JP2010009607A - Obstacle alarm device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide obstacle information useful for a driver to drive his or her vehicle safely for an object that moves across the road ahead in an appropriate fashion according to the situation. <P>SOLUTION: The present invention has an electronic control unit 10 for detecting a direction of movement of an obstacle present ahead of the driver's vehicle that is detected by a laser radar 11, and displaying the obstacle that is determined as likely to move across the road ahead in the direction of the movement of the driver's vehicle from the detection result, on a display 13 visually. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention belongs to the technical field of a system for assisting a driver to drive a vehicle safely, and in particular, assists the driver in safe driving by providing the driver with information on obstacles crossing the front of the vehicle. It belongs to the technical field of obstacle alarm devices.

  The driver of the vehicle recognizes the surrounding situation mainly visually from the position of the driver's seat through the windshield, the left and right door windows, or through the rear view mirror and the left and right door mirrors, thereby judging the driving course of the vehicle. And speed control, etc., to maintain an appropriate inter-vehicle distance between the front and rear vehicles, smoothly change lanes or merge on highways, or pass through intersections with pedestrian crossings, turn right, turn left, etc. Therefore, in order for the driver to drive the vehicle safely, it is important to know the state of obstacles such as other traveling vehicles and pedestrians around the vehicle. In addition to the information recognized visually, there is known a driving support system configured to detect such an obstacle existing around the vehicle by a device and notify the driver.

  As this type of driving support system, for example, in Patent Document 1, obstacles around the vehicle are detected by a plurality of ultrasonic sensors provided on the side of the vehicle body, thereby making contact with obstacles in garage storage or parallel parking, etc. A technique for trying to avoid this is disclosed.

JP 7-63846 A

  By the way, conventionally, this type of driving support system detects an obstacle around the vehicle, but generally, as disclosed in the above publication, the vehicle running in the same direction around the own vehicle. It is intended for stationary objects in close proximity, and tries to avoid contact with subsequent vehicles when changing lanes, rubbing when entering the garage, etc. Are detected in the traveling direction of the own vehicle, or whether there is an obstacle near the own vehicle.

  However, some obstacles around the vehicle move along the traveling direction of the host vehicle, and not only stationary objects but also move across the traveling direction of the vehicle, such as a crossing pedestrian. At present, there is no proposal for a technique that accurately grasps the existence of such a moving object that moves in the horizontal direction and informs the driver in a clear manner. Of course, it is possible to detect obstacles in front of the vehicle by detecting obstacles around the vehicle, but movement that crosses the traveling direction of the vehicle, which is unique to crossing pedestrians, etc. There is no suggestion of a technique that specifically makes a judgment as to whether or not to make a decision.

  Accordingly, an object of the present invention is to provide an obstacle alarm device for accurately detecting the movement of a crossing pedestrian or the like that crosses the front of the vehicle and prompting the driver to perform an appropriate driving operation.

  In order to solve the above problems, the present invention uses the following means.

  First, the invention according to claim 1 of the present application (hereinafter referred to as “first invention”) is an obstacle alarm device for a vehicle that supports safe driving of a driver, and exists in front of the vehicle. Obstacle detection means for detecting the obstacle, movement direction detection means for detecting the movement direction of the obstacle detected by the obstacle detection means, and information on the movement direction of the obstacle detected by the movement direction detection means Movement information providing means for providing information to the driver, and the movement information providing means has a display unit for providing information through vision, and based on the moving direction of the obstacle detected by the moving direction detecting means. The obstacle determined to move across the front in the traveling direction of the vehicle is displayed on the display unit.

  The invention according to claim 2 (hereinafter referred to as “second invention”) is an obstacle alarm device for a vehicle that supports safe driving of a driver, and detects an obstacle present in front of the vehicle. Detection means, movement direction detection means for detecting the movement direction of the obstacle detected by the obstacle detection means, and movement information for providing the driver with information on the movement direction of the obstacle detected by the movement direction detection means Providing means, and the movement information providing means has a display unit for providing information through vision, and displays the front of the traveling direction of the host vehicle based on the moving direction of the obstacle detected by the moving direction detecting means. The obstacle determined to move across is displayed on the display unit using an image, and the display unit displays the image larger as the obstacle approaches the vehicle.

