JP5819555B1 - Vehicle driving support system - Google Patents

Abstract

An object of the present invention is to grasp the situation around the vehicle beyond the range where the driver of the vehicle can see directly. A vehicle driving support system includes an unmanned aerial vehicle 50, an on-board device 51, and an in-vehicle device 11. The on-board device 51 includes an on-board position detection device 64, an on-board transmission / reception device 52, and a horizontal position control device 54 that controls the aircraft 50 so that the horizontal distance between the aircraft 50 and the vehicle 10 falls within a predetermined range. A height control device 55 that controls the aircraft 50 so that a difference in height between the vehicle 10 and the aircraft 50 falls within a predetermined range, and an imaging device 56 that captures the surrounding situation from above the vehicle 10. . The in-vehicle device 11 includes an in-vehicle position detection device 21, an in-vehicle transmission / reception device 12, and a display device 14 that displays the periphery of the vehicle 10 based on an image received from the imaging device 56. [Selection] Figure 1

Description

The present invention, the driver about the vehicle driving assist system for assisting the driver when driving the vehicle riding on the vehicle.

  In recent years, the use of a satellite positioning system (GNSS: Global Navigation Satellite System) that measures the current position of an automobile on the ground using an artificial satellite has become active. For example, a car navigation technology that uses GNSS to guide a car toward a target has been developed. Furthermore, a technique for preventing a car collision using a car navigation technique is also known (Patent Document 1).

Japanese Patent No. 4582312

  By the way, when driving a car along a normal road, the driver can drive while grasping the situation around his car by looking directly through the window of the car or by viewing an image reflected on the mirror. To do. In particular, for vehicles that run side by side adjacent to the front, back, left, and right of their own vehicle, always drive with care so as to maintain an appropriate distance between them. However, since the field of view is hindered by a car adjacent to the own car, it is often impossible to grasp the situation of a car further ahead of the adjacent car.

The present invention has been made in view of such a situation, and it is possible to grasp the situation around the vehicle beyond the range where a driver who rides the vehicle and drives the vehicle can directly see with the naked eye. an object of the present invention is to provide a vehicle driving support system to.

A vehicle driving support system according to the present invention is a vehicle driving support system that supports driving of a vehicle that is driven by a boarding driver and travels on the ground, and is an unmanned aircraft that can fly in the air, and a wide-area positioning system. An on-board position detection device that detects the three-dimensional position of the aircraft using an on-board device, and an on-board transmission / reception device. The on-board device mounted on the aircraft and the vehicle using the wide-area positioning system A vehicle-mounted position detection device that detects a position; and a vehicle-mounted transmission / reception device; and a vehicle-mounted device mounted on the vehicle, wherein the on-board device is obtained from the vehicle-mounted position detection device. Based on the position and the three-dimensional position of the aircraft obtained from the on-board position detection device, the distance between the horizontal position of the aircraft and the position of the vehicle is within a predetermined horizontal distance range. Aviation Based on a horizontal position control device for controlling the horizontal position of the vehicle, the position of the vehicle obtained from the on-vehicle position detection device, and the three-dimensional position of the aircraft obtained from the on-board position detection device, A height control device that controls the height position of the aircraft so that the height of the aircraft falls within a predetermined height range above the vehicle, and the situation around the vehicle viewed from above the vehicle And an imaging device that acquires image data, and a take-off and landing control device that takes off and landing the aircraft from the vehicle while the vehicle is running. take-off and landing of a display device for displaying a situation around the vehicle based on the image data received via the in-vehicle transceiver, the aircraft during travel of the vehicle can be landing from the vehicle Further comprising a location, wherein the landing device, and characterized by, that includes a network extending perpendicular to the traveling direction of the vehicle, and a resilient buffer zone extending in the horizontal direction is disposed in front of the network To do.

  According to the present invention, it is possible to grasp the situation around the vehicle beyond the range where the driver who rides the vehicle and drives the vehicle can directly see with the naked eye. In addition, the aircraft can be prevented from falling.

