JP2015138384A - approaching vehicle detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an approaching vehicle detection system capable of accurately detecting another vehicle hidden behind an obstacle.SOLUTION: Front optical devices 2A each having a light emission part 21 and a light reception part 22 of infrared rays are respectively mounted on the front parts of a first vehicle VE1 and a second vehicle VE2. When the vehicles VE1 and VE2 approach each other within a maximum communication distance Dc, the front optical devices 2A communicate between the vehicles VE1 and VE2 to exchange information. The vehicles VE1 and VE2 detect the approach of the other vehicles VE2 and VE1 on the basis of information received from the other vehicles VE2 and VE1. A reflection mirror 4 is disposed at each corner of an intersection CR for reflecting a signal to be transmitted and received between the vehicles VE1 and VE2, and for changing the traveling direction.

Description

  The present invention relates to an approaching vehicle detection system that detects that another vehicle approaches between a plurality of vehicles.

In a two-wheeled vehicle, there has been a related art related to a driving support device that provides driving support information to an output device such as a meter when another vehicle approaches a communicable distance (see, for example, Patent Document 1). In the driving support apparatus according to the related art, information from other vehicles is obtained by a wireless communication device, the position information of the own vehicle is obtained from a GPS receiver, and the traveling of the own vehicle obtained by the information and various sensors is obtained. Based on the information, driving assistance information is provided.
The driving support device according to the related art can know the existence of another vehicle approaching without greatly moving the body of the driver and can obtain an accurate driving instruction for avoiding contact with the other vehicle. Therefore, the traveling safety of the vehicle can be increased.

JP 2012-164237 A

Incidentally, the need for an apparatus for detecting the approach of a plurality of vehicles as described above is increasing year by year. This is largely due to an increase in the need for a pre-crash safety system that predicts a collision in advance and performs a preparatory treatment for it, or an increase in the concept of a traffic system using unmanned vehicles.
In the above-described prior art, a wireless communication device is used to obtain information on other vehicles approaching. However, when detecting a vehicle at a short distance, instead of using wireless communication, infrared communication is used. It may be better to use. In other words, unlike radio waves, infrared rays are difficult to spread in space and are difficult to fly to a long distance, so that there is a feature that noise is difficult to enter when obtaining information.

On the other hand, since infrared rays have a high frequency, the straight traveling performance is strong, and when there are obstacles or the like between vehicles, they are blocked by the vehicles and cannot reach the vehicle. Therefore, in order to communicate with the oncoming vehicle, when a transmission / reception device that transmits infrared rays toward the front is provided in the vehicle, other vehicles approaching from the side shadows such as intersections or encounters Infrared communication cannot be performed with the vehicle, making it difficult to detect the other vehicle. In such a case, it is difficult for the driver to see the other vehicle, and although there is originally a situation where the transmission / reception device is most needed, a sufficient effect cannot be obtained for the reason described above.
This invention is made | formed in view of the said situation, The objective is to provide the approaching vehicle detection system which can detect the other vehicle hidden behind the obstacle exactly.

In order to solve the above-mentioned problem, an approaching vehicle detection system according to claim 1 is an approaching vehicle detection system for detecting other vehicles (VE2, VE1) approaching the vehicle in the vehicles (VE1, VE2). Communication means (2A, 2B, 2C) that are provided in the front part of the vehicle and transmit / receive an infrared signal between the vehicles when another vehicle approaches within the maximum communication distance (Dc). The other vehicle detection means (31) for detecting the presence of the other vehicle based on the information received from the other vehicle by the communication means, and the signal progressing by reflecting a signal installed outdoors and transmitted / received between the vehicles. Infrared reflection means (4, 5, 6, 7, 8) for changing the direction.
According to this configuration, the infrared reflection means reflects the signal transmitted and received between the vehicles and changes the traveling direction of the signal, whereby the signal transmitted by the communication means of the transmitting vehicle is reflected by the infrared reflection means. Because the reflected signal bypasses the obstacles between the vehicles and is received by the communication means of the receiving vehicle, information can be exchanged between the two vehicles even when there are obstacles between the vehicles. The other vehicle detecting means can accurately detect another vehicle hidden behind an obstacle such as an intersection or encounter.