According to a third aspect of the invention (hereinafter referred to as “third invention”), in the first invention or the second invention, the movement information providing means is configured to determine a lateral movement speed based on the obstacle detection means. The vertical movement speed is calculated, and an obstacle having a value smaller than a large value of the vertical movement speed is determined as an obstacle that moves across the front in the traveling direction of the vehicle.

  According to a fourth aspect of the present invention (hereinafter referred to as "fourth invention"), in the second invention, the display unit of the movement information providing means approaches the road on which the host vehicle is traveling to the host vehicle. The display is characterized in that the longer part is displayed on the lower side of the display unit such that the length in the width direction becomes longer in the horizontal direction.

According to a fifth aspect of the present invention (hereinafter referred to as “fifth invention”), in the second invention, the movement information providing means displays information on the obstacle in the display section as information on the movement direction of the obstacle. A horizontal movement image showing the horizontal movement direction is displayed.

  Furthermore, in the invention described in claim 6 (hereinafter referred to as “sixth invention”), in the third invention, the movement information providing means has an obstacle of a value smaller than a large value in the vertical movement speed on the display unit. A lateral movement image showing the lateral movement direction of the obstacle is displayed only for the object.

  The invention according to claim 7 (hereinafter referred to as “seventh invention”) calculates the lateral movement speed of the obstacle moving across the front in the traveling direction of the host vehicle in the first invention. A lateral movement speed calculation means is provided, and the movement speed of the obstacle is displayed using a lateral movement image.

By using the above-mentioned means, each invention of the present application operates as follows.

  First, according to the first invention, an obstacle existing in front of the vehicle is detected by the obstacle detecting means, the moving direction of the obstacle is detected by the moving direction detecting means, and information on the moving direction of the obstacle is detected. Is provided to the driver by means of providing movement information. In this case, the movement information providing means determines that the obstacle is an obstacle moving across the front in the traveling direction of the own vehicle based on the movement direction of the obstacle detected by the movement direction detecting means. Since the obstacle is displayed on the display unit that provides information visually, it is possible to make the driver accurately recognize the obstacle moving across the front in the traveling direction of the vehicle.

Next, according to the second invention, as in the first invention, an obstacle present in front of the vehicle is detected by the obstacle detecting means, and the moving direction of the obstacle is detected by the moving direction detecting means. Then, information on the moving direction of the obstacle is provided to the driver by the movement information providing means. In this case, the movement information providing means determines that the obstacle is an obstacle moving across the front in the traveling direction of the own vehicle based on the movement direction of the obstacle detected by the movement direction detecting means. Obstacles are displayed using an image on a display unit that provides information through vision, and the image is displayed larger as the obstacle is closer to the vehicle, so the obstacle moves across the front. Can be recognized by the driver with a higher degree of recognition through vision.

  According to the third invention, in the first and second inventions, the movement information providing means determines an obstacle moving across the front in the traveling direction of the own vehicle based on the vertical movement speed. It is possible to appropriately determine an obstacle that moves across the front in the traveling direction.

  According to the fourth invention, in the second invention, the length in the width direction of the road on which the host vehicle is traveling approaches the host vehicle on the lower side of the display unit. Since the displayed portion is displayed to be longer in the horizontal direction, it becomes easier to recognize the position and movement of the obstacle moving across the front in the traveling direction of the host vehicle.

  Further, according to the fifth invention, in the second invention, information on the lateral movement direction of the obstacle moving across the front in the traveling direction of the host vehicle is displayed on the display unit by an image such as an arrow. The cognition of the lateral movement direction is improved.

  Furthermore, according to the sixth aspect, in the third aspect, only the obstacle determined to move across the front in the traveling direction of the own vehicle based on the vertical movement speed indicates the lateral movement direction of the obstacle. Since an image such as an arrow is displayed, the display complexity can be suppressed, and the recognition of an obstacle moving across the front in the traveling direction of the host vehicle can be improved.