1 is a block diagram showing an overall configuration of an embodiment of a vehicle driving support system according to the present invention. It is the perspective view which looked at an example of the airplane of one embodiment of the vehicle operation support system concerning the present invention from the slanting back. It is the perspective view which looked at an example of the state which attached to the vehicle the take-off and landing device of one embodiment of the vehicle driving support system concerning the present invention from the slant front. FIG. 4 is an enlarged perspective view of the take-off and landing device of FIG. 3. It is a top view which shows the state at the time of the normal time of the aircraft and mounting apparatus of one Embodiment of the vehicle driving assistance system which concerns on this invention. 1 is an elevation view of an aircraft and an on-board device of an embodiment of a vehicle driving support system according to the present invention, and shows a state where a balloon is inflated by operating a fall prevention device. It is a figure which shows the example of the display screen of the display apparatus which is one of the vehicle-mounted apparatuses of one Embodiment of the vehicle driving assistance system which concerns on this invention.

  Embodiments of a vehicle driving support system according to the present invention will be described below with reference to the drawings. However, what is described here is merely an example, and the present invention is not limited thereby.

  FIG. 1 is a block diagram showing the overall configuration of an embodiment of a vehicle driving support system according to the present invention. FIG. 2 is a perspective view of an example of an aircraft of an embodiment of the vehicle driving support system according to the present invention as viewed obliquely from behind. FIG. 3 is a perspective view of an example of a state in which the take-off and landing apparatus according to the embodiment of the vehicle driving support system according to the present invention is attached to the vehicle, obliquely viewed from the front. 4 is an enlarged perspective view of the take-off and landing apparatus of FIG. FIG. 5 is a plan view showing a normal state of the aircraft and the onboard device of the embodiment of the vehicle driving support system according to the present invention. FIG. 6 is an elevational view of the aircraft and the on-board device of the vehicle driving support system according to the embodiment of the present invention, and is a view showing a state where the balloon is inflated by operating the fall prevention device. FIG. 7 is a diagram illustrating an example of a display screen of a display device that is one of the in-vehicle devices of one embodiment of the vehicle driving support system according to the present invention.

  The vehicle driving support system of this embodiment includes an in-vehicle device 11 mounted on the vehicle 10, an unmanned and autonomous aircraft 50, and an onboard device 51 mounted on the aircraft 50.

  A vehicle (not shown) rides on the vehicle 10 and can travel on the ground. The automobile is preferably three or more wheels, but may be a two-wheeled vehicle.

  The aircraft 50 can fly unmanned and is, for example, a drone including a propeller 70, an electric motor 71 that drives the propeller 70, and a battery 72 that supplies electric power to the electric motor 71. As will be described in detail below, the aircraft 50 can fly almost directly above the vehicle 10 and send image data indicating the situation of the vehicle 10 and its surroundings observed from above to the vehicle 10.

  The in-vehicle device 11 includes an in-vehicle transmission / reception device 12, an in-vehicle navigation device 13, a display device 14, a take-off / landing device 15, a battery exchange device 16, a charging device 17, an alarm device 18, an automatic braking device 19, and a pressure. A release command device 20 is included. The in-vehicle navigation device 13 includes an in-vehicle position detection device 21. The in-vehicle position detection device 21 may be provided independently of the in-vehicle navigation device 13.

  The on-vehicle device 51 includes an on-vehicle transmission / reception device 52, an on-vehicle navigation device 53, a horizontal position control device 54, a height control device 55, an imaging device 56, a distance meter 57, a distance control device 58, A speculative flight control device 59, a take-off and landing control device 60, an aircraft collision avoidance device 61, a fall prevention device 62, and a flight impossibility detection device 63 are included. The onboard navigation device 53 includes an onboard position detection device 64. The on-board position detection device 64 may be provided independently of the on-board navigation device 53.

  The in-vehicle transmission / reception device 12 and the on-board transmission / reception device 52 can transmit and receive signals to and from each other wirelessly. For signal transmission, radio waves, light including infrared rays, ultrasonic waves, and the like can be used. Communication via a radio base station (not shown) or an artificial satellite (not shown) may be performed.