The block diagram showing the other vehicle detection apparatus contained in the approaching vehicle detection system by Embodiment 1 of this invention. The top view which showed the advancing direction of the transmitted infrared rays in the approaching vehicle detection system by Embodiment 1. Sectional view when the central part of the reflecting mirror shown in FIG. 2 is cut in the vertical direction External view of reflection mirror attached to guardrail according to first modification The figure for demonstrating the cross-sectional shape of the reflective mirror shown in FIG. External view of reflection mirror attached to outer peripheral surface of utility pole according to second modification External view of road mirror type reflecting mirror according to the third modification External view of reflection mirror attached to guard fence according to fourth modification The block diagram showing the other vehicle detection apparatus by Embodiment 2 of this invention The top view which showed the advancing direction of the infrared rays sent out from the left side optical device of the vehicle in the approaching vehicle detection system by Embodiment 2 Plan view showing the traveling direction of infrared rays transmitted from the right optical device of the vehicle

<Embodiment 1>
Based on FIG. 1 thru | or FIG. 8, the approaching vehicle detection system by Embodiment 1 of this invention is demonstrated. Note that the other vehicle detection device 1 included in the approaching vehicle detection system according to the present embodiment has the same configuration in the first vehicle VE1 and the second vehicle VE2. Therefore, in the description using FIG. 1, only the configuration of the first vehicle VE1 will be described, and the configuration of the second vehicle VE2 will be described, except for cases where the description of each of the first vehicle VE1 and the second vehicle VE2 is necessary. Is omitted. In FIG. 1, the configuration of the second vehicle VE2 other than the front optical device 2A is omitted.
Hereinafter, when the first vehicle VE1 and the second vehicle VE2 are included, they are referred to as vehicles VE1 and VE2. In the description, the other vehicles VE2 and VE1 may be collectively referred to as other vehicles for the first vehicle VE1 and the second vehicle VE2.

As shown in FIG. 1, the other vehicle detection device 1 mounted on the vehicles VE1 and VE2 includes front optical devices 2A (corresponding to communication means) attached to the front portions of the vehicles VE1 and VE2, respectively. Yes. The front optical device 2A mounted on the first vehicle VE1 is disposed at the front end portion of the first vehicle VE1, and the light emitting unit 21 and the first vehicle VE1 capable of transmitting infrared rays toward the front of the first vehicle VE1. The light-receiving part 22 which can receive the infrared rays from the front of is provided.
The light emitting section 21 has a light source (not shown) formed by IRLED (Infrared Light Emitting Diode; infrared LED). The light emitting unit 21 includes an infrared transmission driver and a digital signal modulation circuit for communication.
The light receiving unit 22 includes a light receiving element including a PSD (Position Sensitive Detector) formed by a photodiode, and can detect the position of the center of gravity of the incident light spot. The light receiving unit 22 includes a distance measuring filter circuit, a peak hold circuit, and a communication digital signal demodulation circuit.

  Infrared light emitted from the light emitting unit 21 included in the front optical device 2A of the first vehicle VE1 toward the outside of the first vehicle VE1 is reflected by the body BD2 of the second vehicle VE2, and the reflected light enters the light receiving unit 22. Thus, the distance to the approaching second vehicle VE2 can be detected in the first vehicle VE1. The distance to the second vehicle VE2 is detected using a triangulation method. Similarly, the infrared light transmitted from the light emitting unit 21 included in the front optical device 2A of the second vehicle VE2 is reflected by the body BD1 of the first vehicle VE1 and then enters the light receiving unit 22, whereby the second vehicle VE2 The distance to the first vehicle VE1 can be detected (indicated by hatched arrows in FIG. 1).

