Vehicle recognition device

The present invention relates to a vehicle-recognized device for making the surroundings recognize the existence or non-existence of the own vehicle, and more particularly to a vehicle-recognized device suitable for causing another vehicle to recognize the existence or non-existence of a two-wheeled vehicle.

In some areas, motorcycles are obliged to turn on their headlights day and night in order to make the drivers of following vehicles and oncoming vehicles aware of the existence of motorcycles. In addition, the existence of the own vehicle is made to be recognized by the other vehicle and the other vehicle is made to execute a predetermined control process, or conversely, the existence of the other vehicle is recognized by the own vehicle and the own vehicle is made to perform the predetermined control process. A vehicle recognition system has been developed to execute the above, and a part of it is being realized.

In Patent Document 1, three or more infrared LEDs are arranged on the rear surface of the vehicle body of the preceding vehicle, a camera for photographing the rear surface of the vehicle body of the preceding vehicle is installed in the following vehicle, and the preceding vehicle photographed by the camera of the following vehicle is installed. A position recognition device for a vehicle that measures an inter-vehicle distance and a relative yaw angle based on an infrared image has been proposed.<patcit num="1"><text>Japanese Unexamined Patent Publication No. 10-115519</text></patcit>

<p> In a recognition / recognized system using infrared light, whether the infrared light detected by the image sensor in the recognition side vehicle is a regular optical signal emitted from the light emitting element for vehicle recognition or is merely external light. Since it is necessary to recognize the light accurately and in a short time, a recognition system equipped with an advanced image processing function is required.</p><p> Further, in Patent Document 1, it is necessary to arrange infrared LEDs for recognition in a plurality of places in the preceding vehicle, but it is difficult to secure the installation space for the infrared LEDs when the preceding vehicle or the oncoming vehicle is a two-wheeled vehicle. There was a challenge.</p><p> Further, there is a technical problem that advanced design technology is required in order to install a large number of infrared LEDs without spoiling the aesthetic appearance of the vehicle.</p><p> An object of the present invention is to solve the above-mentioned problems of the prior art, to not require the recognition side vehicle to have an advanced image processing function, to easily apply a two-wheeled vehicle as a recognized vehicle, and to improve the aesthetic appearance of the recognized vehicle. The purpose is to provide a vehicle recognition device that does not impair the design.</p>

<p> In order to achieve the above-mentioned object, the present invention is characterized in that the following means are taken in the vehicle-recognized device for recognizing the existence or nonexistence of the own vehicle to the surroundings. (1) At least three infrared markers that output infrared light and a drive circuit that emits each of the infrared markers are provided, and the three infrared markers are at least one of the front view and the rear view of the vehicle. It is characterized in that the first and second infrared markers among the three infrared markers are arranged at each apex position of the virtual triangle and are distributed and arranged on each of the pair of left and right vehicle components. (2) The 1st and 2nd infrared markers are the left and right side mirrors, the left and right winker lamps, the left and right handle grip ends, the left and right winker lamp stays, the vicinity of the left and right ends of the front cowl, or the left and right ends of the handle cover. It is characterized in that it is distributed in the vicinity of the part. (3) The feature is that the headlights are arranged inside the triangle whose vertices are the three infrared markers.</p>

<p> According to the present invention, the following effects are achieved. (1) Since the three infrared markers are distributed at each vertex position of the virtual triangle in horizontal view, the infrared light detected on the infrared image of the vehicle is infrared. It becomes possible to easily identify whether it belongs to a marker or another external light. (2) Since two of the three infrared markers are arranged on each of the pair of left and right vehicle components, two infrared markers are prepared separately for their installation space and mounting members. It will be possible to easily disperse in the left-right direction without any need. (3) Since the headlights are placed inside the triangle with the three infrared markers at the vertices, the surroundings are given priority based on the position of the headlights, which have high brightness and are easy to recognize. A search will allow you to easily and quickly recognize infrared markers.</p>

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a front view of a first embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention.

A front cowl 1 is attached to the front part of the vehicle body, and a transparent screen 2 is attached to a V-shaped or U-shaped notch opened at the upper part. Headlights 3 are installed at the central tip of the front cowl 1, and a pair of left and right winker lamps 4 (L, R) are installed at both ends of the front cowl 1 with the headlights 3 in between. There is. Both the headlight 3 and the winker lamp 4 are vehicle lamps that meet the safety standards. A pair of left and right side mirrors 6 (L, R) are attached to the bases of the left and right handle grips 5 (L, R).