  The in-vehicle position detection device 21 detects the current position of the vehicle 10 using, for example, a satellite positioning system using an artificial satellite. If the in-vehicle position detection device 21 is a wide-area positioning system, it is not essential to be on a global scale using an artificial satellite.

  The height position (elevation) of the vehicle 10 can be directly detected by the satellite positioning system, but can also be obtained as the height of the ground on the map of the point based on the horizontal position detected by the satellite positioning system.

  The in-vehicle navigation device 13 can detect the current position of the vehicle 10 by the in-vehicle position detection device 21 and display the current position of the vehicle 10 on the map based on map information given in advance. Further, a destination can be set, and based on the destination and the current position of the vehicle 10, a planned route from the current position to the destination can be displayed.

  The on-board position detection device 64 detects the current three-dimensional position of the aircraft 50 using, for example, a satellite positioning system using an artificial satellite, similarly to the on-vehicle position detection device 21.

  The on-board navigation device 53 receives and stores the information on the destination of the vehicle 10 and the planned route of the vehicle 10 set by the on-vehicle navigation device 13 through the on-vehicle transmission / reception device 12 and the on-board transmission / reception device 52. be able to.

  The horizontal position control device 54 of the on-board device 51 includes information on the current position of the vehicle 10 obtained by the in-vehicle position detection device 21 and the current horizontal position of the aircraft 50 obtained by the on-board position detection device 64. The horizontal position of the aircraft 50 is controlled so that the horizontal position of the aircraft 50 approaches the horizontal position of the vehicle 10, that is, the aircraft 50 flies almost directly above the vehicle 10. In this case, the flight direction and speed of the aircraft 50 may be controlled while predicting the future position of the vehicle 10 based on the current travel direction and speed of the vehicle 10.

  The height control device 55 of the on-board device 51 includes the current height position (elevation) of the vehicle 10 obtained by the on-vehicle position detection device 21 and the current height of the aircraft 50 obtained by the on-board position detection device 64. Based on the information on the position in the vertical direction, the height position of the aircraft 50 is controlled so that the height of the aircraft 50 from the vehicle 10 falls within a predetermined range. The preferred height of the aircraft 50 from the vehicle 10 is the preferred range of images obtained from the sky, the possibility of communication between the in-vehicle transmission / reception device 12 and the on-vehicle transmission / reception device 52, and obstacles such as surrounding buildings and trees For example, a distance of about 50 m to 100 m is assumed.

  The imaging device 56 of the on-board device 51 obtains the situation of the vehicle 10 and its surroundings as image data from above the vehicle 10. The imaging device 56 is, for example, a visible light imaging device that receives visible light, an infrared imaging device that receives infrared light, a radar imaging device that emits radio waves and receives reflected waves to image them, and emits ultrasonic waves. One of the ultrasonic imaging devices that receives the reflected waves and visualizes them, or a combination of these. For example, when the field of view is good in the daytime, the visible light imaging device may be used as a center, and when the night or the weather is bad, it may be switched to another imaging device.

  An identification mark 30 for identifying the vehicle 10 is displayed on the roof of the vehicle 10 so that an image of the identification mark 30 can be taken into the imaging device 56. As the identification mark 30, it is conceivable to display a number or symbol for identifying the vehicle 10 on the roof of the vehicle 10 or attach a signboard depicting a barcode. In addition, a sign that emits light may be displayed particularly at night.

  The display device 14 of the in-vehicle device 11 displays an image as shown in FIG. 7, for example, based on the image data obtained by the imaging device 56 and shows it to the driver who drives the vehicle 10. The situation of the vehicle 10 and its surroundings is displayed from a viewpoint from above. At this time, which of the own vehicles 10 is clearly displayed in the displayed image.

  In the example shown in FIG. 7, the vehicle 10, another vehicle 10 a around it, a road 80, a center line 81 of the road 80, and the like are displayed. It is displayed that the vehicle 10 is traveling in the direction of arrow A, and an intersection 83 is displayed in front of the immediately preceding vehicle 10a.

  The display device 14 may also serve as a display unit of the in-vehicle navigation device 13, and may be displayed with a translucent liquid crystal on a part of the windshield of the vehicle 10, for example.