  When the vehicles VE1 and VE2 approach each other within the maximum communication distance Dc (shown in FIG. 2), the light emitting unit 21 included in the front optical device 2A of the first vehicle VE1 and the front optical device 2A of the second vehicle VE2 are included. The infrared rays transmitted from one of the light emitting units 21 are incident on the light receiving unit 22 of the other vehicle, so that communication can be performed so as to exchange information between the vehicles VE1 and VE2 (FIG. 1). , Indicated by solid and dashed arrows). When communication is performed between the vehicles VE1 and VE2, the distance between the vehicles VE1 and VE2 can be detected in the vehicles VE1 and VE2 based on the infrared intensity of the received signals from the other vehicles VE2 and VE1. . That is, in each of the vehicles VE1 and VE2, a single optical device 2A having the infrared light emitting unit 21 and the light receiving unit 22 is used as both a distance measuring unit and a communication unit.

In order for each front optical device 2A to function as a distance measuring means and a communication means, a plurality of light emitting sections 21 are provided in each front optical device 2A and used separately for distance measurement and for communication. Infrared transmission can be made compatible.
In addition, by performing transmission by time division using a single light emitting unit 21, infrared transmission for both distance measurement and communication can be made compatible.
Further, by using a part of the detection elements forming the light receiving unit 22 for distance measurement and using the rest for communication, it is possible to achieve both distance measurement and communication using the single light receiving unit 22. .

A controller 3 is connected to the front optical device 2A. The controller 3 is an electronic control device formed by an input / output device, an arithmetic device, a storage device, and the like. The controller 3 communicates with the other vehicles VE2 and VE1 by the front optical device 2A, and detects the presence of the other vehicles VE2 and VE1 based on information received from the other vehicles VE2 and VE1. (Corresponding to other vehicle detection means).
Further, the controller 3 is based on the calculation result by the distance calculation unit 32 and the distance calculation unit 32 that calculate the distance between the first vehicle VE1 and the second vehicle VE based on the detection value related to the distance measurement by the light receiving unit 22. The first vehicle VE1 and the second vehicle VE2 may collide by the collision determination unit 33 and the collision determination unit 33 that determine whether or not the first vehicle VE1 and the second vehicle VE2 may collide. If it is determined that there is a collision avoidance driver 34 for operating the brake of the first vehicle VE1 or operating the steering device of the first vehicle VE1 regardless of the operation of the driver, in order to avoid a collision. I have. Further, the avoidance operation driver 34 may issue a warning to the driver of the first vehicle VE1 or activate the airbag.
In addition, the controller 3 includes a reception intensity detection unit 35 that detects the infrared intensity based on reception signals from the other vehicles VE <b> 2 and VE <b> 1 received by the light receiving unit 22. As described above, the distance calculation unit 32 calculates the distance between the vehicles VE1 and VE2 based on the infrared intensity detected by the reception intensity detection unit 35.

  Next, a communication method between the vehicles VE1 and VE2 using the reflection mirror 4 (corresponding to infrared reflection means) according to the present embodiment will be described with reference to FIG. As shown in FIG. 2, the first vehicle VE1 travels on the left lane of the first road DR1 and is about to enter the intersection CR. On the other hand, the second vehicle VE2 is traveling on the left lane of the second road DR2 orthogonal to the first road DR1 at the intersection CR. The second vehicle VE2 is also about to enter the intersection CR from the passenger seat side (left side) of the first vehicle VE1.

  Four reflecting mirrors 4 are provided at each corner of the outdoor intersection CR. The reflection mirror 4 is provided at a vertical position that can face the front optical device 2A of the vehicles VE1 and VE2, and extends in a vertical direction to a predetermined length (shown in FIG. 3). The reflection mirror 4 has a flat surface portion 4a at the center in the horizontal direction, and a pair of curved surface portions 4b are provided at both ends in the horizontal direction (horizontal direction) so as to sandwich the flat surface portion 4a in the horizontal direction. . The flat portion 4a is formed flat in the horizontal direction, but is formed in a curved shape in the vertical direction as will be described later. Further, the curved surface portion 4b protrudes toward the central portion of the intersection CR according to the shape of the corner, and is formed in a curved shape. The four flat portions 4a are attached so that straight lines perpendicular to the respective surfaces are all directed toward the center of the intersection CR.