According to the seventh invention, in the first invention, the lateral movement speed of the obstacle moving across the front in the traveling direction of the host vehicle is displayed by the lateral movement image image. The lateral movement can be accurately recognized.

It is a control system figure of the obstacle alarm device of vehicles concerning an embodiment of the invention. It is explanatory drawing which shows the traffic condition in which the obstacle alarm device functions. It is explanatory drawing of the image processing of the laser radar in the traffic condition. It is a main flow figure showing an example of the concrete control operation which the electronic control unit of the obstacle alarm device performs. It is a flowchart of the object data calculation processing operation | movement of the main flow. It is a flowchart of the margin determination processing operation | movement of the main flow. It is a characteristic view used by the same margin determination processing operation. It is a characteristic view used by the same margin determination processing operation. It is a characteristic view used by the same margin determination processing operation. It is a characteristic view used by the same margin determination processing operation. It is a flowchart of the display processing operation | movement of the main flow. It is explanatory drawing which shows an example of the drawing displayed on a display as a result of the display processing operation. It is a flowchart of the alarm sound processing operation of the main flow. It is a flowchart of the alerting | reporting process operation | movement with respect to the target object of the main flow. It is a main flowchart which shows only the characteristic part of another example of the concrete control operation | movement which the electronic control unit of the obstacle alarm device performs. It is a flowchart which shows only the characteristic part of the margin determination processing operation | movement of the main flow. It is a characteristic view used by the same margin determination processing operation. It is a flowchart of the automatic braking process operation | movement of the main flow. It is explanatory drawing which shows another example of a display display. It is explanatory drawing which shows another example of a display display. It is explanatory drawing which shows another example of a display display. It is explanatory drawing which shows another example of a display display.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the vehicle according to the present embodiment is provided with a scanning laser radar 11 at the front end of the vehicle body, and receives a detection signal from the laser radar 11 and exists in front of the vehicle. Calculate the object data such as the distance, direction or position of the obstacle to the vehicle (the vehicle concerned), moving speed, moving direction, etc. An electronic control unit (ECU) 10 is provided that performs extraction or identification and determination of a margin between the object and the vehicle based on the vehicle speed detected by the vehicle speed sensor 12.

  The electronic control unit 10 uses a head-up display 13 that is also used as a navigation system composed of, for example, a liquid crystal screen or the like disposed in front of the driver's seat as information for providing object data related to the object to the driver. In addition, a warning sound is emitted from the speakers 14a and 14b arranged on the front left and right in the cabin to the driver according to the margin, and the object is further displayed. The presence of the own vehicle is also notified to the object or the following vehicle by using a notification means such as the horn 15, the headlights 16, 16, or the hazard lamps 17. .

Here, as shown in FIG. 2, the laser radar 11 directs the radar wave H toward the front of the vehicle A, the entire scan area is 46 °, the vertical visual field is 2 °, and the horizontal instantaneous visual field is 0. Scanning, transmitting, and detecting reflected waves under a setting condition such as 06 °, for example, as shown in the figure, traverses the parked vehicle B on the right front side of the traveling direction of the own vehicle A or just behind it. As shown in FIG. 3, each object such as a pedestrian C is regarded as a group of many reflected waves in the image processing of the electronic control unit 10, and the group of reflected waves is recognized as each individual object. Detected.

Next, an example of a specific control operation performed by the electronic control unit 10 will be described according to the main flow shown in FIG.

That is, first, the imaging data acquired from the laser radar 11 in step S1 is subjected to image processing and individual objects are detected, and then each object is a vehicle or a person that can be an obstacle, or a reflector along a road. An object identification process such as a guardrail or street light is performed (step S2). In this embodiment, fixed stationary objects along the road are excluded, and only movable traffic objects such as vehicles and people are identified as obstacles. Note that such an object identification processing method is generally known.

