JP7320000B2 - Vehicle communication system - Google Patents

Description

The present invention relates to a vehicle communication system.

At present, many countries are actively researching automatic driving technology for automobiles, and legislation is being developed to allow vehicles (hereinafter, "vehicles" to refer to automobiles) to run on public roads in automatic driving mode. are being considered in each country. Here, in the automatic driving mode, the vehicle system automatically controls the running of the vehicle. Specifically, in the autonomous driving mode, the vehicle system performs steering control (vehicle traveling direction control), brake control, and accelerator control (vehicle braking, acceleration, etc.) based on various information obtained from cameras, sensors, radar, etc. deceleration control) automatically. On the other hand, in the manual driving mode described below, the driver controls the driving of the vehicle, as is the case with many conventional vehicles. Specifically, in the manual driving mode, the running of the vehicle is controlled according to the driver's operation (steering operation, brake operation, accelerator operation), and the vehicle system does not automatically perform steering control, brake control, and accelerator control. The vehicle driving mode is not a concept that exists only in some vehicles, but a concept that exists in all vehicles including conventional vehicles that do not have an automatic driving function. It is classified according to the method, etc.

For example, if there is a pedestrian trying to cross a pedestrian crossing in front of an autonomous vehicle, the pedestrian cannot cross the pedestrian crossing unless the autonomous vehicle recognizes the pedestrian. I feel uneasy about whether I can do it. In addition, if the driver of an emergency vehicle (ambulance, fire engine, police car, etc.) running behind an automated driving vehicle does not know that the automated driving vehicle is recognizing the emergency vehicle, I feel uneasy about whether I can overtake.

On the other hand, Patent Literature 1 discloses an automatic follow-up driving system in which a following vehicle automatically follows a preceding vehicle. In this automatic follow-up driving system, each of the preceding vehicle and the following vehicle is equipped with a lighting device, and character information for preventing other vehicles from cutting in between the preceding vehicle and the following vehicle is transmitted to the lighting device of the preceding vehicle. Along with the display, character information indicating that the vehicle is automatically following the vehicle is displayed on the lighting device of the following vehicle.

Japanese Patent Laid-Open No. 9-277887

However, in Japanese Unexamined Patent Application Publication No. 2004-100001, since communication is made with all vehicles and people in the vicinity of the vehicle, it is not possible to communicate with a specific partner.

An object of the present disclosure is to provide a vehicle communication system capable of communicating with a specific partner around the vehicle.

A vehicle communication system according to one aspect for achieving the above object includes:
a detection unit capable of detecting a target person around the own vehicle;
a prediction unit that identifies a target person who is most likely to enter the predicted route of the own vehicle based on the route information acquired from the vehicle control unit;
and an information transmitter that transmits the first information so that the identified target person can recognize it by at least one of light, heat, sound, and vibration.

According to the vehicle communication system having the above configuration, after specifying the target person who is most likely to enter the predicted course of the own vehicle, the information transmitting unit first Communicate information.
Thus, according to the above configuration, it is possible to provide a vehicle communication system capable of communicating with a specific partner in the vicinity of the vehicle.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmitting unit transmits second information different from the first information to the subject.

According to the vehicle communication system having the above configuration, a specific target person can recognize information such as a message transmitted from the vehicle by recognizing the second information.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmission unit transmits first information to the target person by emitting light.

According to the vehicle communication system having the above configuration, light is emitted to the target person, so that the target person can more reliably recognize the first information.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmitting unit intermittently irradiates the target person with light.

According to the vehicle communication system having the above configuration, it is possible to limit the amount of light energy output from the information transmission unit and the amount of light energy output to the target person. Therefore, it is possible to reduce the amount of light energy consumption, and to avoid placing an excessive burden on the subject's eyes.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmission unit emits light in a direction in which the target person is looking, based on information including the direction in which the target person is looking, which is acquired from the vehicle control unit.

According to the vehicular communication system having the above configuration, the information transmission unit emits light in the direction in which the target person is looking. Therefore, the subject can easily visually recognize the emitted light.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmitting unit is capable of communicating with a communication terminal portable by the subject,
The information transmission unit is configured to generate at least one of sound and vibration from the communication terminal.

According to the vehicle communication system having the above configuration, the information transmission unit is configured to generate at least one of sound and vibration from the communication terminal carried by the target person. Therefore, it is possible to communicate only with a specific partner.

Further, in a vehicle communication system according to one aspect for achieving the above object,
The information transmitter includes a directional speaker that transmits sound toward the target person.

According to the vehicular communication system having the above configuration, since the information transmission unit includes the directional speaker, information can be transmitted to a specific target person by voice or the like. Therefore, it is possible to communicate only with a specific partner.

Advantageous Effects of Invention According to the present disclosure, it is possible to provide a vehicle communication system that enables communication with a specific partner around the vehicle.

FIG. 1A is a top view of a vehicle equipped with a vehicle communication system according to this embodiment. FIG. 1B is a side view of the vehicle shown in FIG. 1A. FIG. 2 is a block diagram of the vehicle communication system according to this embodiment. FIG. 3 is a vertical sectional view of a road marking ramp. FIG. 4 is a side view showing the configuration of the light source unit of the road marking lamp. FIG. 5 is a perspective view showing the configuration of the light distribution section of the road drawing lamp. FIG. 6 is a flow chart showing processing up to transmission of predetermined information to an object. FIG. 7 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when the vehicle turns left. FIG. 8 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when the vehicle turns left. FIG. 9 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when the vehicle turns left. FIG. 10 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when the vehicle turns left.