  As shown in FIG. 2, the communicable area VC (shown by hatching in FIG. 2) of the front optical device 2 </ b> A depends on the light distribution characteristics of the light emitting diodes, and has a conical shape facing the front of the second vehicle VE <b> 2. It is considered to be. The communicable area VC is determined by the maximum communication distance Dc of the front optical device 2A. Infrared rays transmitted from the light emitting unit 21 of the second vehicle VE2 are reflected by one of the four reflecting mirrors 4 to change the traveling direction and travel toward the first vehicle VE1 traveling on the first road DR1. .

  The infrared rays transmitted from the front optical device 2A of the second vehicle VE2 are totally reflected at the flat surface portion 4a of the reflection mirror 4 and scattered and reflected at the curved surface portion 4b. The totally reflected infrared ray (indicated by a region I surrounded by a broken line in FIG. 2) reaches a far distance, and the scattered and reflected infrared ray (indicated by a region S surrounded by a broken line in FIG. 2) is a reflection mirror. Reach close to 4. The other vehicle detection unit 31 of the first vehicle VE1 that has received the infrared rays from the second vehicle VE2 by the light receiving unit 22 of the front optical device 2A acquires information on the second vehicle VE2, and the second vehicle VE2 approaches. Can be detected.

  As shown in FIG. 3, the flat portion 4 a of the reflecting mirror 4 has a central portion in the vertical direction from the front optical device 2 </ b> A of the second vehicle VE <b> 2 (the central portion of the intersection CR) compared to the upper end portion and the lower end portion. A recess 4a1 formed so as to be separated from the center. The concave portion 4a1 has a curvature of a circle having a predetermined radius Rm, and it is desirable that the radius Rm be equal to the maximum communication distance Dc as described later. As described above, the concave portion 4a1 formed in the flat portion 4a can reduce the vertical divergence of the infrared ray reflected on the flat portion 4a.

According to the present embodiment, the reflection mirror 4 installed outdoors reflects an infrared signal transmitted and received between the vehicles VE1 and VE2, and changes the traveling direction of the signal, thereby moving the front of the vehicles VE1 and VE2. Since the signal transmitted by the optical device 2A is reflected and the reflected signal bypasses the obstacle between the vehicles VE1 and VE2 and is received by the front optical device 2A of the other vehicles VE2 and VE1, the vehicles VE1 and VE2 Even when there are obstacles between them, information can be exchanged between the vehicles VE1 and VE2, and the other vehicle detector 31 can be used to detect other vehicles VE2 hidden behind the obstacles such as at the intersection CR or encounters. Even VE1 can be accurately detected.
The reflection mirror 4 is provided at the corner of the intersection CR, and is disposed in the center in the horizontal direction, and is flat in the horizontal direction, and at both ends in the horizontal direction, the plane 4a is set in the horizontal direction. And a pair of curved surface portions 4b projecting toward the center of the intersection CR, respectively, so that the infrared rays totally reflected by the flat surface portion 4a reach far away and are scattered and reflected by the curved surface portion 4b. Infrared rays reach near the reflecting mirror 4, so that the infrared rays reflected by the vehicles VE1 and VE2 at any position can be received, and the vehicles VE1 and VE2 located in a wide range can detect the approach of the other vehicles VE2 and VE1. can do.
In addition, the reflection mirror 4 has a concave portion 4a1 formed such that the center portion in the vertical direction is farther from the light emitting portion 21 than the upper end portion and the lower end portion, so that the infrared light reflected by the reflection mirror 4 is the concave portion 4a1. Therefore, the vertical divergence of reflected infrared rays can be reduced, and the reach distance can be further increased.

<First Modification of Reflection Mirror>
As shown in FIG. 4, the reflecting mirror 5 (corresponding to the infrared reflecting means) may be attached to the guard rail GR that is a ground workpiece. The guardrail GR is erected on the side edge of the road, and often separates the roadway and the roadside belt. The reflection mirror 5 is attached in a hollow portion GRa formed on the roadway side of the guard rail GR (shown by hatching in FIG. 4).
As shown in FIG. 5, the reflection mirror 5 attached to the depression GRa of the guardrail GR includes an upper inclined portion 5 a formed by a plane that moves away from the light emitting portion 21 as it goes downward, and from the light emitting portion 21 as it goes upward. It has a lower inclined portion 5b formed by a plane to be separated, a lower end portion of the upper inclined portion 5a, and a connecting portion 5c connecting the upper end portion of the lower inclined portion 5b, and is thereby recessed in a direction away from the light emitting portion 21. A recess 5d is formed.

