Abstract
Problem: To provide an autonomous driving indication system that allows a pedestrian or another vehicle to clearly discriminate driving states of an autonomous driving vehicle and provide a vehicle communication system capable of sending an appropriate message to a pedestrian from a vehicle according to the probability of the pedestrian crossing the road. Means to Solve the Problem: Left and right headlamps (3) are each provided with a first communication lamp (6) and a second communication lamp (7) for indicating an autonomous driving state of a vehicle (1). The first and second communication lamps (6) and (7) are each comprised of a plurality of light emitting segments, and each light emitting segment is caused to flash by a lamp ECU. When flashing the light emitting segments, the lamp ECU controls the change in the brightness of the light emitting segments according to the driving state of the vehicle. A vehicle ECU or the lamp ECU is provided with a probability computing unit for calculating the probability that a pedestrian will cross the road, and a control unit for switching the light output of light emitting segments individually or in unison according to the probability.
Claims
1. An autonomous driving indication system comprising: at least two lamps for indicating that a vehicle is autonomously driven, and a lamp ECU for flashing each lamp, wherein each lamp is comprised of at least two communication lamps including a first communication lamp and a second communication lamp, wherein the first communication lamp includes a plurality of light emitting segments linearly arranged in a first direction, wherein the second communication lamp includes a plurality of light emitting segments linearly arranged in a second direction different from the first direction, wherein, during flashing, the lamp ECU instantaneously changes a brightness of each lamp while the vehicle is driving, performs control to gradually change the brightness of each lamp with a passage of time while the vehicle is stationary, and, if there is a pedestrian, performs control to flash the first communication lamp and/or the second communication lamp of the lamp on a side closer to the pedestrian.
2. The autonomous driving indication system of claim 1, wherein the lamp ECU moves a location of a flashing segment according to a change in a position of the pedestrian as seen from the vehicle.
3. The autonomous driving indication system of claim 1: wherein the lamp is comprised of a plurality of light emitting segments, and wherein the lamp ECU individually flashes the plurality of light emitting segments while the vehicle is driving and controls the brightness of the plurality of light emitting segments in unison while the vehicle is stationary.
4. The autonomous driving indication system of claim 1: wherein the lamp is comprised of a plurality of light emitting segments, wherein the lamp ECU individually flashes the plurality of light emitting segments while the vehicle is driving and controls the brightness of the plurality of light emitting segments in unison while the vehicle is stationary, and wherein the lamp ECU causes the plurality of light emitting segments to flash in a different sequence during acceleration from during deceleration.
5. The autonomous driving indication system of claim 1, wherein the lamp is disposed in a headlamp.
Description
BRIEF DESCRIPTION OF DRAWINGS
(1) FIG. 1 is a front view of a vehicle showing one embodiment of the present invention.
(2) FIG. 2 is a front view of the headlamps showing the light emitting segments of the lamps.
(3) FIG. 3 is a block diagram showing an autonomous driving indication system.
(4) FIG. 4 is a flowchart showing the operation of the autonomous driving indication system.
(5) FIG. 5 is a front view of the headlamps, showing an example of a method for controlling the lamps during driving.
(6) FIG. 6 is a front view of the headlamps, showing another example of a method for controlling the lamps during driving.
(7) FIG. 7 is a front view of the headlamps, showing an example of a method for controlling the lamps while the vehicle is stationary.
(8) FIG. 8 is a front view of the headlamps, showing another example of a method for controlling the lamps while the vehicle is stationary.
(9) FIG. 9 is a front view of the headlamps, showing yet another example of a method for controlling the lamps while the vehicle is stationary.
(10) FIG. 10 is a block diagram showing the configuration of a vehicle communication system.
(11) FIG. 11 is a flowchart showing the operation of the communication system.
(12) FIG. 12 is an explanatory diagram showing how to determine the probability of a pedestrian crossing a road.
(13) FIG. 13 is an explanatory diagram showing a method of controlling the communication lamps.
(14) FIG. 14 is a schematic diagram showing pedestrian-vehicle communication of Example 1.
(15) FIG. 15 is a schematic diagram showing pedestrian-vehicle communication of Example 2.
(16) FIG. 16 is a schematic diagram showing pedestrian-vehicle communication of Example 3.
(17) FIG. 17 is a schematic diagram showing pedestrian-vehicle communication of Example 4.
