Control device and control method

Abstract

To improve the clarity of information regarding the vehicle's unique driving and turning behavior when notifying those around it. [Solution] The control device is mounted on a vehicle in which multiple wheels can be steered independently. The control device projects a display representing the vehicle's behavior onto the road surface around the vehicle using a light source provided by the vehicle when (1) the vehicle is moving laterally with multiple wheels steered in the same direction that intersects the front-rear direction of the vehicle body, (2) the vehicle is performing a spin turn so that the center of rotation is within the area surrounded by multiple wheels, or (3) the vehicle is performing a pivot turn so that the center of rotation is near any of the multiple wheels.

Description

[Technical Field]

[0001] The present disclosure relates to a technology for notifying behavior of a vehicle capable of independently steering a plurality of wheels. [Background Art]

[0002] Conventionally, a direction notification system that notifies the moving direction to the outside of a vehicle body has been proposed (Patent Document 1). This direction notification system is configured to, as turning patterns of a multiple-wheel vehicle, notify a lateral movement traveling straight in a direction intersecting the front-rear direction of the vehicle body or a spin turn rotating around a vertical axis passing through the center of the vehicle body of such movement or turn. [Prior Art Literature] [Patent Literature]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2020-97291 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] In the above technology, special traveling and turning of a vehicle is notified using turn signals. However, with notification using turn signals, there has been a problem that it is difficult for surrounding third parties to recognize the difference between the lighting pattern of such notification and the lighting pattern for conventional notification of right / left turns, course changes, and the like.

[0005] An object of the present technology is to improve clarity when notifying surrounding persons of special traveling and turning behavior of a vehicle. [Means for Solving the Problem]

[0006] A control device mounted on a vehicle capable of independently steering a plurality of wheels, (1) When the vehicle is moving laterally with the multiple wheels steered in the same direction that intersects the front-rear direction of the vehicle body, (2) when the vehicle is performing a spin turn so that the center of rotation is within the area surrounded by the multiple wheels, or (3) when the vehicle is performing a pivot turn so that the center of rotation is near any of the multiple wheels, a display representing the behavior of the vehicle is projected onto the road surface around the vehicle using a light source provided by the vehicle. Control device. [Effects of the Invention]

[0007] This technology can improve the clarity of information dissemination when informing those around a vehicle of its unusual driving or turning behavior. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing an example of a vehicle configuration in which multiple tires can be steered independently. [Figure 2] Figure 2 is a schematic diagram showing an example of a drive unit and steering drive unit connected to a single tire. [Figure 3] Figure 3 is a diagram illustrating the behavior of a vehicle capable of independent steering. [Figure 4] Figure 4 is a processing flow diagram showing an example of a notification process performed by the vehicle's control system. [Figure 5] Figure 5 shows an example of a turn signal flashing pattern. [Figure 6] Figure 6 shows another example of a turn signal flashing pattern. [Figure 7] Figure 7 shows another example of a turn signal flashing pattern. [Figure 8] Figure 8 shows another example of a turn signal flashing pattern. [Figure 9] Figure 9 shows another example of a turn signal flashing pattern. [Figure 10] Figure 10 shows another example of a turn signal flashing pattern. [Figure 11]FIG. 11 is a diagram showing another example of a blink pattern of a turn signal. [Figure 12] FIG. 12 is a diagram showing another example of a blink pattern of a turn signal. [Figure 13] FIG. 13 is a diagram showing another example of a blink pattern of a turn signal. [Figure 14] FIG. 14 is a diagram showing another example of a blink pattern of a turn signal. [Figure 15] FIG. 15 is a diagram showing another example of a blink pattern of a turn signal. [Figure 16] FIG. 16 is a diagram showing an example of lighting up a tire. [Figure 17] FIG. 17 is a diagram showing another example of lighting up a tire. [Figure 18] FIG. 18 is a diagram showing another example of lighting up a tire. [Figure 19] FIG. 19 is a diagram showing another example of lighting up a tire. [Figure 20] FIG. 20 is a diagram showing an example of projection onto a road surface. [Figure 21] FIG. 21 is a diagram showing another example of projection onto a road surface. [Figure 22] FIG. 22 is a diagram showing another example of projection onto a road surface. [Figure 23] FIG. 23 is a diagram showing another example of projection onto a road surface. DESCRIPTION OF EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. However, the configurations of the following embodiments are illustrative examples, and the present invention is not limited to the configurations of the embodiments.

[0010] <Configuration> First, let's describe a vehicle with independently steerable wheels. Figure 1 is a schematic diagram showing an example of the configuration of a vehicle 100 in which multiple tires (wheels) can be independently steered. The vehicle 100 is, for example, an automobile, but it may also be a construction machine or the like equipped with wheels. In this embodiment, the orientation of the vehicle body 1 of the vehicle 100 is used as the reference point, and the directions indicated by the arrows in Figure 1 are referred to as front, back, left, and right. That is, for convenience, the direction that the driver of the vehicle 100 faces when seated in the seat will be called the "front" of the vehicle body, and the opposite direction will be called the "rear". Similarly, the left and right sides of the driver seated in the seat will be called the "left" and "right", respectively.

[0011] Vehicle 100 also includes four tires 2 (2A, 2B, 2C, and 2D), four drive units 3 (3A, 3B, 3C, and 3D), four steering drive units 4 (4A, 4B, 4C, and 4D), a control device 5, a turn signal lever 6, a shift lever 7, and four turn signals 8 (8A, 8B, 8C, and 8D). The tires 2 include wheels, hubs, axles, etc. The vehicle body 1 is equipped with tire 2A on the right front, tire 2B on the left front, tire 2C on the left rear, and tire 2D on the right rear. The drive units 3 include motors (in-wheel motors) that rotate the axles of the corresponding tires 2, thereby rotating the tires 2. The vehicle body 1 is equipped with drive unit 3A on the right front, drive unit 3B on the left front, drive unit 3C on the left rear, and drive unit 3D on the right rear. The steering drive unit 4 includes a motor that can steer the tires 2 to the left and right by, for example, 90 degrees or more, and changes the direction of the tires 2. In the example in Figure 1, one steering drive unit 4 is connected to each of the four tires 2, and the tires 2 can be steered independently around the axis of rotation shown by the black circle. Note that the steering drive unit 4A is located on the front right of the vehicle body 1, the steering drive unit 4B on the front left, the steering drive unit 4C on the rear left, and the steering drive unit 4D on the rear right.

[0012] Figure 2 is a schematic diagram showing an example of a driving unit 3 and a steering unit 4 connected to one tire 2. Figure 2 is a rear view of tire 2B or tire 2C in Figure 1, located on the left side of the vehicle body 1. The driving unit 3 is connected to the hub of tire 2 via an output shaft 31 connected to the rotor side of a motor housed inside, and rotates tire 2 around its axis of rotation (dotted line in Figures 1 and 2). The driving unit 3 may also include a braking mechanism, etc. Furthermore, the driving unit 3 has a motor stator ( The stator side is connected to the casing 32.

[0013] The steering drive unit 4 is connected to the casing 32 of the traction drive unit 3 via an output shaft 41 connected to the rotor side of a motor housed inside it, and rotates the tires 2 connected to the traction drive unit 3 inside the casing 32 around a vertically extending axis of rotation (a straight line perpendicular to the road surface). The axis of rotation of the steering drive unit 4 (black circle in Figure 1, dashed line in Figure 2) is located in the center of the tire 2 in a plan view, and multiple tires 2 can be steered independently. A light source (illumination device) 10 may be provided in the wheel well (tire house) 9 in which the tire 2 is housed to illuminate its interior. In addition, a light source (projector) 11 for projecting light onto the road surface may be provided, for example, on the outside of the wheel well 9 or the vehicle body 1.

[0014] Figure 3 is a diagram illustrating the behavior of a vehicle 100 capable of independent steering. The vehicle 100 can operate primarily in two driving modes (turning modes): a normal driving mode (normal turning mode) and a special driving mode (special turning mode). (A) shown in the upper left of Figure 3 shows the state of the tires in the normal driving mode. In the normal driving mode (normal turning mode), similar to a typical two-wheel steering system, the steering angle of the two front wheels can be changed, allowing for forward and reverse movement, right and left turns, and turning. In Figure 3(A), the four tires 2 are facing the front and rear directions of the vehicle body 1. Therefore, the vehicle 100 can move forward and backward depending on the direction in which the tires 2 are rotated, as indicated by the dashed arrows. When turning right or left, or turning in the opposite direction, the steering angle of the two front wheels is changed.

