• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    VEHICLE DRIVER ASSIST DEVICE, INSTRUCTION DISPLAY DEVICE, AND VEHICLE LIGHT VEHICLE A vehicle assist device (2) which is mounted on a vehicle (1) comprises a vehicle recognition device (2) instruction (7) which is configured to recognize operation instruction information for a vehicle displayed on a road surface. The vehicle on which the vehicle driving aid (2) is mounted is implemented on the basis of the operating instruction information. An instruction display device (4) is mounted on a vehicle and is configured to display operation instruction information for another vehicle on a road surface with near-infrared light. Figure for the abstract: Fig. 1.
    公开号:FR3076788A1
    申请号:FR1873190
    申请日:2018-12-18
    公开日:2019-07-19
    发明作者:Yoshinori SAWA；Yuichi Watano
    申请人:Koito Manufacturing Co Ltd；
    IPC主号:
    专利说明:

    Aspects of the present invention relate to a vehicle driving assistance device, an instruction display device and a vehicle light which automatically assist tracking driving based on information while following a source of transmission of instructional information.
    Document JP-A-2016-60314 (Figures 1 and 2 and paragraphs [0025] to [0028]) discloses a previous vehicle detection system in which a light source with light emitting diode in the near infrared is provided. in a rear light of a preceding vehicle to generate invisible light spots, which are detected by an image forming device of a following vehicle, and the preceding vehicle can thus be detected with precision. In addition, document JPA-2015-225558 (first embodiment ([0024]) and FIGS. 1 and 4) discloses a vehicle-to-vehicle communication system in which a data frame comprising an identifier of own vehicle and of the own vehicle information is transmitted and received between a plurality of vehicles in both optical communication and DSRC wireless communication, and the two communication identifiers are compared to determine a previous vehicle, so that false detection of the previous vehicle is prevented.
    In the previous vehicle detection system of document JP-A-2016-60314, an erroneous recognition of the previous vehicle which is a transmission source is reduced by marking the light points emitted from the previous vehicle with light of near infrared light emitting diode. However, only the presence or absence of the preceding vehicle can be detected since the detected light is in the form of bright spots.
    In addition, in the vehicle-to-vehicle communication system of document JPA-2015-225558, a detailed automatic driving assistance command based on the communication information received becomes possible without erroneously determining the vehicle which is the source of transmission, but an automatic driving assistance system is expensive and cannot be easily achieved since both optical and wireless communication systems and an information analysis device complicated are required.
    Therefore, one aspect of the present invention provides a simple vehicle driving assistance device, an instruction display device, and a vehicle light which can perform automatic tracking driving based on instructional information while easily determining a source for transmitting instructional information.
    According to one embodiment of the present invention, there is provided a vehicle driving assistance device which is mounted on a vehicle and comprises an instruction recognition device which is configured to recognize information from the vehicle. the operating instruction for a vehicle displayed on a road surface, and the vehicle on which the vehicle driving assistance device is mounted is implemented on the basis of the operating instruction information.
    According to the above configuration, the vehicle instruction recognition device recognizes in a limited manner the operating instruction information for the vehicle displayed on the road surface obliquely under the vehicle, and the device vehicle driving assistance automatically implements the vehicle on the basis of an instruction in the operating instruction information.
    According to another embodiment of the present invention, there is provided an instruction display device which is configured to display operating instruction information for another vehicle on a road surface with near infrared light.
    According to the above configuration, the instruction display device displays the operating instruction information for another vehicle by light in the near infrared in a limited manner on the road surface obliquely under the vehicle on which the instruction display device is mounted.
    In the instruction display device, the operating instruction information can be displayed on the road surface between a vehicle and a different vehicle which includes a driving assistance device having a device for instruction recognition configured to recognize operating instruction information.
    According to the above configuration, the instruction display device provided in the vehicle displays the operating instruction information of the vehicle with invisible light on the road surface limited between one vehicle and another vehicle which includes the driving assistance device having the instruction recognition device configured to recognize the operating instruction information, and the other vehicle thus operates automatically on the basis of the instruction information of the vehicle on which the instruction display device serving as a transmission source is mounted.