An embodiment of the present disclosure (hereinafter referred to as the present embodiment) will be described below with reference to the drawings. For the sake of convenience, descriptions of members having the same reference numbers as members already described in the description of the present embodiment will be omitted. Also, the dimensions of each member shown in this drawing may differ from the actual dimensions of each member for convenience of explanation.

Further, in the description of the present embodiment, for convenience of description, the terms “horizontal direction”, “front-rear direction”, and “vertical direction” will be referred to as appropriate. These directions are relative directions set for vehicle 100 shown in FIGS. 1A and 1B. Here, the "vertical direction" is a direction including the "upward direction" and the "downward direction". "Fore-and-aft direction" is a direction that includes "forward direction" and "rearward direction." A "left-right direction" is a direction including a "left direction" and a "right direction."

A vehicle 100 equipped with an information transmission device 40 according to this embodiment will be described below. FIG. 1A illustrates a top view of vehicle 100 . FIG. 1B illustrates a left side view of vehicle 100 . Vehicle 100 is a vehicle capable of running in an automatic driving mode, and includes information transmission device 40 . The information transmission device 40 includes an information transmission section 401 and a transmission control section 402 (see FIG. 2). The information transmission device 40 is arranged on the vehicle body roof 100A of the vehicle 100 and is configured to transmit light, infrared laser, sound, radio waves, etc. to the outside of the vehicle 100 .

In this embodiment, the single information transmission device 40 is arranged on the vehicle body roof 100A. The number, arrangement, shape, etc. are not particularly limited as long as the pattern can be irradiated. For example, when the information transmission device 40 includes four road surface drawing devices, each of the road surface drawing devices may be arranged in the left head lamp 20L, the right head lamp 20R, the left rear combination lamp 30L, and the right rear combination lamp 30R. good. Furthermore, the road surface rendering device may be arranged to surround the side surface 100B of the vehicle 100. FIG.

Next, the vehicle system 1 of the vehicle 100 will be described with reference to FIG. FIG. 2 illustrates a block diagram of the vehicle system 1. As shown in FIG. As illustrated in FIG. 2, the vehicle system 1 includes a vehicle control unit 3, a sensor 5, a camera 6, a radar 7, an HMI (Human Machine Interface) 8, a GPS (Global Positioning System) 9, A wireless communication unit 10 and a map information storage unit 11 are provided. Further, the vehicle system 1 includes a steering actuator 12 , a steering device 13 , a brake actuator 14 , a brake device 15 , an accelerator actuator 16 and an accelerator device 17 .

The vehicle system 1 further includes a vehicle communication system 2 . The vehicle communication system 2 includes a detection unit 300 including a camera 6 and a radar 7 and an information transmission device 40 . The information transmission device 40 includes an information transmission section 401 and a transmission control section 402 . Transmission control section 402 includes prediction section 403 .

The vehicle control unit 3 is configured to control travel of the vehicle 100 . The vehicle control section 3 is configured by an electronic control unit (ECU). The electronic control unit includes a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory) storing various vehicle control programs, and a RAM (Random Access Memory) temporarily storing various vehicle control data. It is composed of The processor develops on the RAM a program specified from various vehicle control programs stored in the ROM, and cooperates with the RAM to execute various processes.

The sensor 5 includes an acceleration sensor, a speed sensor, a gyro sensor, and the like. The sensor 5 is configured to detect the running state of the vehicle 100 and output running state information to the vehicle control unit 3 . The sensors 5 include a seating sensor that detects whether the driver is sitting in the driver's seat, a face direction sensor that detects the direction of the driver's face, an external weather sensor that detects external weather conditions, and a sensor that detects whether or not there is a person inside the vehicle. A human sensor or the like for detection may be further provided.

The camera 6 is, for example, a camera including an imaging device such as a CCD (Charge-Coupled Device) or CMOS (Complementary MOS). The radar 7 is a millimeter wave radar, microwave radar, laser radar, or the like. The camera 6 and/or the radar 7 are configured to detect the surrounding environment of the vehicle 100 (other vehicles, pedestrians, road shape, traffic signs, obstacles, etc.) and output surrounding environment information to the vehicle control unit 3. ing. The radar 7 can also detect objects such as pedestrians around the vehicle 100 . Furthermore, the radar 7 may be configured to be able to receive radio waves transmitted from other communication devices.

The HMI 8 is composed of an input section that receives an input operation from the driver and an output section that outputs travel information and the like to the driver. The input unit includes a steering wheel, an accelerator pedal, a brake pedal, an operation mode switch for switching the operation mode of the vehicle 100, and the like. The output unit is a display that displays various running information.

The GPS 9 is configured to acquire current position information of the vehicle 100 and output the acquired current position information to the vehicle control section 3 . The wireless communication unit 10 receives information about other vehicles around the vehicle 100 (for example, travel information) from the other vehicles, and transmits information about the vehicle 100 (for example, travel information) to the other vehicles. configured (vehicle-to-vehicle communication). Further, the wireless communication unit 10 is configured to receive infrastructure information from infrastructure equipment such as traffic lights and marker lights, and to transmit travel information of the vehicle 100 to the infrastructure equipment (road-to-vehicle communication). Vehicle 100 may communicate directly with other vehicles or infrastructure equipment, or may communicate with them via a wireless communication network. The map information storage unit 11 is an external storage device such as a hard disk drive storing map information, and is configured to output the map information to the vehicle control unit 3 .