[0015] The special driving mode (special turning mode) is a mode that includes at least one of the lateral movement driving mode, spin turn mode, and pivot turn mode. Figure 3(B), shown in the upper right, shows the state of the tires in the lateral movement driving mode. The lateral movement driving mode is a mode that allows the vehicle to travel in a direction intersecting the longitudinal direction of the vehicle body 1 without changing the orientation of the vehicle body 1. In Figure 3(B), the four tires 2 are facing the same direction, intersecting the longitudinal direction of the vehicle body 1. Specifically, the four tires 2 are facing in a direction perpendicular to the longitudinal direction of the vehicle body 1. Therefore, the vehicle 100 can move laterally to the left or right (movement directly to the side in Figure 3(B)) depending on the direction in which the tires 2 are rotated, as shown by the dashed arrows. Note that by steering the four tires 2 so that they are parallel, the vehicle may move not only in a direction perpendicular to the longitudinal direction of the vehicle body 1, but also in a direction intersecting the longitudinal direction of the vehicle body 1 and diagonally with respect to the orientation of the vehicle body 1 (longitudinal direction). In other words, the vehicle may move laterally with all tires 2 steered in the same direction, not limited to directly to the side, but also in a direction intersecting the longitudinal direction of the vehicle body 1. Note that Figure 3(A) shows the vehicle body 1 with all four tires 2 steered in the longitudinal direction, but in typical right or left turns or corners, not all tires are steered in the same direction.

[0016] Figure 3(C), shown in the lower left, illustrates the state of the tires in spin turn mode. Spin turn mode is a mode in which the vehicle body 1 turns (changes direction) in place around an area surrounded by multiple tires 2. In Figure 3(C), the four tires 2 are steered so that the axle of each tire 2 points towards the center of the four tires 2 (geometric center of gravity; black circle in Figure 3(C)). That is, the extension of the axle passes through the center of gravity of the four tires 2. The geometric center of gravity is, for example, the intersection of two straight lines connecting diagonally opposite tires 2, and is the center in a plan view of the turning motion. In general right and left turns or turns, the center in a plan view of the turning motion is outside the vehicle body 1. Also, the center in a plan view of a spin turn is not strictly a single point, but may be an area around the centers of multiple tires 2 (for example, a circular area closer to the center of the vehicle body 1). In Figure 3(C), the four tires 2 are positioned so that, in a plan view, the front tires face inward toward each other and the rear tires face inward toward each other, following a circumference of a predetermined diameter. In this case, the vehicle 100 spins, as indicated by the dashed arrow, with a straight line perpendicular to the road surface passing through the centers of the four tires 2 in a plan view as the axis of rotation (black circle in Figure 3(C)). It is possible to make a turn. A spin turn is defined as a stationary rotation (change of direction) without movement, using a straight line perpendicular to the road surface passing through the center of the vehicle 100 (the center of gravity of the multiple tires 2) in a plan view as the axis of rotation.

[0017] Figure 3(D), shown in the lower right, illustrates the tire state in pivot turn mode. Pivot turn mode is a mode in which the vehicle body 1 is rotated around the vicinity of any of the tires 2. In Figure 3(D), the front right tire 2A of the vehicle body 1 is pointing slightly to the left, the front left tire 2B of the vehicle body 1 is pointing forward, the rear left tire 2C of the vehicle body 1 is pointing to the right, and the rear right tire 2D of the vehicle body 1 is pointing 45 degrees to the right. By rotating tires 2A, 2C, and 2D in their respective directions, the vehicle 100 can pivot turn counterclockwise around tire 2B, as indicated by the dashed arrow. On the other hand, as mentioned above, during typical right and left turns and rotations, the center of the rotational movement in a plan view is outside the vehicle body 1. Steering during typical right and left turns and rotations will be discussed later. Furthermore, the center of a pivot turn in plan view is not strictly a single point on tire 2, but may be a region surrounding tire 2 (for example, a circular area with a radius from one tire 2 to the midpoint between that tire 2 and the adjacent tire 2). A pivot turn is defined as a turn with a straight line perpendicular to the road surface passing through any of the tires 2 as the axis of rotation (for example, the black circle in Figure 3(D)). In a pivot turn, the vehicle turns so that the tire 2 located diagonally opposite the tire 2 in a plan view of the vehicle body 1 moves laterally relative to the tire 2 that is the axis of rotation. For example, if vehicle 100 performs a pivot turn clockwise in a plan view, the tire 2A, which is the front wheel on the right side of vehicle body 1, is used as the axis of rotation. Similarly, a pivot turn may be performed with the rear wheels as the axis of rotation. The lateral movement shown in Figure 3(B), the spin turn shown in (C), and the pivot turn shown in (D) are examples of behaviors (special turning movements) unique to the independently steerable vehicle 100.

[0018] The control device 5 shown in Figure 1 is a controller. The control device 5 is, for example, one or more electronic control units (EC) that control the illumination or flashing of the turn signal 8. The device includes U) and may be a system including multiple ECUs. The control device 5 may also include a so-called computer processor. For example, the control device 5 receives a signal indicating the position of the turn signal lever 6 via a signal line and flashes the turn signal 8 in a pattern corresponding to the position. That is, the control device 5 outputs a control signal to the turn signal 8 via a signal line to drive the turn signal on / off. The control device 5 may further include one or more ECUs that control the driving drive unit 3, the steering drive unit 4, etc., and control the driving of the vehicle 100. For example, the control device 5 may receive a signal indicating the position of the shift lever 7 via a signal line and steer the tires 2 in the direction illustrated in Figure 3 according to the position, and rotate the tires 2 according to the accelerator opening. The control device 5 may also control the operation of the lighting device 10 or projector 11 shown in Figure 2.

[0019] The turn signal lever 6 is an interface for receiving driver input and is a component for operating the turn signal 8 via the control device 5. In this embodiment, the turn signal lever 6 includes positions for normal right and left turns (including lane changes and U-turns), as well as positions for lateral movement, spin turns, and pivot turns.

[0020] The shift lever 7 is an example of a behavior switching device for switching to a mode of driving that is specific to the independently steerable vehicle 100, as shown in Figures 3(B) to (D). For example, the shift lever 7 may have a shift position for switching to the above-mentioned mode, in addition to the gear combinations in the transmission. The behavior switching device is not limited to a lever; it may also use buttons, dials, etc., to switch the shift position. In addition, separate from the shift lever 7, a behavior switching device for switching to the above-mentioned mode may be provided. A replacement device may be provided.

[0021] The turn signal 8 may be, for example, a general-purpose turn signal, or a sequential turn signal capable of controlling in stages the number of lights that illuminate and the number that turn off. Furthermore, the turn signal 8 in this embodiment may be capable of flashing in a pattern to notify the surroundings of at least one of the behaviors specific to the independently steerable vehicle 100. Note that the vehicle body 1 is equipped with turn signal 8A on the right front, turn signal 8B on the left front, turn signal 8C on the left rear, and turn signal 8D on the right rear.

[0022] <Notification Processing> Figure 4 is a processing flow diagram showing an example of notification processing performed by the control device 5 of the vehicle 100. For example, when the accessory power or ignition power of the vehicle 100 is turned on, the control device 5 starts the processing shown in Figure 4 and repeats it until the power is turned off.

[0023] In step S1, the control device 5 determines whether the turn signal lever 6 has been operated. Whether the turn signal lever 6 has been operated can be determined based on the operation signal from the turn signal lever 6. If it is determined in step S1 that the turn signal lever 6 has not been operated (S1:NO), the control device 5 terminates the process shown in Figure 4 for one processing cycle and repeatedly executes the process shown in Figure 4 until, for example, the power to the vehicle 100 is turned off.

[0024] If it is determined in step S1 that the turn signal lever has been operated (step S1: YES), in step S2 the control device 5 determines whether the position of the turn signal lever 6 is a position that indicates a lateral movement notification. In step S2 the control device 5 determines whether a lateral movement notification has been indicated based on the operation signal from the turn signal lever 6. It is also assumed that the direction of the lateral movement (left or right) can be determined based on the operation signal. If it is determined in step S2 that a lateral movement notification has been indicated (S2: YES), in step S3 the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a lateral movement, according to the direction of the lateral movement.

[0025] Figure 5 shows an example of a flashing pattern for the turn signal 8. When the vehicle 100 moves laterally to the left of the vehicle body 1, in step S3 of Figure 4, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 5.

[0026] The turn signal 8 is a sequential turn signal and includes four light-emitting units shown as squares. The total number of light-emitting units is an example and is not limited to four. Each light-emitting unit is composed of, for example, one or more LEDs (Light Emitting Diodes), and each light-emitting unit can be turned on and off independently. The multiple light-emitting units are arranged horizontally in a one-dimensional manner. In Figure 5, hatched squares represent lights on, and unhatched (blank) squares represent lights off. The combination of lights on and off of the four light-emitting units at a given point in time (each of (1) to (7) shown in Figure 5) is called a lighting pattern. The lighting patterns shown represent the arrangement of each turn signal 8 as viewed from the front. A series of lighting patterns that change over time is called a flashing sequence (flashing pattern). In Figure 5, the flashing sequence includes a series of lighting patterns that change in the order of (1) to (7), and after (7), it returns to (1) and repeats. Furthermore, multiple turn signals 8 (from turn signal 8A to turn signal 8D) shall be synchronized, and the numbers in parentheses shall illuminate simultaneously with the same lighting pattern. However, "simultaneous" means that the timing is such that it can be perceived as simultaneous illumination by human eyes, and dynamic lighting will not be strictly accurate. The lights may be lit in sequence. Also, the duration of illumination for each lighting pattern from (1) to (7) does not have to be the same.