In step S3, the object data of each identified obstacle is calculated. This object data calculation processing is performed according to the flow shown in FIG. 5, and first, the object number n is set to 1 in step S31. That is, the object identified as an obstacle in step S2 is numbered according to a predetermined rule, and the first object is designated. Then, in each of the objects identified as obstacles in the following steps S32 to S37, the distance in the vertical direction (the distance between the vehicle and the object in the traveling direction of the vehicle) Dy, the distance in the horizontal direction, respectively. (Distance between own vehicle and object in direction perpendicular to own vehicle traveling direction) Dx, vertical speed (moving speed in own vehicle traveling direction obtained by time differentiation of longitudinal distance Dy) Vy, lateral speed (moving speed in a direction perpendicular to the traveling direction of the vehicle obtained by time differentiation of the lateral distance Dx) Vx is calculated.

Such a method for calculating object data is also generally known. For example, as shown in FIG. 3, each of the obstacles n1, n2,. , X-Y coordinates (Xn1, Yn1), (Xn2, Yn2),. Here, in FIG. 3, the crossing pedestrian C is set to object number 1 (n1), and the parked vehicle B is set to object number 2 (n2). In this case, since the parked vehicle B (n2) is stopped, the vertical and horizontal velocities Vy and Vx are 0, while the pedestrian C (n1) is substantially perpendicular to the traveling direction of the own vehicle. Assuming that the vehicle crosses from the right side to the left as indicated by an arrow a, only the lateral movement speed Vx is obtained, and the vertical movement speed Vy becomes a small value. Further, the lateral movement direction is obtained from the lateral movement speed Vx (change in the value of the X coordinate).

In step S4, based on the object data, an object that should be most noticed in driving is extracted when the vehicle travels in the future. In this embodiment, an obstacle in which only the lateral movement speed Vx is calculated to a significant value and the longitudinal movement speed Vy is calculated to a small value, that is, an obstacle that moves across the front in the traveling direction of the own vehicle. In particular, the object is specified as an object, in particular, the one having a lateral movement speed Vx of about 0.6 to 1.0 m / sec, that is, the one having a lateral movement speed Vx close to the average walking speed, Among them, the object having the smallest distance Dy in the vertical direction, that is, the object closest to the front in the traveling direction of the own vehicle is specified as the object. 2 and 3, the crossing pedestrian C behind the parked vehicle B is extracted and specified as an object.

In step S5, a margin between the object and the own vehicle is determined. This margin determination process is performed according to the flow shown in FIG. 6. First, in step S51, the distance I to the object, that is, the vertical distance Dy or (Dy ² + Dx ² ) ^1/2 , the vehicle and the object are determined. The relative speed S and the own vehicle speed V are input. Here, the relative speed S is also generally obtained by a well-known method. However, as in the above example, the crossing pedestrian crosses substantially perpendicularly to the traveling direction of the own vehicle, and the vertical movement speed Vy is substantially equal. If it is 0, the relative speed S is substantially equal to the host vehicle speed V.

Next, in step S52, the primary alarm distance L1 and the secondary alarm distance L2 are set. Here, in the memory of the electronic control unit 10, as shown in FIGS. 7 to 10, the primary alarm distance L1 and the secondary alarm using the own vehicle speed V, the relative speed S, the road surface friction coefficient, and the time zone as parameters, respectively. The characteristics of the distance L2 are stored, and the alarm distances L1 and L2 are determined by fitting the measured values, calculated values, or travel time zones of the respective parameters to the characteristics.

In that case, both the primary warning distance L1 and the secondary warning distance L2 become longer as the vehicle speed V becomes larger, become longer as the relative speed S becomes larger, become longer as the road surface friction coefficient becomes smaller, and become longer at daytime than at daytime. Is set as follows. In any case, the primary alarm distance L1 is set to a value larger than the secondary alarm distance L2, and in any case, both the primary alarm distance L1 and the secondary alarm distance L2 It is set to be longer than the braking distance under the combination.