(18) FIG. 18 is a schematic diagram showing pedestrian-vehicle communication of Example 5.
(19) FIG. 19 is a schematic diagram showing pedestrian-vehicle communication of Example 6.
DESCRIPTION OF EMBODIMENTS
(20) An embodiment of the present invention will be described hereinafter based on the drawings. The vehicle 1 shown in FIG. 1 is provided with a pair of left and right headlamps 3 in the front of a vehicle body 2. A low beam lamp 4, a high beam lamp 5, a first communication lamp 6, and a second communication lamp 7 are provided in the housing (not shown) of each of the headlamps 3.
(21) When an autonomous driving mode is set for the vehicle 1, the first and second communication lamps 6 and 7 function as lamps to indicate its driving state to a pedestrian, etc., by flashing. As shown in FIG. 2, the first communication lamps 6 are each composed of three light emitting segments 6a-6c in a vertical configuration, and the second communication lamps 7 are each composed of six light emitting segments 7a-7f in a horizontal configuration.
(22) It should be noted that when a manual driving mode is set for the vehicle 1, the first communication lamps 6 function as daytime running lamps and the second communication lamps 7 function as turn-signal lamps.
(23) As shown in FIG. 3, a lamp ECU 8 for flashing four types of lamps 4, 5, 6, and 7 is disposed in the housing of the headlamp 3. The lamp ECU 8 comprises an autonomous driving indication system 21 together with the two types of communication lamps 6 and 7 and, when the autonomous driving mode is set for the vehicle 1, controls each light emitting segment of the communication lamps 6 and 7 in response to a command from a vehicle ECU 9.
(24) As shown in FIG. 4, initially, the lamp ECU 8 determines whether or not the autonomous driving mode is set (S31). If the autonomous driving mode is not set, manual drive lighting control is performed to flash the four types of lamps 4-7 in the same manner as during manual driving (S32). If the autonomous driving mode is set, it is determined whether or not the vehicle 1 is driving (S33) or stationary (S34) based on a command from the vehicle ECU 9.
(25) If the vehicle 1 is driving, the lamp ECU 8 instantaneously changes the brightness (i.e., the driving voltages) of the light emitting segments as the first and/or second communication lamps 6, 7 flash (S35). On the other hand, if the vehicle 1 is stationary, gradual change control is performed to gradually change the brightness of the light emitting segments with the passage of time, as the first and/or second communication lamps 6, 7 flash (S36).
(26) FIGS. 5 and 6 show examples of control performed when the vehicle is driving. When the vehicle is driving, the three light emitting segments 6a-6c of the first communication lamps 6 are individually flashed with all the six light emitting segments 7a-7f of the second communication lamps 7 turned on. In particular, during flashing, the acceleration/deceleration of the vehicle in autonomous driving is easily indicated to a pedestrian, etc., by performing gradual-change control on the brightness of the light emitting segments 6a-6c of the first communication lamps 6.
(27) In the example of control shown in FIG. 5, during deceleration, the light emitting segments 6a, 6b, and 6c of each of the first communication lamps 6 in a fully turned-on condition are sequentially turned off from the top to the bottom to gradually reduce the light emitting area, and this gradual change operation is repeated to express the deceleration of the vehicle 1. During acceleration, conversely, the light emitting segments 6a, 6b, and 6c in a fully turned-off condition are sequentially turned on from the bottom to the top to gradually increase the light emitting area, and this gradual change control is repeated to express the acceleration of the vehicle 1.
(28) In the example of control shown in FIG. 6, during deceleration, the light emitting segments 6a-6c of each of the first communication lamps 6 are sequentially flashed, one at a time, so as to slowly move the location of the segment turned on from the top to the bottom, and this gradual change control is repeated to express the deceleration of the vehicle 1. During acceleration, conversely, the location of the single segment turned on is slowly moved from the bottom to the top to express the acceleration of the vehicle 1.
(29) FIGS. 7, 8, and 9 show examples of control performed while the vehicle is stationary. In the example of control shown in FIG. 7, the three light emitting segments of each first communication lamp 6 and the six light emitting segments of each second communication lamp 7 are all flashed in unison. In particular, during flashing, the stationary state of the vehicle in autonomous driving is easily indicated to a pedestrian, etc., by changing the brightness of each light emitting segment with the passage of time.