[0027] As shown in Figure 5, the flashing sequence when the vehicle body 1 moves laterally to the left includes a first pattern (partial pattern) shown from (1) to (4) and a second pattern (partial pattern) shown from (5) to (7). In the first pattern, the sequential turn signals are illuminated sequentially toward the destination. In other words, the number of light-emitting units that illuminate toward the destination is increased in stages. In the example in Figure 5, all turn signals 8A to 8D are flashed in the first pattern, but it is preferable that at least the sequential turn signals (turn signals 8B and 8C) located on the destination side of the vehicle body 1 are flashed in the first pattern. In the second pattern, at least some of the light-emitting units (all four light-emitting units in the example in Figure 5) of the sequential turn signals (turn signals 8B and 8C) located on the destination side of the vehicle body 1 are flashed simultaneously. Furthermore, when vehicle 100 moves laterally to the right of the vehicle body 1, the left and right sides of each lighting pattern shall be reversed compared to Figure 5. In addition, in the second pattern, the sequential turn signals (turn signals 8A and 8D) located on the opposite side of the destination of vehicle body 1 may be turned off, or they may continue to repeat the first pattern or remain lit.

[0028] In the example in Figure 5, the first pattern and the second pattern are repeated alternately once each. However, any blinking sequence may involve one pattern being repeated multiple times consecutively, as long as the first and second patterns are repeated regularly. For example, a blinking sequence may consist of the first pattern being repeated two or more times, followed by the second pattern blinking once. Alternatively, a blinking sequence may consist of the first pattern blinking once, followed by the second pattern being repeated two or more times. Furthermore, a blinking sequence may consist of the first pattern being repeated two or more times, followed by the second pattern being repeated two or more times.

[0029] When making a normal right or left turn, the turn signal located on the side in the direction of travel is generally flashed in the first pattern shown in Figure 5. In this embodiment, the flashing sequence during lateral movement includes the second pattern, so even if a third party located on the destination side of the laterally moving vehicle 1 can only see the turn signals located on the destination side (for example, if they can only see the turn signals 8B and 8C located on the left side of the vehicle 100 moving laterally to the left), they can recognize that the flashing sequence is different from that of a normal right or left turn. Furthermore, if the turn signals 8 located on the opposite side of the destination (for example, the turn signals 8A and 8D located on the right side of the vehicle 100 moving laterally to the left) are also flashed in the first pattern, the behavior of the vehicle 100 can be communicated to a third party located on the opposite side of the destination of the laterally moving vehicle 1. In other words, it helps third parties recognize that it is different from a typical turn signal indicating a right or left turn, and also draws attention to the sides, improving the clarity of notification to those around the vehicle that it is moving straight in a direction that intersects the front and rear of the vehicle.

[0030] However, not limited to the example in Figure 5, if the four turn signals 8 as a whole have a flashing pattern that is at least different from that of a normal right or left turn, the clarity of notifying special behavior can be improved. For example, the four turn signals 8 may repeat only the first pattern in Figure 5. Alternatively, only turn signals 8B and 8C located on the destination side may repeat the first and second patterns, while turn signals 8A and 8D located on the opposite side of the destination may remain off.

[0031] Figure 6 also shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 moves laterally to the left of the vehicle body 1, in step S3 of Figure 4, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 6. The flashing sequence in Figure 6 is (1) or In steps (1) through (8), the pair of turn signals 8 (a combination of turn signals 8A and 8B) located at the front of the vehicle body 1, and the pair of turn signals 8 (a combination of turn signals 8C and 8D) located at the rear of the vehicle body 1, are treated as a single unit, and the light-emitting units are sequentially illuminated from the end opposite to the destination to the end on the destination side. That is, in steps (1) through (4), the turn signals 8 located on the opposite side to the destination (for example, turn signals 8A and 8D located on the right side of a vehicle 100 moving laterally to the left) are illuminated sequentially in the first pattern described above, while the turn signals 8 located on the destination side (for example, turn signals 8B and 8C located on the left side of a vehicle 100 moving laterally to the left) are turned off. Furthermore, in steps (5) through (8), the turn signals 8 located on the destination side light up in the order of the first pattern described above, while all the turn signals 8 located on the opposite side of the destination remain lit. Steps (9) through (11) are the same as the second pattern described above.

[0032] As illustrated in the example in Figure 6, it is possible to make third parties recognize that this is different from a typical turn signal indicating a right or left turn, and to draw attention to the side, thereby improving the clarity of notification to those around the vehicle that it is moving straight in a direction that intersects the front and rear of the vehicle.

[0033] Figure 7 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 moves laterally to the left of the vehicle body 1, in step S3 of Figure 4, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 7. In the example of Figure 7, the light-emitting units included in the sequential turn signal are sequentially lit toward the destination. However, the light-emitting units on the opposite side of the destination are sequentially turned off so that a predetermined number of light-emitting units are lit simultaneously. That is, in the example of Figure 7, the light-emitting units included in the sequential turn signal are sequentially flashed toward the destination.

[0034] In the example shown in Figure 7, only one light-emitting unit is illuminated simultaneously, but there may be two or three. That is, the turn signal 8, which is a sequential turn signal, is controlled so that a region of predetermined width that is illuminated (one or more consecutive light-emitting units) flows toward the destination. In other words, it can be said that a region of predetermined width that is turned off flows toward the destination. Alternatively, a pair of turn signals 8 (a combination of turn signals 8A and 8B) provided at the front of the vehicle body 1 and a pair of turn signals 8 (a combination of turn signals 8C and 8D) provided at the rear of the vehicle body 1 may be treated as a single unit, and a predetermined number of light-emitting units may be sequentially illuminated from the end opposite the destination to the end of the destination. Furthermore, as in the second pattern described above, control may be performed to simultaneously flash at least some of the light-emitting units.

[0035] As shown in the example in Figure 7, it is possible to make third parties recognize that this is different from a typical turn signal indicating a right or left turn, and to draw attention to the side, thereby improving the clarity of informing those around that the vehicle is moving straight in a direction that intersects the front and rear of the vehicle. Also, as in the examples in Figures 5 and 6, the first pattern and the second pattern are combined in the example in Figure 7. The configuration may also be as follows: the lighting pattern in Figure 7 may be designated as the first pattern, and (5) to (7) in Figure 5, or (9) to (11) in Figure 6, as the second pattern, with the first and second patterns being repeated. The second pattern can be included in various flashing patterns that indicate horizontal movement.

[0036] The process in step S3 of Figure 4 continues as long as the position of the turn signal lever 6 is in a position that instructs lateral movement. The control device 5 can determine the position of the turn signal lever 6 based on, for example, the operation signal from the turn signal lever 6. After step S3, the control device 5 completes the process in Figure 4 for one processing cycle and repeatedly executes the process in Figure 4 until, for example, the accessory power or ignition power of the vehicle 100 is turned off. It shall be assumed that...

[0037] In step S2, if it is determined that the position of the turn signal lever 6 does not indicate a lateral movement (S2: NO), then in step S4, the control device 5 determines, for example, whether the position of the turn signal lever 6 is a position that indicates a spin turn. It is also assumed that the direction of the spin turn (left or right) can be determined based on the operation signal. If it is determined in step S4 that a spin turn has been indicated (S4: YES), then in step S5, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a spin turn.

[0038] Figure 8 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, the turn signal 8 may be flashed in step S5 of Figure 4 in a flashing pattern such as that shown in Figure 8. In the example of Figure 8, all the turn signals 8 are illuminated sequentially along the direction of rotation in the spin turn. In other words, the number of light-emitting units that illuminate in the direction of rotation in the spin turn is increased in stages. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, the direction of rotation corresponds to the direction from left to right for each turn signal 8. Note that when the vehicle 100 performs a spin turn in a clockwise direction in a plan view, each of the lighting patterns is reversed left to right.

[0039] As shown in Figure 8, the flashing pattern makes it easy for bystanders to intuitively understand that a spin turn is about to occur. In particular, when viewing vehicle 100 from the side, the front and rear turn signals 8 flash in the same direction, making it intuitively clear that vehicle 100 is rotating (spinning). Similarly, when viewing vehicle 100 from the front or rear, the left and right turn signals 8 flash in the same direction, making it intuitively clear that vehicle 100 is rotating. In this way, it is possible to make bystanders recognize that this is different from typical turn signals indicating right or left turns, and to draw their attention to the predetermined turning direction, thereby improving the clarity of notification to those around that vehicle 100 is spinning. Alternatively, instead of flashing all turn signals 8, at least two turn signals 8 located diagonally opposite each other on the vehicle body 1 (i.e., turn signals 8A and 8C, or turn signals 8B and 8D) may be illuminated sequentially in the direction of the turn. Even in this configuration, at least one turn signal 8 can be seen from any direction around the vehicle 100.