The information transmission device 40 includes an information transmission section 401 and a transmission control section 402 . The information transmitting unit 401 includes, for example, a laser light source and a road surface drawing device that includes an optical deflection device that deflects the laser light emitted from the laser light source, a laser transmission device that irradiates infrared lasers of various wave numbers, and a normal speaker. and at least one of a directional speaker having relatively high directivity and a radio wave transmitting device for transmitting radio waves used for communication with a mobile communication terminal or the like. For example, when the information transmission unit 401 includes a road surface drawing device, the optical deflection device is, for example, a movable mirror such as a MEMS (Micro Electro Mechanical Systems) mirror or a galvanomirror. As will be described later, the road surface drawing device draws a light pattern on the road surface around the object by scanning laser light.

The information transmitting unit 401 can transmit predetermined information to objects such as pedestrians around the vehicle 100 . The information transmission unit 401 may include, for example, a vehicle body display provided in the vehicle 100 . In this case, the information transmission unit 401 causes the vehicle body display or the like to display predetermined information. The vehicle body display may be, for example, provided on the front surface of the vehicle 100, or may be a display displayed on the windshield.

The transmission control section 402 is configured by an electronic control unit (ECU). The transmission control section 402 is configured to control the information transmission section 401 . The transmission control unit 402 is configured, for example, to control the road surface drawing device so as to irradiate the target with laser light based on the positional information of the target. The transmission control section 402 and the vehicle control section 3 may be configured by the same electronic control unit. Further, when information transmission unit 401 includes a plurality of devices (laser transmission device, directional speaker, radio wave transmission device, etc.), transmission control unit 402 determines which device to use according to the situation around vehicle 100. It is possible to determine whether to transmit predetermined information by

The prediction unit 403 of the transmission control unit 402 is based on information (route information) on the predicted route of the vehicle 100 generated by the vehicle control unit 3 and information on objects around the vehicle 100 detected by the detection unit 300. , it is determined whether there is an object (pedestrian, etc.) that may enter the predicted course of the vehicle 100 . The prediction unit 403 also identifies the target person who is most likely to enter the predicted route of the vehicle 100 .

When the vehicle 100 runs in the automatic driving mode, the vehicle control unit 3 controls at least one of a steering control signal, an accelerator control signal, and a brake control signal based on the running state information, the surrounding environment information, the current position information, the map information, and the like. Automatically generate one. The steering actuator 12 is configured to receive a steering control signal from the vehicle control unit 3 and control the steering device 13 based on the received steering control signal. The brake actuator 14 is configured to receive a brake control signal from the vehicle control unit 3 and control the brake device 15 based on the received brake control signal. The accelerator actuator 16 is configured to receive an accelerator control signal from the vehicle control unit 3 and control the accelerator device 17 based on the received accelerator control signal. Thus, in the automatic driving mode, the running of the vehicle 100 is automatically controlled by the vehicle system 1 .

On the other hand, when the vehicle 100 runs in the manual driving mode, the vehicle control unit 3 generates a steering control signal, an accelerator control signal, and a brake control signal according to the driver's manual operations on the accelerator pedal, the brake pedal, and the steering wheel. As described above, in the manual driving mode, the steering control signal, accelerator control signal, and brake control signal are generated by manual operation of the driver, so that the driving of the vehicle 100 is controlled by the driver.

Next, driving modes of the vehicle 100 will be described. The operation mode consists of an automatic operation mode and a manual operation mode. The automatic driving mode consists of a fully automatic driving mode, an advanced driving assistance mode, and a driving assistance mode. In the fully automatic driving mode, the vehicle system 1 automatically performs all travel control including steering control, brake control, and accelerator control, and the driver is not in a state where the vehicle 100 can be driven. In the advanced driving assistance mode, the vehicle system 1 automatically performs all driving control including steering control, brake control, and accelerator control, and the driver does not drive the vehicle 100 although he is ready to drive the vehicle 100 . In the driving assistance mode, the vehicle system 1 automatically performs part of driving control out of steering control, brake control, and accelerator control, and the driver drives the vehicle 100 under the driving assistance of the vehicle system 1 . On the other hand, in the manual driving mode, the vehicle system 1 does not automatically perform travel control, and the driver drives the vehicle 100 without the driving assistance of the vehicle system 1 .

Moreover, the driving mode of the vehicle 100 may be switched by operating a driving mode changeover switch. In this case, the vehicle control unit 3 changes the driving mode of the vehicle 100 into four driving modes (fully automatic driving mode, advanced driving support mode, driving support mode, manual driving mode) according to the operation of the driving mode switch by the driver. ). In addition, the driving mode of the vehicle 100 is automatically set based on information on travelable sections in which the autonomous vehicle can travel, travel prohibited sections in which the autonomous vehicle is prohibited from traveling, or information on external weather conditions. may be switched. In this case, the vehicle control unit 3 switches the driving mode of the vehicle 100 based on these pieces of information. Furthermore, the driving mode of the vehicle 100 may be automatically switched using a seating sensor, face direction sensor, or the like. In this case, the vehicle control unit 3 switches the driving mode of the vehicle 100 based on the output signals from the seating sensor and face direction sensor.

FIG. 3 is a vertical cross-sectional view showing a schematic configuration of the road surface rendering lamp 102 incorporated in the road surface rendering device when the information transmission unit 401 includes the road surface rendering device. A road surface drawing lamp 102 is a lamp capable of drawing a road surface. As shown in FIG. 3, the road drawing lamp 102 includes a lamp body 111 having an opening on the front side of the vehicle, and a transparent front cover 112 attached to cover the opening of the lamp body 111. .

The road drawing lamp 102 includes a light source unit 120 and a light distribution section 130 that reflects the light from the light source unit 120 . The light source unit 120 and the light distribution section 130 are supported at predetermined positions in the lamp chamber 113 by a support plate 141 . The support plate 141 is attached to the lamp body 111 via aiming screws 142 .