    In addition, the instruction display device can be mounted on the vehicle which includes the driver assistance device having an instruction recognition device configured to recognize the operating instruction information.
    According to the above configuration, the instruction display device is also mounted on a following vehicle which follows a preceding vehicle thanks to the driving assistance device, displays instruction information from operation for another following vehicle comprising the driving assistance device on a road surface.
    In the vehicle driving assistance device, the instruction information can be a graphic indication formed in advance on the road surface.
    According to the above configuration, the instruction recognition device recognizes instruction information from an indication which is formed in advance in the form of a line, of a symbol , a character, a number, a drawing, or equivalent by a stud, paint, a terminal or equivalent on the road surface in the vicinity of the vehicle, and the driving assistance device places operates the vehicle automatically based on the recognized instruction information.
    According to another embodiment of the present invention, there is provided a vehicle light comprising the vehicle driving assistance device above.
    The vehicle fire instruction recognition device recognizes the instruction information which is linked to the vehicle and is displayed in a limited manner on the road surface in the vicinity of the vehicle, and the assistance device for the vehicle driving automatically implements the vehicle based on an instruction in the operating instruction information.
    According to yet another embodiment of the present invention, there is provided a vehicle light comprising the above instruction display device.
    According to the above configuration, the vehicle fire instruction display device displays operating instruction information on an operation for a next vehicle using light in the near infrared of a limited way on the road surface in the vicinity of the vehicle on which the instruction display device is mounted.
    According to the vehicle driving assistance device above, the operating instruction information for the vehicle indicated on the road surface at an oblique angle under the vehicle periphery is recognized by the recognition device d instruction, the recognition area of the instruction information is limited to the periphery of the vehicle on which the driving assistance device is mounted, and of the instruction information of the vehicle away from the vehicle on which the driver assistance device is mounted cannot be recognized, so that the source of transmission of the instruction information can be easily determined and the automatic follow-up driving based on the recognized information d The instruction can be easily carried out even if no complicated device is provided.
    According to the above instruction display device, the area for displaying the operating instruction information of another vehicle by means of light in the near infrared is limited to the area of road around the vehicle on which the instruction display device is mounted, and only operating instruction information from another predetermined vehicle approaching the vehicle on which the instruction display device is mounted and includes the driving assistance device with the instruction recognition device can be recognized, so that the source of transmission of operating instruction information can be easily determined and the driving automatic tracking based on recognized operating instruction information can be easily performed.
    According to the instruction display device, since the area for displaying the instruction information of the vehicle on which the instruction display device is mounted is limited to the road surface between the vehicle preceding and the next vehicle, the vehicle on which the instruction display device which is the source of transmission of instruction information is simply determined by the vehicle on which the driving assistance device is mounted, and the automatic tracking line for the next vehicle relative to the previous vehicle and communication of operating instruction information between the previous vehicle and the next vehicle can be easily performed. In addition, by using invisible light, information on automatic tracking driving can be exchanged between vehicles without giving unnecessary information to a vehicle driver, a pedestrian, or the like.
    According to the instruction display device, the display area of the operating instruction information from the next vehicle following a predetermined preceding vehicle is limited to the road surface between the next vehicle and a another following vehicle comprising the driving assistance device having the instruction recognition device, and the operating instruction information can be recognized only by the other following vehicle, so that the automatic tracking driving in which several vehicles follow in series can easily be achieved.
    According to the vehicle driving assistance device, since the instruction recognition device recognizes the operating instruction information on the basis of a paint drawing or equivalent formed in advance on the road and the vehicle on which the driving assistance device is mounted operates automatically on the basis of the instruction information, precise automatic tracking driving can be easily performed.
    According to the vehicle light, the area for recognizing the instruction information for operating the vehicle by the instruction recognition device is limited to the vicinity of the vehicle on which the vehicle light is mounted, so that that the source of transmission of instructional information can be easily determined and the automatic follow-up conduct based on the recognized instructional information can be easily carried out even if there is no complicated device.
    Depending on the vehicle light, the display area for instruction information on the operation of the next vehicle is limited to the road surface in the vicinity of the vehicle on which the instruction display device is mounted. , and the following vehicle comprising the driving assistance device capable of recognizing the operating instruction information is only limited to the vehicle approaching the vehicle on which the vehicle light is mounted, so that the source of transmission of the operating instruction information can be easily determined and automatic follow-up driving based on the recognized operating instruction information can be easily performed.