[0040] In the example in Figure 8, the lighting patterns of each turn signal 8 at the same time are the same. In other words, the phase of the periodically repeating flashing sequence is the same for multiple turn signals 8. Even if the flashing sequence of each turn signal 8 is the same, the timing of their display may be different (in other words, the phase may be shifted). Figure 9 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, in step S5 of Figure 4, the turn signals 8 may be flashed in a flashing pattern such as that shown in Figure 9. In the example in Figure 9, the pairs of turn signals 8 arranged diagonally across the vehicle body 1 in a plan view (the pair of turn signals 8A and 8C, and the pair of turn signals 8B and 8D) have the same lighting pattern for each turn signal 8 at the same time, but the repeating period of each turn signal 8 is shifted from that of the adjacent turn signal 8. Furthermore, the repetition period of the flashing sequence may be slightly shifted for all turn signals 8.

[0041] The flashing pattern shown in Figure 9 can more effectively emphasize the unusual behavior of vehicle 100. Therefore, it can help third parties recognize that it is different from a typical turn signal indicating a right or left turn, and can draw their attention to the predetermined turning direction, thereby improving the clarity of notification to those around that vehicle 100 is turning in place (spin turn).

[0042] Furthermore, a second partial pattern, as shown in Figures 5(5) to (7), may also be inserted in the notification of a spin turn. Figure 10 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, in step S5 of Figure 4, the turn signal 8 may be flashed in a flashing pattern, for example, as shown in Figure 10. Figures 10(1) to (4) (the first partial pattern in a spin turn) are the same as the example in Figure 8. Figures 10(5) to (7) show all sequential turn signals (from turn signal 8A to turn signal 8D) flashing simultaneously (the second partial pattern in a spin turn). In the second partial pattern, each of the turn signals 8 flashes at least some of its light-emitting units (four light-emitting units in the example of Figure 10) simultaneously.

[0043] Thus, by inserting a second partial pattern in the spin turn, the unique behavior of vehicle 100 can be further emphasized. In other words, by inserting the second pattern, even if a third party views vehicle 100 from the front or rear, they can notice the difference from a normal turn. Furthermore, for example, as shown in (5) to (7) of Figure 10, by making the way the left and right turn signals illuminate in the second pattern different from when moving laterally (for example, (5) to (7) of Figure 5), the difference from when vehicle 100 is moving laterally can be clearly seen by a third party viewing vehicle 100 from the front or rear. Therefore, it is possible to make third parties recognize that it is different from a typical turn signal indicating a right or left turn, and to draw their attention to the predetermined turning direction, thereby improving the clarity of notification to the surroundings that vehicle 100 is turning in place (spin turn). In the example shown in Figure 10, instead of flashing all the turn signals 8, at least two turn signals 8 located diagonally opposite each other on the vehicle body 1 (i.e., turn signals 8A and 8C, or turn signals 8B and 8D) may be illuminated sequentially in the direction of the turn. In this configuration, at least one turn signal 8 can be seen from any direction around the vehicle 100.

[0044] Furthermore, the second pattern in the spin turn may be combined with a phase-shifted flashing sequence as shown in Figure 9. In this case, the timing of the flashing of the second partial pattern may be staggered among multiple turn signals 8, or the second partial pattern may be interrupted at any timing so that multiple turn signals 8 flash with the second partial pattern at the same timing. Also, the first partial pattern in the spin turn and the second partial pattern in the spin turn may be flashing sequences in which at least one of the patterns is repeated multiple times in succession, as long as they are regularly repeated. That is, the flashing sequence may consist of the first partial pattern being repeated two or more times, followed by one flash of the second partial pattern. Alternatively, the flashing sequence may consist of the first partial pattern being flashed once, followed by two or more repetitions of the second partial pattern. Alternatively, the flashing sequence may consist of the first partial pattern being repeated two or more times, followed by two or more repetitions of the second partial pattern.

[0045] Figure 11 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, in step S5 of Figure 4, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 11. In the example of Figure 11, from (1) to (8), the pair of turn signals 8 (a combination of turn signal 8A and turn signal 8B) located at the front of the vehicle body 1 and the pair of turn signals 8 (a combination of turn signal 8C and turn signal 8D) located at the rear of the vehicle body 1 are treated as a single region, and the light-emitting units are sequentially illuminated from the end opposite to the direction of rotation in the spin turn toward the direction of rotation. After all the light-emitting units within the single region have been illuminated, the lights are turned toward the opposite direction of rotation. The light-emitting units are sequentially turned off from the side toward the direction of rotation. In other words, as a single region, the light-emitting units are sequentially flashed from the end opposite to the direction of rotation in a spin turn toward the direction of rotation. To put it another way, the example in Figure 11 also involves shifting the phase of the periodically repeating flashing sequence in the left and right turn signals 8.

[0046] In the example shown in Figure 11, the pair of turn signals 8 located on the left and right sides of the vehicle body 1 are treated as a single unit. However, all four turn signals 8 may be treated as a single area, and the light-emitting units may be sequentially illuminated in the direction of rotation during a spin turn. In this case, the flashing sequence of turn signals 8C and 8D shown in Figure 11 is repeated in a pattern shifted by 1 / 2 cycle. Alternatively, for each individual turn signal 8, the light-emitting units may be sequentially illuminated from the opposite side of the spin turn towards the direction of rotation, and after all light-emitting units have been illuminated, the light-emitting units may be sequentially turned off from the opposite side towards the direction of rotation. In other words, the light-emitting units may be sequentially flashed from the opposite side of the spin turn towards the direction of rotation. In this case, for example, turn signals 8A and 8C repeat steps (1) to (4) and (9) to (12) in Figure 11. Similarly, turn signals 8B and 8D repeat steps (5) through (8) and (13) through (16).

[0047] In the example shown in Figure 11 or a modified version of Figure 11, the flashing pattern described above (5) to (7) may be inserted into the flashing sequence. For example, the flashing patterns shown in (5) to (7) of Figure 10 may be inserted after all light-emitting units in a single area have been lit, after all light-emitting units in a single area have been turned off, or at any other arbitrary timing. The flashing pattern of the second type can be included in the flashing sequences of various spin turns described later.

[0048] Figure 12 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, the turn signal 8 may be flashed in step S5 of Figure 4, for example, in the flashing pattern shown in Figure 12. In the example of Figure 12, the light-emitting units included in the sequential turn signal are sequentially lit in the direction of rotation during the spin turn. However, the light-emitting units on the opposite side of the destination are sequentially turned off so that a predetermined number of light-emitting units are lit simultaneously. In the example of Figure 12, there is one light-emitting unit lit simultaneously, but there may be two or three. That is, the turn signal 8, which is a sequential turn signal, is controlled so that the area that is lit with a predetermined width flows in the direction of rotation. Furthermore, a pair of turn signals 8 (a combination of turn signals 8A and 8B) provided at the front of the vehicle body 1 and a pair of turn signals 8 (a combination of turn signals 8C and 8D) provided at the rear of the vehicle body 1 may be treated as a single unit, or all of the turn signals 8 provided on the vehicle body 1 may be treated as a single unit, and a predetermined number of light-emitting units may be sequentially flashed along the direction of rotation. In addition, in the example of Figure 12 or the modified example of Figure 12, the flashing according to the second pattern described above may be inserted into the flashing sequence.

[0049] As illustrated in the example in Figure 12, the unique behavior of vehicle 100 can be further emphasized. Therefore, it is possible to make third parties recognize that it is different from a typical turn signal indicating a right or left turn, and to draw their attention to the predetermined turning direction, thereby improving the clarity of notification to those around that vehicle 100 is turning in place (spin turn).

[0050] Figure 13 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, in step S5 of Figure 4, the four turn signals 8 may be flashed in a flashing pattern such as that shown in Figure 13. The example in Figure 13 shows the flashing sequence of one turn signal 8. In the example in Figure 13, one turn signal 8 is formed by a total of 12 light-emitting units arranged in a grid pattern of four horizontally and three vertically. And in the same direction as the rotation direction of the spin turn in a plan view, Each turn signal 8 rotates a predetermined number of illuminated light-emitting units. The number of light-emitting units illuminated at the same time is not limited to 3. For example, the number of illuminated light-emitting units may be sequentially increased along the direction of rotation of the spin turn until all light-emitting units along the periphery of the turn signal 8 are illuminated. After all light-emitting units along the periphery of the turn signal 8 are illuminated, all light-emitting units may be turned off, or the number of illuminated light-emitting units may be sequentially decreased (turned off) along the direction of rotation of the spin turn. In addition, the flashing sequence may be modified to include the flashing pattern of the second pattern described above in the example in Figure 13 or a modified example of Figure 13. Furthermore, all of the light-emitting units arranged in a ring shape in the turn signal 8 may be illuminated, or all of them may be flashed simultaneously.