The light source unit 120 has a plurality (three in this example) of light sources 121 , a heat sink 122 , a plurality of (four in this example) of lenses 123 , and a condensing section 124 . The light source unit 120 is fixed to the front surface of the support plate 141 . Each light source 121 is electrically connected to the lamp controller 4 which is one of the transmission controllers 402 .

The light distribution section 130 has a terminal section 137 and a reflecting mirror 138 . The light distribution unit 130 has a positional relationship with the light source unit 120 so that the laser light emitted from the light source unit 120 can be reflected forward of the road drawing lamp 102 via the reflecting mirror 138 . The light distribution part 130 is fixed to the tip of a projecting part 143 projecting forward from the front surface of the support plate 141 . Terminal portion 137 is electrically connected to lamp control portion 4 .

The road surface drawing lamp 102 is configured such that the optical axis can be adjusted in the horizontal and vertical directions by rotating the aiming screw 142 to adjust the attitude of the support plate 141 .

FIG. 4 is a side view of the light source unit 120 that constitutes the road drawing lamp 102. As shown in FIG. As shown in FIG. 4, the light source unit 120 includes a first light source 121a, a second light source 121b, a third light source 121c, a heat sink 122, a first lens 123a, and a second lens 123b. , a third lens 123 c , a fourth lens 123 d and a condensing section 124 .

The first light source 121a is a light source that emits red laser light R, and is composed of a light emitting element that is a red laser diode. Similarly, the second light source 121b is composed of a green laser diode that emits green laser light G, and the third light source 121c is composed of a blue laser diode that emits blue laser light B. FIG. The first light source 121a, the second light source 121b, and the third light source 121c each have a laser light emission surface 125a, a laser light emission surface 125b, and a laser light emission surface 125c, which are light emission surfaces. They are arranged parallel to each other. Note that the light emitting element of each light source is not limited to a laser diode.

The first light source 121a to the third light source 121c are arranged so that the respective laser light emitting surfaces 125a to 125c face the front of the road drawing lamp 102, and are attached to the heat sink 122. As shown in FIG. The heat sink 122 is made of a material with high thermal conductivity such as aluminum, and is attached to the light source unit 120 with the rear side surface of the heat sink 122 in contact with the support plate 141 (see FIG. 3).

The first lens 123a to the fourth lens 123d are composed of collimating lenses, for example. The first lens 123a is provided on the optical path of the red laser light R between the first light source 121a and the condensing section 124, and converts the red laser light R emitted from the first light source 121a into parallel light. Then, the light is emitted to the condensing section 124 . The second lens 123b is provided on the optical path of the green laser light G between the second light source 121b and the condenser 124, and converts the green laser light G emitted from the second light source 121b into parallel light. Then, the light is emitted to the condensing section 124 .

The third lens 123c is provided on the optical path of the blue laser light B between the third light source 121c and the condenser 124, and converts the blue laser light B emitted from the third light source 121c into parallel light. Then, the light is emitted to the condensing section 124 . The fourth lens 123 d is fitted into an opening provided in the top of the housing 126 of the light source unit 120 . The fourth lens 123d is provided on the optical path of the white laser light W (described later) between the condensing section 124 and the light distribution section 130 (see FIG. 3), and is the white laser light emitted from the condensing section 124. W is converted into parallel light and emitted to the light distribution section 130 .

The condenser 124 collects the red laser beam R, the green laser beam G, and the blue laser beam B to generate the white laser beam W. As shown in FIG. The light collecting section 124 has a first dichroic mirror 124a, a second dichroic mirror 124b, and a third dichroic mirror 124c.

The first dichroic mirror 124a is a mirror that reflects at least red light and transmits blue light and green light, and reflects the red laser light R that has passed through the first lens 123a toward the fourth lens 123d. are arranged as The second dichroic mirror 124b is a mirror that reflects at least green light and transmits blue light, and is arranged to reflect the green laser light G that has passed through the second lens 123b toward the fourth lens 123d. It is The third dichroic mirror 124c is a mirror that reflects at least blue light, and is arranged to reflect the blue laser light B that has passed through the third lens 123c toward the fourth lens 123d.

In addition, the first dichroic mirror 124a to the third dichroic mirror 124c are arranged so that the optical paths of the laser beams reflected by them are parallel and the respective laser beams are collectively incident on the fourth lens 123d. positional relationship is defined. In this example, the first dichroic mirror 124a to the third dichroic mirror 124c are arranged so that the laser light-irradiating areas (laser light reflection points) of the dichroic mirrors 124a to 124c are aligned in a straight line.

The blue laser beam B emitted from the third light source 121c is reflected by the third dichroic mirror 124c and travels toward the second dichroic mirror 124b. The green laser beam G emitted from the second light source 121b is reflected by the second dichroic mirror 124b toward the first dichroic mirror 124a, and overlaps the blue laser beam B transmitted through the second dichroic mirror 124b. be matched. The red laser beam R emitted from the first light source 121a is reflected by the first dichroic mirror 124a toward the fourth lens 123d, and the blue laser beam B and the green laser beam transmitted through the first dichroic mirror 124a. It is superimposed with the collective light of light G. As a result, the white laser light W is formed, and the formed white laser light W travels toward the light distribution section 130 through the fourth lens 123d.