    [Fig.l]
    Figure 1 is a conceptual diagram illustrating a driving assistance device and an instruction display device according to an embodiment.
    [Fig.l A]
    Figure IA is a conceptual diagram in which a vehicle comprising a driving assistance device and a vehicle comprising an instruction display device are exchanged.
    [Fig.2A]
    FIG. 2A is a front view of a first vehicle comprising a driving assistance device.
    [Fig.2B]
    Figure 2B shows a block diagram of the driver assistance device.
    [Fig.3A]
    Figure 3A is a rear view of a second vehicle including an instruction display device.
    [Fig.3B]
    Figure 3B is a sectional view along IIIB-IIIB of Figure 3A and showing the instruction display device.
    [Fig.3C]
    Figure 3C is a perspective view of a scanning mechanism.
    [Fig.4A]
    FIG. 4A is a diagram illustrating operating instruction information comprising a two-dimensional matrix type code.
    [Fig.4B]
    Figure 4B is a diagram illustrating operational instruction information shown in advance on a road surface.
    Embodiments of the present invention will be described below with reference to Figures 1 to 4A and 4B. In each drawing, directions of each part of a vehicle headlight and directions of a route seen by a driver of a vehicle on which the vehicle headlight is mounted are shown as follows: top: bottom: left: right : front: rear = Up: Lo: Le: Ri: Br: Re.
    An overall configuration of an automatic driving assistance system 100 comprising a vehicle driving assistance device 2 and an instruction display device 4 according to this embodiment will be described in referring to the figure
    1. The reference 1 designates a first vehicle in which the driving assistance device 2 is mounted, and the reference 3 designates a second vehicle in which the instruction display device 4 is mounted. The second vehicle 3 moves on the same lane SI and precedes the first vehicle 1.
    As shown in Figure 1, the second previous vehicle 3 displays an indication of operating instruction information Ml by invisible light which is light in the near infrared from the display device instruction 4 provided in a left rear combination light 23, on a road surface and behind the second vehicle 3. The indication of operating instruction information M1 comprises numbers and characters in a predetermined form serving operating instruction information for a next vehicle.
    The driving assistance device 2 of the first following vehicle 1 shown in FIG. 1 and FIGS. 2A and 2B comprises an image forming device 7 which is an instruction recognition device and a unit for electronic control 8 serving as an operating control device. The image forming device 7 is provided to direct obliquely downward in a left headlight 5 towards a road surface near and in front of the first vehicle 1, and takes an image of and recognizes numbers and characters of the indication of operating instruction information M1 displayed on the road surface at the front in an imaging range E1. The recognized operating instruction information is analyzed by the electronic control unit 8 serving as a device for controlling the operation of the driving assistance device 2 and sent to an automatic driving system 12 of the first vehicle 1, and the first vehicle 1 is automatically implemented to follow the second preceding vehicle 3.
    The indication of operating instruction information M1, which is displayed in an irradiation range E2 by the instruction display device 4 of the second vehicle 3 as shown in FIG. 1, is displayed on a road surface SP1 between the vicinity of the second vehicle 3 and of the first vehicle following 1 in the lane SI. Consequently, the indication of operating instruction information M1 is difficult to recognize by a vehicle other than the first vehicle 1 which is the vehicle immediately following, so that it is less possible to implement in a manner erroneous an unexpected next vehicle comprising a driving assistance device equivalent to that of the first vehicle 1. In addition, since the image forming device 7 of the driving assistance device 2 of the first vehicle 1 is directed in slanting down toward the road surface near and in front of the first vehicle 1, the first vehicle 1 is less likely to mistakenly recognize operating instruction information from an unexpected previous vehicle other than the second vehicle 3 and can easily determine the second vehicle 3 which is the source of transmission.
    As a result, according to the automatic driving assistance system 100 comprising the vehicle driving assistance device 2 and the instruction display device 4, the system is easily configured so that that interference from other unexpected vehicles is less likely to occur in instruction information exchanged between the first vehicle 1 and the second vehicle 3, and a precise automatic tracking operation of the next second vehicle 3 the first preceding vehicle 1 can be easily produced.
