JP2005149200A - Risk notification apparatus, and vehicle and driver's seat equipped with risk notification apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a risk notification apparatus for simply informing a driver of the direction in which the risk potential occurs around its own vehicle by an oscillating body built in a driver's seat. <P>SOLUTION: The risk potential to occur is calculated from a plurality of directions around its own vehicle. When the calculated risk potential exceeds the notification level, a plurality of oscillating bodies installed on the driver's seat are all oscillated. Then, a corresponding oscillating body is oscillated in the direction in which the risk potential above the notification level occurs and the direction of the risk occurrence is communicated to the driver. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a risk notification device that issues a warning by vibrating a vibrator incorporated in a driver seat, a vehicle including the risk notification device, and a driver seat.

  As a conventional risk notification device using a driver's seat equipped with a vibrating body, a device that detects a risk situation around a vehicle and vibrates a vibrating body corresponding to the direction in which the risk occurs to give a warning to the driver is known. (For example, refer to Patent Document 1). In this driver's seat, a plurality of vibrating bodies are provided in the vicinity of the headrest, the backrest portion, and the surface of the seat portion, and the vibrating body corresponding to the direction in which the risk is generated is vibrated to notify the driver of the high risk direction.

Prior art documents related to the present invention include the following.

JP 2001-199296 A

  In the risk notification device as described above, when the vibrating body corresponding to the direction in which the risk is generated is vibrated, the driver may confuse the vibration of the vibrating body with the vibration transmitted from the vehicle body during traveling. is there. In such a risk notification device, it is desirable to convey to the driver which vibrating body is vibrating in an easy-to-understand manner and to reliably notify the driver from which direction the risk is occurring. Yes.

  The risk notification device according to the present invention includes a travel situation detection unit that detects a vehicle state and a travel environment of the host vehicle, and a risk potential that calculates at least one risk potential around the host vehicle based on a detection result by the travel state detection unit. Calculated by calculation means, a plurality of vibrators built in the driver's seat, each vibrating a predetermined part of the driver's seat, a wide range vibrator that vibrates an area including the plurality of vibrators in the driver's seat, and a risk potential calculation means When a risk potential to be detected is equal to or higher than a predetermined notification level, a predetermined part vibration that vibrates at least one vibration body corresponding to the generation direction of the risk potential among a plurality of vibration bodies in order to notify the risk potential. And vibration control means for performing wide-range vibration for vibrating the wide-range vibrating body.

  According to the risk notification device of the present invention, since the predetermined part vibration that vibrates the predetermined part of the driver seat according to the direction in which the risk potential is generated and the wide range vibration that vibrates the wide area of the driver seat are combined, Regardless of the state of close contact with the driver's seat, the driver can be informed of the direction in which the risk potential is generated accurately.

<< First Embodiment >>
A risk notification device according to a first embodiment of the present invention and a vehicle equipped with the risk notification device will be described with reference to the drawings. FIG. 1 shows a schematic configuration of a vehicle equipped with a risk notification device according to a first embodiment of the present invention.

First, the configuration of the driver's seat and the vehicle according to the first embodiment will be described.
The vehicle 100 includes a radar device 10 that detects an obstacle situation ahead of the host vehicle, a front camera 21 that recognizes a situation such as a white line in front of the host vehicle, and a rear side that recognizes an obstacle situation behind the host vehicle. Based on detection signals from the cameras 22 and 23, a rear camera 24 for recognizing an obstacle situation behind the host vehicle, a driver seat 30 incorporating a plurality of vibrators, and the radar apparatus 10 and the cameras 21 to 24 And a controller 40 for controlling the vibration of the motor.

  The host vehicle 100 includes front wheels 50FR and 50FL and rear wheels 50RR and 50RL. Wheel speed sensors 51FR, 51FL, 51RR, and 51RL that output wheel speeds having frequencies corresponding to the rotational speeds of the respective wheels are disposed on the wheels 50FR, 50FL, 50RR, and 50RL, respectively. The steering angle sensor 61 detects the steering amount of the steering wheel 60 and outputs it to the controller 40. The front wheels 50FR and 50FL are steered via gears (not shown) by operating the steering wheel 60.

  The vehicle 100 is further provided with a navigation unit 70 that performs a road search and guidance. The navigation unit 70 receives a satellite radio wave sent from an artificial satellite and detects the current position of the host vehicle, and a storage medium (for example, a CD-ROM or DVD-ROM) 72 that stores road map information in a predetermined area. It has.

  The radar apparatus 10 is a laser radar attached to, for example, a front grill part or a bumper part of a vehicle, and scans a vehicle front area by irradiating a laser beam in a horizontal direction to detect an obstacle ahead of the host vehicle. The radar apparatus 10 receives a reflected wave reflected by an object existing in front of the host vehicle, and calculates the presence / absence of an obstacle and the relative position between the host vehicle and the obstacle based on the arrival time of the reflected wave. The forward area scanned by the radar device 10, that is, the detection range of the radar device 10 is, for example, about ± 6 deg with respect to the front of the host vehicle, and a plurality of forward objects existing within the detection range are detected. A detection signal from the radar apparatus 10 is output to the controller 40.

  The front camera 21 is a small CCD camera, a CMOS camera, or the like attached to the upper part of the front window, detects the state of the front road as an image, and outputs it to the controller 50. The detection area by the front camera 20 is about ± 30 deg in the horizontal direction, and the front road scenery included in this area is captured as an image. The rear side cameras 22, 23 and the rear camera 24 are configured as small CCD cameras or CMOS cameras like the front camera 21. The rear side cameras 22 and 23 are built in, for example, left and right side mirrors (not shown) of the host vehicle, and the rear camera 24 is attached to, for example, a rear bumper. Detection images from the front camera 21, rear side cameras 22, 23, and rear camera 24 are output to the controller 40, respectively.

  The controller 40 includes a CPU and CPU peripheral components such as a ROM and a RAM. The controller 40 calculates a risk potential around the host vehicle based on the obstacle situation input from the radar device 10 and the cameras 21 to 24 and vibrates the vibrating body of the driver seat 30 based on the risk potential. Let the driver give an alarm. The vibration control of the vibrating body by the controller 40 will be described later.

  FIG. 2 shows a configuration of a driver seat 30 incorporating a plurality of vibrators. As shown in FIG. 2, the driver seat 30 includes a headrest 31, a backrest portion 32, and a cushion portion 33. The backrest part 32 and the cushion part 33 incorporate five vibrators 30a to 30e. The vibrating bodies 30 a and 30 b are attached to the upper right and left sides of the backrest portion 32, and the vibrating body 30 c is attached to the approximate center of the backrest portion 32. The vibrating bodies 30d and 30e are attached to the right side and the left side of the cushion portion 33, respectively.

  The controller 40 calculates risk potentials from eight directions around the host vehicle. Specifically, the risk potential from the front, right front, left front, right, left, rear, right rear, and left rear of the host vehicle. In the first embodiment, the risk potential from the eight directions around the host vehicle is transmitted to the driver using the five vibrators 30a to 30e that are smaller than the number of risk directions.

  Details of the vibration control of the driver seat 30 according to the first embodiment will be described below with reference to FIG. FIG. 3 is a flowchart illustrating a processing procedure of the vibration control program executed by the controller 40 according to the first embodiment. This processing content is continuously performed at regular intervals.

  First, in step S101, the risk potential around the host vehicle is calculated based on detection signals input from the radar device 10, the cameras 21 to 24, the wheel speed sensors 51FR to 51RL, and the like. Here, risk potentials in eight directions around the host vehicle are calculated. The following are the front risk potential Risk_front, right front risk potential Risk_fr, left front risk potential Risk_fl, right risk potential Risk_right, left risk potential Risk_left, rear risk potential Risk_rear, right rear risk potential Risk_rr, and left rear risk. A method for calculating the potential Risk_rl will be described.

