Vehicle following system

Abstract

This system provides a vehicle-following driving system that can suppress interruptions between a preceding vehicle and a following vehicle without requiring the following vehicle to perform complex driving control. [Solution] A vehicle following driving system 100 that connects a leading vehicle 10A and a following vehicle 10B in a non-mechanical manner and causes the following vehicle 10B to follow the leading vehicle 10A, wherein while the following vehicle 10B is following the leading vehicle 10A, light is shone from the leading vehicle 10A or the following vehicle 10B toward the road surface between the leading vehicle 10A and the following vehicle 10B to draw a predetermined shape on the road surface.

Description

Technical Field

[0001] The present disclosure relates to a vehicle following driving system that causes a following vehicle to follow a preceding vehicle.

Background Art

[0002] A vehicle following driving system that non-mechanically connects a preceding vehicle and a following vehicle and causes the following vehicle to follow the preceding vehicle is known. For example, Patent Document 1 discloses a vehicle following driving system that can suppress interruptions between a preceding vehicle and a following vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the vehicle following driving system of Patent Document 1, in order to suppress interruptions between the preceding vehicle and the following vehicle, it is necessary to finely control the steering or braking of the following vehicle. In this case, the driving control of the following vehicle becomes complicated.

[0005] Therefore, an object of the present invention is to provide a vehicle following driving system that can suppress interruptions between a preceding vehicle and a following vehicle without the following vehicle performing complicated driving control.

Means for Solving the Problems

[0006] The vehicle following driving system according to the present invention is a vehicle following driving system that non-mechanically connects a preceding vehicle and a following vehicle and causes the following vehicle to follow the preceding vehicle, and during the following vehicle following the preceding vehicle, light is irradiated from the preceding vehicle or the following vehicle toward the road surface between the preceding vehicle and the following vehicle to draw a display of a predetermined shape on the road surface.

[0007] By adopting the above configuration, it is possible to suppress interruptions between the preceding vehicle and the following vehicle while the following vehicle is following the preceding vehicle, without the following vehicle having to perform complex driving control.

[0008] In the vehicle following driving system according to the present invention, it is preferable to display a message when the headlights of the preceding or following vehicle are illuminated.

[0009] With the above configuration, the road marking device does not draw any markings during the daytime when the headlights are not illuminated. This makes it possible to reduce the amount of light used by the road marking device when drawing markings to below a predetermined level. As a result, the power consumption of the road marking device can be reduced.

[0010] In the vehicle following driving system according to the present invention, it is preferable to display a display when the preceding vehicle or following vehicle is stopped or traveling at a predetermined speed or below.

[0011] With the above configuration, the road surface drawing device does not draw a display at vehicle speeds higher than a predetermined speed at which pedestrians do not enter between the preceding vehicle and the following vehicle. This reduces the power consumption of the drawing device. In addition, for example, when the following vehicle is stopped before it begins to follow the preceding vehicle unmanned, it is possible to make pedestrians around the following vehicle aware that the following vehicle is about to proceed by following the preceding vehicle. As a result, it is possible to discourage pedestrians around the following vehicle from passing in front of the following vehicle while it is following the preceding vehicle.

[0012] In the vehicle following driving system according to the present invention, it is preferable to display a pedestrian in red when a pedestrian is detected within a predetermined range behind the preceding vehicle or within a predetermined range in front of the following vehicle.

[0013] With the above configuration, if a pedestrian attempts to enter a predetermined area behind the preceding vehicle or in front of the following vehicle, a warning can be issued to the pedestrian.

[0014] In the vehicle following driving system according to the present invention, when the inter-vehicle distance between the preceding vehicle and the following vehicle is less than or equal to a predetermined distance, it is preferable not to draw a part of the display.

[0015] With the above configuration, when the inter-vehicle distance between the preceding vehicle and the following vehicle is less than or equal to a predetermined distance, it is possible to avoid a situation where the display of the road surface drawing overlaps with the preceding vehicle or the following vehicle.

[0016] In the vehicle following driving system according to the present invention, it is preferable to interlock the drawing angle of the display with the steering angle of the preceding vehicle or the following vehicle.

[0017] With the above configuration, when the preceding vehicle or the following vehicle passes through a curve, it is possible to draw a display between the preceding vehicle and the following vehicle along the curve.

Effect of the Invention

[0018] According to the vehicle following driving system of the present invention, while the following vehicle is following the preceding vehicle, it is possible to suppress interruptions between the preceding vehicle and the following vehicle without the following vehicle performing complex driving control.