    As shown in Figure 1, in the first vehicle 1, an instruction display device 4 'with a configuration similar to that of the second vehicle 3 can be mounted in a rear combination light 17, in addition of the driving assistance device 2 for following the second vehicle 3. In this case, according to the automatic driving assistance system 100 of the present embodiment, another following vehicle 18 comprising a driving assistance device driving 2 ′ similar to that of the first vehicle 1 can also follow the first vehicle 1, and two vehicles following the second vehicle 3 in series can carry out an automatic tracking driving. In addition, according to the automatic driving assistance system 100 of the present embodiment, by preparing two or more following vehicles with both the driving assistance device similar to that of the first vehicle 1 and the device instruction display similar to that of the second vehicle, three or more vehicles following the second vehicle 3 in series can also perform automatic tracking driving.
    In Figure 1, the instruction display device 4, 4 'is mounted on the left combination light of the previous vehicle 3, 1 and the driving assistance device 2, 2' is mounted on the left headlight of the following vehicle 1.18, but alternatively or in addition, as shown in FIG. 1A, a driving aid device 2 ”similar to the driving aid device 2 can be mounted on a right rear combination light 24 of the second vehicle 3 which is the preceding vehicle, and a 4 ”instruction display device similar to the instruction display device 4 can be mounted on a right headlight 6 of the first vehicle 1 which is the next vehicle.
    The 4 ”instruction display device of the first vehicle 1 shown in FIG. IA is designed to move obliquely downwards towards a road surface in front of the vehicle and is configured to display the indication of operating instruction information M1 on the road surface SP1 between the first vehicle 1 and the second vehicle 3. An image forming device of the vehicle driving assistance device 2 ′ of the second vehicle 3 is provided for head obliquely down toward a road surface behind the vehicle and is configured to take an image of and to recognize numbers or characters of the operating instruction information indication Ml in the training range d 'image El. According to an automatic driving assistance system 100' comprising the vehicle driving assistance device 2 ”and the instruction display device 4”, l e driving assistance device 2 ”of the second preceding vehicle 3 receives the operating instruction information from the first vehicle 1 which performs the automatic tracking driving so as to bring a display into the vehicle, a loudspeaker or equivalent to operate in the second vehicle 3 to inform a driver of the second vehicle 3 of a driving state of automatic tracking of the first vehicle 1 by characters, numbers, sounds, or equivalent.
    The driving assistance device 2 of this embodiment will then be described with reference to FIGS. 2A and 2B. The first vehicle 1 in FIG. 2A comprises a left headlight 5 comprising a high beam headlight unit 5a and a low beam headlight unit 5b, and a right headlight 6 comprising a high beam headlight unit 6a and a low beam headlight unit 6b. The driving assistance device 2 is provided behind a front lens 5c of the left headlight 5.
    The driving assistance device 2 shown in FIG. 2B comprises the image forming device 7 and the electronic control unit 8 which is a control device. The electronic control unit 8 comprises an instruction detection unit 9, a read-only memory 10 and an instruction processing unit 11 and is configured as a device for controlling the operation of the driving aid device. In the instruction processing unit 11, the automatic driving system 12 of the first vehicle 1 and a control screen in the vehicle 13 are connected. Since the driving assistance device 2 is provided in the left headlight 5 with the electronic control unit 8 independent of the control of a main bodywork of the first vehicle 1, it is advantageous that no additional load is applied on the control device which controls the operation of the main bodywork of the first vehicle 1. The driving assistance device 2, 2 ′ may be provided in the right headlight 6, or may be provided at the level of different parts directed towards the front of the first vehicle 1, such as a central front end portion of a roof of the first vehicle
    1. In addition, the driving assistance device 2 ”can be provided in the left rear combination light 23 of the second vehicle 3, or can be provided at the level of different parts directed towards the rear of the second vehicle 3, as that a central rear end part of a roof of the second vehicle 3.