Both the upper inclined portion 5a and the lower inclined portion 5b of the reflecting mirror 5 are inclined at about 45 °. For this reason, the infrared rays transmitted from the front optical device 2A (in FIG. 5, only those reflected by the upper inclined portion 5a are indicated by F1) are reflected on one of the upper inclined portion 5a and the lower inclined portion 5b, After proceeding downward or upward (in FIG. 5, only the downward progress is indicated by F2), then reflected again to the other of the upper inclined portion 5a and the lower inclined portion 5b, and the height of the front optical device 2A (Represented by F3 in FIG. 5).
Further, the connecting portion 5 c is formed by a curved surface that is recessed away from the light emitting portion 21 by having a curvature of a circle whose radius is the maximum communication distance Dc of the front optical device 2 </ b> A in the vertical direction.

According to the present embodiment, the concave portion 5d of the reflection mirror 5 is formed by an upper inclined portion 5a formed by a plane away from the light emitting portion 21 as going downward, and a lower surface formed by a plane away from the light emitting portion 21 as going upward. By having the inclined portion 5b and the connecting portion 5c connecting the lower end portion of the upper inclined portion 5a and the upper end portion of the lower inclined portion 5b, one of the upper inclined portion 5a and the lower inclined portion 5b is provided. The reflected infrared ray travels downward or upward and then reflects again to the other of the upper inclined portion 5a and the lower inclined portion 5b and returns to the height of the front optical device 2A. Can be prevented from diverging in the vertical direction, and its reach can be increased.
Further, the connecting portion 5c has a curvature of a circle whose radius is the maximum communication distance Dc of the front optical device 2A in the vertical direction, and is formed by a curved surface that is recessed away from the light emitting portion 21, so that the reflecting mirror 5 When the infrared ray transmitted from the light emitting unit 21 that is separated from the light source by the maximum communication distance Dc reaches the connecting part 5c of the reflecting mirror 5, the infrared ray is reflected in the vertical direction with respect to the surface of the connecting part 5c. The directivity of can be increased, and its reach can be further increased.
In addition, since the reflection mirror 5 is attached to a workpiece on the ground, the reflection mirror 5 can be installed at any place near the road. Therefore, infrared communication can be performed between the vehicles VE1 and VE2 in any positional relationship on the road.
Further, by attaching the reflection mirror 5 to the guard rail GR, which is a ground workpiece, the installation of the reflection mirror 5 in the vicinity of the road and the removal from the vicinity of the road can be facilitated.

<Second Modification of Reflection Mirror>
As shown in FIG. 6, the reflection mirror 6 (corresponding to the infrared reflecting means) may be attached to the outer peripheral surface of the utility pole PE (corresponding to the ground workpiece) (indicated by hatching in FIG. 6).

<Third Modification of Reflection Mirror>
As shown in FIG. 7, the reflecting mirror 7 (corresponding to the infrared reflecting means) may be a convex mirror, and the road reflecting mirror type attached to the top of the pole LE (corresponding to a ground workpiece) may be used.

<Fourth Modification of Reflection Mirror>
As shown in FIG. 8, the reflection mirror 8 (corresponding to the infrared reflecting means) may be attached to the protective fence MG (corresponding to the ground work). The protective fence MG is erected on the side edge of the road, and separates the roadway and the roadside belt.