(1) Forward risk potential Risk_front
Calculate the three risk potentials for the forward risk potential Risk_front: (a) forward obstacle contact risk Risk_front_a, (b) follow-up approach risk Risk_front_b, and (c) corner speed risk Risk_front_c, and select the largest value from these To do. Below, the calculation method of each risk of (a)-(c) is demonstrated.

(A) Front obstacle contact risk Risk_front_a
The front obstacle contact risk Risk_front_a represents a risk for a stop existing in front of the own lane. Here, the stopped objects include stopped vehicles and pedestrians.

The controller 40 calculates a margin time TTC_obs between the host vehicle and the stopped object based on the obstacle state ahead of the host vehicle detected by the radar device 10 and the front camera 21. The allowance time TTC_obs is a physical quantity representing the time until the host vehicle and the stopped object come into contact with each other. The margin time TTC_obs can be calculated from the following (Equation 1) using the host vehicle speed V and the distance D_obs from the host vehicle to the stopped object.
TTC_obs = D_obs / V (Formula 1)

  The front obstacle contact risk Risk_front_a is calculated based on the margin time TTC_obs. FIG. 4 shows the relationship between the margin time TTC and the risk potential. As shown in FIG. 4, the front obstacle contact risk Risk_front_a is set to increase as the margin time TTC_obs for the stationary object decreases.

(B) Tracking approach risk Risk_front_b
The following approach risk Risk_front_b represents a risk for a preceding vehicle that the host vehicle is following. The controller 40 calculates the inter-vehicle time THW_pre between the host vehicle and the preceding vehicle based on the obstacle ahead of the host vehicle detected by the radar device 10 and the front camera 21. The inter-vehicle time THW_pre is a physical quantity representing the time until the host vehicle reaches the current position of the preceding vehicle. The inter-vehicle time THW_pre can be calculated from the following (Equation 2) using the own vehicle speed V and the inter-vehicle distance D_pre between the own vehicle and the preceding vehicle.
THW_pre = D_pre / V (Formula 2)

  The following approach risk Risk_front_b is calculated based on the inter-vehicle time THW_pre. FIG. 5 shows the relationship between the inter-vehicle time THW and the risk potential. As shown in FIG. 5, the following approach risk Risk_front_b is set to increase as the inter-vehicle time THW_pre with the preceding vehicle decreases.

(C) Corner speed risk Risk_front_c
The corner speed risk Risk_front_c is a risk when the host vehicle travels in a corner, and is calculated based on the deceleration Xgs_curve required to pass the corner. The necessary deceleration Xgs_curve is a deceleration necessary for decelerating to the reference vehicle speed V0 when the host vehicle passes the curve. Here, the reference vehicle speed V0 for the host vehicle to pass the curve of the turning radius Rn within the allowable lateral acceleration Yg is expressed by the following (Equation 3).
V0 = (Yg × | Rn |) ^0.5 (Formula 3)
The turning radius Rn of the curve ahead of the host vehicle is calculated from the current position of the host vehicle obtained from the navigation unit 70 and map information, for example. The allowable lateral acceleration Yg is set in advance to an appropriate value (for example, Yg = 0.3G).

The required deceleration Xgs_curve can be calculated from the following (Formula 4) using the current host vehicle speed V, the distance D_cur to the reference point of the curve ahead of the host vehicle, and the reference vehicle speed V0.
Xgs_curve = (V ² −V 0 ² ) / (2 × D_cur) (Formula 4)
The corner speed risk Risk_front_c is calculated based on the required deceleration Xgs_curve. FIG. 6 shows the relationship between the required deceleration Xgs and the risk potential. As shown in FIG. 6, the corner speed risk Risk_front_c is set to increase as the required deceleration Xgs_curve for passing the curve increases.

(2) Right forward risk potential Risk_fr
As the right front risk potential Risk_fr, as shown in FIG. 7, the white line crossing risk Risk_fr_a when the oncoming vehicle protrudes beyond the white line to the own lane side is calculated. Hereinafter, a method for calculating the white line crossing risk Risk_fr_a will be described.

The controller 40 calculates a margin time TTC_opp between the host vehicle and the oncoming vehicle based on the obstacle situation ahead of the host vehicle detected by the radar device 10 and the front camera 21. The margin time TTC_opp between the host vehicle and the oncoming vehicle can be calculated from the following (Equation 5) using the inter-vehicle distance D_opp and the relative speed Vr_opp between the host vehicle and the oncoming vehicle.
TTC_opp = D_opp / Vr_opp (Formula 5)

  The controller 40 calculates the risk potential according to the margin time TTC_opp with the oncoming vehicle according to the map of FIG. Further, the controller 40 recognizes a white line based on an image signal in front of the host vehicle detected by the front camera 21. Then, as shown in FIG. 7, when the oncoming vehicle protrudes from the white line to the own lane side, the protrusion distance Δd in the vehicle left-right direction is calculated. The controller 40 corrects the risk potential according to the margin time TTC_opp with the oncoming vehicle based on the protrusion distance Δd1.

  FIG. 8 shows the relationship between the protrusion distance Δd and the correction coefficient k1 for correcting the risk potential. As shown in FIG. 8, the correction coefficient k1 increases as the protrusion distance Δd increases. The controller 40 calculates the white line crossing risk Risk_fr_a by multiplying the risk potential according to the margin time TTC_opp by the correction coefficient k1.

(3) Left front risk potential Risk_fl
As the left front risk potential Risk_fl, as shown in FIG. 9, a left front obstacle interference risk Risk_fl_a when there is a stop, for example, a parked vehicle, in front of the host vehicle is calculated. Hereinafter, a method of calculating the left front obstacle interference risk Risk_fl_a will be described.

  Similarly to the above-described front obstacle contact risk Risk_front_a, the controller 40 calculates a margin time TTC_obs with a stop existing in front of the host vehicle using (Equation 1), and calculates the risk potential according to the map of FIG. calculate. Further, based on the image signal from the front camera 21, an interference distance Δw <b> 1 where the host vehicle and the stopped object overlap in the left-right direction of the vehicle is calculated. Specifically, as shown in FIG. 9, a distance Δw1 in the vehicle left-right direction from the left end of the host vehicle to the right end of the stationary object is calculated. The controller 40 corrects the risk potential according to the margin time TTC_obs based on the interference distance Δw1.

  FIG. 10 shows the relationship between the interference distance Δw and the correction coefficient k2 for correcting the risk potential. As shown in FIG. 10, the correction coefficient k2 increases as the interference distance Δw1 increases. The controller 40 calculates the left front obstacle interference risk Risk_fl_a by multiplying the risk potential according to the margin time TTC_obs by the correction coefficient k2.

(4) Right risk potential Risk_right
As the right risk potential Risk_right, the right white line departure risk Risk_right_a based on the distance between the own vehicle and the white line existing on the right side of the own vehicle is calculated. Specifically, based on the image signal on the right side of the host vehicle detected by the front camera 21 and the right side camera 22, a distance D_lane between the front right wheel 50FR of the host vehicle and the white line on the right side of the host vehicle is detected. .

  The controller 40 calculates the right white line deviation risk Risk_right_a according to the map shown in FIG. 11 based on the distance D_lane to the white line. As shown in FIG. 11, the risk potential increases stepwise as the distance D_lane to the white line decreases. Note that distance ranges D_lane_1 to D_lane_2 in which the risk potential changes with respect to changes in the distance D_lane to the white line are appropriately set in advance.

(5) Left risk potential Risk_left
As the left risk potential Risk_left, a left white line departure risk Risk_left_a based on the distance between the own vehicle and the white line existing on the left side of the own vehicle is calculated. The left white line departure risk Risk_left_a is calculated using the map of FIG. 11 based on the distance D_lane between the left front wheel 50FL of the own vehicle and the white line on the left side of the own vehicle, for example, as with the right white line departure risk Risk_right_a described above. .

(6) Right rear risk potential Risk_rr
As the right rear risk potential Risk_rr, as shown in FIG. 12, the right rear side vehicle interference risk Risk_rr_a when the rear side vehicle exists on the adjacent lane on the right rear side of the host vehicle is calculated. Hereinafter, a method of calculating the right rear side vehicle interference risk Risk_rr_a will be described.