(30) In the example of control shown in FIG. 8, each light emitting segment of the second communication lamps 7 is flashed in unison while each light emitting segment of the first communication lamps 6 remains off. In the example of control shown in FIG. 9, each light emitting segment of the second communication lamps 7 is flashed in unison while each light emitting segment of the first communication lamps 6 remains on. In both cases, while the second communication lamps 7 are flashed, the brightness of the light emitting segments thereof is controlled to gradually change.
(31) The following describes a vehicle communication system 22. As shown in FIG. 10, a lamp ECU 8 for causing the lamps 4, 5, 6 and 7 to flash is disposed in each headlamp 3. The lamp ECU 8 is electrically connected with the vehicle ECU 9 on the vehicle 2, and the vehicle ECU 9 is provided with a communication unit 10 and a probability computing unit 11. It should be noted that the communication unit 10 and the probability computing unit 11 may alternatively be disposed in the lamp ECU 8.
(32) The communication unit 10 obtains information about the behavior of a pedestrian and information about the road condition from the sensors on board of the own vehicle, communication equipment of the road infrastructure, GPS's, mobile radio terminals (none shown) of the pedestrian, etc. The probability computing unit 11 calculates, based on the information obtained by the communication unit 10, the probability that a pedestrian in the vicinity of the vehicle will cross the road. Further, the communication unit 10, the probability computing unit 11, and the lamp ECU 8 comprise the vehicle communication system 22.
(33) FIG. 11 shows the operation of the vehicle communication system 22. The vehicle ECU 8 determines whether or not the autonomous driving mode is set for the vehicle 1 (S31). If the autonomous driving mode is not set, manual drive lighting control is performed to flash each lamp 4-7 of the headlamps 3 in the same manner as during manual driving (S32). Once the autonomous driving mode is set, the communications lamps 6 and 7 are turned on to indicate that the vehicle 1 is autonomously driven (S33).
(34) If a pedestrian is detected by a vehicle-mounted camera, etc., (S34), the vehicle ECU 9 calculates, at the probability computing unit 11, the probability that the pedestrian will cross the road based on the information on the behavior of the pedestrian and the road condition (S35), and transmits the result of calculation to the lamp ECU 8. Then, serving as a means of control, the lamp ECU 8 controls the light output of the light emitting segments 6a-6c and 7a-7f of the communication lamps 6 and 7 individually or in unison according to the calculated probability (S36).
(35) Note that, preferably, the probability of the pedestrian crossing the road is evaluated comprehensively based on a plurality of factors and expressed in a numerical value. FIG. 12 illustrates several factors related to the behavior of a pedestrian and several factors related to the condition of the road. The former factors may include the orientation of the pedestrian, the direction in which the pedestrian is looking, an adult or child, and route information, etc. The latter factors may include a crosswalk, the time slot, the traffic volume, and the driving area, etc.
(36) For example, as for the orientation of the pedestrian, the probability of the pedestrian crossing the road can be expressed in a high numerical value if the pedestrian is oriented toward the inside of the road; the probability of his/her crossing can be expressed in a low numerical value if the pedestrian is oriented toward the outside of the road; and the probability of his/her crossing can be expressed in an intermediate numerical value if the pedestrian is oriented toward or away from the vehicle. As for the crosswalk, the probability can be expressed in a high numerical value if it is a signalized crosswalk; the probability of the pedestrian crossing the road can be expressed in a low numerical value if it is an unsignalized crosswalk; and the probability of the pedestrian crossing the road can be expressed in an intermediate numerical value if there is no crosswalk on the road.
(37) As for the route information, the probability of his/her crossing is evaluated as high if the destination information obtained from the pedestrian's wearable device includes a crossing route, and the probability is evaluated as low if the destination information does not include a route crossing the road. As for the time slot, by considering the levels of difficulty of detecting the pedestrian with a vehicle-mounted sensor, the probability of his/her crossing is evaluated as high during the daytime, during which detection accuracy is high, and the probability is evaluated as low during the nighttime. The probability that the pedestrian will cross the road can be estimated more accurately by appropriately combining the evaluations of these plurality of factors expressed in numerical values.