[0051] As shown in the example in Figure 13, it is possible to make third parties recognize that this is different from a typical turn signal indicating a right or left turn, and to draw their attention to the predetermined turning direction, thereby improving the clarity of notification to those around that the vehicle 100 is turning in place (spin turn). Note that the number of light-emitting units arranged vertically and horizontally is not limited to the example in Figure 13. Also, the arrangement of light-emitting units is not limited to a grid pattern, and the multiple light-emitting units of a single turn signal 8 may be arranged in a ring (for example, a circular pattern). For example, a single turn signal 8 can represent rotation if it has three or more light-emitting units arranged in two dimensions. Note that in the example in Figure 13, since rotation can be represented by one turn signal 8, at least one of the four turn signals 8 is set to flash. Also, if at least two of the four turn signals 8 located diagonally opposite each other on the vehicle body 1 are set to flash, at least one of the turn signals 8 can be recognized from any direction around the vehicle 100.

[0052] The process in step S5 of Figure 4 continues as long as the position of the turn signal lever 6 is in the position that indicates a spin turn. The control device 5 can determine the position of the turn signal lever 6 based on the operation signal from the turn signal lever 6, for example. After step S5, the control device 5 completes the process in Figure 4 for one processing cycle and repeatedly executes the process in Figure 4 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0053] In step S4, if it is determined that the position of the turn signal lever 6 does not indicate a spin turn notification (S4: NO), in step S6, the control device 5 determines, for example, whether the position of the turn signal lever 6 is a position that indicates a pivot turn notification. It is also assumed that the direction of the pivot turn (left or right) can be determined based on the operation signal. If it is determined in step S6 that a pivot turn notification has been indicated (S6: YES), in step S7, the control device 5 flashes the turn signal 8 in a predetermined flashing pattern for indicating a pivot turn.

[0054] Figure 14 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a pivot turn in a counterclockwise direction in a plan view, around the left front tire 2B of the vehicle body 1, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 14 in step S7 of Figure 4. In the example of Figure 14, the turn signals 8A, 8C, and 8D other than those on the axis of rotation in the pivot turn (i.e., turn signal 8B located near the tire 2B that is the axis of rotation) are sequentially lit (also called the first pattern in the pivot turn) along the direction of rotation in the pivot turn. That is, the number of lit light-emitting units is increased in stages toward the direction of rotation. Even when the vehicle 100 performs a pivot turn in a counterclockwise direction in a plan view, the direction of rotation corresponds to the direction from left to right for each turn signal 8. Note that when the vehicle 100 performs a pivot turn in a clockwise direction in a plan view, each of the lighting patterns is reversed left to right. Furthermore, it is provided on the side of the axis of rotation during a pivot turn (i.e., near the tire 2B which is the axis of rotation). (t) Make at least some of the light-emitting units of the turn signal 8B (four light-emitting units in the example in Figure 14) flash simultaneously (also called the second pattern in a pivot turn).

[0055] As shown in the upper center of Figure 14, which illustrates the direction of travel in a plan view, when the vehicle 1 performs a pivot turn counterclockwise around the left front tire 2B as the axis of rotation, the tire 2D, located diagonally opposite tire 2B, moves significantly toward the side (right front) of the vehicle 1. The flashing pattern shown in Figure 14 allows third parties to recognize that it is different from a typical turn signal indicating a right or left turn. In particular, by flashing the turn signal 8 corresponding to the axis of rotation of the pivot turn in a different pattern from the other turn signals 8, third parties who see the flashing of the turn signals 8 and the behavior of the vehicle 100 can intuitively notice that the axis of rotation of the pivot turn is different from the others. Then, by operating the other turn signals 8 in a flashing sequence that represents the direction of rotation of the pivot turn, attention can be drawn to the predetermined turning direction. In other words, it is possible to improve the clarity of notification to the surroundings that the vehicle 100 is turning (pivoting) around any of the tires 2. Alternatively, instead of the turn signal 8B on the axis of rotation, a turn signal 8D located near the tire 2D that moves significantly forward to the side of the vehicle body 1 (in other words, located diagonally opposite the axis of rotation in a plan view of the vehicle body 1) may be made to flash in the second pattern of the pivot turn described above.

[0056] Figure 15 shows another example of the flashing pattern of the turn signal 8. When the vehicle 100 performs a pivot turn in a counterclockwise direction in a plan view, centered on the left front tire 2B of the vehicle body 1, the turn signal 8 may be flashed in a flashing pattern such as that shown in Figure 15 in step S7 of Figure 4. In the example of Figure 15, in steps (1) to (4), all the turn signals 8 are sequentially lit along the direction of rotation in the pivot turn (the number of lit light-emitting units is increased in stages). Then, in steps (5) to (9), the turn signal 8D on the diagonal side of the axis of rotation in the pivot turn is emphasized by flashing in a different pattern from the other turn signals 8A, 8B and 8C. In the example of Figure 15, at least some of the light-emitting units of the turn signal 8D (four light-emitting units in the example of Figure 15) are flashed twice simultaneously. In addition, in (5) to (9), the other turn signals 8A, 8B, and 8C may be kept off, lit, or, as shown in Figure 15, sequentially lit in the direction of rotation, for example, as in (1) to (4). Furthermore, the flashing of turn signal 8D shown in (5) to (9) may be applied not only to the turn signal 8D on the diagonal side of the rotation axis, but also to the turn signal 8B on the rotation axis side (the nearest to the rotation axis), or to both turn signals 8B and 8D. When applied to both turn signals 8B and 8D, the lighting patterns of the turn signal 8B on the rotation axis side and the turn signal 8D on its diagonal side may be changed. For example, the turn signal 8B on the rotation axis side may be kept lit at all times, while the turn signal 8D on its diagonal side may flash. Alternatively, both the turn signal 8B on the axis of rotation and the turn signal 8D on its diagonal side may be made to flash, with the flashing interval of the diagonal turn signal 8D being shorter or longer than that of the turn signal 8B on the axis of rotation. In this way, particular attention can be drawn to the direction in which the vehicle 100 moves during a pivot turn.

[0057] The process in step S7 of Figure 4 continues as long as the position of the turn signal lever 6 is in the position that indicates a pivot turn. The control device 5 can determine the position of the turn signal lever 6 based on the operation signal from the turn signal lever 6, for example. After step S7, the control device 5 completes the process in Figure 4 for one processing cycle and repeatedly executes the process in Figure 4 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0058] In step S6, if it is determined that the position of the turn signal lever 6 does not indicate a pivot turn (S6: NO), the control device 5 will, for example, perform a normal right or left turn. Upon determining that a notification has been instructed, in step S8, the control device 5 flashes the turn signals 8 in a predetermined flashing pattern for indicating a right or left turn. The control device 5 can also determine whether the turn is left or right based on the operation signal. In step S8, the control device 5 flashes the turn signals 8 located on the left or right side of the vehicle body 1 in the direction corresponding to the instruction signal from the turn signal lever 6. In this case, the process of sequentially illuminating the turn signals in the direction of the right or left turn (gradually increasing the number of illuminated light-emitting units) may be repeated, or the process of simultaneously flashing at least some of the light-emitting units (for example, four light-emitting units) may be repeated. Furthermore, the process in step S8 continues as long as the position of the turn signal lever 6 is in the position indicating a right or left turn. After step S7, the control device 5 completes the process shown in Figure 4 for one processing cycle and repeatedly executes the process shown in Figure 4 until, for example, the accessory power or ignition power of the vehicle 100 is turned off.

[0059] As described above, the notification process shown in Figure 4 can improve the clarity of notification to the surroundings regarding behaviors specific to the independently steerable vehicle 100. Note that the processing flow shown in Figure 4 is just one example, and the order in which decisions are made is not limited to the example in Figure 4. Furthermore, the control device 5 may control the notification of only some of the lateral movement, spin turn, and pivot turn. In this case as well, the clarity of notification to the surroundings regarding each behavior can be improved.

[0060] <Experimental variation 1 (lighting up the tires)> In addition to, or instead of, the turn signal illumination sequence shown in the above-described embodiment, the vehicle may also indicate behavior specific to the independently steerable vehicle 100 by illuminating the tires. The turn signal illumination sequence combined with the tire illumination is not limited to that described in the above-described embodiment. Furthermore, the tire illumination may be combined with conventional flashing control turn signals instead of sequential turn signals. For example, in addition to the conventional flashing of turn signals that indicate the direction of travel when turning left or right, the tire illumination described later may be performed. The tire illumination is performed, for example, by illuminating or flashing the lighting device 10 inside the wheel well 9 shown in Figure 2. Rather than providing illumination throughout the lower part of the vehicle body 1, such as so-called underglow neon (underlight), by illuminating or flashing the lighting device 10 only inside the wheel well 9, for example, it is possible to emphasize that the direction of the tires 2 is a state specific to the independently steerable vehicle 100.