Brief Description of the Drawings

[0019] [Figure 1] It is a schematic diagram showing a vehicle following driving system which is an example of an embodiment. [Figure 2] It is a block diagram showing the configuration of a control device. [Figure 3] It is a schematic diagram showing other display shapes of the road surface drawing. [Figure 4] It is a diagram for explaining the irradiation range of the road surface drawing. [Figure 5] It is a diagram for explaining the steering angle interlocking control of the road surface drawing. [Figure 6] It is a flowchart for explaining the operation flow of a road surface drawing ECU.

Mode for Carrying Out the Invention

[0020] Hereinafter, an example of an embodiment of the present invention will be described in detail. In the following description, specific shapes, materials, directions, numerical values, etc. are examples for facilitating the understanding of the present invention, and can be appropriately changed according to applications, purposes, specifications, etc.

[0021] [Vehicle Following Driving System] The vehicle following driving system 100 will be described with reference to FIGS. 1 to 5.

[0022] As shown in FIG. 1, the vehicle following driving system 100 is a system that non-mechanically connects a preceding vehicle 10A and a following vehicle 10B and causes the following vehicle 10B to follow the preceding vehicle 10A. Although details will be described later, in the vehicle following driving system 100, while the following vehicle 10B is following the preceding vehicle 10A, light is irradiated from the preceding vehicle 10A or the following vehicle 10B toward the road surface between the preceding vehicle 10A and the following vehicle 10B to draw a display of a predetermined shape on the road surface. According to the vehicle following driving system 100, the following vehicle 10B can suppress interruptions between the preceding vehicle 10A and the following vehicle 10B without performing complicated driving control.

[0023] The vehicle 10 (including the preceding vehicle 10A and the following vehicle 10B) in the present embodiment is a four-wheeled vehicle. Note that the vehicle of the present invention is not limited to a four-wheeled vehicle. The vehicle of the present invention may be a two-wheeled vehicle or other vehicles.

[0024] Non-mechanically connecting means that the following vehicle 10B automatically travels while maintaining a constant distance between the preceding vehicle 10A and the following vehicle 10B. Note that the vehicle following driving system 100 may further include a plurality of vehicles 10 in which the vehicle 10 (following vehicle 10B) follows the following vehicle 10B and follows in a row. In this case, vehicles 10 other than the leading or trailing vehicle 10 also become the preceding vehicle 10A or the following vehicle 10B.

[0025] [When the Road Surface Drawing Device is in Front of the Vehicle] The following describes the case where the road surface drawing device 45 is installed on the front side of the vehicle 10. In this case, the following vehicle 10B performs road surface drawing facing forward. The following describes the case where vehicle 10 is the following vehicle 10B.

[0026] As shown in Figure 2, the vehicle 10 includes an in-vehicle device 40 and an ECU 50 (Electronic Control Unit), which will be described in detail later.

[0027] The ECU 50 includes a communication ECU 51, an ADAS-ECU 52 (Advanced Driver Assistance System-ECU), a steering ECU 53, a follow-me driving ECU 54, and a road surface rendering ECU 55. The communication ECU 51, ADAS-ECU 52, steering ECU 53, follow-me driving ECU 54, and road surface rendering ECU 55 are interconnected by a bus 59 and exchange information with each other. The vehicle 10 may also include other ECUs.

[0028] Each ECU includes a processor, such as a CPU, storage devices such as semiconductor memory, and interfaces to external devices. The storage devices store programs executed by the processor or data used by the processor for processing. Each ECU may have multiple processors, storage devices, interfaces, etc.

[0029] The communication ECU 51 communicates with the preceding vehicle 10A via the in-vehicle communication device 41, which is an in-vehicle device 40. The in-vehicle communication device 41 is a communication device that performs vehicle-to-vehicle communication. The in-vehicle communication device 41 receives communication information transmitted by the preceding vehicle 10A via vehicle-to-vehicle communication. The communication information includes the driving status of the preceding vehicle 10A (vehicle speed, steering angle, etc.).

[0030] The ADAS-ECU52 centrally controls the advanced driver assistance system. External sensors 42, which constitute the in-vehicle equipment 40, are connected to the ADAS-ECU52. The external sensors 42 are a group of sensors used to detect the surrounding environment of the vehicle 10. These external sensors 42 include, for example, a camera that takes images of the area around the vehicle 10, a millimeter-wave radar that transmits probe waves and receives reflected waves, and a lidar that scans the area in front of the vehicle 10. The external sensors 42 also include a road surface color detection sensor that detects the color of the road surface while the vehicle 10 is driving.