  The controller 40 calculates the right rear side vehicle interference risk Risk_rr_a for the right rear side vehicle when the host vehicle changes lanes to the right adjacent lane. Here, for example, it is determined whether the host vehicle changes the lane to the right adjacent lane from the operating state of the blinker (not shown). Alternatively, when the current position of the host vehicle detected by the navigation unit 70 approaches the merging point with the right lane, it is determined that the host vehicle changes the lane to the right adjacent lane.

When it is determined that the host vehicle changes the lane to the right adjacent lane based on the blinker operation state or the junction point information from the navigation unit 70, the controller 40 determines whether the host vehicle and the rear vehicle are based on the image signal from the right side camera 22. The inter-vehicle time THW_rear with the side vehicle is calculated. The inter-vehicle time THW_rear with the rear side vehicle can be calculated from the following (Equation 6) using the inter-vehicle distance D_rear between the host vehicle and the rear side vehicle and the vehicle speed V_rear of the rear side vehicle.
THW_rear = D_rear / V_rear (Expression 6)

  The controller 40 calculates the risk potential according to the inter-vehicle time THW_rear with the rear side vehicle according to the map shown in FIG. Further, based on the image signal from the right rear side camera 22, an interference distance Δw2 where the host vehicle and the right rear side vehicle overlap in the left-right direction of the vehicle is calculated. Specifically, as shown in FIG. 12, the distance Δw2 in the vehicle left-right direction from the right end of the host vehicle to the left end of the rear side vehicle is calculated. The controller 40 corrects the risk potential according to the inter-vehicle time THW_rear based on the interference distance Δw2.

  Therefore, the controller 40 calculates a correction coefficient k2 corresponding to the interference distance Δw2 according to the map shown in FIG. The controller 40 calculates the right rear side vehicle interference risk Risk_rr_a by multiplying the risk potential according to the inter-vehicle time THW_rear by the correction coefficient k2.

(7) Left rear risk potential Risk_rl
As the left rear risk potential Risk_rl, the left rear side vehicle interference risk Risk_rl_a when the rear side vehicle exists on the adjacent left lane of the host vehicle is calculated. The left rear side vehicle interference risk Risk_rl_a is the same as the right rear side vehicle interference risk Risk_rr_a described above, the inter-vehicle time THW_rear between the host vehicle and the left rear side vehicle, and the interference between the host vehicle and the left rear side vehicle. Calculation is based on the distance Δw2.

(8) Backward risk potential Risk_rear
As the rear risk potential Risk_rear, a rear obstacle approach risk Risk_rear_a with the rear vehicle following the host vehicle is calculated. The controller 40 calculates the inter-vehicle time THW_rear between the host vehicle and the rear vehicle based on (Equation 6) described above based on the obstacle situation behind the host vehicle detected by the rear camera 24. And according to the map shown in FIG. 5, the risk potential according to the inter-vehicle time THW_rear with the rear vehicle is calculated as the rear obstacle approach risk Risk_rear_a.

  As described above, in step S101, risk potentials from eight directions around the host vehicle are calculated. Thereafter, forward risk potential Risk_front, right forward risk potential Risk_fr, left forward risk potential Risk_fl, right risk potential Risk_right, left risk potential Risk_left, backward risk potential Risk_rear, right backward risk potential Risk_rr, and left backward risk potential Risk_rl. Collectively expressed as risk potential RP_n.

  In subsequent step S102, it is determined whether or not the risk potential RP_n calculated in step S101 is equal to or higher than a preset risk notification level RP_ref. Here, it is determined whether each risk potential RP_n is equal to or higher than the notification level RP_ref. If there is a risk potential RP_n equal to or higher than the notification level RP_ref, the process proceeds to step S103. At this time, it is stored in which direction of the host vehicle the risk potential RP_n is equal to or higher than the notification level RP_ref. On the other hand, when all the risk potentials RP_n are less than the notification level RP_ref, the process returns to step S101. The notification level RP_ref can be set for each risk potential RP_n in each direction.

  In step S <b> 103, wide-range vibration is performed to vibrate all the vibrators 30 a to 30 e attached to the driver seat 30. The controller 40 outputs a signal for performing wide range vibration to the vibrating bodies 30a to 30e, vibrates the vibrating bodies 30a to 30e with a preset amplitude and frequency, and performs wide range vibration for a predetermined time (for example, 150 ms). Here, the amplitude and frequency of the vibrating bodies 30a to 30e for performing wide range vibration are set to appropriate values so as not to give the driver unpleasant feeling.

  In subsequent step S104, predetermined part vibration is performed to vibrate the vibrating body in accordance with the generation direction of the risk potential RP_n that is equal to or higher than the notification level RP_ref determined in step S102. In addition, the amplitude, frequency, and vibration time of each vibrating body 30a-30e when performing predetermined part vibration are set appropriately beforehand. FIG. 13A shows a relationship with a vibrating body that vibrates corresponding to the generation direction of the risk potential RP_n in the predetermined part vibration.

  As shown in FIG. 13A, when the front risk potential Risk_front is equal to or higher than the notification level RP_ref, the left and right vibrating bodies 30d and 30e of the cushion portion 33 are vibrated. When the left front risk potential Risk_fl is equal to or higher than the notification level RP_ref, the left vibrating body 30e of the cushion portion 33 is vibrated. When the left risk potential Risk_left is equal to or higher than the notification level RP_ref, the left vibrating body 30e of the cushion portion 33 and the left vibrating body 30b of the backrest portion 32 are vibrated. When the left rear risk potential Risk_rl is equal to or higher than the notification level RP_ref, the left vibrating body 30b of the backrest portion 32 is vibrated.

  When the rear risk potential Risk_rear is equal to or higher than the notification level RP_ref, the left and right vibrating bodies 30a and 30b of the backrest portion 32 are vibrated. When the right rear risk potential Risk_rr is equal to or higher than the notification level RP_ref, the right vibrating body 30a of the backrest 33 is vibrated. When the right risk potential Risk_right is equal to or higher than the notification level RP_ref, the right vibrating body 30a of the backrest portion 32 and the right vibrating body 30d of the cushion portion 33 are vibrated. When the right front risk potential Risk_fr is equal to or higher than the notification level RP_ref, the right vibrating body 30d of the cushion portion 33 is vibrated.

  Thus, the current process ends. If it is determined in step S102 that a plurality of risk potentials are equal to or higher than the notification level RP_ref among all risk potentials RP_n, predetermined site vibration is performed on all risk potentials equal to or higher than the notification level RP_ref in step S104. Can be.

-Modification 1 of the first embodiment-
Below, another example of the attachment position of the vibrating body with respect to a driver's seat is demonstrated.
FIG. 14 shows a configuration of a driver seat 130 incorporating a plurality of vibrators. As shown in FIG. 14, eight vibration bodies 130 a to 130 h are built in the backrest portion 132 and the cushion portion 133 of the driver seat 130. The vibrating body 130a is attached to the upper center of the backrest portion 132, the vibrating bodies 130b and 130c are attached to the upper right and left sides of the backrest portion 132, and the vibrating bodies 130d and 130e are attached to the lower right and left sides of the backrest portion 132, respectively. The vibrating bodies 130f and 130g are attached to the right and left sides of the backrest 132 (back) side of the cushion 133, and the vibrating body 130h is attached to the center of the front end side of the cushion 33, respectively.

  Here, the risk potential from eight directions around the host vehicle is transmitted to the driver using the same eight vibrators 130a to 130h as the number of risk directions. When performing wide range vibration, all the vibrating bodies 130a to 130h are vibrated. When performing predetermined part vibration, as shown in FIG.13 (b), the vibrating body corresponding to the direction in which the risk potential more than notification level RP_ref generate | occur | produces is vibrated. The vibrating bodies corresponding to the generation direction of the risk potential are as follows.