  The distance meter 57 of the on-board device 51 measures the distance between the aircraft 50 and the vehicle 10. The distance meter 57 may use the imaging device 56.

  The distance control device 58 controls the position of the aircraft 50 so that the distance falls within a predetermined range based on the distance between the aircraft 50 and the vehicle 10 obtained by the distance meter 57.

  As described above, the on-vehicle position detection device 21 and the on-board position detection device 64 detect the current positions of the vehicle 10 and the aircraft 50 using a wide-area positioning system using an artificial satellite or the like. Since the position accuracy obtained by these position detection devices may not be sufficient, the distance control device 58 complements the control by the horizontal position control device 54 and the control by the height control device 55.

  Next, the speculative flight control device 59 of the onboard device 51 will be described. This is to guide the aircraft 50 to a place where the vehicle 10 is facing, for example, when communication between the in-vehicle transmission / reception device 12 and the on-vehicle transmission / reception device 52 is interrupted for a predetermined period. Examples of the case where the communication between the in-vehicle transmission / reception device 12 and the on-vehicle transmission / reception device 52 is interrupted for a predetermined period include, for example, when the vehicle 10 enters a tunnel, the in-vehicle transmission / reception device 12 or the on-vehicle transmission / reception device 52, A problem with the navigation device 13 or the on-board navigation device 53 is considered.

  In order to cope with such a situation, a destination and a planned route for the vehicle 10 from the current position to the destination are set in the in-vehicle navigation device 13, and these information is further transmitted to the in-vehicle transmission / reception device 12. The information is sent to the on-board navigation device 53 via the on-board transmission / reception device 52 to set the information.

  When the communication between the in-vehicle transmission / reception device 12 and the on-vehicle transmission / reception device 52 is interrupted for a predetermined period, the speculative flight control device 59 sets the destination of the vehicle 10 set in the on-board navigation device 53 in advance, Based on the planned route of the vehicle 10, the current position of the vehicle 10 and the like can be estimated, and the aircraft 50 can be controlled so that the aircraft 50 returns to a position immediately above the vehicle 10.

  Next, the take-off and landing control device 60 of the on-board device 51, the take-off and landing device 15, the battery exchange device 16, and the charging device 17 of the in-vehicle device 11 will be described.

  In this embodiment, the aircraft 50 flies by rotating the electric motor 71 by the electric power supplied from the battery 72 and thereby rotating the propeller 70. Therefore, the aircraft 50 can be collected in the take-off and landing device 15 of the in-vehicle device 11 using the take-off and landing control device 60 while the vehicle 10 is traveling, and the battery can be exchanged by the battery exchange device 16. After the battery is replaced by the battery exchange device 16, the aircraft 50 can be taken off from the take-off and landing device 15 while the vehicle 10 is traveling. Furthermore, the battery 72 can be charged by the charging device 17 of the in-vehicle device 11. Specific examples of the structure of the take-off and landing device 15 will be described later.

  When the vehicle 10 enters the tunnel, it is difficult for the aircraft 50 to fly in the tunnel. Further, when the aircraft 50 flies above the tunnel, communication between the in-vehicle transmission / reception device 12 of the in-vehicle device 11 in the tunnel and the in-vehicle transmission / reception device 52 of the in-vehicle device 51 above the tunnel is interrupted for a certain period of time. A situation in which the aircraft 50 cannot track the vehicle 10 is expected. For this reason, the vehicle-mounted navigation device 13 predicts the tunnel entry before the vehicle 10 enters the tunnel, and the aircraft 50 is landed on the take-off and landing device 15 of the vehicle-mounted device 11 before a predetermined preparation time.

  More specifically, the takeoff / landing control device 60 controls the aircraft 50 to land on the takeoff / landing device 15 before a predetermined preparation time of the tunnel approach time predicted during the traveling of the vehicle 10. In addition, the takeoff and landing device 15 causes the aircraft 50 to land while the vehicle 10 is traveling and a predetermined preparation time before the predicted tunnel entry time.

