JP2000353298A - Collision warning device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a collision warning device which does not give unnecessary warning and which facilitates a countermeasure to sideway rushing by integrally judging the surrounding situation of its own vehicle, and issuing proper warning. SOLUTION: This device is provided with laser radars (object detecting means) 3 and 4 which detect whether an object is present in the surrounding detection area of its own vehicle, a display 6 which functions as a warning means which issues warning when the presence of the object is detected by the laser radars 3 and 4, a speaker 7, a risk calculating means 5a which calculates collision risk on the basis of a distance between the object which is present in the detection area and its own vehicle 2 and the behavior of the object such as the relative moving direction and moving speed of the object to its own vehicle and a warning controlling means 5b which outputs warning corresponding to the risk of the object to the display 6 and the speaker 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision warning device for a vehicle which issues a warning when an object is present around the vehicle.

[0002]

2. Description of the Related Art Automobiles are sometimes provided with a collision warning device which issues a warning when a person or an obstacle is present in the vicinity of the vehicle from the viewpoint of preventing a collision accident or a collision accident during traveling. . Conventionally, as a collision warning device of this type, an ultrasonic sensor, an infrared sensor, a laser radar, or the like is used to detect the presence or absence of an object in front of the vehicle, and to notify the driver by voice or the like when the object is detected. What is done is common.

[0003]

However, the above-described conventional collision warning device only issues a warning when it is determined that an object exists in front of the host vehicle, and therefore cannot determine a situation other than the presence of the object. There is a problem. As a result, there is a fear that an unnecessary warning may be issued, and there is a concern that it is not possible to cope with a jumping out from a side, which is likely to occur at an intersection or the like.

[0004] The present invention has been made in view of the above-mentioned conventional situation, and can comprehensively judge the situation around the own vehicle and can issue an appropriate alarm, thereby preventing unnecessary alarms. It is an object of the present invention to provide a vehicular collision warning device that can cope with a jump from the side.

[0005]

According to a first aspect of the present invention, there is provided an object detecting means for detecting whether an object is present in a detection area around a host vehicle, and the object detecting means detecting the presence of the object. And a warning means for issuing a warning, and calculates a collision risk based on the behavior of the object such as a distance between the object and the vehicle existing in the detection area and a relative moving direction and a moving speed of the object with respect to the vehicle. It is characterized by comprising danger calculating means and alarm control means for outputting an alarm corresponding to the danger of the object to the alarm means.

According to a second aspect of the present invention, in the first aspect, the risk calculating means includes a first area immediately before and near the left and right sides of the own vehicle, and a first area immediately before and immediately before the own vehicle. When the area is divided into two areas and a third area diagonally ahead of the left and right of the own vehicle, the risk is determined to be higher in the order of the first, second, and third areas.

According to a third aspect of the present invention, in the second aspect, the alarm control means is configured to detect an area having a high degree of danger when it is detected that objects are simultaneously present in a plurality of areas among the first to third areas. The present invention is characterized in that an alarm giving priority to the presence of an object is output to the alarm means.

[0008]

According to the collision warning device of the present invention, a warning is issued in accordance with the behavior of the object such as the distance between the object existing in the detection area and the own vehicle and the relative movement direction and speed of the object relative to the own vehicle. Is issued, an appropriate warning can be issued by comprehensively judging the situation around the own vehicle.

According to the second aspect of the present invention, the detection area is divided into first to third areas in descending order of the risk of collision, and when an object is detected, an alarm corresponding to the area where the object is present is issued. Can be issued. That is, when the presence of an object is detected in the first area with the highest risk, an alarm is unconditionally issued, and when the object is detected in the second area with the highest risk, the approach speed of the object to the own vehicle. The presence / absence of an alarm is determined based on the size of the object. If an object is detected in the third area where the degree of danger is not so high, the presence / absence of an alarm is determined in accordance with the moving direction and speed of the object. Warnings can be avoided and jumps from the side can be dealt with in advance.

According to the third aspect of the present invention, when an object is present in a plurality of areas of the first to third areas at the same time, a warning is issued with priority given to an object in a high risk area. An appropriate warning can be issued according to the situation, and the reliability of the collision prevention performance can be improved.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. 1 to 3 are views for explaining a vehicle collision warning device according to an embodiment of the present invention. FIG. 1 is a block diagram of the collision warning device, and FIG.
Is a schematic plan view showing the priority order of the detection areas, and FIG. 3 is a schematic plan view showing the detection areas of the laser radar.

In FIG. 1, reference numeral 1 denotes a collision warning device. The collision warning device 1 includes first and second laser radars (object detecting means) 3, 4 for detecting the presence or absence of an object around the own vehicle 2.
And outputting an alarm signal in accordance with the state of the object existing in the detection area 8 detected by each of the laser radars 3 and 4.
The CU 5 includes a display 6 and a speaker 7 as alarm means for issuing an alarm based on the alarm signal.
The display 6 displays a detection area 8 substantially similar to that shown in FIG. 2, and notifies the driver by lighting and blinking the detection area 8. The speaker 7 is configured to notify the driver by emitting a sound from a storage device in which the sound is stored in advance.

The first and second laser radars 3 and 4 are disposed at the left and right corners of the front end of the vehicle 2 of the vehicle 2, respectively.
It has a wide-angle scan laser having a detection range of 270 degrees, and the detection area 8 of both laser radars 3 and 4 has a wide range extending from the left and right sides of the vehicle 2 to the front as shown in FIG. Has become. Each of the laser radars 3 and 4 has a light emitting unit and a light receiving unit. Based on a delay time from when light emitted from the light emitting unit is reflected on the object and returns to the light receiving unit, the laser radar and the laser radar are automatically detected. It detects the distance from the car 2.