<Embodiment 2>
Next, only the differences from the first embodiment will be described with respect to the approaching vehicle detection system according to the second embodiment, based on FIGS. 9 to 11.
As shown in FIG. 9, in addition to the front optical device 2A (corresponding to communication means and forward transmission / reception device), the left optical device 2B (communication means and left communication) is provided in front of the vehicles VE1 and VE2, respectively. And right optical device 2C (corresponding to communication means and right communication device) are attached.
The left optical device 2B is provided in the left front part of the vehicles VE1 and VE2, and has a light emitting part 21 and a light receiving part 22 as in the front optical device 2A. The light receiving unit 22 of the left optical device 2B faces the left front of the vehicles VE1 and VE2, is formed so as to be able to receive only infrared rays from the left front of the vehicles VE1 and VE2, and from the right front of the vehicles VE1 and VE2. Infrared light cannot be received.

The right optical device 2 </ b> C is provided in the right front part of the vehicles VE <b> 1 and VE <b> 2 and has a light emitting unit 21 and a light receiving unit 22. The light receiving unit 22 of the right optical device 2C faces the right front of the vehicles VE1 and VE2, is formed so as to be able to receive only infrared light from the right front of the vehicles VE1 and VE2, and from the left front of the vehicles VE1 and VE2. Infrared light cannot be received.
The left optical device 2B and the right optical device 2C have the same functions as the front optical device 2A except for the matters described above. Note that the left optical device 2B and the right optical device 2C do not necessarily have to be formed at symmetrical positions or orientations in consideration of the shape of the intersection CR where the vehicles VE1 and VE2 travel.
As shown in FIG. 9, the front optical device 2A is located between the left optical device 2B and the right optical device 2C in the front part of the vehicles VE1 and VE2. In the present embodiment, the front optical device 2A is configured to detect other vehicles VE2 and VE1 approaching from the front such as an oncoming vehicle, and as will be described later, the own vehicle VE1 of the other vehicles VE2 and VE1, The front optical device 2A is not necessarily required for the purpose of detecting the left-right position with respect to VE2.

  Further, the controller 3 according to the present embodiment includes a vehicle position determination unit 36 in addition to the other vehicle detection unit 31, the distance calculation unit 32, the collision determination unit 33, the avoidance operation driver 34, and the reception intensity detection unit 35 described above. ing. The vehicle position determination unit 36 determines whether one of the left optical device 2B and the right optical device 2C of the own vehicles VE1 and VE2 has received infrared rays, or the other vehicles VE2 and VE1 have the left optical device 2B and Based on which of the right optical devices 2C transmits infrared rays, the left and right positions of the other vehicles VE2 and VE1 with respect to the own vehicles VE1 and VE2 are detected.

  Next, a communication method between the vehicles VE1 and VE2 using the reflection mirror 4 according to the present embodiment will be described based on FIG. 10 and FIG. As shown in FIG. 10, the first vehicle VE1 travels on the left lane of the first road DR1 and is about to enter the intersection CR, as in the first embodiment. On the other hand, the second vehicle VE2 is traveling on the left lane of the second road DR2 orthogonal to the first road DR1 at the intersection CR. The second vehicle VE2 is also about to enter the intersection CR from the passenger seat side (left side) of the first vehicle VE1.

  Infrared rays transmitted from the left optical device 2B of the second vehicle VE2 are reflected by one of the four reflecting mirrors 4 and the traveling direction thereof changes. Infrared rays totally reflected on the flat surface portion 4a of the reflecting mirror 4 (indicated by a region I surrounded by a broken line in FIG. 10) reach far away, and infrared rays scattered and reflected on the curved surface portion 4b (indicated by the broken line in FIG. 10). The region (indicated by the enclosed region S) reaches near the reflecting mirror 4. The left optical device 2B of the first vehicle VE1 cannot receive the reflected infrared light because it faces leftward toward the front of the first vehicle VE1, and the first vehicle VE1 cannot receive the right optical device 2C or the front optical device. Infrared is received by 2A. The other vehicle detection unit 31 of the first vehicle VE1 that has received the infrared rays from the second vehicle VE2 can acquire information on the second vehicle VE2 and detect that the second vehicle VE2 is approaching.