[0031] The steering ECU 53 controls the power steering. The steering ECU 53 is connected to the steering angle sensor 43 and the steering actuator, which are part of the in-vehicle equipment 40. The steering angle sensor 43 is a sensor that detects the steering angle of the steering wheel.

[0032] The follow-me driving ECU 54 recognizes the preceding vehicle 10A using the external sensor 42 and controls the vehicle 10 to follow the preceding vehicle 10A. The follow-me driving ECU 54 also controls the vehicle 10 to follow the preceding vehicle 10A by communicating with the preceding vehicle 10A. As an example, the follow-me driving ECU 54 controls the engine actuator, brake actuator, and steering actuator of the following vehicle 10B so that a predetermined distance is maintained between the following vehicle 10A and the preceding vehicle 10A. Known technologies may be used for the control of following the preceding vehicle 10A.

[0033] The road surface drawing ECU 55 uses a road surface drawing device 45, which is an in-vehicle device 40, to irradiate the road surface with light and draw a predetermined shape on it. The road surface drawing device 45 is located in front of the vehicle 10. The road surface drawing device 45 includes, for example, a semiconductor light-emitting element such as an LED, a first lens for projecting light emitted from the semiconductor light-emitting element onto a projection screen, and a second lens for drawing an image of a predetermined shape on the projection screen toward the road surface. The projection screen may have a transparent area formed from the beginning corresponding to the predetermined shape to be drawn on the road surface. Alternatively, various patterns of light may be transmitted by selectively driving multiple elements arranged in a matrix, such as a transmissive liquid crystal.

[0034] The road surface drawing ECU 55 includes, as will be described in detail later, a road surface drawing unit 61, a vehicle-to-vehicle communication confirmation unit 62, a headlight confirmation unit 63, a vehicle stop confirmation unit 64, a pedestrian warning unit 65, a display color change unit 66, an illumination range change unit 67, and a steering angle linkage unit 68.

[0035] While vehicle 10 is following vehicle 10A, the road surface drawing unit 61 uses the road surface drawing device 45 to illuminate the road surface between vehicle 10 and vehicle 10A with light, drawing a predetermined shape on the road surface (hereinafter simply referred to as "road surface drawing"). At this time, the display may be lit up or blinked. With this configuration, while the following vehicle 10B (vehicle 10) is following vehicle 10A, the following vehicle 10B (vehicle 10) can suppress interruptions between the following vehicle 10A and vehicle 10B without requiring the following vehicle 10B (vehicle 10) to perform complex driving control.

[0036] The shape of the road marking may be a fan shape as viewed from the preceding vehicle 10A, and may have multiple gaps along the circumferential direction (see Figure 1). Also, as shown in Figure 3(A), the shape of the road marking may be a roughly triangular shape with a "!" cut out inside. Also, as shown in Figure 3(B), it may be a circular shape with a "-" cut out inside. Furthermore, as shown in Figure 3(C), the shape of the road marking may be a combination of ○ and ×.

[0037] The display color of the road surface drawing may be green. Alternatively, the display color of the road surface drawing may be changed according to the color of the road surface while the vehicle 10 is driving, by the display color changing unit 66 described later.

[0038] The vehicle-to-vehicle communication confirmation unit 62 performs road surface drawing when the following vehicle 10B (vehicle 10) is connected to the preceding vehicle 10A via vehicle-to-vehicle communication. At this time, the vehicle-to-vehicle communication confirmation unit 62 may sequentially draw the road surface using the road surface drawing device 45 while it is attempting to connect with the preceding vehicle 10A via vehicle-to-vehicle communication.

[0039] The headlight confirmation unit 63 performs road surface drawing when the headlights of the vehicle 10 are illuminated. With this configuration, the road surface drawing device 45 does not draw the display during the daytime when the headlights are not illuminated. This makes it possible to keep the amount of light used by the road surface drawing device 45 to below a predetermined level. As a result, the power consumption of the road surface drawing device 45 can be reduced.

[0040] The vehicle stop confirmation unit 64 performs road surface drawing when the vehicle 10 is stopped or below a predetermined speed. The predetermined speed may be the same as the operating conditions for the parking support brake performed by the ADAS-ECU 52. The parking support brake is a brake that, when it detects an object to be operated on during low-speed driving such as when parking, contributes to reducing collision damage with the object to be operated on by providing a warning and collision damage mitigation brake control. The predetermined speed may be, for example, 15 km / h.