[0061] Figure 16 shows an example of the lighting of the tire 2. When the vehicle 100 moves laterally to the left of the vehicle body 1, the lighting of the tire may be performed in step S3 of Figure 4, for example, as shown in Figure 16. (A) in the upper part of Figure 16 shows a schematic plan view of the vehicle 100. (B) in the lower left part of Figure 16 shows a perspective view of the vehicle 100 seen from the front at an angle. (C) in the lower right part of Figure 16 shows a perspective view of the vehicle 100 seen from the rear at an angle. From (A) to (C), the illumination range by the lighting device 10 (Figure 2) inside the wheelhouse 9 is schematically shown by thick dashed lines. Also, the direction of travel of the vehicle 100 is indicated by a dashed arrow. The color of the lighting is, for example, white, but is not particularly limited. The color of the lighting may be selected based on visibility during the daytime. Furthermore, when vehicle 100 makes a normal right or left turn, the turn signals 8 may be flashed in the same pattern as during a typical right or left turn, and the lighting device 10 may not illuminate the tires 2. In this way, the illumination of the tires 2 by the lighting device 10 makes it easier for third parties to recognize that the vehicle is behaving differently from a normal right or left turn.

[0062] In the example shown in Figure 16, the tires 2B and 2C on the side in the direction of travel (left side of the vehicle body 1) are lit up during lateral movement. That is, the control device 5 (Figure 1) lights up the wheels on the side in the direction of travel. The lighting device 10 (Figure 2) inside the vehicle housing 9 is turned on. On the other hand, the lighting device 10 is turned off on the side opposite to the direction of travel. In this way, it is possible to emphasize that the direction of the vehicle's tires 2 is a state unique to a vehicle 100 that can be independently steered, and to draw the attention of third parties to the direction of travel during lateral movement. In other words, it is possible to improve the clarity of notification to the surroundings that the vehicle is moving straight in a direction intersecting the longitudinal direction of the vehicle body.

[0063] Figure 17 shows another example of lighting up the tires 2. When the vehicle 100 moves laterally to the left of the vehicle body 1, in step S3 of Figure 4, the tires may be lit up as shown in Figure 17, for example. In the example of Figure 17, in addition to lighting up the tire 2 on the side in the direction of travel during later movement similar to Figure 16, the tire 2 on the opposite side of the direction of travel is also lit up. However, the color of the lighting may be different on the side in the direction of travel and the opposite side. For example, the illumination range shown by the thick dashed line is white lighting, and the illumination range shown by the thin dashed line is red lighting, but this is not particularly limited. Also, the color of the lighting may be different to emphasize the tire 2 (wheel house 9) on the side in the direction of travel, or the brightness of the lighting may be different (for example, by lighting up the side in the direction of travel brighter than the opposite side) to emphasize the tire 2 (wheel house 9) on the side in the direction of travel. In this way, even on the opposite side of the direction of travel, it is possible to emphasize that the orientation of the tires 2 of the vehicle 100 is a state unique to the independently steerable vehicle 100.

[0064] Figure 18 shows another example of the lighting up of tire 2. When vehicle 100 performs a spin turn, the lighting up of the tires may be performed in step S5 of Figure 4, for example, as shown in Figure 18. (A) in the top row of Figure 18 is a schematic plan view of vehicle 100 performing a counter-clockwise spin turn. (B) in the second row from the top on the left of Figure 18 is a perspective view of vehicle 100 performing a counter-clockwise spin turn, viewed from the front at an angle. (C) in the second row from the top on the right of Figure 18 is a perspective view of vehicle 100 performing a counter-clockwise spin turn, viewed from the rear at an angle. (D) in the third row from the top of Figure 18 is a schematic plan view of vehicle 100 performing a clockwise spin turn. (E) in the bottom left of Figure 18 is a perspective view of vehicle 100 performing a clockwise spin turn, viewed from the front at an angle. (F) in the bottom right of Figure 18 is a perspective view of vehicle 100 performing a clockwise spin turn, viewed from the rear at an angle. (A) through (F) schematically show the illumination range by the lighting device 10 (Figure 2) inside the wheel well 9 using dashed lines. For example, a thick dashed line represents white lighting and a thin dashed line represents red lighting, but the color of the lighting is not limited to these. The dashed arrow indicates the direction of travel of the vehicle 100.

[0065] As shown in Figures 18(A) and (D), when the vehicle body 1 is longer in the front-to-back direction than in the width direction, when performing a spin turn counterclockwise in a plan view, the parts of the vehicle body 1 around tires 2B and 2D move forward laterally, while the parts of the vehicle body 1 around tires 2A and 2C move backward laterally. On the other hand, when performing a spin turn clockwise in a plan view, the parts of the vehicle body 1 around tires 2A and 2C move forward laterally, while the parts of the vehicle body 1 around tires 2B and 2D move backward laterally. In the example in Figure 18, the tire 2 on the side that moves forward laterally during the spin turn is lit up in white, for example, and the tire 2 on the side that moves backward laterally is lit up in red. In this way, it is possible to emphasize that the orientation of the tires 2 of the vehicle 100 is a state unique to the vehicle 100 which is capable of independent steering, and to draw the attention of third parties to the direction of travel during the spin turn. In other words, it is possible to improve the clarity of notification to the surroundings that the vehicle is performing a spin turn. Furthermore, the brightness of the lighting may be varied to, for example, highlight the tire 2 on the side moving forward in the lateral direction. Alternatively, the lighting devices 10 may be flashed sequentially for each of the four tires 2 (within the wheel well) along the direction of rotation in a plan view. In this case, all the lighting devices 10 may have the same color and brightness. Alternatively, instead of lighting up all tire 2s, you could light up only the tire 2 on the side that is moving forward laterally.

[0066] Figure 19 shows another example of lighting up the tire 2. When vehicle 100 performs a pivot turn, the tire lighting may be performed in step S7 of Figure 4, for example, as shown in Figure 19. Figure 19, upper section (A) shows a schematic plan view of vehicle 100 performing a pivot turn counterclockwise around the left front tire 2B as the axis of rotation. Figure 19, lower left section (B) shows a perspective view of vehicle 100 performing a pivot turn, seen from the front at an angle. Figure 19, lower right section (C) shows a perspective view of vehicle 100 performing a pivot turn, seen from the rear at an angle. From (A) to (C), the illumination range by the lighting device 10 (Figure 2) inside the wheelhouse 9 is schematically shown by dashed lines. For example, thick dashed lines represent white lighting and thin dashed lines represent red lighting, but the color of the lighting is not particularly limited to these. Also, the dashed arrow indicates the direction of travel of vehicle 100.

[0067] As shown in Figure 19(A), when the vehicle body 1 is longer in the front-rear direction than in the width direction, if a pivot turn is performed in a counterclockwise direction in a plan view with the front right tire 2B as the axis of rotation, the vehicle body 1 around tire 2D, which is located diagonally opposite the axis of rotation, moves forward laterally, while tire 2C moves backward relative to the side of the vehicle body 1. In the example in Figure 19, the tire 2 on the side that moves forward laterally during the pivot turn is lit up in white, for example, and the tire 2 on the side that moves backward laterally is lit up in red. In this way, it is possible to emphasize that the orientation of the tires 2 of the vehicle 100 is a state unique to the vehicle 100 which is capable of independent steering, and to draw the attention of third parties to the direction of travel during the pivot turn. In other words, it is possible to improve the clarity of notification to the surroundings that the vehicle is performing a pivot turn. The brightness of the lighting may also be varied to emphasize the tire 2 on the side that moves forward laterally. Alternatively, only the tire 2 on the side that moves forward laterally (tire 2D in the example in Figure 19) may be lit up.

[0068] <Modification 2 (Projection onto the road surface)> In addition to, or instead of, at least one of the turn signal flashing sequence shown in the above embodiment and the tire lighting shown in Modification 1, the vehicle 100, which is capable of independent steering, may be indicated by projection processing onto the road surface. The turn signal flashing sequence to be combined with the projection processing onto the road surface is not limited to that described in the above embodiment. Furthermore, the projection processing onto the road surface may be combined with conventional flashing control turn signals instead of sequential turn signals. For example, in addition to the flashing of conventional turn signals that indicate the direction of travel when turning left or right, the projection processing onto the road surface described later may be performed. The object projected onto the road surface is light to display shapes or symbols that represent the behavior of the vehicle 100, such as arrows. Projection onto the road surface is performed, for example, by a projector 11 in the wheel well 9 shown in Figure 2. However, the location where the projector 11 is installed is not limited to inside the wheel well 9, and the projector 11 can be installed at any position that can project light toward the outside of the vehicle body 1. The projector 11 may, for example, assume a flat road surface and project a desired shape or the like onto the road surface, homographically transformed (trapezoidal correction) according to the positional relationship between the projector 11 and the road surface, similar to so-called projection mapping. Alternatively, the projector 11 may project a desired display onto the road surface using so-called laser light or relatively high-intensity light. Furthermore, the control device 5 may control the projector 11 to change the shape, position, size, etc., of the projected shape or the like over time. The projected object may also be made to flash on the road surface to attract the attention of third parties. When the vehicle 100 makes a normal right or left turn, the turn signal 8 may flash in the same pattern as a normal right or left turn, and the projection onto the road surface by the projector 11 may not be performed. In this way, the projection onto the road surface by the projector 11 will make third parties recognize that the behavior is different from a normal right or left turn. It will become easier.