  Thus, the above-described take-off and landing control device 60 can perform not only the purpose of replacing or charging the battery 72 but also the control of landing the aircraft 50 on the take-off and landing device 15 before the vehicle 10 enters the tunnel.

  Here, specific examples of the take-off and landing device 15, the battery exchange device 16, and the charging device 17 will be described with reference to FIGS. 3 and 4.

  The take-off and landing device 15, the battery exchange device 16, and the charging device 17 are attached on the roof of the vehicle 10. The take-off and landing device 15 includes a plurality of upright supports 39 and a metal net 41 attached between these supports 39. The net 41 extends perpendicular to the traveling direction of the vehicle 10 so that the aircraft 50 can be captured while the vehicle 10 is traveling.

  The battery exchange device 16 and the charging device 17 are installed at the horizontal center position of the net 41. The battery exchange device 16 can exchange the battery 72 mounted on the aircraft 50 when the aircraft 50 is fixed to the take-off and landing device 15.

  As shown in FIG. 2, an aircraft-side battery insertion portion 73 into which, for example, two batteries 72 can be inserted is formed at the rear end of the aircraft 50, and normally two aircraft-side battery insertion portions 73 are inserted. The battery 72 is inserted only in one side (upper side in the example shown in FIG. 2).

  On the other hand, in the battery exchange device 16, two battery exchange device side battery insertion portions 40 are formed at positions opposed to the two aircraft side battery insertion portions 73 of the aircraft 50. A charged battery 72 is inserted only in the lower side in the example.

  When the rear end portion of the aircraft 50 is moved closer to the battery exchange device 16 for battery replacement, the charged battery 72 inserted into the lower battery exchange device side battery insertion portion 40 is replaced with the lower aircraft side battery. At the same time, the discharged battery 72 inserted into the upper aircraft-side battery insertion portion 73 is inserted into the upper battery replacement device-side battery insertion portion 40, and the battery is automatically replaced. Is called.

  The battery exchange device 16 and the charging device 17 are integrally formed, and charging is automatically started when the battery 72 is inserted into the battery exchange device side battery insertion portion 40.

  A step 45 is formed at the bottom of the front side of the take-off and landing device 15, and the aircraft 50 is stabilized by pressing the aircraft 50 against the step 45.

  In addition, a buffer mat 46 is disposed in front of the takeoff and landing device 15 on the roof of the vehicle 10. Thereby, it is possible to avoid damage to the aircraft 50 and the vehicle 10 due to the impact when the aircraft 50 is captured by the take-off and landing device 15.

  The two struts 39 at both ends are in front of the battery exchange device 16 and the charging device 17, and elastic buffer bands 42 extending in the horizontal direction are attached so as to communicate between the two struts 39 at both ends. Yes. As a result, the impact when the aircraft 50 is captured by the take-off and landing device 15 is mitigated, and the captured aircraft 50 is supported by the elastic buffer band 42 and directed toward the battery exchange device 16 and the charging device 17 along the step 45. To move smoothly to the horizontal center.

  As shown in FIG. 2, for example, three wheels 43 are attached to the aircraft 50. The take-off and landing device 15 is formed with two recesses 44 for receiving the two rear wheels 43. When the aircraft 50 has landed on the take-off and landing device 15, the wheels 43 enter the recess 44, so that the aircraft 50 is stabilized.

  Here, the take-off / landing device 15 has been described as being mounted on the vehicle 10 as a part of the in-vehicle device 11, but the take-off / landing device 15 as described here may be installed on the ground or on the roof of a building. It is.

  Next, the alarm device 18 and the automatic braking device 19 of the in-vehicle device 11 will be described. As described above, the image captured by the imaging device 56 is displayed on the display device 14 of the in-vehicle device 11, and the driver of the vehicle 10 can see the image. Furthermore, the alarm device 18 automatically analyzes the image data when it is determined that there is a risk that the vehicle 10 may collide with another vehicle or another obstacle in an abnormal approach. To alert the driver. The contents of the alarm may include display on the display device 14, lighting of other alarm lights, generation of alarm sound, warning by sound, and tightening force of the seat belt attached to the seat where the driver sits. As an example of display on the display device 14, for example, a partner who is expected to anticipate the occurrence of a dangerous situation is displayed in a conspicuous color such as red on the screen, and further flashed to alert the driver. To be included.