[0041] With the above configuration, at vehicle speeds greater than a predetermined speed (high speed) where no pedestrians enter between the preceding vehicle 10A and the following vehicle 10B, the road surface drawing device 45 does not perform road surface drawing. This reduces the power consumption of the road surface drawing device 45. In addition, for example, when the following vehicle 10B is stopped before it begins following the preceding vehicle unmanned, pedestrians around the following vehicle 10B can be made aware that the following vehicle 10B is about to proceed by following the preceding vehicle. As a result, pedestrians around the following vehicle 10B can be discouraged from passing in front of the following vehicle 10B as it is following the preceding vehicle.

[0042] The pedestrian warning unit 65 changes the color of the road markings to red when it detects a pedestrian within a predetermined range behind the preceding vehicle 10A or within a predetermined range in front of the following vehicle 10B. The predetermined range may be, for example, the same range as the operating conditions for the parking support brake described above. The predetermined range may be 3m x 3m. This allows the system to warn pedestrians if they attempt to enter the space between the preceding vehicle 10A and the following vehicle 10B (vehicle 10).

[0043] The display color changing unit 66 changes the display color of the road surface drawing to a highly visible color according to the road surface color detected by the road surface color detection sensor. For example, when the vehicle 10 is driving indoors, if the road surface color detected by the road surface color detection sensor is black, the display color of the road surface drawing is changed to white. This makes the display of the road surface drawing stand out against the road surface color, making it easier for passersby to recognize the display of the road surface drawing.

[0044] As shown in Figure 4, the illumination range changing unit 67 partially hides the display shape of the road surface drawing when the distance between it and the preceding vehicle 10A detected by the external sensor 42 is within a predetermined distance. With this configuration, it is possible to avoid a situation where the display of the road surface drawing overlaps with the preceding vehicle 10A or the following vehicle 10B when the distance between the preceding vehicle 10A and the following vehicle 10B is within a predetermined distance.

[0045] As shown in Figure 5, the steering angle linkage unit 68 links the drawing angle of the road surface drawing by the road surface drawing device 45 to the steering angle detected by the steering angle sensor 43. With this configuration, when the preceding vehicle 10A or the following vehicle 10B passes through a curve, a display can be drawn between the preceding vehicle 10A and the following vehicle 10B along the curve.

[0046] [Vehicle following control] The operation of the road surface drawing ECU 55 will be explained using Figure 6.

[0047] The following describes the case where vehicle 10 is the following vehicle 10B. In step S11, the road surface drawing ECU 55 checks whether vehicle 10 has been able to connect with the preceding vehicle 10A via vehicle-to-vehicle communication. If the road surface drawing ECU 55 has been able to connect with the preceding vehicle 10A via vehicle-to-vehicle communication, it proceeds to step S12. If the road surface drawing ECU 55 has not been able to connect with the preceding vehicle 10A via vehicle-to-vehicle communication, it proceeds to step S19.

[0048] In step S12, the road surface drawing ECU 55 checks whether the headlights of vehicle 10 are on. If the headlights of vehicle 10 are on, the road surface drawing ECU 55 proceeds to step S13. If the headlights of vehicle 10 are not on, the road surface drawing ECU 55 proceeds to step S19.

[0049] In step S13, the road surface drawing ECU 55 checks whether the vehicle 10 is stopped or traveling at a predetermined speed or below. If the vehicle 10 is stopped or traveling at a predetermined speed or below, the road surface drawing ECU 55 proceeds to step S14. If the vehicle 10 is stopped or traveling at a speed greater than the predetermined speed, the road surface drawing ECU 55 proceeds to step S19.

[0050] In step S14, the road surface drawing ECU 55 checks whether it has detected a pedestrian within a predetermined range behind the preceding vehicle 10A or within a predetermined range in front of the following vehicle 10B. If the road surface drawing ECU 55 detects a pedestrian, it proceeds to step S16. If the road surface drawing ECU 55 does not detect a pedestrian, it proceeds to step S15.

[0051] In step S15, the road surface drawing ECU 55 checks whether the road surface color detected by the road surface color detection sensor is black. If the road surface color is black, the road surface drawing ECU 55 proceeds to step S17. If the road surface color is not black, the road surface drawing ECU 55 proceeds to step S18.