  For the front risk potential Risk_front, the tip vibration body 130h of the cushion 133 is vibrated. For the left front risk potential Risk_fl, the left vibrating body 130g of the cushion 133 is vibrated. For the left risk potential Risk_left, the lower left vibrating body 130e of the backrest 132 is vibrated. For the left rear risk potential Risk_rl, the upper left vibrating body 130c of the backrest 132 is vibrated.

  For the rear risk potential Risk_rear, the upper central vibrating body 130a of the backrest 32 is vibrated. For the right rear risk potential Risk_rr, the upper right vibrating body 130b of the backrest 133 is vibrated. For the right risk potential Risk_right, the lower right vibrating body 130d of the backrest 132 is vibrated. With respect to the right front risk potential Risk_fr, the right vibrating body 130f of the cushion 133 is vibrated.

-Modification 2 of the first embodiment-
Below, another example of the attachment position of the vibrating body with respect to a driver's seat is demonstrated.
FIG. 15 shows a configuration of a driver seat 230 incorporating a plurality of vibrators. As shown in FIG. 15, twelve vibrating bodies 230 a to 230 l are built in the backrest portion 232 and the cushion portion 233 of the driver seat 230. The vibrating bodies 230 a to 230 c are attached to the upper right, center, and left of the backrest portion 232, and the vibrating bodies 230 d to 230 f are attached to the lower right, center, and left of the backrest portion 32, respectively. The vibrating bodies 230g to 230i are attached to the right, center, and left of the cushion portion 233, and the vibrating bodies 230j to 203l are attached to the right, center, and left of the cushion portion 33, respectively.

  Here, the risk potential from eight directions around the host vehicle is transmitted to the driver using twelve vibrators 230a to 230l that are larger than the number of risk directions. When performing wide range vibration, all the vibrating bodies 230a to 230l are vibrated. When performing predetermined part vibration, as shown in FIG.13 (c), the vibrating body corresponding to the direction where the risk potential more than notification level RP_ref generate | occur | produces is vibrated. The vibrating bodies corresponding to the generation direction of the risk potential are as follows.

  For the forward risk potential Risk_front, the tip vibrating bodies 230j to 230l of the cushion portion 233 are vibrated. For the left front risk potential Risk_fl, the vibrating bodies 230k, 230l, and 230i of the cushion portion 233 are vibrated. For the left risk potential Risk_left, the left vibrating bodies 230l and 230i of the cushion portion 233 and the left vibrating bodies 230f and 230c of the backrest portion 232 are vibrated. For the left rear risk potential Risk_rl, the vibrating bodies 230f, 230c, and 230b of the backrest 232 are vibrated.

  For the rear risk potential Risk_rear, the upper vibrators 230a to 230c of the backrest 232 are vibrated. For the right rear risk potential Risk_rr, the vibrating bodies 230b, 230a, and 230d of the backrest portion 233 are vibrated. For the right risk potential Risk_right, the right vibrating bodies 230a and 230d of the backrest portion 232 and the right vibrating bodies 230g and 230j of the cushion portion 233 are vibrated. The vibrating bodies 230g, 230j, and 230k of the cushion portion 233 are vibrated with respect to the right front risk potential Risk_fr.

-Modification 3 of the first embodiment-
As shown in FIG. 15, when twelve vibrators 230a to 230l are attached to the driver seat 230, the positions of the vibrators 230a to 230l to be vibrated are sequentially changed according to the direction in which the risk potential of the notification level RP_ref or higher is generated. It can also be moved. Specifically, as shown in FIG. 16, the vibrating body to be vibrated in each phase is sequentially switched. The vibration time of the vibrating body in each phase is set to about 200 ms, for example, and after vibrating for a predetermined vibration time, the process proceeds to the next phase and another vibrating body is vibrated for a predetermined vibration time.

  For example, the vibrating bodies 230a to 230c are vibrated in phase 1 with respect to the forward risk potential Risk_front. In the next phase 2, the vibrating bodies 230d to 230f are vibrated. In phase 3, the vibrating bodies 230g to 230i are vibrated, and in phase 4, the vibrating bodies 230j to 230l are vibrated. When phase 4 ends, the process returns to phase 1 again. Thus, the front risk potential Risk_front is set so that the vibrating body that vibrates from the upper part to the lower part of the driver seat 230 changes.

  For the left front risk potential Risk_fl, the vibrating body that vibrates from the upper right part of the driver seat 230 toward the lower left part changes. For the left risk potential Risk_left, the vibrating body that vibrates from the right side to the left side of the driver seat changes. For the left rear risk potential Risk_rl, the vibrating body that vibrates from the lower right portion of the driver seat 230 toward the upper left portion changes. For the rear risk potential Risk_rear, the vibrating body that vibrates from the lower part to the upper part of the driver seat 230 changes. For the right rear risk potential Risk_rr, the vibrating body that vibrates from the lower left portion of the driver seat 230 toward the upper right portion changes. For the right risk potential Risk_right, the vibrating body that vibrates from the left side to the right side of the driver seat 230 changes. For the right front risk potential Risk_fr, the vibrating body that vibrates from the upper left portion of the driver seat 230 toward the lower right portion changes.

  As described above, after the wide range vibration is performed, the plurality of vibrators 230a to 230l are vibrated in a predetermined order in association with the generation direction of the risk potential RP_n of the notification level RP_ref or higher, so that the driver generates the risk potential RP_n. The direction can be recognized intuitively.

Thus, in the first embodiment described above, the following operational effects can be achieved.
(1) The controller 40 detects the vehicle state and traveling environment (traveling situation) of the host vehicle, and calculates at least one risk potential RP_n based on the traveling state of the host vehicle. The driver seat 30 includes a plurality of vibrating bodies 30a to 30e that vibrate predetermined portions. Further, all the vibrating bodies 30a to 30e are used as wide-range vibrating bodies that vibrate an area including the plurality of vibrating bodies 30a to 30e in the driver seat 30. When the risk potential RP_n is equal to or higher than the notification level RP_ref, the controller 40 notifies the driver of the risk potential RP_n, and at least one of the plurality of vibration bodies 30a to 30e corresponding to the direction in which the risk potential RP_n is generated. Vibrate. Further, wide-range vibration is performed to vibrate all the vibrating bodies 30a to 30e. By combining the predetermined part vibration and the wide range vibration in this way, the driver can accurately determine the direction in which the risk potential RP_n is generated regardless of the contact state between the driver and the driver seat 30 and the vibration transmitted through the vehicle body while traveling. Can let you know.
(2) Since at least one vibrating body corresponding to the direction of occurrence of the risk potential RP_n that has become the notification level RP_ref or higher is vibrated after wide-range vibration, the driver must intuitively recognize the direction of risk generation. Can do.

<< Second Embodiment >>
Next, a risk notification device according to a second embodiment of the present invention will be described. The configuration of the risk notification device according to the second embodiment is the same as that of the first embodiment shown in FIG. Here, differences from the first embodiment will be mainly described. In the second embodiment, an example in which a driver seat 30 including five vibrators 30a to 30e is mounted on the vehicle 100 as illustrated in FIG. 2 will be described.

  In the second embodiment, the form of vibration generated by the vibrating bodies 30a to 30e is changed according to the risk potential. Specifically, the amplitude and frequency generated in the vibrating bodies 30a to 30e are changed according to the magnitude of the risk potential. Hereinafter, the vibration control of the driver's seat according to the second embodiment will be described in detail with reference to FIG. FIG. 17 is a flowchart illustrating a processing procedure of vibration control processing executed by the controller 40 according to the second embodiment. This processing content is continuously performed at regular intervals.

  The risk potential calculation process in step S201 is the same as the process in step S101 of the flowchart of FIG. In step S202, it is determined whether or not the risk potential RP_n calculated in step S201 is equal to or higher than the notification level RP_ref. If all the risk potentials RP_n are less than the notification level RP_ref, the process proceeds to step S207, and the flag flg_warn_n indicating whether or not the wide range vibration is executed is reset to FALSE. When flg_warn_n is FALSE, it indicates that wide range vibration is not performed.