Note that the traveling time zone, that is, whether it is nighttime or daytime, can be determined by, for example, whether the headlight is turned on. Further, the magnitude of the road surface friction coefficient is determined by, for example, whether or not the wiper is ON. In this case, the characteristics of the alarm distances L1 and L2 having the road surface friction coefficient as a parameter are large when the wiper is ON and OFF. At this time, it may be set so as to be small and change in two stages (as in the characteristics according to the time zone in FIG. 10). Further, the alarm distances L1 and L2 may be set to increase in multiple stages as the wiper operating speed increases.

Next, in step S53, it is determined whether or not the distance I to the object is shorter than the primary warning distance L1. That is, it is determined whether or not the object is within the primary warning distance L1 of the own vehicle. If YES, the primary alarm flag F1 is set to 1 in step S54, and if NO, it is reset to 0 in step S55.

When the primary warning flag F1 is set to 1, it is then determined in step S56 whether or not the distance I to the object is shorter than the secondary warning distance L2. That is, it is determined whether or not the object is within the secondary alarm distance L2 shorter than the primary alarm distance L1. If YES, the secondary alarm flag F2 is set to 1 in step S57, and if NO, it is reset to 0 in step S58.

As a result, the warning flags F1 and F2 are increased even when the object is further away from the vehicle at night compared to daytime as the vehicle speed V increases, the relative speed S increases, the road surface friction coefficient decreases. Is easily set to 1, so that the alarm state is entered early.

Then, in the following steps S6, S7, and S8, the above results are integrated, and the driver is provided with information on the object using the display 13, and an alarm sound is generated using the speakers 14a and 14b. The approach of the own vehicle is notified to the object using the notification means such as the horn 15 for the object.

First, the display process in step S6 is performed according to the flow shown in FIG. 11. First, in step S61, it is checked whether or not the primary alarm flag F1 is 1. If YES, the process proceeds to step S62, where the drawing parameters are set. Set based on the object data of the object. As shown in FIG. 12, the drawing parameters are set in the vertical and horizontal sizes Wgy and Wgx of the humanoid object image during drawing displayed on the display 13 as well as the vertical and horizontal directions of the center Og of the object image with respect to the display screen center O. Position Yg, Xg and the length Lg of the arrow at the center of the screen representing the horizontal movement direction of the object. In this case, the vertical and horizontal sizes Wgy, Wgx of the object image are determined in the vertical direction of the target object. Is changed according to the distance Dy, the vertical position Yg of the object image is changed according to the vertical distance Dy of the object, and the horizontal position Xg of the object image is changed according to the horizontal distance Dx of the object, The length Lg of the arrow is changed according to the lateral movement speed Vx of the object.

Therefore, the closer the object is to the vehicle, the larger the object image being drawn, and the object image being drawn changes its position and moves in the moving direction as the object moves. Furthermore, a longer arrow is displayed as the lateral movement speed of the object is faster.

As a result, when a crossing pedestrian or the like moving in the direction crossing the traveling direction in front of the vehicle is within the primary warning distance L1, the drawing as described above is displayed on the display 13, and thus the driver can Information indicating that there is a crossing pedestrian or the like is provided, and the driver can accurately recognize the presence of the crossing pedestrian or the like through vision.

In this case, the driver is not only provided with information that there is a crossing pedestrian or the like that moves across the path of the vehicle. The movement of a humanoid object image on the screen, such as whether the vehicle is moving laterally from right to left or moving from left to right in the direction of travel In addition, since it is provided to the driver through the direction of the arrow that is displayed together, the safe driving operation of the driver is appropriately supported, including how the laterally moving obstacle moves.

In addition, the distance between the actual object and the own vehicle and the position of the actual object with respect to the own vehicle are represented on the screen by the size and position of the humanoid object image, respectively. In addition, since the actual lateral movement speed of the object is represented on the screen by the length of the arrow indicating the lateral movement direction, the driver can move the vehicle in addition to the lateral movement direction of the lateral movement obstacle. You can also know the type of information such as how close you are to the obstacle, where the obstacle is in the direction of the vehicle, and how fast the obstacle is moving laterally. The driver's safe driving operation will be accurately supported.