[0069] Figure 20 shows an example of projection onto the road surface. When vehicle 100 moves laterally to the left of the vehicle body 1, in step S7 of Figure 4, a projection process onto the road surface may be performed, for example, as shown in Figure 20. Figure 20 shows a schematic plan view of vehicle 100 and the surrounding road surface. In (A) shown in the upper left of Figure 20, a figure 12, which is an arrow representing the direction of movement, is projected onto the road surface on the left side of the vehicle body 1, which is the destination side. In (B) shown in the upper right of Figure 20, the figure 12A is projected onto the road surface around the vehicle body 1, including not only the sides but also the front and rear directions. For example, by installing projectors 11 near the four corners in a plan view of the vehicle body 1, it may be possible to project light onto the entire area around the vehicle body 1 as in (B). In (C) shown in the lower left of Figure 20, the projector 11 projects a figure (image) 12B onto the road surface, in which an arrow gradually extends in the direction of movement of vehicle 100. In (D) shown in the lower right of Figure 20, the projector 11 projects a rectangular figure 12C onto the road surface that represents the range of movement (range along the path) of the vehicle 100 on the road surface. Note that the figure 12C may be formed larger than the expected orthogonal projection of the vehicle 100 onto the road surface, with a margin that includes an allowable difference between the figure and the actual trajectory of the vehicle 100's path. In addition, the length 12L of the figure 12C in the direction of travel of the vehicle 100 can be any fixed length, but for example, if the vehicle 100 moves laterally by autonomous driving and the target position of the destination (the position of the left end of the range of movement) can be determined, the control device 5 or projector 11 may control the projected light or image so that the length 12L gradually decreases as the vehicle 100 approaches the target position, so that the figure 12C represents the actual range of movement. Conversely, the direction of movement of the vehicle 100 may be emphasized by changing the length 12L of the vehicle 100 in the direction of travel over time so that the shape 12C expands in the direction of travel (the direction in which the vehicle 100 moves).

[0070] As shown in the example in Figure 20, it is possible to draw the attention of third parties to the direction of travel during lateral movement. In other words, it is possible to improve the clarity of notification to those around the vehicle that it is moving straight in a direction intersecting the front-to-rear direction of the vehicle body. Note that the shape, color, brightness, etc. of the projected figure 12 (12, 12A~12C) are not limited to the example in Figure 20, as long as they represent the direction of movement of the vehicle 100.

[0071] Figure 21 shows another example of projection onto the road surface. When vehicle 100 performs a spin turn in a counterclockwise direction in a plan view, in step S5 of Figure 4, a projection process onto the road surface may be performed, for example, as shown in Figure 21. Figure 21 shows a schematic plan view of vehicle 100 and the road surface around it. In (A) shown in the upper left of Figure 21, a figure 12D, which is an arc-shaped arrow indicating the turning direction of vehicle 100, is projected onto the road surface around the tires 2B and 2D that are moving forward laterally on the side of the vehicle body 1. In (B) shown in the upper right of Figure 21, the figure 12E is projected onto the road surface around the entire area surrounding the vehicle body 1, including not only the side but also the front and rear directions. In (C) shown in the lower left of Figure 21, the projector 11 projects a figure (image) 12F onto the road surface in which an arc-shaped arrow gradually extends in the turning direction of vehicle 100. In (D) shown in the lower right of Figure 20, the projector 11 projects a circular or annular shape 12G representing the movement range of the vehicle 100 onto the road surface. For example, if the vehicle 100 is moving laterally due to autonomous driving and the end of the movement range can be identified, the control device 5 or the projector 11 may control the projected light so that the shape 12 (12D~12G) projects multiple arrows, sectors, or annular sectors representing the actual movement range, and the length of the arrows or arcs gradually decreases as the target position approaches. Conversely, the arcs of the shape 12 (12D~12G) may be changed over time so that the arrows, sectors, or annular sectors expand in the direction of travel (the direction in which the vehicle 100 is operating), and the direction in which the vehicle 100 is operating can be identified.

[0072] As shown in the example in Figure 21, the clarity of notification to those around the vehicle that it is performing a spin turn can be improved. Note that the shape, color, brightness, etc. of the projected figure 12 (12D~12G) are not limited to the example in Figure 21, as long as they represent the direction of the vehicle 100's spin turn.

[0073] Figure 22 shows another example of projection onto the road surface. When vehicle 100 performs a pivot turn in a counterclockwise direction in a plan view, with the left front tire 2B of the vehicle body 1 as the axis of rotation, a projection process onto the road surface may be performed in step S7 of Figure 4, for example, as shown in Figure 22. Figure 22 shows a schematic plan view of vehicle 100 and the road surface around it. In (A) shown in the upper left of Figure 22, a figure 12H, which is an arc-shaped arrow indicating the turning direction of vehicle 100, is projected onto the road surface around the tire 2D that is moving forward laterally on the side of the vehicle body 1. Note that in a pivot turn, the vehicle body 1 turns eccentrically, so for example, figure 12H is projected around the tire 2D that moves the farthest toward the sides of the vehicle body 1 to particularly draw the attention of third parties. In (B) shown in the upper right of Figure 22, figures 12 (12J, 12K) are projected onto the road surface around the vehicle body 1, including not only the sides but also the front and rear directions. In example (B), a relatively large figure 12J is projected around the tire 2D that moves forward significantly toward the periphery of the vehicle body 1, a small figure 12K is projected around the tire 2A that moves forward relatively slowly toward the periphery of the vehicle body 1, and no figure is projected around the tire 2B that acts as the axis of rotation and the tire 2C that moves backward toward the periphery of the vehicle body 1. For example, as in (B), the size, color, brightness, etc. of the projected figure 12 may be varied according to the magnitude of the movement of the vehicle 100. In (C) shown in the lower left of Figure 22, the projector 11 projects a figure (image) 12M onto the road surface in which an arc-shaped arrow gradually extends toward the direction of movement of the vehicle 100. In (D) shown in the lower right of Figure 22, the projector 11 projects a sector-shaped or annular sector-shaped figure 12 (12N, 12P) representing the range of movement of the vehicle 100 onto the road surface. In example (D), a relatively large figure 12N is projected around tire 2D, which moves forward significantly toward the periphery of the vehicle body 1; a small figure 12P is projected around tire 2A, which moves forward relatively slowly toward the periphery of the vehicle body 1; and no figure is projected around tire 2B, which is the axis of rotation, and tire 2C, which moves backward toward the periphery of the vehicle body 1.Furthermore, if, for example, vehicle 100 moves laterally through autonomous driving and the end of the movement range can be identified, the control device 5 or projector 11 may control the projected light so that the length of the arc of the arrow, sector, or annular sector gradually decreases as the target position approaches, so that the figure 12 (12H~12P) represents the actual movement range. Conversely, the arrow or arc of figure 12 may be changed over time so that it lengthens in the direction of travel, so that the arrow, sector, or annular sector expands in the direction of travel (the direction in which vehicle 100 operates).

[0074] As shown in the example in Figure 22, the clarity of notifying those around the vehicle that it is performing a pivot turn can be improved. Note that the shape, color, brightness, etc. of the projected figure 12 (12H~12P) are not limited to the example in Figure 22, as long as they represent the direction of the pivot turn of the vehicle 100.

[0075] Figure 23 shows another example of projection onto the road surface. When vehicle 100 performs a typical right or left turn or turn involving a change in the orientation of the vehicle body 1 in the direction of travel, in step S9 of Figure 4, a projection process onto the road surface, such as that shown in Figure 23, may be performed. Figure 23 shows a schematic plan view of vehicle 100 and the surrounding road surface. A triangle, figure 12Q, representing the range of movement of the rear wheels of vehicle 100, is projected onto the side of the vehicle body 1. That is, figure 12Q in Figure 23 schematically represents the path of the rear wheels due to the inner wheel difference. Such a display can alert third parties to the vehicle's actions during right or left turns and help prevent accidents involving vehicles being hit by the vehicle. In addition to, or instead of, the behavior specific to independently steerable vehicles, the control device 5 of vehicle 100 may perform a notification process as shown in Figure 23. Furthermore, the shape, color, brightness, etc., of the projected figure 12Q are not limited to the example in Figure 23, as long as they represent the direction of travel of vehicle 100. For example, an arrow indicating the direction of travel of vehicle 100 may be projected. The arrow may be displayed starting from, for example, a corner in the direction of travel of vehicle 100 or its vicinity. The direction of travel of vehicle 100 may also be displayed not only with an arrow but also with a triangle or the like. When using a triangle, one vertex may indicate the direction of travel and the opposite side may be located on the vehicle side, or one side may indicate the direction of travel and the vertex opposite it may be located on the vehicle side.