  The flag flg_warn_n is set corresponding to each of the eight risk potentials around the host vehicle. That is, in step S207, the flag flg_warn_front for the forward risk potential Risk_front, the flag flg_warn_fr for the right forward risk potential Risk_fr, the flag flg_warn_fl for the left forward risk potential Risk_fl, the flag flg_warn_right for the right risk potential Risk_right, the flag flg_war for the left risk potential Risk_n, The flag flg_warn_rear for the rear risk potential Risk_rear, the flag flg_warn_rr for the right rear risk potential Risk_rr, and the flag flg_warn_rl for the left rear risk potential Risk_rl are each set to FALSE. Here, the flags corresponding to the risk potentials in the eight directions are collectively expressed as a flag flg_warn_n.

  If it is determined in step S202 that there is a risk potential RP_n equal to or higher than the notification level RP_ref, the process proceeds to step S203. In step S203, it is determined whether or not the flag flg_warn_n corresponding to the risk potential RP_n determined to be equal to or higher than the notification level RP_ref in step S202 is set to FALSE. If the determination in step S203 is affirmative and the risk potential RP_n from the same direction has not yet undergone wide-range vibration, that is, if the risk potential RP_n becomes equal to or higher than the notification level RP_ref in the current cycle, the process proceeds to step S204.

  In step S204, as in step S103 of FIG. 3 described above, all the vibrators 30a to 30e are vibrated for a predetermined time to perform wide-range vibration. In the subsequent step S205, the flag flg_warn_n corresponding to the risk potential RP_n in the direction subject to the wide range vibration is set to TRUE. When the flag flg_warn_n is TRUE, it indicates that the risk potential RP_n is equal to or higher than the notification level RP_ref and wide-range vibration has been performed.

  In step S206, the vibrating body corresponding to the generation direction of the risk potential RP_n that is equal to or higher than the notification level RP_ref is vibrated. At this time, the vibration pattern is changed according to the magnitude of the risk potential RP_n. Specifically, as shown in FIG. 18, the vibration amplitude and frequency are increased as the risk potential RP_n increases. Thereby, the vibrating body corresponding to the generation direction of the risk potential RP_n is vibrated with a vibration pattern corresponding to the risk potential RP_n. Note that the position of the vibrating body that vibrates corresponding to the direction in which the risk potential RP_n is generated is the same as that in the first embodiment shown in FIG.

  If the determination in step S203 is negative and the flag flg_warn_n corresponding to the risk potential RP_n of the notification level RP_ref or higher is TRUE, and the wide range vibration has already been performed for the risk potential RP_n, the process proceeds to step S206. In this case, the vibration body corresponding to the generation direction of the risk potential RP_n of the notification level RP_ref or higher is vibrated with a vibration pattern corresponding to the risk potential RP_n without performing wide range vibration.

  The vibration pattern to be changed according to the magnitude of the risk potential RP_n is not limited to the amplitude and frequency of vibration, and the amplitude or frequency can be changed. Alternatively, the period of vibration can be changed according to the magnitude of the risk potential RP_n.

-Modification 1 of the second embodiment-
Here, the vibration pattern of the wide range vibration is changed according to the change of the risk potential RP_n that is equal to or higher than the notification level RP_ref. For example, the generation time, amplitude, or frequency of the wide-range vibration is changed according to the change rate of the risk potential RP_n that is equal to or higher than the notification level RP_ref. For example, a differential value RP_n ′ of the risk potential RP_n is used as the change rate of the risk potential RP_n.

  FIG. 19 shows the relationship between the risk potential change rate RP_n ′ and the vibration generation time when the generation time of the wide-range vibration is changed according to the risk potential change rate RP_n ′. As shown in FIG. 19, as the risk potential change rate RP_n ′ increases, the generation time of the wide-range vibration is shortened. As a result, when the risk potential RP_n suddenly increases, the generation time of the wide-range vibration is shortened and the vibration immediately shifts to the predetermined part vibration. In FIG. 19, the change rate region where the vibration occurrence time changes with respect to the change of the risk potential change rate RP_n ′ is set appropriately in advance.

  In this way, since at least one of the vibration generation time, amplitude, and frequency of the wide-range vibration is changed according to the change rate of the risk potential RP_n, the driver can be surely notified that the risk potential RP_n is increasing. it can. When shortening the vibration generation time of the wide range vibration according to the change rate of the risk potential RP_n, the specified part vibration starts immediately when the risk potential RP_n increases, so the direction of generation of the increasing risk potential RP_n Can be promptly transmitted to the driver.

-Modification 2 of the second embodiment-
When the risk potential RP_n suddenly increases, it is possible to start the predetermined site vibration without performing the wide range vibration. FIG. 20 shows the relationship between the risk potential RP_n and the vibration generation time of the wide range vibration. When the risk potential RP_n that is less than the notification level RP_ref is equal to or greater than a predetermined value RP_o that exceeds the notification level RP_ref in the current cycle, the vibration generation time of the wide-range vibration is set to 0 so as to omit the wide-range vibration.

  The predetermined value RP_o in this case is a value larger than the notification level RP_ref, and an appropriate value is set in advance. Further, for example, when the vehicle 100 is equipped with a control system that performs automatic braking control or operation reaction force control of the driving operation device in accordance with the risk around the host vehicle, these controls and vibration of the driving seat 30 are provided. It can also be linked to control. Specifically, the threshold value for determining the start of the automatic braking control or the operation reaction force control is matched with the predetermined value RP_o. As a result, when the risk potential RP_n becomes equal to or greater than the predetermined value RP_o and automatic braking control or operation reaction force control is started and control is performed to reduce the risk potential RP_n around the host vehicle, the driver seat The predetermined part vibration is started without performing 30 wide vibrations.

  As described above, when the newly calculated risk potential RP_n is equal to or greater than the predetermined value RP_o that is larger than the notification level RP_ref, the wide-area vibration is omitted and the predetermined part vibration is performed on the risk potential RP_n. The generation direction of the vehicle can be promptly transmitted to the driver. Further, as shown in FIG. 18, if the amplitude or frequency of the predetermined part vibration is increased according to the magnitude of the risk potential RP_n, the generation of the risk potential RP_n is performed when the predetermined part vibration is performed without the wide-range vibration. You can be sure of the direction. Furthermore, if the predetermined value RP_o is matched with the start determination threshold value such as automatic braking control, the control for reducing the risk potential RP_n and the generation of vibration are performed in synchronization, so the direction of occurrence of the risk potential RP_n is changed. It can be recognized more reliably.

-Modification 3 of the second embodiment-
Here, instead of changing the amplitude and frequency of the vibrating body according to the magnitude of the risk potential RP_n, the vibration generation cycle when performing the predetermined part vibration is changed. Specifically, when performing predetermined part vibration, a vibration period for vibrating the vibrating body and a break period for interrupting the vibration are provided, and the vibration period and the time of the break period are set according to the magnitude of the risk potential RP_n. Set.

  For example, the vibration period and the interruption period are shortened as the risk potential RP_n increases. When the risk potential RP_n is small, for example, the vibration period at the time of predetermined part vibration is set to 300 ms, the interruption period is set to 200 ms, the vibrating body is vibrated for 300 ms, stopped for 200 ms, again vibrated for 300 ms, and then stopped for 200 ms. . When the risk potential RP_n is large, the vibration period at the time of predetermined part vibration is set to, for example, 200 ms, the interruption period is set to 100 ms, and the vibration of 200 ms and the interruption of 100 ms are repeated.

  In addition, when the predetermined part vibration is provided with a vibration period and an interruption period, wide-range vibration can be performed during the interruption period of the predetermined part vibration. That is, it is set so that the wide range vibration and the predetermined part vibration are alternately performed. For example, after performing wide range vibration for 300 ms, predetermined part vibration is performed for 200 ms, wide range vibration is again performed for 300 ms, and then predetermined part vibration is performed for 200 ms.