Further, in the present embodiment, the first infrared marker 11 and the second infrared marker 12 are installed on the reflecting mirror surface in the pair of left and right winker lamps 4 (4L, 4R). Each of the infrared markers 11 and 12 is a self-luminous marker that uses a near-infrared LED as a light source, and may be composed of only a single LED, or may be composed of a plurality of LEDs integrated or assembled. You may. Each of the infrared markers 11 and 12 is currently driven by a drive circuit (not shown) to emit light.

Further, in the present embodiment, the third infrared marker 13 is also provided below the headlight 3 of the front cowl 1 so as to face the front of the vehicle body. Therefore, in the infrared image of the front view of the vehicle, the inverted triangle 14 in which the headlights 3 are arranged inside with the first to third infrared markers 11, 12, and 13 as the vertices is recognized.

According to the present embodiment, the three infrared markers 11, 12, and 13 are distributed and arranged at each vertex position of the virtual triangle in the front view of the vehicle body, so that the three infrared markers 11, 12, and 13 are detected on the infrared image of the vehicle. It becomes possible to easily identify whether the infrared light produced is that of an infrared marker or that of other external light.

Further, in the present embodiment, the headlight 3 is arranged inside the triangle 14 having the three infrared markers 11, 12, and 13 as vertices, so that the position of the headlight 3 is high in brightness and easy to recognize. Infrared markers can be easily and quickly recognized by preferentially searching the surrounding area based on.

Further, according to the present embodiment, the first and second infrared markers 11 and 12 are arranged in the winker lamp 4 (4L, 4R), which is a pair of left and right vehicle components, respectively, so that the two infrared markers are arranged. Markers 11 and 12 can be easily distributed in the left-right direction of the vehicle body without separately preparing the installation space and mounting members.

If the first and second infrared markers 11 and 12 are provided on the winker lamp 4 as in the present embodiment, the following modifications can be made. That is, in the above embodiment, the light source of the winker lamp 4 and the light source (LED) of the infrared marker have been described as being housed in the same lamp body, but they are housed in separate lamp bodies and arranged adjacent to each other. You may do so. Further, when each light source is housed in the same lamp body, the lens of the winker lamp 4 may be separated by the light source portion of the winker lamp 4 and the light source (LED) portion of the infrared marker, or may be integrated. It may be converted. If the winker lamp 4 is separated, the infrared marker lens can be made opaque to visible light, and the light source can be made invisible in appearance.

Further, when the light source of the winker lamp 4 and the light source of the infrared marker are housed in the same lamp body, if a partition wall is provided between the light sources, the infrared light component contained in the light source of the winker lamp 4 causes infrared light. It is possible to prevent the near-infrared component output from the light source of the marker from being masked.

According to such a configuration, since the first infrared marker 11 and the second infrared marker 12 are integrally configured with the existing lamp, the first infrared marker 21 and the second infrared marker 22 The presence does not spoil the aesthetics and design of the vehicle.

FIG. 2 is a front view of a second embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, instead of the first infrared marker 11 and the second infrared marker 12 installed in the pair of left and right winker lamps 4 (L, R) in the first embodiment, the left and right front cowls 1 are left and right. A pair of left and right first infrared markers 21 and second infrared markers 22 are installed near both ends and at a position higher than the headlight 3 so as to face the front of the vehicle body. The third infrared marker 23 is installed at a position below the headlight 3 of the front cowl 1 as in the first embodiment described above.

Also in this embodiment, in the infrared image of the front view of the vehicle, the inverted triangle 24 in which the headlights 3 are arranged inside with the first to third infrared markers 21, 22, and 23 as the vertices is recognized. become. In addition, the two infrared markers 21 and 22 can be easily distributed and arranged in the left-right direction of the vehicle body without separately preparing the installation space and mounting members.

FIG. 3 is a front view of a third embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, a pair of first infrared markers 31 and second infrared markers 32 are provided on the back surfaces (back sides of the mirror surfaces) of the left and right side mirrors 6 (L, R) so as to face the front of the vehicle body. There is. Further, a third infrared marker 33 is also provided at a position below the headlight 3 of the front cowl 1 so as to face the front of the vehicle body, as in the first and second embodiments described above.

Also in this embodiment, in the infrared image of the front view of the vehicle, the inverted triangle 34 in which the headlights 3 are arranged inside with the first to third infrared markers 31, 32, 33 as the vertices is recognized. become.