  Further, when the danger of a collision of the vehicle 10 is imminent, the automatic braking device 19 operates and the vehicle 10 can be braked automatically.

  Next, the aircraft collision avoidance device 61 of the onboard device 51 will be described. This automatically avoids the collision of the aircraft 50 with other aircraft, buildings, electric wires, trees or other obstacles. The aircraft collision avoidance device 61 includes a sensor for monitoring the situation around the aircraft 50 and a control unit for moving the aircraft 50 away from the obstacle when the sensor is predicted to approach the obstacle. included.

  Next, the fall prevention device 62 and the flight impossibility detection device 63 of the onboard device 51 and the pressure release command device 20 of the in-vehicle device 11 will be described. The aircraft 50 may fall due to excessive discharge or failure of the battery 72. In that case, people on the ground may be injured or the ground may be destroyed.

  Therefore, in this embodiment, a fall prevention device 62 is provided as one of the mounting devices 51. In the example shown in FIGS. 5 and 6, the fall prevention device 62 includes a balloon 90, a pressure holder 91, a pressure release mechanism 92, and a wire rope 93. A gas having a specific gravity smaller than that of air is sealed in the balloon 90, such as helium and hydrogen, under atmospheric pressure and normal temperature. Normally, the balloon 90 is housed in the pressure holder 91, is under a high pressure, and is folded small. At this time, the pressure inside and outside the balloon 90 is balanced.

  When the flight of the aircraft 50 cannot be continued for some reason (accident), the pressure release mechanism 92 operates and the pressure retainer 91 is released as shown in FIG. Since the pressure becomes atmospheric pressure, the balloon 90 is inflated by the internal pressure of the balloon 90, and the internal pressure of the balloon 90 also decreases toward the atmospheric pressure. As a result, the specific gravity of the gas in the balloon 90 is reduced and buoyancy is generated.

  Since the balloon 90 is connected to the aircraft 50 by the wire rope 93, the aircraft 50 can be prevented from falling by the buoyancy of the balloon 90. When the balloon 90 is expanded, a depression 94 is formed at the center of the bottom surface of the balloon 90 to form an umbrella shape. For this reason, it is possible to avoid a sudden descent of the aircraft 50 until the balloon 90 is inflated and sufficient buoyancy is obtained. Thereby, it is possible to prevent the aircraft 50 from falling to the ground before the balloon 90 is sufficiently inflated and sufficient buoyancy is obtained.

  As another example of the fall prevention device 62, there is a structure in which the balloon 90 is normally folded at an atmospheric pressure and a gas cylinder (not shown) storing high-pressure hydrogen gas is mounted on the aircraft. It is possible. In that case, buoyancy is generated by inflating the balloon 90 by feeding the balloon 90 with hydrogen gas in the gas cylinder at the time of an accident.

  Furthermore, as another example of storing hydrogen, for example, it is conceivable to generate buoyancy by storing hydrogen in a hydrogen storage alloy in advance and releasing hydrogen gas to inflate the balloon in the event of an accident. As yet another example, in the event of an accident, buoyancy is obtained by generating hydrogen gas by, for example, a chemical reaction such as a reaction between alkali metal or magnesium hydride and water, and inflating the balloon with this hydrogen gas. It is also possible.

  The command for inflating the balloon 90 may be sent by the driver of the vehicle 10 by the pressure release command device 20 of the in-vehicle device 11, for example. As another example, a command can be automatically issued when an abnormality occurs in the aircraft 50, or the pressure release command device 20 can be automatically operated regardless of the driver's instruction.

  In order to collect the aircraft 50 floating in the air by the balloon 90 after being disabled due to a failure, for example, another unmanned or manned aircraft for collection can be blown. Further, when the conditions for collection are satisfied, the gas inside the balloon can be released and dropped to the ground according to the instruction of the in-vehicle device 11 and collected.