Next, in step S63, it is checked whether or not the secondary alarm flag F2 is 1. If NO, the process proceeds to step S64, and the drawing pattern displayed on the display 13 is set as the primary alarm drawing pattern. Proceed to step S65 to set a secondary alarm drawing pattern.

In this case, the secondary alarm drawing pattern is set to the color that draws the most attention, such as the object image being drawn, the arrow, etc., or the display color between them and the background is reversed or repeated. In other words, the object image, the arrow, etc. and the background are blinked, and these are displayed alone or in combination. On the other hand, the primary alarm drawing pattern is a normal display that does not employ such a display method, and as a result, the secondary alarm when the obstacle is closer to the vehicle is compared with the primary alarm. The display will be conspicuous and the driver's attention will be drawn more strongly.

If the laterally moving obstacle is still far from the primary alarm distance L1 and the primary alarm flag F1 is 0 in step S61, the process returns as it is, so that the drawing as described above is displayed on the display 13. Therefore, for example, other navigation information, operation information of an air conditioner, a stereo, and the like are displayed on the display 13 as they are.

FIG. 12 illustrates the drawing when the crossing pedestrian moves from the right side to the left direction. For example, when the crossing pedestrian moves from the left side to the right direction, the humanoid object image is displayed. The direction and the direction of the arrow are displayed so that the right direction is reversed.

Next, the alarm sound processing in step S7 is performed according to the flow shown in FIG. 13. First, in step S71, it is checked whether or not the primary alarm flag F1 is 1. If YES, the process proceeds to step S72 and further secondary. Check whether the alarm flag F2 is 1 or not. If the secondary alarm flag F2 is 1, the volume of the alarm sound emitted from the front speakers 14a, 14b in the cabin is increased in step S73, and if the secondary alarm flag F2 is 0, the volume is decreased in step S74. .

Next, in step S75, the position of the object with respect to the host vehicle is determined. When the object is on the left side in the traveling direction of the host vehicle, only the left speaker 14a is on the right side in step S76. In step S77, the entire volume of the volume set in step S73 or S74 is output from only the right speaker 14b. On the other hand, if the object is substantially in the center of the traveling direction of the vehicle, both the left and right volumes are output in step S78. The speakers 14a and 14b output a volume that is half the volume set in step S73 or S74.

As a result, when a crossing pedestrian or the like moving in a direction crossing the traveling direction in front of the vehicle is within the primary warning distance L1, a warning sound is emitted from the front speakers 14a and 14b, thereby Information indicating that there is a crossing pedestrian or the like is provided, and the driver can accurately recognize the presence of the crossing pedestrian or the like through hearing.

And in that case, not only the information that there is a crossing pedestrian etc. that moves in a way that crosses the traveling path of the vehicle is provided to the driver, but also the direction or moving direction, In other words, information such as whether the vehicle is moving in the direction of travel, whether it is laterally moving from right to left, or laterally moving from left to right, Since the front speakers 14a and 14b are provided to the driver properly, safe driving operation of the driver is appropriately supported including the movement of such a laterally moving obstacle. Furthermore, since the volume of the alarm sound is stronger at the time of the secondary warning when the laterally moving obstacle is closer to the host vehicle than at the time of the primary alarm, the driver is advised when the laterally moving obstacle approaches the own vehicle. Will be more strongly alerted.

Next, the notification process for the object in step S8 is performed according to the flow shown in FIG. 14, and when the secondary alarm flag F2 is 1 in step S81, the notification means is activated in step S82. That is, as described above, the horn 15 is activated to intermittently emit horn sound, the headlights 16 and 16 are passed, and the hazard lamps 17... 17 are lit alone or in combination. is there. As a result, when the horizontally moving obstacle approaches the vehicle within the secondary warning distance L2, not only is the obstacle information for driving assistance provided to the driver, but also the horizontally moving obstacle that is the object. Therefore, the approach of the host vehicle is informed, and appropriate preventive measures for avoiding contact with both the driver and the obstacle are promoted. Further, by turning on the hazard lamps 17... 17, attention to the following vehicle is urged simultaneously with the notification to the object.