First light source 121a to third light source 121c are arranged so that first light source 121a that emits red laser beam R is closest to condensing unit 124, and third light source 121c that emits blue laser beam B is arranged. is arranged at the farthest position from the condensing section 124, and the second light source 121b for emitting the green laser light G is arranged at an intermediate position. That is, the first light source 121a to the third light source 121c are arranged closer to the condensing section 124 as the wavelength of the emitted laser light is longer.

FIG. 5 is a perspective view of the light distribution section 130 that constitutes the road surface rendering lamp 102 when viewed from the front side. As shown in FIG. 5, the light distribution unit 130 includes a base 131, a first rotating body 132, a second rotating body 133, a first torsion bar 134, a second torsion bar 135, and a permanent It has magnets 136 a and 136 b , a terminal portion 137 and a reflector 138 . The light distribution unit 130 is composed of, for example, a galvanomirror. Note that the light distribution unit 130 may be composed of, for example, a MEMS mirror.

The base 131 is a frame body having an opening 131a in the center, and is fixed to the projecting portion 143 (see FIG. 3) while being inclined in the front-rear direction of the road surface drawing lamp 102. As shown in FIG. A first rotating body 132 is arranged in the opening 131 a of the base 131 . The first rotating body 132 is a frame body having an opening 132a in the center, and is rotated left and right with respect to the base 131 (vehicle width direction).

A second rotating body 133 is arranged in the opening 132 a of the first rotating body 132 . The second rotating body 133 is a rectangular flat plate, and is supported by a second torsion bar 135 extending in the vehicle width direction so as to be vertically rotatable with respect to the first rotating body 132 . ing. The second rotating body 133 rotates left and right together with the first rotating body 132 when the first rotating body 132 rotates left and right about the first torsion bar 134 as a rotation axis. A reflecting mirror 138 is provided on the surface of the second rotating body 133 by plating, vapor deposition, or the like.

A pair of permanent magnets 136 a are provided on the base 131 at positions orthogonal to the extending direction of the first torsion bar 134 . Permanent magnet 136 a forms a magnetic field orthogonal to first torsion bar 134 . A first coil (not shown) is wired to the first rotating body 132 , and the first coil is connected to the lamp control section 4 via a terminal section 137 . A pair of permanent magnets 136 b are provided on the base 131 at positions orthogonal to the extending direction of the second torsion bar 135 . The permanent magnet 136b forms a magnetic field orthogonal to the second torsion bar 135. FIG. A second coil (not shown) is wired to the second rotating body 133 , and the second coil is connected to the lamp control section 4 via a terminal section 137 .

By controlling the magnitude and direction of the currents flowing through the first coil and the second coil, the first rotating body 132 and the second rotating body 133 reciprocally rotate left and right, and the second rotating body 132 rotates to the left and right. The moving body 133 independently reciprocates up and down. As a result, the reflecting mirror 138 reciprocates vertically and horizontally.

The light source unit 120 and the light distribution section 130 are positioned in such a manner that the laser light emitted from the light source unit 120 is reflected forward of the road drawing lamp 102 by the reflecting mirror 138 . The light distribution unit 130 scans the front of the vehicle 100 with laser light by reciprocating rotation of the reflecting mirror 138 . For example, the light distribution unit 130 scans the drawing pattern area to be formed with a laser beam. As a result, the drawing pattern forming area is irradiated with the laser light, and a predetermined drawing pattern is formed in front of the vehicle 100 .

Next, an operation example related to the vehicle communication system 2 will be described.
(First operation example)
With reference to FIGS. 6 and 7, how the predetermined information is transmitted to the object when the vehicle 100 turns left will be described. FIG. 6 is a flow chart showing processing up to transmission of predetermined information to an object. FIG. 7 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when vehicle 100 turns left. Note that the vehicle 100 is scheduled to turn left at the intersection I in the first operation example. Further, when the first operation example is performed by the vehicle communication system 2, the information transmission unit 401 includes a road surface rendering device.

As illustrated in FIG. 6, first, the vehicle control unit 3 determines a route (predicted route) that the vehicle 100 is expected to travel (STEP 01). Specifically, the vehicle control unit 3 controls the destination information input by the driver of the vehicle 100, the current position information acquired by the GPS 9, the information about other vehicles around the vehicle 100 received by the wireless communication unit 10, the map Based on the map information and the like stored in the information storage unit 11, the predicted course of the vehicle 100 is determined. In the first operation example, vehicle 100 is scheduled to turn left at intersection I, as illustrated in FIG. Therefore, the vehicle control unit 3 determines that the vehicle 100 is scheduled to turn left at the intersection I and pass through the crosswalk Z1.

In STEP 02 , the detection unit 300 transmits to the transmission control unit 402 information about objects (pedestrians, etc.) around the vehicle 100 detected by the detection unit 300 . In FIG. 7, the detection unit 300 detects a pedestrian P1 near the crosswalk Z1, a pedestrian P2 near the crosswalk Z2, and a pedestrian P3 farther from the vehicle 100 than the pedestrian P1. To detect. Note that STEP02 may be performed prior to STEP01.

In STEP 03, the prediction unit 403 of the transmission control unit 402 predicts the vehicle 100 based on information (course information) regarding the predicted course of the vehicle 100 and information regarding objects around the vehicle 100 detected by the detection unit 300. Determine whether there are any objects (pedestrians, etc.) that may encroach on the path. If there is a pedestrian or the like that may enter the predicted course of the vehicle 100 (YES in STEP03), the process proceeds to STEP04. In FIG. 7, a pedestrian P1 and a pedestrian P3 are about to cross a pedestrian crossing Z1. Therefore, the prediction unit 403 determines that the pedestrian P1 and the pedestrian P3 may enter the predicted course of the vehicle 100 . On the other hand, since the pedestrian P2 is not going to cross the pedestrian crossing Z1, the prediction unit 403 determines that there is no possibility that the pedestrian P2 will enter the predicted course of the vehicle 100 . Note that if there is no target person who can enter the predicted course of the vehicle 100 (NO in STEP 03), this process ends.