    The image forming device 7 shown in Figure 2B comprises a transparent biconvex lens 14, an image forming element 15 and a support 16. The biconvex lens 14 is fixed on the support 16 with the element forming lens 15 in front of the imaging element 15. The front lens 5c of the left headlight 5 shown in Fig. 2A includes a window part 5d which is a through hole or a colorless transparent part. The image forming device 7 is fixed to point obliquely downwards towards the left headlight 5 so that the biconvex lens 14 is exposed towards the front from the window part 5d and the biconvex lens 14 and 1 the imaging element 15 are oriented towards the road surface near and in front of the first vehicle 1.
    As shown in Figure 1, in the SI channel, when the indication of operating instruction information Ml which is irradiated from the second preceding vehicle 3 and includes numbers, characters and the like linked to the operating instruction information on the road surface SP1 between the second vehicle 3 and the first vehicle following 1, is displayed with invisible light such as light in the near infrared, the image forming device 7 of the vehicle driving assistance device 2 of the first vehicle 1 forms an image of the indication of invisible operating instruction information indication M1 on the image-forming element 15 by means of the biconvex lens 14.
    When the image of the operating instruction information indication M1 is formed on the image forming element 15, the electronic control unit 8 detects an appearance of the operating instruction by the instruction detection unit 9. Next, the instruction processing unit 11 compares the image of the operation instruction information indication M1 with a specific operation instruction which is predetermined for each image recorded in the read-only memory 10 and sends to the automatic control system 12 an operating instruction based on the image taken from the indication of operating instruction information Ml. The automatic driving system 12 controls the first vehicle 1 to operate automatically independently of the driving operation of the driver of the first vehicle 1 or to assist the driving operation, based on the operating instruction received from the driving assistance
    2.
    The electronic control unit 8 shown in Figure 2B performs a command so that a predetermined indication is displayed on the control screen in the vehicle 13 through the processing unit instruction
    11. The control screen in the vehicle 13 is configured to receive, for example, a control signal from the instruction processing unit 11 from the electronic control unit 10 and to display the status of the automatic driving operation with characters or numbers that the driver can recognize, or to display a message (such as an exchange of sentences and greetings) sent from the second preceding vehicle 3 by the driver or equivalent, with characters or equivalent. The 2 ”driving assist device in Figure IA is configured to display a message that is related to auto tracking driving and is sent by the next next vehicle 1 (for example, a distance between the first vehicle 1 and the second preceding vehicle 3 is too large and the indication of operating instruction information M1 from the second vehicle 3 in the imaging range E1 cannot be recognized, and the automatic tracking line cannot be performed) on the control screen in vehicle 13 of the second vehicle 3 with characters or equivalent.
    The instruction display device 4 of this embodiment will then be described with reference to Figures 3A to 3C. The second vehicle 3 in FIG. 3A comprises a left rear combination light 23 and a right rear combination light 24, the left and right combination lights 23, 24 include rear and brake lights 23a, 24a, indicators 23b, 24b, and reversing lights 23c, 24c, and the instruction display device 4 of this embodiment is provided in the left rear combination light 23.
    The instruction display device 4 shown in Figure 3B comprises a base 25, an electronic control unit 26 which is a control device, a light source 27 such as a light emitting diode which generates near infrared light, a substrate 28, a scanning mechanism 29, and a condenser 38. The base 25 includes a body 25a, a back cover 25b, and a metal support member 25c. In the body 25a formed of resin or equivalent, a rear opening is closed by the transparent rear cover 25b. The metal support member 25c includes a substrate fixing part 25d and a scanning mechanism fixing part 25e which project forward. An installation position of the instruction display device 4 is not limited to the left rear combination light 23, and may be provided in the right rear combination light 24, or at the level of different parts directed towards the front of the first vehicle 1, such as the central rear end part of the roof or a rear window of the second vehicle 3.
    As shown in Figure 3B, the electronic control unit 26 and the light source 27 are mounted on a substrate 28 and are electrically connected to a control panel in the vehicle or equivalent (not shown) in the second vehicle 3. The substrate 28 is fixed on the substrate fixing part 25d with the light source 27 facing downwards. The scanning mechanism 29 is fixed on the scanning mechanism fixing part 25e with a reflecting mirror 30 facing the light source 27 and the rear cover 25b, and the condenser 38 which is a transparent plano-convex lens is fixed on the body 25a or equivalent so as to be positioned in an optical passage between the light source 27 and the reflecting mirror 30. The instruction display device 4 is fixed to a vehicle body 3a of the second vehicle 3 of such so that the back cover 25b is exposed backwards.