If the first and second infrared markers 31 and 32 are provided on the side mirror 6 as in the present embodiment, the following modifications can be made. That is, if the first and second infrared markers 31 and 32 are provided at the edges of the side mirrors 6 so that each marker can be recognized not only when viewed from the front of the vehicle but also when viewed from the back. , It is not necessary to separately provide each infrared marker on the front and rear of the vehicle. Further, the side mirror 6 may be processed into a streamlined shape in consideration of aerodynamic characteristics. In this case, the drive circuit of the infrared marker may be accommodated in the space formed behind the mirror.

According to the present embodiment, the first and second infrared markers 31, 32 are arranged on the side mirrors 6 which are largely separated in the left-right direction of the vehicle body, so that the two infrared markers 31, 32 can be installed in the installation space. It will be possible to arrange them at a large distance in the left-right direction of the vehicle body without separately preparing a mounting member or the like. In addition, since the side mirror 6 is often not integrated with the vehicle body in terms of design, if an infrared marker is provided on the side mirror 6, the aesthetic appearance and design will not be spoiled.

Although the infrared markers 31 and 32 have been described as being provided on the side mirror 6 in the present embodiment, they may be provided on the stay portion for supporting the side mirror 6 on the vehicle body.

FIG. 4 is a front view of a fourth embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, a pair of first infrared markers 41 and second infrared markers 42 are provided at the ends of the left and right handle grips 5 so as to face the front of the vehicle body. Further, a third infrared marker 43 is also provided at a position below the headlight 3 of the front cowl 1 so as to face the front of the vehicle body, as in the first to third embodiments described above.

Also in this embodiment, in the infrared image of the front view of the vehicle, the inverted triangle 44 in which the headlights 3 are arranged inside with the first to third infrared markers 41, 42, 43 as the vertices is recognized. become. In addition, the two infrared markers 41 and 42 can be easily distributed and arranged in the left-right direction of the vehicle body without separately preparing the installation space and mounting members. Further, if the first and second infrared markers 41 and 42 are provided on the handle grip 5, each infrared marker can be easily operated by the recognized device located in the steering direction, especially when traveling at a low speed where the steering angle becomes large. You will be able to recognize it.

FIG. 5 is a front view of a fifth embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, as in the third embodiment described above, a pair of first infrared markers 51 and second infrared markers 52 facing the front of the vehicle body on the back surfaces of the left and right side mirrors 6 (L, R). Is provided. Further, a third infrared marker 53 is provided above the headlight 3 of the front cowl 1 so as to face the front of the vehicle body.

In the present embodiment, the inverted triangle 54 having the first to third infrared markers 51, 52, 53 as the vertices is recognized above the headlight 3 in the infrared image of the front view of the vehicle. ..

FIG. 6 is a front view of a sixth embodiment of a scooter-type motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, as in the third and fifth embodiments described above, a pair of first infrared markers 61 and second red are directed toward the front of the vehicle body on the back surfaces of the left and right side mirrors 6 (L, R). An outer marker 62 is provided. Further, in the present embodiment, the support member 60 is erected from the central position in the left-right direction of the vehicle body toward the sky, and the third infrared marker 63 is installed above the support member 60 so as to face the front of the vehicle body.

In the present embodiment, in the infrared image of the front view of the vehicle, the formed triangle 64 having the first to third infrared markers 61, 62, 63 as the vertices is recognized above the headlight 3. .. Further, according to the present embodiment, since one of the infrared markers can be arranged at a high place, the recognizability thereof is improved.

In each of the above-described embodiments, the infrared markers are distributed at three locations, and when the vehicle is viewed from the front, a triangle having each infrared marker as the apex is virtually formed. The invention is not limited to this, and infrared markers may be dispersedly arranged at four or more locations.

FIG. 7 is a front view of a seventh embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, a pair of first infrared markers 71 and second infrared markers 72 are provided on the back surfaces of the left and right side mirrors 6 (L, R) so as to face the front of the vehicle body. Further, a third infrared marker 73 and a fourth infrared marker 74 are installed on the reflecting mirror surfaces in the pair of left and right winker lamps 4 (L, R).

In the present embodiment, the trapezoidal 75 having the first to fourth infrared markers 71,72,73,74 as the vertices is recognized above the headlight 3 in the infrared image of the front view of the vehicle. Become.