The vehicle position determination unit 36 of the first vehicle VE1 that has received the infrared rays from the second vehicle VE2 by the light receiving unit 22 of the right optical device 2C is based on the fact that the second optical device 2C has received the second light. It can be detected that the vehicle VE2 is approaching from the left side (passenger seat side).
Further, since the infrared ray transmitted from the second vehicle VE2 is attached with a flag indicating that it is transmitted from the left optical device 2B, the vehicle position determination unit 36 of the first vehicle VE1 is based on the flag. Thus, the approach from the left side of the second vehicle VE2 may be detected.

  On the other hand, in FIG. 11, the first vehicle VE1 travels on the left lane of the first road DR1 and is about to enter the intersection CR. The second vehicle VE2 is traveling on the left lane of the second road DR2 that is orthogonal to the first road DR1 at the intersection CR. The second vehicle VE2 is about to enter the intersection CR from the driver's seat side (right side) of the first vehicle VE1.

  In FIG. 11, the infrared rays transmitted from the right optical device 2C of the second vehicle VE2 are reflected by one of the four reflecting mirrors 4, and the traveling direction thereof changes. Infrared rays totally reflected on the flat surface portion 4a of the reflecting mirror 4 (indicated by a region I surrounded by a broken line in FIG. 11) reach a distance, and infrared rays scattered and reflected on the curved surface portion 4b (indicated by the broken line in FIG. 11). The region (indicated by the enclosed region S) reaches near the reflecting mirror 4. The right optical device 2C of the first vehicle VE1 cannot receive the reflected infrared light because it faces rightward toward the front of the first vehicle VE1, and the first vehicle VE1 cannot receive the left optical device 2B or the front optical device. Infrared is received by 2A. The other vehicle detection unit 31 of the first vehicle VE1 that has received the infrared rays from the second vehicle VE2 can acquire information on the second vehicle VE2 and detect that the second vehicle VE2 is approaching.

Further, the vehicle position determination unit 36 of the first vehicle VE1 that has received the infrared rays from the second vehicle VE2 by the light receiving unit 22 of the left optical device 2B is based on the fact that the second optical device 2B has received the infrared light from the second optical device 2B. It can be detected that the vehicle VE2 is approaching from the right side (driver's seat side).
In addition, since the infrared ray transmitted from the second vehicle VE2 has a flag indicating that it has been transmitted from the right optical device 2C, the vehicle position determination unit 36 of the first vehicle VE1 is based on the flag. Thus, the approach from the right side of the second vehicle VE2 may be detected.

According to the present embodiment, in the vehicles VE1 and VE2, the left optical device 2B that is attached to the left front portion of the vehicles VE1 and VE2 and receives and transmits infrared light and the right front portion of the vehicles VE1 and VE2 are attached. By providing the right optical device 2C that receives and transmits infrared light, the vehicle position determination unit 36 determines which of the left optical device 2B and the right optical device 2C of the own vehicles VE1 and VE2 receives infrared light. Based on whether the other vehicles VE2 and VE1 have transmitted infrared rays from either the left optical device 2B or the right optical device 2C, the other vehicles VE2 and VE1 have their own vehicle from the left or right. It is possible to detect whether VE1 and VE2 are approaching.
Further, between the left optical device 2B and the right optical device 2C, there is provided a front optical device 2A that transmits infrared rays to the front of the vehicles VE1 and VE2 and receives infrared rays from the front of the vehicles VE1 and VE2. Thus, in addition to detecting the approach of the other vehicles VE2, VE1 from the left and right, the other vehicles VE2, VE1 approaching from the front, such as an oncoming vehicle, can be detected.