  Also in this case, the vibration time of the wide range vibration and the predetermined part vibration can be changed according to the magnitude of the risk potential RP_n. For example, as the risk potential RP_n increases, the respective vibration periods are shortened, the wide range vibration 200 is performed for ms, the predetermined site vibration is performed for 100 ms, the wide range vibration is performed again for 200 ms, and then the predetermined site vibration is performed for 100 ms.

  In this way, by providing an interruption cycle for interrupting the vibrations of the vibrating bodies 30a to 30e in the predetermined part vibration and changing the interruption cycle according to the magnitude of the risk potential RP_n, the vibration is generated when the risk potential RP_n is large. The interruption period is shortened, and the magnitude of the risk potential RP_n can be transmitted to the driver in addition to the direction of occurrence of the risk potential RP_n.

-Modification 4 of the second embodiment-
As the driver seat, a driver seat 230 having twelve vibrators 230a to 230l as shown in FIG. 15 is used, and vibrators that vibrate in each phase in accordance with the direction of occurrence of the risk potential RP_n as shown in FIG. When moving, the vibration generation time of the vibrator in each phase can be changed according to the risk potential RP_n. Specifically, as the risk potential RP_n increases, the vibration generation time of the vibrating body in each phase is shortened.

  In this way, by changing the vibration generation time of each vibrating body according to the size of the risk potential RP_n, when the risk potential RP_n is large, the vibrating body is switched at a short interval, so the generation of the risk potential RP_n In addition to direction, the magnitude can be communicated to the driver.

-Modification 5 of the second embodiment-
Here, after the vibrating body is vibrated in a state where the risk potential RP_n is relatively small and the risk potential RP_n is notified to the driver, the vibration is generated again after the risk potential RP_n increases to a predetermined value or more. Specifically, after the risk potential RP_n is equal to or higher than the notification level RP_ref and the wide range vibration and the predetermined part vibration are performed for each predetermined time, the risk potential RP_n subjected to the wide range vibration and the predetermined part vibration is the predetermined value RP_a. The predetermined part vibration is not performed until the above is reached. At this time, since the flag flg_warn_n corresponding to the risk potential RP_n is set to TRUE, wide range vibration for the risk potential RP_n is not performed. Thereafter, when the risk potential RP_n becomes equal to or greater than the predetermined value RP_a, the predetermined part vibration is resumed.

FIG. 21 shows a conceptual diagram when the predetermined part vibration is interrupted until the risk potential RP_n becomes equal to or higher than the predetermined value RP_a. As shown in FIG. 21, when the risk potential RP_n is smaller than the predetermined value RP_b (RP_ref <RP_b <RP_a) and once the wide range vibration and the predetermined part vibration are performed for a predetermined time, the risk potential RP_n is equal to or higher than the predetermined value RP_a. The predetermined part vibration is interrupted until Thereafter, when the risk potential RP_n becomes equal to or greater than the predetermined value RP_a, the predetermined part vibration is resumed. At this time, as shown in FIG. 21, as the risk potential RP_n increases, the amplitude and frequency of the vibration when the predetermined part vibration is performed are increased.
As a result, the driver is not bothered by the wide-range vibration being repeated many times with respect to the risk potential RP_n from the same direction.

Thus, in the second embodiment described above, the following operational effects can be obtained in addition to the effects of the first embodiment described above.
When a wide range vibration was performed in the previous cycle, the specified part vibration was started without performing the wide range vibration for the risk potential RP_n from the same direction, so what is the wide range vibration for the risk potential RP_n from the same direction? It does not give the driver the annoyance of repeated times. Further, as shown in FIG. 18, by increasing the amplitude or frequency of the predetermined part vibration according to the magnitude of the risk potential RP_n, even when the predetermined part vibration is performed while omitting the wide range vibration, the risk potential RP_n The generation direction can be surely notified.

<< Third Embodiment >>
Next, a risk notification device according to a third embodiment of the present invention will be described. The configuration of the risk notification device according to the third embodiment is the same as that of the first embodiment shown in FIG. Here, differences from the first embodiment will be mainly described. In the third embodiment, a case where a driver seat 30 including five vibrating bodies 30a to 30e is mounted on the vehicle 100 as shown in FIG. 2 will be described as an example.

  After the risk potential RP_n is equal to or greater than the notification risk RP_ref and a wide range vibration is performed, the risk potential RP_n from the same direction is again equal to or greater than the notification risk RP_ref, and if the wide range vibration is performed again, the driver may be bothered. There is sex. Therefore, in the third embodiment, after performing a wide range vibration on the risk potential RP_n, if the risk potential RP_n from the same direction again exceeds the notification level RP_ref within a predetermined time, the wide range vibration is performed. Without starting the predetermined part vibration.

  Hereinafter, the vibration control of the driver's seat according to the third embodiment will be described in detail with reference to FIG. FIG. 22 is a flowchart illustrating a processing procedure of vibration control processing executed by the controller 40 according to the third embodiment. This processing content is continuously performed at regular intervals.

  The risk potential calculation process in step S301 is the same as the process in step S101 of the flowchart of FIG. In step S302, it is determined whether or not the risk potential RP_n calculated in step S301 is equal to or higher than the notification level RP_ref. When all the risk potentials RP_n are less than the notification level RP_ref, the process proceeds to step S307, and the counter counter_warn_n representing the time until the next wide range vibration is performed is counted down.

  The counter counter_warn_n is set corresponding to each of the eight risk potentials around the host vehicle. That is, in step S307, the counter counter_front for the forward risk potential Risk_front, the counter counter_warn_fr for the right forward risk potential Risk_fr, the counter counter_warn_fl for the left forward risk potential Risk_fl, the counter counter_warn_right for the right risk potential Risk_right, the counter counter_warn_left for the left risk potential Risk_left, The counter counter_warn_rear for the rear risk potential Risk_rear, the counter counter_warn_rr for the right rear risk potential Risk_rr, and the counter counter_warn_rl for the left rear risk potential Risk_rl are each counted down. Here, the counters corresponding to the risk potentials in the eight directions are collectively expressed as counter counter_warn_n.

  If it is determined in step S302 that there is a risk potential RP_n equal to or higher than the notification level RP_ref, the process proceeds to step S303. In step S303, it is determined whether the counter counter_warn_n of the risk potential RP_n determined to be equal to or higher than the notification level RP_ref is greater than zero. If the counter counter_warn_n is greater than 0 and a predetermined time has not elapsed since the wide range vibration is performed on the risk potential RP_n from the same direction, the wide range vibration for the risk potential RP_n is not performed in step S305. Proceed to On the other hand, when the counter counter_warn_n of the risk potential RP_n determined to be equal to or higher than the notification level RP_ref is 0 or less, the process proceeds to step S304.

  In step S304, all the vibrating bodies 30a to 30e are vibrated for a predetermined period of time as in step S103 of FIG. In subsequent step S305, similarly to step S104 in FIG. 3, predetermined part vibration is performed with respect to risk potential RP_n of notification level RP_ref or higher. In step S306, a predetermined value (for example, 2 sec) is set in the counter counter_warn_n of the risk potential RP_n that is equal to or higher than the notification level RP_ref. Thus, the current process is terminated.

Thus, in the third embodiment described above, the following operational effects can be obtained in addition to the effects of the first and second embodiments described above.
If the risk potential RP_n generated from the same direction within a predetermined time becomes equal to or higher than the notification level RP_ref after performing the wide range vibration and the predetermined range vibration for the risk potential of the notification level RP_ref or higher, omit the wide range vibration. A predetermined part vibration is performed. Accordingly, it is possible to inform the driver of the direction in which the risk potential RP_n is generated without bothering the driver.

<< Fourth Embodiment >>
Next, a risk notification device according to a fourth embodiment of the present invention will be described. The configuration of the risk notification device according to the fourth embodiment is the same as that of the first embodiment shown in FIG. Here, differences from the first embodiment will be mainly described. In the fourth embodiment, a case where a driver's seat 30 including five vibrating bodies 30a to 30e is mounted on the vehicle 100 as shown in FIG. 2 will be described as an example.