(38) Examples of controlling the light output from the communication lamps 6 and 7 according to the probability of his/her crossing include a method shown in FIG. 13. In this case, although the brightness, frequency of flashing, flash timing, and number of segments turned on (light emitting area) are listed as the light output of the lamps 6 and 7, the luminescent color may also be included in addition to these. For example, when controlling the brightness, the lamps 6 and 7 may be controlled to be brighter as the probability becomes higher to more strongly call attention of the pedestrian, and the lamps 6 and 7 may be controlled to be dimmer as the probability becomes lower to call attention of the pedestrian less strongly. FIGS. 14-19 show more specific examples 1-6 of the control method.
Embodiment 1
(39) In Example 1, as shown in FIG. 14(a), if there is no pedestrian ahead of the vehicle 1, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on in unison to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 14(b), if there is a pedestrian P ahead of the vehicle 1 and to the left of the road, all the light emitting segments of the left headlamp 3L, which is on the side of the pedestrian, flash in a frequency corresponding to the probability that the pedestrian P will make a crossing, while all the light emitting segments of the right headlamp 3R are turned on.
Embodiment 2
(40) In Example 2, as shown in FIG. 15(a), if there is no pedestrian, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 15(b), if there is a pedestrian P to the left of the road, the light emitting segments of the right headlamp 3R are all turned on while one or two of the light emitting segments of the left headlamp 3L, which are on the side of the pedestrian, flash in a frequency corresponding to the probability of his/her crossing and the location of the flashing segment(s) moves according to the change in the position of the pedestrian P as seen from the own vehicle 1.
Embodiment 3
(41) In Example 3, as shown in FIG. 16(a), if there is no pedestrian, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 16(b), if there is a pedestrian P to the left of the road, all of the light emitting segments of the right headlamp 3R are turned on while one or two of the light emitting segments of the left headlamp 3L flash in a different color from that of the other segments and in a frequency corresponding to the probability of his/her crossing and the location of the segment(s) flashing in the different color than that of the other segments moves according to the change in the position of the pedestrian P.
Embodiment 4
(42) In Example 4, as shown in FIG. 17(a), if there is no pedestrian, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 17(b), if there is a pedestrian P to the left of the road, all the light emitting segments of the right headlamp 3R are turned on while one or two of the light emitting segments of the left headlamp 3L turn on in a different color from the color indicative of the autonomous driving and in a frequency corresponding to the probability of his/her crossing and the location of the segment(s) turned on in the different color moves according to the change in the position of the pedestrian P.
Embodiment 5
(43) In Example 5, as shown in FIG. 18(a), if there is no pedestrian, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 18(b), if there is a pedestrian P to the left of the road, all the light emitting segments of the right headlamp 3R are turned on while one, then two, and then three light emitting segments of the left headlamp 3L turn on at a cyclic speed corresponding to the probability of his/her crossing and the location of the segment(s) turned on moves according to the change in the position of the pedestrian P.
Embodiment 6
(44) In Example 6, as shown in FIG. 19(a), if there is no pedestrian, the light emitting segments of the communication lamps 6 and 7 of the left and right headlamps 3L and 3R are all turned on to indicate that the vehicle 1 is autonomously driven. As shown in FIG. 19(b), if there is a pedestrian P to the left of the road, all the light emitting segments of the right headlamp 3R are turned on while one, then two, and then three light-emitting segments of the left headlamp 3L flash at a cyclic speed corresponding to the probability of his/her crossing, and the location of the flashing segment(s) moves according to the change in the position of the pedestrian P.
(45) It should be noted that, while autonomous driving of the vehicle is indicated by the two types of communication lamps 6 and 7 in the foregoing embodiment, one or at least three types of communication lamps may be used to make that indication. The locations where the communication lamps are disposed are not limited to the headlamps 3; they may be disposed in side mirrors or in rear combination lamps. Alternatively, the communication lamps may be disposed on the vehicle as dedicated lamps. In addition, the present invention is not limited to the foregoing embodiments and can be carried out with the configuration of each part altered as required without departing from the spirit of the present invention.
EXPLANATION OF REFERENCE NUMERALS
(46) TABLE-US-00001 1 Vehicle 2 Vehicle body 3 Headlamp 6 First communication lamp, 6a-6c: light emitting segments 7 Second communication lamp, 7a-7f:.sup. light emitting segments 8 Lamp ECU 9 Vehicle ECU 10 Communication unit 11 Probability computing unit 21 Autonomous driving indication system 22 Vehicle communication system