In STEP 04 , the prediction unit 403 determines whether the vehicle 100 is likely to enter the predicted route based on information (route information) about the predicted route of the vehicle 100 and information about objects around the vehicle 100 detected by the detection unit 300 . identify the most likely target audience. The transmission control unit 402 generates an instruction signal for transmitting predetermined information to the target person identified by the prediction unit 403 . In the example shown in FIG. 7, the pedestrian P3 is located farther from the vehicle 100 than the pedestrian P1. Therefore, the target person with the highest possibility of intruding into the predicted course of the vehicle 100 is the pedestrian P1. Therefore, transmission control unit 402 generates an instruction signal for transmitting predetermined information to pedestrian P1.

Transmission control section 402 controls information transmission section 401 based on the generated instruction signal. The information transmission unit 401 transmits the first information to the target person specified by the prediction unit 403 (STEP 05). The first information is information for transmitting some information from the vehicle 100 or for making a pedestrian or the like recognize that it is transmitting. In the example shown in FIG. 7, light as the first information is emitted from the information transmission unit 401 toward the face of the pedestrian P1. It is desirable that the emitted light be weak enough to be visually recognized by humans. The light hits the face of the pedestrian P1 and a circle C is projected.

Further, the information transmission unit 401 transmits the second information to the target person specified by the prediction unit 403 (STEP06). The second information is a message or the like from the vehicle 100 to a pedestrian or the like. The information transmitting device 40 draws predetermined information on the pedestrian crossing Z1. In the example shown in FIG. 7, the information transmitting device 40 draws a symbol S on the crosswalk Z1 to warn the pedestrian P1 not to cross the crosswalk Z1. Pedestrian P1 can recognize that symbol S is information transmitted to him/herself by illuminating Pedestrian P1 himself/herself. As a result, the pedestrian P1 does not have to cross the pedestrian crossing Z1. In addition, the pedestrians P2 and P3 do not have to transmit unnecessary information. The vehicle 100 can pass through the crosswalk Z1 without contacting the pedestrian P1. When STEP06 is executed, this process ends.

According to the first operation example, the information transmission unit 401 sends information as the first information to the pedestrian P1 who is a pedestrian around the vehicle 100 and who is most likely to enter the predicted course of the vehicle 100. Irradiate with light. Thus, according to the first operation example, it is possible to communicate only with a specific partner. Pedestrian P<b>1 can also recognize the presence of vehicle 100 . Furthermore, pedestrian P1 can recognize that some information has been transmitted from vehicle 100 .

Further, according to the first operation example, the second information is displayed near the direction in which the pedestrian P1 is traveling. easily recognizable.

In addition, according to the first operation example, the pedestrian P1 is illuminated with light as the first information, so the pedestrian P1 knows that the vehicle 100 is about to transmit some information to him/her. can be recognized.

(Second operation example)
FIG. 8 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when vehicle 100 turns left. In addition, in the second operation example, the description of the parts overlapping with the first operation example is omitted. The second operation example differs from the first operation example in that the pedestrians P4 to P6 wear glasses with communication functions GL4 to GL6. Glasses GL4 to GL6 with communication function are provided with two antennas. Radio waves are transmitted from the two antennas. The detection unit 300 can receive radio waves emitted from the two antennas. Further, when the second operation example is performed by the vehicle communication system 2, the information transmission unit 401 includes a road surface rendering device.

In the second operation example, as in the first operation example, the vehicle control unit 3 determines that the vehicle 100 is scheduled to turn left at the intersection I and cross the pedestrian crossing Z1 (STEP 01 in FIG. 6). The detection unit 300 also detects a pedestrian P4 near the crosswalk Z1, a pedestrian P5 near the crosswalk Z2, and a pedestrian P6 farther from the vehicle 100 than the pedestrian P4. (STEP02 in FIG. 6). Therefore, the prediction unit 403 of the transmission control unit 402 determines that the pedestrians P4 and P6 may enter the predicted route of the vehicle 100 (YES in STEP03 of FIG. 6). On the other hand, the prediction unit 403 determines that there is no possibility that the pedestrian P5 will enter the predicted route of the vehicle 100 . Then, the prediction unit 403 determines that the pedestrian P4 is the target person most likely to enter the predicted route of the vehicle 100 (STEP 04 in FIG. 6). Transmission control unit 402 generates an instruction signal for transmitting predetermined information to pedestrian P4.

Here, the vehicle control unit 3 receives the radio wave information transmitted from the antennas of the communication function glasses GL4 to GL6 worn by the pedestrians P4 to P6. The vehicle control unit 3 determines the orientations of the faces of the pedestrians P4 to P6 based on the received radio wave information, and identifies the directions in which the pedestrians P4 to P6 are looking. The vehicle control unit 3 transmits information regarding the direction in which the pedestrian is looking to the transmission control unit 402 . In addition, instead of the vehicle control unit 3, the transmission control unit 402 controls the pedestrians P4 to P6 based on the radio wave information transmitted from the antennas of the glasses GL4 to GL6 with communication functions worn by the pedestrians P4 to P6. You can specify the direction you are looking.