  Among the risk potentials RP_n from the eight directions around the host vehicle, when a plurality of risk potentials RP_n are equal to or higher than the notification level RP_ref, if the predetermined part vibration is performed for all the risk potentials RP_n equal to or higher than the notification level RP_ref, It becomes difficult for the driver to recognize whether the risk is high.

  Therefore, in the fourth embodiment, when the plurality of risk potentials RP_n are equal to or higher than the notification level RP_ref, wide range vibration and predetermined part vibration are performed for the largest risk potential RP_n. Further, when a risk potential RP_n to be newly notified from this state is generated, the wide range vibration and the predetermined part vibration for the new risk potential RP_n are interrupted and executed.

  Details of driver seat vibration control according to the fourth embodiment will be described below with reference to FIG. FIG. 23 is a flowchart illustrating a processing procedure of vibration control processing executed by the controller 40 according to the fourth embodiment. This processing content is continuously performed at regular intervals.

  The risk potential calculation process in step S401 is the same as the process in step S101 of the flowchart of FIG. In step S402, it is determined whether or not the risk potential RP_n calculated in step S401 is equal to or higher than the notification level RP_ref. When all the risk potentials RP_n are less than the notification level RP_ref, the process proceeds to step S409, and the flag flg_warn_n indicating whether or not the wide range vibration is executed is reset to FALSE for each risk potential RP_n. When flg_warn_n is FALSE, it indicates that wide range vibration is not performed.

  If it is determined in step S402 that there is a risk potential RP_n equal to or higher than the notification level RP_ref, the process proceeds to step S403. In step S403, it is determined whether there are a plurality of risk potentials RP_n determined to be equal to or higher than the notification level RP_ref in step S402. When a negative determination is made in step S403 and the single risk potential RP_n is equal to or higher than the notification level RP_ref, the process proceeds to step S404.

  In step S404, it is determined whether or not the flag flg_warn_n corresponding to the risk potential RP_n equal to or higher than the notification level RP_ref is set to FALSE. If an affirmative determination is made in step S404 and the wide range vibration has not yet been performed on the risk potential RP_n from the same direction, that is, if the risk potential RP_n becomes equal to or higher than the notification level RP_ref in the current cycle, the process proceeds to step S405. In step S405, as in step S103 of FIG. 3, all the vibrators 30a to 30e are vibrated for a predetermined time to perform wide-range vibration. In step S406, the flag flg_warn_n corresponding to the risk potential RP_n that is the target of the wide range vibration is set to TRUE. If a negative determination is made in step S404, the process proceeds to step S408.

  On the other hand, when it is determined in step S403 that the plurality of risk potentials RP_n are equal to or higher than the notification level RP_ref, the process proceeds to step S410. In step S410, it is determined whether or not a new risk potential RP_n to be notified to the driver has occurred. Here, when the risk potential RP_n that was lower than the notification level RP_ref becomes equal to or higher than the notification level RP_ref in the current cycle, or when the largest risk potential RP_n is replaced among the plurality of risk potentials RP_n that are higher than the notification level RP_ref Then, it is determined that a new risk potential RP_n to be notified has occurred. Therefore, when a new risk potential RP_n to be notified has occurred, the process proceeds to step S405, and a wide range vibration is performed for the new risk potential RP_n. If a negative determination is made in step S410, the process proceeds to step S408.

  In step S407, a predetermined part vibration is performed on the target risk potential RP_n of the wide-range vibration performed in step S405. That is, when wide-range vibration is performed for a single risk potential RP_n that is equal to or higher than the notification level RP_ref, predetermined part vibration is performed for the risk potential RP_n. Further, when a new risk potential RP_n to be notified is generated and a wide range vibration is performed, a predetermined site vibration is performed for the new risk potential RP_n.

  In step S408, a predetermined part vibration is performed for the largest risk potential RP_n among the risk potentials RP_n of the notification level RP_ref or higher. Here, when only the single risk potential RP_n is equal to or higher than the notification level RP_ref, the predetermined part vibration for the risk potential RP_n is continuously performed. When a plurality of risk potentials RP_n are equal to or higher than the notification level RP_ref, the largest risk potential RP_n is selected from all the risk potentials RP_n equal to or higher than the notification level RP_ref, and predetermined site vibration is performed with respect to the maximum risk potential RP_n. When the new risk potential RP_n is the largest, the predetermined part vibration for the new risk potential RP_n is continuously performed. Thus, the current process is terminated.

Thus, in the fourth embodiment described above, the following operational effects can be obtained in addition to the effects of the first to third embodiments described above.
(1) When there are a plurality of risk potentials RP_n above the notification level RP_ref, wide range vibrations and predetermined site vibrations are performed for the largest risk potential RP_n, so that necessary information can be obtained without bothering the driver. Can be provided to the driver.
(2) When a new risk potential RP_n to be reported occurs, perform a wide range vibration and a predetermined part vibration for the new risk potential RP_n, and then the largest risk among the risk potential RP_n above the notification level RP_ref A predetermined part vibration is performed for the potential RP_n. Thus, since the new risk potential RP_n to be notified is interrupted and notified to the driver, the new risk potential RP_n can be quickly notified to the driver. After notifying the new risk potential RP_n, the specified part vibration is performed for the maximum risk potential RP_n, so the driver can be sure of the direction of generation of the maximum risk potential RP_n while notifying the driver of multiple risk potentials RP_n. Can be informed.

The method for calculating the risk potential RP_n around the host vehicle is not limited to the method described in the first embodiment. Hereinafter, another method for calculating the risk potential RP_n will be described.
(A) Front obstacle contact risk Risk_front_a
The front obstacle contact risk Risk_front_a is calculated based on the deceleration Xgs_rcf necessary for the host vehicle to stop at the distance D_obs from the host vehicle to the front stop. The required deceleration Xgs_rcf can be calculated from the following (Expression 7) using the vehicle speed V and the distance D_obs to the stopped object.
^{Xgs_rcf = V 2/2 × D_obs} ··· ( Equation 7)
The controller 40 calculates the front obstacle contact risk Risk_front_a according to the required deceleration Xgs_rcf according to the map shown in FIG.

Further, the front obstacle contact risk Risk_front_a can be calculated based on the deceleration Xgs_rcf necessary for the host vehicle to stop before the predetermined distance D_ofs of the stop. The necessary deceleration Xgs_rcf in this case can be calculated from (Equation 8) below.
^{Xgs_rcf = V 2/2 × (} D_obs-D_ofs) ··· ( Equation 8)
Also in this case, the front obstacle contact risk Risk_front_a corresponding to the required deceleration Xgs_rcf is calculated according to the map shown in FIG.

(B) Follow-up approach risk Risk_front_b
The follow-up approach risk Risk_front_b is calculated based on the deceleration Xgs_pre necessary to prevent contact between the host vehicle and the preceding vehicle. The required deceleration Xgs_pre can be calculated from the following (Equation 9) using the host vehicle speed V, the preceding vehicle speed V_pre, and the inter-vehicle distance D_pre to the preceding vehicle.
Xgs_pre = (V ² −V_pre ² ) / 2 × D_pre (Equation 9)
The controller 40 calculates the following approach risk Risk_front_b according to the required deceleration Xgs_pre according to the map shown in FIG.

The following approach risk Risk_front_b can also be calculated based on the deceleration Xgs_pre necessary for the host vehicle to stop before the predetermined distance D_ofs of the preceding vehicle. The necessary deceleration Xgs_pre in this case can be calculated from the following (Equation 10).
^{Xgs_pre = V 2/2 × (} D_pre-D_ofs) ··· ( Equation 10)
Also in this case, the follow approach risk Risk_front_b corresponding to the required deceleration Xgs_pre is calculated according to the map shown in FIG. It should be noted that the larger value can be selected as the following approach risk Risk_front_b from the risk based on the inter-vehicle time THW_pre between the host vehicle and the preceding vehicle and the risk based on the required deceleration Xgs_rcf.