In this embodiment, the detection area 8 is divided into a first area 8a, a second area 8b, and a third area 8c, 8c in descending order of collision risk. Here, the first area 8a is located near the left and right sides of the vehicle 2 (for example, 1 to 0.5).
m) and immediately before (for example, 1 to 2 m), the second area 8b is set further ahead (for example, ten and several meters) than immediately before the own vehicle 2, and the third areas 8c, 8c are set for the own vehicle 2 Are set diagonally forward and left, that is, left and right of the second area 8b.

The ECU 5 functions as risk calculating means 5a and alarm control means 5b. The risk calculating means 5a
Means that the detected object is the first to third areas 8a to 8c
And the risk of collision based on the behavior of the object such as the distance between the detected object and the vehicle 2 and the relative moving direction and moving speed of the object with respect to the vehicle 2. It is configured as follows. Specifically, the first area 8a
If an object is present in the device, an alarm is issued unconditionally, that is, regardless of whether the object is stationary or moving. When an object is present in the second area 8b, the presence or absence of an alarm is determined based on the distance of the object to the own vehicle 2, the approach speed, and the like. When an object is present in the third area 8b, the presence or absence of an alarm is determined based on the traversing speed of the object with respect to the own vehicle 2.

The alarm control means 5b controls the display 6 and the speaker 7 in accordance with the calculated degree of collision danger.
Is output. The alarm control means 5b is configured to output an alarm with priority given to determination in an area having a high degree of danger when objects are simultaneously present in a plurality of areas of the first to third areas 8a to 8c.

Next, the operation and effect of this embodiment will be described. As shown in FIG. 2, the collision warning device according to the present embodiment includes:
Monitor objects existing in the first to third areas 8a to 8c,
For example, when the object A is detected in the third area 8c, no alarm is issued when the object A is stationary or moving in a direction away from the host vehicle 2. Also the third
When the object A in the area is moving (crossing) toward the second area and is expected to enter the first area 8a or the second area 8b after a predetermined time (for example, one second), an alarm is issued.

When the object B exists in the second area 8b, the distance between the object B and the own vehicle 2 is obtained, and the traveling speed of the own vehicle 2 and the object B, and the relative approach speed to the own vehicle 2 based on the traveling direction. When the object B is moving in a direction relatively away from the own vehicle 2 and the distance between the own vehicle 2 and the object B is greater than or equal to a predetermined value, no alarm is issued. On the other hand, object B
Issues a warning when the vehicle is relatively close to the vehicle 2 and the distance between the two is equal to or less than a predetermined value.

When an object exists in the first area 8a, an alarm is issued unconditionally. In particular, the left and right portions of the first area 8a are liable to be blind spots from the driver, so that a quick response is possible by issuing an alarm unconditionally.

Further, for example, first to third areas 8a to 8c
When an object exists in each of the first area 8a, a priority is given to the existence of the object in the first area 8a, and an alarm is unconditionally issued. On the other hand, when there is no object in the first area 8a and there is an object in the second and third areas 8b and 8c, the presence and behavior of the object B in the second area 8b are prioritized to determine the presence or absence of an alarm. If it is determined that no warning is issued when the object B in the second area 8b is present, the presence or absence of the warning is determined based on the presence and behavior of the object A in the third area 8c.

As described above, according to this embodiment, the detection area 8 around the own vehicle is divided into the first, second, and third areas 8a, 8b, and 8c in descending order of the collision risk, and the object's own vehicle 2 The warning is issued in accordance with the behavior of the object such as the distance to the vehicle, the relative moving direction, the moving speed, and the like, so that an appropriate warning can be issued by comprehensively judging the situation around the own vehicle. As a result, unnecessary warnings can be avoided, and it is possible to respond in advance to jumping out from the side.

In this embodiment, the first to third areas 8
When an object is present in a plurality of areas a to 8c at the same time, a high risk area is predominantly issued and an alarm is issued, so that an appropriate alarm according to the situation around the own vehicle can be issued,
The reliability of the collision prevention performance can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram of a collision warning device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing a priority order of detection areas of the collision warning device.

FIG. 3 is a schematic diagram showing a detection area of a laser radar of the collision warning device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Collision warning device 2 Own vehicle 3, 4 Laser radar (object detection means) 5 ECU 5a Risk degree calculation means 5b Alarm control means 6 Display (warning means) 7 Speaker (warning means) 8 Detection area 8a First area 8b Second Area 8c 3rd area

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B60R 21/00 626G

Claims (3)

[Claims] 1. An object detection means for detecting whether an object is present in a detection area around a host vehicle, an alarm means for issuing an alarm when the object detection means detects the presence of an object, and the detection area Risk calculating means for calculating a collision risk based on the behavior of the object, such as the distance between the object existing in the vehicle and the vehicle and the relative movement direction and speed of the object relative to the vehicle, and the risk of the object And a warning control means for causing the warning means to output a warning according to the following. 2. The vehicle according to claim 1, wherein the degree of risk calculating means sets the detection area to a first area near the left, right side, and immediately before the vehicle.
An area, a second area further ahead of the vehicle,
A collision warning device for a vehicle, characterized in that when the vehicle is divided into a third area left and right diagonally forward, the risk is determined to be higher in the order of the first, second and third areas. 3. The alarm control means according to claim 2, wherein said alarm control means gives priority to the presence of an object in an area having a high degree of danger when it is detected that an object exists in a plurality of areas among the first to third areas at the same time. A collision warning device for a vehicle, wherein the warning means is configured to output the generated warning to the warning means.