    The scanning mechanism 29 shown in Figures 3B and 3C is configured by a MEMS type mirror or equivalent and includes the reflecting mirror 30, a base 31, a rotation body 32, a pair of first torsion bars 33 , a pair of second torsion bars 34, a pair of permanent magnets 35, a pair of permanent magnets 36 and a terminal 37. A reflective surface 30a is formed by performing treatment such as vapor deposition of silver or a plating on a front surface of the reflecting mirror 30. In addition, the scanning mechanism 29 is supplied with energy via a cable (not shown) connected to terminal 37 and is connected to the electronic control 26 to receive the order.
    The plate-shaped rotating body 32 in Figures 3B and 3C includes a first coil (not shown) which receives energy from terminal 37 and is supported on base 31 so that it can be tilted towards the left and right by the pair of first torsion bars 33. The reflecting mirror 30 comprises a second coil (not shown) which receives energy from terminal 37 and is supported by the rotation body 32 so that it can be tilted up and down by the pair of second torsion bars 34.
    The rotation body 32 shown in Figure 3C is rotated oscillating back and forth at a high speed in a left-right direction (direction Dl) around an axis of the first torsion bar 33 by the first coil which is activated and controlled by the pair of permanent magnets 35 and a control mechanism (not shown) so as to tilt the reflecting mirror 30 to the left and right at a high speed. The reflecting mirror 30 is oscillated back and forth at a high speed in an up-down direction (direction D2) around an axis of the second torsion bar 34 by the second coil which is activated and controlled by the pair of permanent magnets 36 and a control mechanism (not shown).
    The electronic control unit 26 in FIG. 3B is connected to a control panel (not shown) provided in an interior of the second vehicle 3 and is configured to switch on / off the light source 27 at a predetermined time delay and to scan the reflecting mirror 30, which receives light B1 from the light source 27, in the up-down direction (direction D1) and the left-right direction (direction D2). Light B1 passes through the rear cover 25b and is irradiated on the road surface behind the second vehicle 3. The instruction display device 4 displays characters or numbers of predetermined shape comprising a combination of dots or lines on the road surface behind the second vehicle 3 based on the operation on the control panel (not shown) by the driver. For example, when the driver presses a follow-up driving button displayed on the control panel, the instruction display device 4 is configured to display on the road surface behind the second vehicle 3 an indication of information d operating instruction MI with invisible light which causes the next vehicle to follow the second vehicle 3 in a predetermined position away from the second vehicle
    3. Next, the driving assistance device 2 of the first vehicle 1 shown in FIG. 1 and FIG. 2B sends the operating instruction based on the indication of operating instruction information MI to the driving system. automatic 12 so as to control the first vehicle 1 to automatically follow the second vehicle 3 in a predetermined manner.
    The instruction display device 4 displays the indication of operation instruction information MI on the road surface with invisible light which is light in the near infrared. Therefore, even in a case where the instruction display device 4 and a road surface drawing device which draws (displays) a rating indication with visible light for a pedestrian or a driver of the vehicle, are both mounted on a vehicle, it is advantageous for the pedestrian or the equivalent to have no difficulty in reading even when the indication of operating instruction information M1 is drawn (displayed) on the road surface.
    As shown in Figure 4A, the instruction display device 4 of the second vehicle 3 displays, for example, the indication of operating instruction information Ml in the form of a two-dimensional code of matrix type, a two-dimensional code of battery type, or equivalent with invisible light, and the driving assistance device 2 of the first vehicle 1 obtains operating instruction information from a result d analysis of an image of the two-dimensional code taken by the image-forming device 7. The indication of operating instruction information M1 is not limited to the two-dimensional code, and can be expressed in various ways such as bar codes or characters.