[0052] In step S16, the road surface drawing ECU 55 performs road surface drawing using the road surface drawing device 45 with the display color of the road surface drawing set to red. In step S17, the road surface drawing ECU 55 performs road surface drawing using the road surface drawing device 45 with the display color of the road surface drawing set to white.

[0053] In step S18, the road surface drawing ECU 55 performs road surface drawing using the road surface drawing device 45, setting the display color of the road surface drawing to green. In step S19, the road surface drawing ECU 55 does not perform road surface drawing using the road surface drawing device 45.

[0054] [When the road marking device is located at the rear of the vehicle] When the road surface drawing device 45 is installed on the rear side of the vehicle 10, the preceding vehicle 10A performs road surface drawing facing backward. In this case as well, the above-described operation is performed by the road surface drawing ECU 55.

[0055] [When road marking devices are located on the front and rear of the vehicle] If the road surface drawing device 45 is provided on the front and rear sides of the vehicle 10, the leading vehicle 10A may perform road surface drawing toward the rear, the following vehicle 10B may perform road surface drawing toward the front, or both the leading vehicle 10A and the following vehicle 10B may perform road surface drawing. In this case as well, the above operations are performed by the road surface drawing ECU 55.

[0056] [summary] The present invention is further described by the following embodiments. Configuration 1: A vehicle following driving system that connects a preceding vehicle and a following vehicle in a non-mechanical manner, and causes the following vehicle to follow the preceding vehicle, While the preceding vehicle is driving with the following vehicle following it, the preceding vehicle or the following vehicle irradiates light onto the road surface between the preceding vehicle and the following vehicle to draw a predetermined shape on the road surface. Vehicle following system. Configuration 2: The vehicle following driving system described in Configuration 1, The display is drawn when the headlights of the preceding vehicle or the following vehicle are illuminated. Vehicle following system. Configuration 3: The vehicle following driving system described in Configuration 1, The display is drawn when the preceding vehicle or the following vehicle is stopped or traveling at a predetermined speed or below. Vehicle following system. Configuration 4: The vehicle following driving system described in Configuration 1, If a pedestrian is detected within a predetermined range behind the preceding vehicle or within a predetermined range in front of the following vehicle, the display will be drawn in red. Vehicle following system. Configuration 5: A vehicle following driving system according to any one of configurations 1 to 4, The drawing angle of the road surface drawing is linked to the steering angle of the preceding vehicle or the following vehicle. Vehicle following system.

[0057] It should be noted that the present invention is not limited to the embodiments and their modifications described above, and various changes and improvements are possible within the scope of the claims of this application. [Explanation of symbols]

[0058] 10 Vehicle, 10A Leading vehicle, 10B Following vehicle, 40 In-vehicle equipment, 41 In-vehicle communication equipment, 42 External sensor, 43 Steering angle sensor, 45 Road surface drawing device, 50 ECU, 51 Communication ECU, 52 ADAS-ECU, 53 Steering ECU, 54 Follow-me driving ECU, 55 Road surface drawing ECU, 59 Bus, 61 Road surface drawing unit, 62 Inter-vehicle communication confirmation unit, 63 Headlight confirmation unit, 64 Vehicle stop confirmation unit, 65 Pedestrian warning unit, 66 Display color change unit, 67 Illumination range change unit, 68 Steering angle linkage unit, 100 Vehicle follow-me driving system

Claims

1. A vehicle following driving system that connects a preceding vehicle and a following vehicle in a non-mechanical manner, and causes the following vehicle to follow the preceding vehicle, While the preceding vehicle is driving with the following vehicle following it, the preceding vehicle or the following vehicle irradiates light onto the road surface between the preceding vehicle and the following vehicle to draw a predetermined shape on the road surface. Vehicle following system.

2. A vehicle following driving system according to claim 1, The display is drawn when the headlights of the preceding vehicle or the following vehicle are illuminated. Vehicle following system.

3. A vehicle following driving system according to claim 1, The display is drawn when the preceding vehicle or the following vehicle is stopped or traveling at a predetermined speed or below. Vehicle following system.

4. A vehicle following driving system according to claim 1, If a pedestrian is detected within a predetermined range behind the preceding vehicle or within a predetermined range in front of the following vehicle, the display will be drawn in red. Vehicle following system.

5. A vehicle following driving system according to any one of claims 1 to 4, The drawing angle of the display is linked to the steering angle of the preceding vehicle or the following vehicle. Vehicle following system.

Images