By the way, for example, when the pedestrian faces in a direction different from that of the vehicle 100, the pedestrian may not notice the light even if the pedestrian's face is illuminated, unlike the case of the first operation example. . Therefore, the transmission control unit 402 controls the information transmission unit 401 to change the light emission direction based on information including the direction in which the pedestrian is looking, which is acquired from the vehicle control unit 3 . In other words, the transmission control unit 402 controls the information transmission unit 401 so as to change the light emission direction according to the direction in which the pedestrian is facing. In the example shown in FIG. 8, the information transmission unit 401 irradiates the glasses with communication function GL4 to GL6 with light as the first information. The irradiated light is reflected by the glasses with communication function GL4 to GL6, and as a result, the pedestrian recognizes the light (STEP05 in FIG. 6).

In the second operation example, the vehicle control unit 3 determines that the pedestrian P4 is facing left and the pedestrians P5-6 are facing backward. Since the target person who is most likely to enter the predicted course of the vehicle 100 is the pedestrian P4, the information transmission unit 401 irradiates the communication function glasses GL4 worn by the pedestrian P4 with light. Then, the pedestrian P4 recognizes the light and looks in the direction of the vehicle 100, which is the light emission source. As illustrated in FIG. 8, the information transmitting unit 401 draws a symbol S as second information on the pedestrian crossing Z1 (STEP 06 in FIG. 6). Thereby, the pedestrian P4 can recognize the symbol S. Thereby, the pedestrian P4 does not have to cross the pedestrian crossing Z1. In addition, the pedestrians P5 and P6 do not have to transmit unnecessary information. The vehicle 100 can pass through the crosswalk Z1 without contacting the pedestrian P4.

According to the second operation example, the information transmission unit 401 emits light in the direction that the pedestrian P4 is looking. Therefore, the pedestrian P4 can easily visually recognize the emitted light.

(Third operation example)
FIG. 9 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when vehicle 100 turns left. In addition, in the third operation example, the description of the parts overlapping with the first operation example is omitted. The third operation example differs from the first operation example in that the pedestrians P7 to P9 carry communication terminals TD7 to TD9 capable of communicating with the vehicle 100. FIG. The communication terminals TD7 to TD9 are smart phones, for example. Further, when the vehicle communication system 2 implements the third operation example, the information transmission unit 401 includes a road surface drawing device and a radio wave transmission device.

In the third operation example, as in the first operation example, the vehicle control unit 3 determines that the vehicle 100 is scheduled to turn left at the intersection I and cross the pedestrian crossing Z1 (STEP 01 in FIG. 6). The detection unit 300 also detects a pedestrian P7 near the crosswalk Z1, a pedestrian P8 near the crosswalk Z2, and a pedestrian P9 farther from the vehicle 100 than the pedestrian P7. (STEP02 in FIG. 6).

In FIG. 9, a pedestrian P7 and a pedestrian P9 are about to cross a pedestrian crossing Z1. Therefore, the prediction unit 403 determines that the pedestrian P7 and the pedestrian P9 may enter the predicted course of the vehicle 100 (YES in STEP03 of FIG. 6). On the other hand, the prediction unit 403 determines that there is no possibility that the pedestrian P8 will enter the predicted course of the vehicle 100 . Then, the vehicle control unit 3 determines that the target person with the highest possibility of intruding into the predicted course of the vehicle 100 is the pedestrian P7 (STEP 04 in FIG. 6). Transmission control unit 402 generates an instruction signal for transmitting predetermined information to pedestrian P7.

Transmission control section 402 controls information transmission section 401 based on the generated instruction signal. As a result, the information transmission unit 401 transmits radio waves as the first information toward the communication terminal TD7 carried by the pedestrian P7 (STEP05 in FIG. 6). The communication terminal TD7 that has received the radio waves vibrates as illustrated in FIG. Then, the pedestrian P7 confirms the surroundings of the pedestrian P7 himself.

In addition, the information transmission unit 401 irradiates light as second information on the road surface near the pedestrian P7, for example, the pedestrian crossing Z1 (STEP06 in FIG. 6). In the example shown in FIG. 9, a symbol S is drawn on the crosswalk Z1. Thereby, the pedestrian P7 can recognize the symbol S. Thereby, the pedestrian P7 does not have to cross the pedestrian crossing Z1. In addition, the pedestrians P8 and P9 do not have to transmit unnecessary information. The vehicle 100 can pass through the crosswalk Z1 without contacting the pedestrian P7.

According to the third operation example, by vibrating the communication terminal TD7 carried by the pedestrian P7, it is possible to communicate only with the pedestrian P7 carrying the vibrating communication terminal TD7.

(Fourth operation example)
FIG. 10 is a schematic diagram for explaining how predetermined information is transmitted to an obstacle object when vehicle 100 turns left. In addition, in the fourth operation example, the description of the parts overlapping with the first operation example is omitted. When the vehicle communication system 2 implements the fourth operation example, the information transmission unit 401 includes a road surface drawing device and a directional speaker.

In the fourth operation example, as in the first operation example, the vehicle control unit 3 determines that the vehicle 100 is scheduled to turn left at the intersection I and cross the pedestrian crossing Z1 (STEP 01 in FIG. 6). The detection unit 300 also detects a pedestrian P10 near the crosswalk Z1, a pedestrian P11 near the crosswalk Z2, and a pedestrian P12 farther from the vehicle 100 than the pedestrian P10. (STEP02 in FIG. 6).