    As shown in Figure 4B, the indication of operating instruction information is not limited to the optical representation displayed by invisible light from the instruction display device of the previous vehicle , and can be a graphic indication which is planned in advance like a line, a marker, a character, a figure, a drawing, or equivalent thanks to a road stud, paint, a stone, or equivalent on the surface of road ahead. The operating instruction information indication M2 shown in FIG. 4B is a guide and stop symbol for parking in a frame of a parking space SP2 provided on an edge RI of the lane Sl.
    For example, the indication of operating instruction information M2 shown in FIG. 4B comprises a pair of parallel guide lines m21 formed with a predetermined width and a predetermined color, a deceleration line m22 which goes all straight perpendicular to the middle of the pair of guide lines and indicates a place approaching a predetermined parking space, and a stop line m23 which goes straight perpendicular to the end of the guide lines m21.
    For example, when the driving assistance device 2 of the first vehicle 1 detects the guide line m21 in the imaging range El with the imaging device 7, a movement instruction for do not move further from inside the pair of guide lines m21 is sent to the automatic steering system 12 in Figure 2B, and the first vehicle 1 moves automatically inside the pair of guide lines m21. Since the vehicle is approaching the predetermined parking space SP2 when the deceleration line m22 is detected by the image forming device 7, the driving aid device 2 sends an instruction to the automatic driving system 12 of slowdown operation which causes the vehicle to slow down to a speed at which the vehicle can be stopped at any time and the first vehicle 1 automatically performs a driving slowdown inside the pair of guide lines m21. Since the driving assistance device 2 is in the predetermined parking space SP2 when the stop line m23 formed at the end of the guide lines m21 is detected by the image forming device 7, the device driving aid 2 sends a stop instruction to the automatic driving system 12 and the first vehicle 1 stops automatically without moving beyond the frame of the parking space SP2.
    In a case where such an indication of operating instruction information
    M2 is planned from lane SI on which the vehicle moves to the parking space SP2 on the roadside RI, even if the driver of the first vehicle 1 is not good at parking, the first vehicle 1 can be automatically parked by the driving assistance device 2 in an optimal position without deviating from the parking space SP2. In addition, since several vehicles comprising the driving assistance devices 2 are automatically parked in optimal positions without deviating from the parking spaces SP2, an operator of the parking area does not need to provide a margin additional for each zone of the parking space in order to avoid a collision between a vehicle and an adjacent vehicle which are prevented from deviating from the optimal position. Since the driving assistance device 2 can precisely park a plurality of vehicles including the driving assistance devices 2 in extremely narrow spaces between the vehicles, a saving of parking space can be performed.
    权利要求:
    Claims (1)
    [1" id="c-fr-0001]
    Vehicle driving assistance device (2) which is mounted on a vehicle (1), characterized in that it comprises:
    an instruction recognition device (7) which is configured to recognize operating instruction information for a vehicle displayed on a road surface, in which the vehicle (1) on which the assistance device for the Vehicle driving (2) is mounted is implemented based on the operating instruction information.
    Instruction display device (4) which is mounted on a vehicle (3) and is configured to display operating instruction information for another vehicle (1) on a road surface with light in it the near infrared.
    Instruction display device (4) according to claim 2 which is configured to display the operation instruction information on the road surface between the vehicle (3) and another vehicle (1) which includes a device driving assistance (2) having an instruction recognition device (7) configured to recognize operating instruction information.
    Instruction display device (4) according to claim 2, in which the vehicle (3) on which the instruction display device is mounted comprises a driving assistance device (2) having a driving device instruction recognition (7) configured to recognize operating instruction information.
    A vehicle driving assistance device (2) according to claim 1, wherein the operating instruction information is a graphical indication formed in advance on a road surface.
    Vehicle light comprising the vehicle driving assistance device (2) according to claim 1 or 5.
    Vehicle light comprising the instruction display device (4) according to any one of claims 2 to 4.
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    法律状态:
    2019-10-31| PLFP| Fee payment|Year of fee payment: 2 |
    2020-04-10| PLSC| Publication of the preliminary search report|Effective date: 20200410 |
    2020-10-29| PLFP| Fee payment|Year of fee payment: 3 |
    2021-10-26| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2017-242280|2017-12-19|
    JP2017242280A|JP7037930B2|2017-12-19|Vehicle driving support device, command display device and vehicle lighting equipment.|
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