[Other Embodiments]
In the description of the above embodiment, the propeller 70 is rotated by the electric motor 71, but the propeller can also be rotated by the engine. In that case, the battery exchange device 16 and the charging device 17 of the in-vehicle device 11 are not necessary.

  In the description of the above embodiment, the control devices such as the horizontal position control device 54, the height control device 55, the distance control device 58, the speculative flight control device 59, and the takeoff and landing control device 60 are expressed as separate control devices. However, these are common control devices and may have various functions.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 11 ... In-vehicle device 12 ... In-vehicle transmission / reception device 13 ... In-vehicle navigation device 14 ... Display device 15 ... Take-off / landing device 16 ... Battery exchange device 17 ... Charging device 18 ... Alarm device 19 ... Automatic braking device 20 ... Pressure release command device 21 ... In-vehicle position detection device 30 ... Identification mark 39 ... Post 40 ... Battery replacement device side battery insertion Part 41 ... Net 42 ... Elastic buffer band 43 ... Wheel 44 ... Recess 45 ... Step 46 ... Buffer mat 50 ... Aircraft 51 ... Onboard device 52 ... On-board transceiver 53 ... On-board navigation device 54 ... Horizontal position controller 55 ... Height controller 56 ... Imaging device 57 ... Distance meter 58 ... Distance controller 59 ...・ Estimated flight control device 60 ... Takeoff and landing control device 6 ... Aircraft collision avoidance device 62 ... Fall prevention device 63 ... Flight impossibility detection device 64 ... Installation position detection device 70 ... Propeller 71 ... Electric motor 72 ... Battery 73 ... Aircraft side battery insertion part 80 ... road 81 ... center line 83 ... intersection 90 ... balloon 91 ... pressure retainer 92 ... pressure release mechanism 93 ... wire rope 94 ... Hollow

Claims (3)

A vehicle driving support system that supports driving of a vehicle that is driven by a boarding driver and travels on the ground,
An unmanned aircraft that can fly in the air,
An on-board position detection device that detects a three-dimensional position of the aircraft using a wide-area positioning system; and an on-board transmission / reception device; an on-board device mounted on the aircraft;
An in-vehicle position detection device that detects the position of the vehicle using the wide-area positioning system; an in-vehicle transmission / reception device; and an in-vehicle device mounted in the vehicle;
Have
The on-board device is
The distance between the horizontal position of the aircraft and the position of the vehicle based on the position of the vehicle obtained from the on-vehicle position detection device and the three-dimensional position of the aircraft obtained from the onboard position detection device. A horizontal position control device for controlling the horizontal position of the aircraft such that the aircraft falls within a predetermined horizontal distance range;
Based on the position of the vehicle obtained from the in-vehicle position detection device and the three-dimensional position of the aircraft obtained from the on-board position detection device, the height of the aircraft is a predetermined value above the vehicle. A height control device for controlling the height position of the aircraft so as to fall within a height range;
An imaging device that captures a situation around the vehicle viewed from above the vehicle and obtains image data;
A takeoff and landing control device for taking off and landing the aircraft from the vehicle while the vehicle is running;
Further including
The in-vehicle device is
A display device for displaying a situation around the vehicle based on the image data received from the imaging device via the on-board transmission / reception device and the on-vehicle transmission / reception device;
A take-off and landing device capable of taking off and landing the aircraft from the vehicle while the vehicle is running;
Further including
The take-off and landing device
A net extending perpendicular to the direction of travel of the vehicle;
An elastic cushioning band disposed in front of the mesh and extending in the horizontal direction;
Having
A vehicle driving support system characterized by the above. The aircraft includes an electric motor for driving and a battery for supplying electric power to the electric motor,
The in-vehicle device further includes a battery exchange device capable of replacing the battery when the aircraft is landing on the take-off and landing device while the vehicle is running;
The vehicle driving support system according to claim 1. The on-vehicle device further includes a charging device that can charge the battery when the aircraft is landing on the take-off and landing device while the vehicle is running,
The vehicle driving support system according to claim 1 or 2, wherein

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