[0076] Here, we will add some details about steering during typical right and left turns and cornering. For example, as shown in Figure 23, which illustrates the direction of tire 2 during a left turn, not all tires are steered in the same direction during typical right and left turns and cornering. Even in vehicles using 4WS (four-wheel steering) that perform in-phase steering, the angles of each tire are adjusted to strictly different angles according to the turning radius. In contrast, the lateral movement in this embodiment is in a direction that intersects the longitudinal direction of the vehicle body 1, and all tires 2 are steered in the same direction. Also, as illustrated by the black circles in Figure 23, during typical right and left turns and cornering, the center of the turning motion in a plan view is outside the vehicle body 1. In contrast, as shown by the black circles in the plan view of this embodiment, the center of the turning (rotation) in a plan view during a spin turn or pivot turn is basically inside the vehicle body 1.

[0077] <Other> Although embodiments and modifications have been described above, this disclosure is not limited thereto, and various modifications based on the knowledge of those skilled in the art are possible without departing from the spirit of the claims. The configurations shown in the embodiments and modifications can be implemented in appropriate combinations.

[0078] In the example shown in Figure 4, the driver operated the turn signal lever 6 to make the turn signal 8 flash. However, the control device 5 of the vehicle 100, which performs so-called autonomous driving, may control the turn signal 8 according to the behavior of the vehicle 100. In other words, in step S1 of Figure 4, it is not essential to determine whether or not the turn signal lever 6 has been operated. The same applies to the control of tire lighting and projection onto the road surface.

[0079] When a user operates the vehicle, the transition to a special turning mode in the vehicle 100 may be performed using an existing input means such as a shift lever. That is, for example, a shift position for mode switching may be provided on the behavior switching device, which is the shift lever. Alternatively, the vehicle 100 may be equipped with a new behavior switching device such as a switch, which is a new interface for mode switching, or mode switching may be made possible by input to a behavior switching device such as a touch panel. Furthermore, mode switching may be made possible by operating multiple operating parts such as the shift lever and turn signal lever.

[0080] When a user is operating the vehicle, the notification by the turn signal 8, etc., may be initiated by a predetermined operation on the turn signal lever 6 as described above, or by an operation on a switch provided separately from the turn signal lever 6. In addition, the control device 5 may be configured to initiate the notification by the turn signal 8, etc., in conjunction with the transition to a special turning mode. That is, during special turns such as lateral movement, spin turns, and pivot turns, the processing from step S2 onwards in Figure 4 may be initiated when the vehicle is switched to a special turning mode. When the notification by the turn signal 8, etc., is initiated in conjunction with the transition to a special turning mode, the notification may be initiated immediately after the transition, or the notification may be initiated after a predetermined waiting period has elapsed after the transition. In addition, after transitioning to a special turning mode, the control device 5 may be configured to initiate the notification by the turn signal 8, etc., at the start of driving (lateral movement, spin turn, or pivot turn) or at the operation to start driving.

[0081] When the user is operating the vehicle, the notification from the turn signal 8, etc., ends when the turn signal lever is pressed. This may be done by a predetermined operation on the turn signal lever 6, or by operating a switch provided separately from the turn signal lever 6. In addition, the control device 5 may terminate the notification by the turn signal 8, etc., in conjunction with the termination of the special turning mode or the transition to another mode, or in conjunction with the termination of driving. That is, when the special turning mode is terminated, the processes in steps S3, S5, and S7 of Figure 4 are also terminated. The termination of driving is determined, for example, based on an operation to return (reduce the amount of operation) the input of the accelerator, steering, etc. used for driving operation in the special turning mode. Specifically, driving may be determined to have ended when the amount of operation decreases by a threshold or more from the previous value or the maximum amount of operation up to now, or when the amount of operation becomes below a threshold near 0.

[0082] When a user is operating the vehicle, the start of driving in special turning mode may be initiated when input is received from the user, for example, via an input means such as a steering wheel for inputting the amount of steering, or an accelerator pedal for inputting the amount of movement. Specifically, driving starts when an operation is performed in a direction that increases the amount of steering or movement from the initial reference position or the position at the time of mode transition. Alternatively, for example, driving may start when the position and orientation of the vehicle 100 after movement are specified via a display equipped with a touch panel.

[0083] When a user is operating the vehicle, the end of driving in special turning mode may be initiated, for example, by receiving input from the user via the input means described above. Specifically, driving may be terminated when the operating position of the steering wheel, accelerator pedal, etc., returns to the initial reference position or the position at the time of mode transition. Alternatively, driving may be terminated when an input instructing the vehicle to stop driving is received via a display equipped with a touch panel, or when the vehicle 100 has completed moving to a specified position and direction.

[0084] As described above, the system may use one of the following methods for notification: turn signals, tire lights, and projected images onto the road surface, or a combination of two or more methods. In addition to any of these methods, the system may also provide audio notification directed outwards from the vehicle body 1.

[0085] In the example above, a four-wheeled vehicle 100 was used as an example, but the number of wheels is not particularly limited. For example, vehicle 100 may be a three-wheeled vehicle with one wheel at the front or rear. Alternatively, vehicle 100 may be a vehicle with five or more wheels, such as a six-wheeled vehicle with additional wheels between the front and rear wheels. In these cases as well, vehicle 100 is equipped with turn signals 8 on the left and right sides of the front and rear of the vehicle body 1, and is independently steerable to perform at least one of lateral movement, pivot turns, and spin turns.

[0086] The present invention also includes a computer program that performs the processing method described above, and a computer-readable recording medium on which the program is recorded. By having a computer read the program stored on the recording medium and execute the program, a device equipped with the computer can realize the above-described operation. A computer-readable recording medium refers to a recording medium that stores information such as data and programs by electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer. Examples of such recording media that are removable from a computer include flexible disks, magneto-optical disks, optical disks, magnetic tapes, and memory cards. Examples of recording media fixed to a computer include hard disk drives and ROMs. Alternatively, a computer program may be stored on a server's storage medium (hard disk drive, etc.), and the server may distribute the computer program to an in-vehicle computer (control device) via a communication line. [Explanation of Symbols]

[0087] 100: Vehicle, 1: Body, 2 (2A-2D): Tires, 3 (3A-3D): Drive system, 31: Output shaft, 32: Casing, 4 (4A-4D): Steering drive system, 41: Output shaft, 5: Control device, 6: Turn signal lever, 7: Shift lever, 8 (8A-8D): Turn signal, 9: Wheel housing, 10: Lighting device (light source), 11: Projector (light source)

Claims

1. A control device mounted on a vehicle capable of independently steering multiple wheels, (1) When the vehicle is moving laterally with the multiple wheels steered in the same direction that intersects the front-rear direction of the vehicle body, (2) when the vehicle is performing a spin turn so that the center of rotation is within the area surrounded by the multiple wheels, or (3) when the vehicle is performing a pivot turn so that the center of rotation is near any of the multiple wheels, a display representing the behavior of the vehicle is projected onto the road surface around the vehicle using a light source provided by the vehicle. Control device.

2. The display representing the vehicle's behavior includes an arrow indicating the direction in which the vehicle is moving. The control device according to claim 1.

3. The arrow indicating the direction in which the vehicle operates is changed over time so that it extends in the direction in which the vehicle operates. The control device according to claim 2.

4. The display representing the behavior of the vehicle represents the range of the vehicle's path on the road surface. The control device according to claim 1.

5. The range in the vehicle's path is changed over time to expand in the direction in which the vehicle is moving. The control device according to claim 4.

6. The area on the road surface in the vehicle's path is formed to be the size of the vehicle's path plus a margin. The control device according to claim 4.

7. The light source causes a display representing the vehicle's behavior to flash on the road surface. The control device according to any one of claims 1 to 6.

8. A control method in which a control device controls a vehicle in which multiple wheels can be steered independently, (1) When the vehicle is moving laterally with the multiple wheels steered in the same direction that intersects the front-rear direction of the vehicle body, (2) when it is performing a spin turn in which it turns so that the previous center is within the area surrounded by the multiple wheels, or (3) when it is performing a pivot turn in which it turns so that it is within the area surrounded by the multiple wheels, a display representing the behavior of the vehicle is projected onto the road surface around the vehicle using a light source provided by the vehicle. Control method.

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