FIG. 8 is a front view of an eighth embodiment of a scooter-type motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In this embodiment, the first infrared marker 81 and the second infrared marker 82 are installed on the back surfaces of the left and right side mirrors 6 (L, R). Further, as in the sixth embodiment described above, the support member 80 is erected from the central position in the left-right direction of the vehicle body toward the sky, and the third infrared marker 83 is installed above the support member 80 so as to face the front of the vehicle body. ing. Further, similarly to the first, second, and third embodiments described above, the fourth infrared marker 84 is provided at a position below the headlight 3 of the front cowl 1 so as to face the front of the vehicle body.

In the present embodiment, in the infrared image of the front view of the vehicle, a vertically long rhombus 85 having the first to fourth infrared markers 81, 82, 83, 84 as vertices is recognized above the headlight 3. It will be.

FIG. 9 is a front view of a ninth embodiment of a scooter-type motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, a pair of first infrared markers 91 and second infrared markers 92 are provided on the back surfaces of the left and right side mirrors 6 (L, R) so as to face the front of the vehicle body. Further, a pair of left and right third infrared markers 93 and a fourth infrared marker 94 are installed near the left and right ends of the front cowl 1 and at a position lower than the headlight 3 so as to face the front of the vehicle body. ing. Further, a fifth infrared marker 95 is provided above the headlight 3 of the front cowl 1 so as to face the front of the vehicle body.

In the present embodiment, two triangles 91,92,95 and 93,94,95 that share the fifth infrared marker 95 and face each other are recognized in the infrared image of the front view of the vehicle.

According to the present embodiment, since the shape of the figure having the five infrared markers as vertices is specific, it is easy to determine whether the infrared light source appearing on the infrared image is the infrared marker or other external light. You will be able to identify.

In each of the above embodiments, the two-wheeled vehicle provided with the front cowl 1 has been described as an example, but the present invention is not limited to this, and the present invention can be similarly applied to a motorcycle not provided with the front cowl.

FIG. 10 is a front view of a tenth embodiment of a motorcycle equipped with a recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

For motorcycles that do not have a front cowl, a pair of left and right wincasters 101 (L, R) that support the left and right winker lamps 4 (L, R), a meter unit 102, a handle stay 103, and a pair of left and right handle pipes. The infrared markers may be dispersedly arranged at 104 (L, R) or the like.

FIG. 11 is a front view of the eleventh embodiment of the scooter type motorcycle equipped with the recognized device for a vehicle according to the present invention, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, the first and second infrared markers 111 and 112 are provided on the left and right sides of the handle cover 8 provided so as to cover the central portion of the steering wheel, respectively, and the third infrared marker is provided at the central portion of the tip of the front cover 9. 113 is installed.

Also in this embodiment, the inverted triangle 114 having the first to third infrared markers 111,112,113 as the vertices is recognized in the infrared image of the front view of the vehicle.

In each of the above-described embodiments, the infrared marker has been described as being provided on the front surface of the vehicle, but it may be provided so that it can be recognized from the back surface of the vehicle.

FIG. 12 is a rear view of the twelfth embodiment in which the infrared marker is provided at the rear of the vehicle, and the same reference numerals as those described above represent the same or equivalent parts.

In the present embodiment, the taillight 124 is installed in the central portion of the rear cowl 128, and a pair of left and right winker lamps 125 (L, R) are installed below the taillight 124. The first and second infrared markers 121 and 122 are installed separately on the left and right sides of the taillight 124, and the third infrared marker 123 is installed in the lower center of the license plate holder 126.

Also in this embodiment, the inverted triangle 129 having the first to third infrared markers 121, 122, 123 as the vertices is recognized in the infrared image of the rear view of the vehicle.

<figref num="1">It is a front view of the 1st Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="2">It is a front view of the 2nd Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="3">It is a front view of the 3rd Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="4">It is a front view of the 4th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="5">It is a front view of the 5th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="6">It is a front view of the 6th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="7">It is a front view of the 7th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="8">It is a front view of the 8th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="9">It is a front view of the 9th Embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="10">It is a front view of the tenth embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref><figref num="11">It is a front view of the eleventh embodiment of a scooter type motorcycle equipped with the vehicle recognition device which concerns on this invention.</figref><figref num="12">It is a rear view of the twelfth embodiment of the motorcycle which is equipped with the recognition device for a vehicle which concerns on this invention.</figref>

Code description

1 ... front cowl, 2 ... screen, 3 ... headlights, 4, 9 ... winker lamps, 5 ... grips, 6 ... side mirrors, 11 ... 1st red Outer marker, 12 ... 2nd infrared marker, 13 ... 3rd infrared marker