation device for automatic driving vehicle
CN110576816A (en) * 2019-10-22 2019-12-17 贵州省交通规划勘察设计研究院股份有限公司 Take self-cleaning mechanism's autopilot car
CN114103821A (en) * 2020-08-27 2022-03-01 本田技研工业株式会社 Moving body
US12054174B2 (en) 2020-08-27 2024-08-06 Honda Motor Co., Ltd. Moving body
WO2022134659A1 (en) * 2020-12-22 2022-06-30 清华大学 Embedded autonomous vehicle intelligent roof cover system and vehicle comprising same
CN112606850A (en) * 2020-12-25 2021-04-06 天津市天波科达科技有限公司 Simple automatic driving device and method
JP7577049B2 (en) 2021-11-30 2024-11-01 本田技研工業株式会社 MOBILE BODY CONTROL DEVICE, MOBILE BODY CONTROL METHOD, AND PROGRAM

Also Published As

Publication number Publication date
JP2017007417A (en) 2017-01-12

Similar Documents

Publication Publication Date Title
WO2016204037A1 (en) Automatic driving system
EP3428028B1 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
US11526005B2 (en) Head-up display for vehicle
US10232713B2 (en) Lamp for a vehicle
US11554667B2 (en) Display device provided in vehicle and control method of display device
US10528053B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
EP3428027B1 (en) Driving system for vehicle
US10691132B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
CN109923019B (en) Vehicle control device mounted on vehicle and control method of vehicle
US20180130351A1 (en) Vehicle control device mounted at vehicle and method for controlling vehicle
CN109507994B (en) Vehicle control device mounted on vehicle and method of controlling the vehicle
US10573177B2 (en) Vehicle controlling technology
EP3492296B1 (en) Display device and vehicle having the same
US10421391B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
US10710611B2 (en) Vehicle control device mounted on vehicle and method for controlling the vehicle
KR20180024324A (en) Lamp and Autonomous Vehicle
US20190375397A1 (en) Vehicle control device included in vehicle and control method for vehicle
US11279367B2 (en) Vehicle control device provided in vehicle and vehicle control method
KR101918230B1 (en) Lamp for vehicle and vehicle
US20210024091A1 (en) Path providing device and path providing method thereof
US10442295B2 (en) Display device and vehicle having the same
US20230399004A1 (en) Ar display device for vehicle and method for operating same
US20240003700A1 (en) Route guidance device and route guidance system
US20220016979A1 (en) Image output device and control method therefor

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: 16811512

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 19/03/2013)

122 Ep: pct application non-entry in european phase

Ref document number: 16811512

Country of ref document: EP

Kind code of ref document: A1