<Other embodiments>
The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows.
The light sources of the front optical device 2A, the left optical device 2B, and the right optical device 2C may be laser light sources or filament type infrared light sources instead of IRLEDs.
The light receiving elements of the front optical device 2A, the left optical device 2B, and the right optical device 2C may use a CMOS image sensor or a CCD sensor instead of the PSD.
In addition, the approaching vehicle detection system according to the present invention is applicable regardless of whether the vehicles VE1 and VE2 are manned vehicles or unmanned vehicles.
In the second embodiment, when the first vehicle VE1 detects whether the second vehicle VE2 approaches from the left or right, the left optical device 2B and the right optical device 2C of the first vehicle VE1 receive light. It is sufficient that only the portion 22 is provided, and the light emitting portion 21 is not necessarily required.
Further, in the second embodiment, the second is attached to the infrared rays transmitted from the second vehicle VE2, and based on the flag that specifies which of the left optical device 2B and the right optical device 2C has transmitted the infrared rays, When detecting the approaching direction of the vehicle VE2, the left optical device 2B and the right optical device 2C of the second vehicle VE2 need only have the light emitting unit 21, and the light receiving unit 22 is not necessarily required.
In the second embodiment, either the left optical device 2B or the right optical device 2C may be selected to transmit infrared rays according to the shape of the intersection CR, and infrared rays are received. Therefore, any one of the left optical device 2B and the right optical device 2C may be selected, and any reflection mirror 4 may be selected to reflect the transmitted infrared light.

  In the drawings, reference numeral 1 denotes an other vehicle detection apparatus, 2A denotes a front optical device (communication means, forward transmission / reception apparatus), 2B denotes a left optical device (communication means, left communication apparatus), and 2C denotes a right optical device (communication means). , Right communication device), 4, 5, 6, 7, and 8 are reflection mirrors (infrared reflecting means), 4a is a flat surface portion, 4a1 and 5d are concave portions, 4b is a curved surface portion, 5a is an upper inclined portion, and 5b is a lower portion. Inclined part, 5c is a connecting part, 31 is an other vehicle detection part (other vehicle detection means), CR is an intersection, Dc is a maximum communication distance, GR is a guardrail (workpiece), LE is a pole (workpiece), and MG is protection A fence (workpiece), PE is a utility pole (workpiece), VE1 is a first vehicle, and VE2 is a second vehicle.

Claims (7)

In the vehicle (VE1, VE2), an approaching vehicle detection system for detecting another vehicle (VE2, VE1) approaching the vehicle,
Communication means (2A, 2B, 2C) which is provided in the front part of the vehicle and transmits / receives information by transmitting / receiving infrared signals between the vehicles when the other vehicle approaches within the maximum communication distance (Dc). When,
Other vehicle detection means (31) for detecting the presence of the other vehicle based on information received from the other vehicle by the communication means;
Infrared reflecting means (4, 5, 6, 7, 8) that is installed outdoors and reflects the signal transmitted and received between the vehicles to change the traveling direction of the signal;
An approaching vehicle detection system. The communication means includes
A left communication device (2B) provided at a left front portion of the vehicle;
A right communication device (2C) provided in a right front portion of the vehicle;
Have
The approaching vehicle detection system according to claim 1, wherein the left communication device and the right communication device perform at least one of reception and transmission of infrared rays. The communication means includes
A forward transmission / reception device (2A) provided between the left communication device and the right communication device, which transmits infrared rays forward of the vehicle and receives infrared rays from the front of the vehicle. The approaching vehicle detection system according to 2. The infrared reflecting means (4) is provided at a corner of an intersection (CR),
A flat surface portion (4a) disposed in the center in the horizontal direction and formed flat in the horizontal direction;
A pair of curved surface portions (4b) provided at both ends in the horizontal direction so as to sandwich the planar portion in the lateral direction and projecting toward the center of the intersection,
The approaching vehicle detection system according to any one of claims 1 to 3, further comprising: The infrared reflecting means (4, 5)
The approaching vehicle according to any one of claims 1 to 4, wherein a central portion in a vertical direction has a recess (4a1, 5d) formed so as to be farther from the communication means than an upper end portion and a lower end portion. Detection system. The recess (5d)
An upper inclined portion (5a) formed by a plane that moves away from the communication means as it goes downward;
A lower inclined portion (5b) formed by a plane that moves away from the communication means as it goes upward;
A connecting portion (5c) for connecting a lower end portion of the upper inclined portion and an upper end portion of the lower inclined portion;
The approaching vehicle detection system according to claim 5, comprising: The infrared reflecting means (5, 6, 7, 8)
The approaching vehicle detection system according to any one of claims 1 to 6, wherein the approaching vehicle detection system is attached to a ground workpiece (GR, PE, LE, MG).

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