In FIG. 10, a pedestrian P10 and a pedestrian P12 are about to cross a pedestrian crossing Z1. Therefore, the prediction unit 403 determines that the pedestrian P10 and the pedestrian P12 may enter the predicted course of the vehicle 100 (YES in STEP03 of FIG. 6). On the other hand, the prediction unit 403 determines that there is no possibility that the pedestrian P11 will enter the predicted course of the vehicle 100 . Then, the vehicle control unit 3 determines that the pedestrian P10 is the target person who is most likely to enter the predicted course of the vehicle 100 (STEP 04 in FIG. 6). Transmission control unit 402 generates an instruction signal for transmitting predetermined information to pedestrian P10.

Transmission control section 402 controls information transmission section 401 based on the generated instruction signal. As a result, the information transmission unit 401 outputs voice as the first information from the directional speaker of the information transmission unit 401 toward the pedestrian P10 (STEP 05 in FIG. 6). The pedestrian P10 can recognize the voice, but the pedestrians P11-P12 cannot recognize the voice. Therefore, pedestrian P10 recognizes the sound and looks in the direction of vehicle 100, which is the source of the sound.

The information transmitting unit 401 irradiates light as second information near the pedestrian P10, for example, the pedestrian crossing Z1 (STEP06 in FIG. 6). In the example shown in FIG. 10, a symbol S is drawn on the crosswalk Z1. Thereby, the pedestrian P10 can recognize the symbol S. Thereby, the pedestrian P10 does not have to cross the pedestrian crossing Z1. On the other hand, the pedestrians P11 and P12 do not need to be transmitted unnecessary information. Vehicle 100 can pass through pedestrian crossing Z1 without contacting pedestrian P10.

According to the fourth operation example, since the directional speaker of the information transmitting unit 401 emits sound toward the pedestrian P10, information can be transmitted to the specific pedestrian P10. Therefore, it is possible to communicate only with the pedestrian P10.

In the first operation example described above, the light may be intermittently applied to the pedestrian P1. In this case, it is possible to limit the amount of energy of the light to be output and the amount of energy of the light to be emitted to the pedestrian P1. Therefore, it is possible to reduce the amount of energy consumed by the light, and avoid placing an excessive burden on the eyes of the pedestrian P1.

In the second operation example described above, the pedestrians P4 to P6 wear the glasses with communication functions GL4 to GL6, but the present invention is not limited to this. Devices other than glasses may be used as long as they are wearable devices with a communication function.

In the third operation example described above, an example in which the communication terminal TD7 carried by the pedestrian P7 vibrates has been described, but the present invention is not limited to this example. For example, sound such as music or voice may be played from the communication terminal TD7 without vibrating the communication terminal TD7. Further, for example, while the communication terminal TD7 vibrates, sound such as music may be played from the communication terminal TD7.

In the fourth operation example described above, an example in which sound is output from the directional speaker of the information transmission unit 401 has been described, but the present invention is not limited to this. For example, the directional speaker of the information transmission unit 401 may output sounds other than voice (for example, music).

In the above-described embodiment, an example in which the second information is transmitted to the pedestrian by drawing the road surface has been described, but the present invention is not limited to this. For example, the second information may be transmitted by sound such as voice, or may be transmitted to the pedestrian by displaying a message on the display unit of an electronic communication device such as a smart phone.

Although the prediction unit 403 is included in the transmission control unit 402 in the above-described embodiment, it is not limited to this example. The prediction unit 403 may be included in the vehicle control unit 3, for example.

In the above-described embodiment, an example in which STEP05 and STEP06 are executed has been described, but the present invention is not limited to this. For example, STEP06 does not necessarily have to be executed. That is, the second information does not necessarily have to be transmitted to the pedestrian.

The road surface rendering device of the information transmission unit 401 may include a light source that emits infrared rays. In this case, the information transmission unit 401 may emit infrared rays toward the pedestrian. When the infrared ray strikes a pedestrian, the pedestrian feels heat and can therefore recognize the first information.

In the above-described embodiment, the form in which the first information is transmitted to the pedestrian by at least one of light, heat, sound, and vibration has been described, but the present invention is not limited to this. The first information may be transmitted to the pedestrian by appropriately combining a plurality of light, heat, sound, and vibration.

It should be noted that the present disclosure is not limited to the above-described embodiments, and can be modified, improved, etc. 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 not limited as long as the object of the present disclosure can be achieved.

This application is based on a Japanese patent application (Japanese Patent Application No. 2018-227396) filed on December 4, 2018, the contents of which are incorporated herein by reference.

Claims (6)

a detection unit capable of detecting a plurality of target persons around the own vehicle ;
a prediction unit that identifies a target person who is most likely to enter the predicted route of the own vehicle from among the plurality of target persons based on the route information acquired from the vehicle control unit;
an information transmitting unit that transmits first information that is transmitted so that the identified target person can recognize it by at least one of light, heat, sound, and vibration , and second information that is different from the first information ; picture,
The second information is a message to the target person identified from the own vehicle,
The communication system for a vehicle, wherein the first information is information for transmitting the second information or for making the specified subject recognize that the second information is being transmitted. 2. The vehicle communication system according to claim 1 , wherein said information transmission unit transmits said first information to said target person by emitting light. 3. The vehicle communication system according to claim 2 , wherein said information transmitting unit intermittently irradiates said target person with light. 4. The method according to claim 2 or 3 , wherein the information transmission unit emits light in a direction in which the target person is looking based on information including the direction in which the target person is looking, which is obtained from the vehicle control unit. The described vehicle communication system. The information transmitting unit is capable of communicating with a communication terminal portable by the subject,
2. The vehicle communication system according to claim 1 , wherein said information transmitter is configured to generate at least one of sound and vibration from said communication terminal. 2. The vehicle communication system according to claim 1 , wherein said information transmission unit includes a directional speaker for transmitting sound toward said target person.

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