(C) Left front risk potential Risk_fl
The left front risk potential Risk_fl is calculated based on the deceleration Xgs_rcf necessary for the host vehicle to stop at the distance D_obs from the host vehicle to the left front stop. The necessary deceleration Xgs_rcf can be calculated from (Equation 7) described above.
Further, the left front risk potential Risk_fl can be calculated based on the deceleration Xgs_rcf necessary for the host vehicle to stop before the predetermined distance D_ofs of the stopped object. The necessary deceleration Xgs_rcf in this case can be calculated from (Equation 8) described above.
The controller 40 calculates the left front risk potential Risk_fl corresponding to the required deceleration Xgs_rcf according to the map shown in FIG.

(D) Right risk potential Risk_right, left risk potential Risk_left
The time until the vehicle completely crosses the white line existing on the right side or the left side is predicted, and the right risk potential Risk_right or the left risk potential Risk_left is calculated based on the predicted time. Here, the time until the host vehicle completely exceeds the white line is calculated based on the change in the distance D_lane1 from the white line.

  In the first to fourth embodiments described above, a plurality of vibrators are attached at positions as shown in FIG. 2, FIG. 14 or FIG. 15, but the attachment positions of the vibrators are not limited to these. Absent. If it is possible to accurately notify the driver of the direction in which the risk potential RP_n around the host vehicle is generated, it is possible to change the mounting position of the vibrating body.

  In the above-described first to fourth embodiments, the risk potential RP_n is calculated according to the maps shown in FIGS. However, the map is not limited to these maps as long as the risk potential RP_n can be appropriately set based on the margin time TTC, the inter-vehicle time THW, or the necessary deceleration Xgs.

  In the first to fourth embodiments described above, the radar apparatus 10, the cameras 21 to 24, and the wheel speed sensors 51FR to 51FL are used as the traveling state detection means, the risk potential calculation means, and the controller as the vibration control means. 40 was used. Moreover, the plurality of vibrating bodies 30a to 30e, 130a to 130h, and 230a to 230l were used as the plurality of vibrating bodies and the wide range vibrating body. However, the present invention is not limited thereto, and for example, a mechanism that vibrates the entire driver seats 30, 130, and 230 as a wide range vibrating body may be provided. Of course, another type of radar apparatus such as a millimeter wave radar can be used as the radar apparatus 10 instead of the laser radar.

The block diagram of the vehicle carrying the driver's seat by the 1st Embodiment of this invention. The figure which shows the vibrating body attached to a driver's seat. The flowchart which shows the process sequence of the vibration control program in 1st Embodiment. The figure which shows the relationship between margin time and risk potential. The figure which shows the relationship between the time between vehicles, and risk potential. The figure which shows the relationship between required deceleration and risk potential. The figure explaining the calculation method of a right front risk potential. The figure which shows the relationship between a protrusion distance and a correction coefficient. The figure explaining the calculation method of the left front risk potential. The figure which shows the relationship between interference distance and a correction coefficient. The figure which shows the relationship between the distance to a white line, and risk potential. The figure explaining the calculation method of a right back risk potential. (A)-(c) The figure showing the vibrating body which vibrates corresponding to each risk potential. The figure which shows the vibrating body attached to a driver's seat. The figure which shows the vibrating body attached to a driver's seat. The figure showing the vibrating body which vibrates corresponding to each risk potential. The flowchart which shows the process sequence of the vibration control program in 2nd Embodiment. The figure which shows the relationship between a risk potential and the amplitude and frequency of a vibration. The figure which shows the relationship between the change of risk potential, and the generation | occurrence | production time of a wide range vibration. The figure which shows the relationship between risk potential and the generation | occurrence | production time of a wide range vibration. The figure which shows the relationship between a risk potential and the amplitude and frequency of a predetermined part vibration. The flowchart which shows the process sequence of the vibration control program in 3rd Embodiment. The flowchart which shows the process sequence of the vibration control program in 4th Embodiment.

Explanation of symbols

10: Radar devices 21-24: Cameras 30, 130, 230: Driver's seat 40: Controllers 51FR-51RL: Wheel speed sensor 60: Steering wheel

Claims (14)

Traveling state detection means for detecting the vehicle state and traveling environment of the host vehicle;
Risk potential calculation means for calculating at least one risk potential around the host vehicle based on a detection result by the traveling state detection means;
A plurality of vibrators built in the driver's seat and each vibrating a predetermined portion of the driver's seat;
A wide range vibrating body that vibrates an area including the plurality of vibrating bodies in the driver seat;
In order to notify the risk potential when the risk potential calculated by the risk potential calculation means is equal to or higher than a predetermined notification level, it corresponds to the generation direction of the risk potential among the plurality of vibrators. A risk notification device comprising: a predetermined part vibration that vibrates at least one vibration body; and a vibration control unit that performs a wide-range vibration that vibrates the wide-range vibration body. The risk notification device according to claim 1,
The vibration control means vibrates the at least one vibrating body corresponding to the generation direction of the risk potential after vibrating the wide range vibrating body when the risk potential is equal to or higher than the notification level. A characteristic risk notification device. The risk notification device according to claim 1,
The vibration control means vibrates the wide-range vibrating body when the risk potential is equal to or higher than the notification level, and then the plurality of vibrations corresponding to the direction in which the risk potential is generated as the predetermined part vibration. A risk notification device characterized by vibrating a body in a predetermined order. In the risk notification device according to any one of claims 1 to 3,
The said vibration control means changes at least any one of the vibration generation time of the said wide range vibration, an amplitude, and a frequency according to the change speed of the said risk potential, The risk alerting | reporting apparatus characterized by the above-mentioned. In the risk notification device according to any one of claims 1 to 4,
When the risk potential newly calculated by the risk potential calculation means is equal to or greater than a predetermined value greater than the notification level, the vibration control means generates the risk potential by omitting the wide-range vibration by the wide-range vibration body. A risk notifying device, wherein the at least one vibrating body corresponding to a direction is vibrated. In the risk notification device according to any one of claims 1 to 5,
The said vibration control means changes at least any one of the amplitude of the said predetermined part vibration, a frequency, and a period according to the magnitude | size of the said risk potential, The risk alerting | reporting apparatus characterized by the above-mentioned. In the risk notification device according to claim 1 or 2,
The said vibration control means provides the interruption period which interrupts the vibration of the said vibrating body in the said predetermined part vibration, The risk notification apparatus characterized by changing the said interruption period according to the magnitude | size of the said risk potential. The risk notification device according to claim 3,
The said vibration control means changes the vibration generation time of each vibration body according to the magnitude | size of the said risk potential, when vibrating these vibration bodies in the said predetermined order, The risk alerting | reporting apparatus characterized by the above-mentioned. In the risk notification device according to claim 1 or 2,
The vibration control means performs the wide range vibration and the predetermined part vibration for the risk potential equal to or higher than the notification level, and then the risk potential generated from the same direction within a predetermined time becomes equal to or higher than the notification level. In this case, the risk notification device is characterized in that the predetermined part vibration is performed while omitting the wide range vibration. In the risk notification device according to any one of claims 1 to 9,
When the plurality of risk potentials calculated by the risk potential calculation unit are equal to or higher than the notification level, the vibration control unit performs the wide range vibration and the predetermined part vibration for the largest risk potential. Risk notification device. The risk notification device according to claim 1,
When a new risk potential to be notified occurs, the vibration control means performs the wide range vibration and the predetermined part vibration for the new risk potential, and then the risk potential equal to or higher than the notification level. A risk notification device that performs the predetermined part vibration for the largest risk potential from the inside. The risk notification device according to any one of claims 1 to 11,
The plurality of vibrators are respectively incorporated in a backrest portion and a cushion portion of the driver seat,
The risk notification device according to claim 1, wherein the wide-range vibration body performs the wide-range vibration by simultaneously vibrating the plurality of vibration bodies.   A vehicle comprising the risk notification device according to any one of claims 1 to 12. A driver's seat comprising the plurality of vibrating bodies and the wide-range vibrating body controlled by the vibration control unit of the risk notification device according to any one of claims 1 to 12.

Images