Next, another example of the specific control operation performed by the electronic control unit 10 will be described according to the main flow shown in FIG.

This control is performed when an automatic braking device is mounted on the vehicle, and the automatic braking process is additionally performed in step S9 following the notification process for the object in step S8.

In that case, in the margin determination process of step S5, as shown in FIG. 16, in place of the above-described step S52, step S52a is further replaced with 3 in addition to the primary alarm distance L1 and the secondary alarm distance L2. The next alarm distance L3 is set.

For example, FIG. 17 shows only the characteristic using the own vehicle speed V as a parameter, but the third warning distance L3 becomes longer as the own vehicle speed V becomes larger, like the first warning distance L1 and the second warning distance L2. The relative speed S increases as the relative speed S increases, the road friction coefficient decreases as the relative speed S decreases, and is set longer at night than at daytime. In any case, the tertiary alarm distance L3 is set to a value smaller than the secondary alarm distance L2, and in any case, the tertiary alarm distance L3 is also a combination of the above conditions. Is set to be longer than the braking distance at.

Further, in the margin determination process of step S5, as shown in FIG. 16, the distance I to the object is shorter than the tertiary alarm distance L3 in step S59a following the above-described steps S57 and S58. It is determined whether or not. That is, it is determined whether or not the object is within the tertiary alarm distance L3 that is shorter than the secondary alarm distance L2. If YES, the tertiary alarm flag F3 is set to 1 in step S59b, and if NO, it is reset to 0 in step S59c.

Then, the automatic braking process in step S9 is performed according to the flow shown in FIG. 18. When the tertiary alarm flag F3 is 1 in step S91, the automatic braking device (auto brake) is activated in step S92. As a result, when the laterally moving obstacle approaches the host vehicle within the third warning distance L3, the brake is automatically applied to avoid contact with the laterally moving obstacle.

The brake lamp is also turned on when the automatic braking device is activated, but the hazard lamps 17... 17 are turned on in the notification process in step S8 at the stage of the secondary alarm before the tertiary alarm. This means that attention is drawn to the following vehicle before the automatic braking is activated and the brake lamp is lit.

Next, another form of display display is illustrated.

FIG. 19 shows a person image standing in the center, and the lateral movement direction of the front obstacle represented by the image is displayed with an arrow, and the arrow blinks to make it stand out. And as the distance gets tight and the alarm level goes from primary to secondary and tertiary, the display color of the arrow is changed from blue to yellow, red, and the flashing speed is increased, giving a more tense feeling, Provide information to the driver according to the warning level. This figure illustrates the case where there is a forward obstacle that moves laterally from right to left in the direction of travel, but the direction of the arrow is reversed when there is a forward obstacle that laterally moves from left to right.

In FIG. 20, a plurality of segments S1 to S5 that can be turned on and off individually are arranged side by side so that the overall shape is a triangle, and the lateral movement direction of the front obstacle is determined by the direction of the tapered tip of the triangle. In addition to displaying, the segments S1 to S5 are sequentially lit in the moving direction so that the moving direction can be better understood. And as the distance gets tight and the alarm level goes from primary to secondary and tertiary, the lighting color is changed from blue to yellow and red, and the moving speed of lighting is increased, etc. Provide information to the driver according to the warning level. Further, the entire screen may be blinked, and the blinking speed may be increased as the alarm level increases. The figure illustrates a case where there is a front obstacle that laterally moves from right to left in the traveling direction, and the lighting movement direction of the segments S1 to S5 is also from right to left, but the front that laterally moves from left to right. When there is an obstacle, the direction of the triangle is reversed, and the lighting movement direction of the segment is also reversed. Note that the number of segments need not be limited to five as illustrated.

FIG. 21 is a diagram in which a person image showing the directionality to be moved is sequentially moved and displayed in the lateral movement direction of the front obstacle as indicated by a chain line in the figure. And as the distance gets tighter and the alarm level goes from primary to secondary and tertiary, the person image display color is changed from blue to yellow and red, and the movement speed of the person image is increased. Provide information to the driver in response to the warning level. Further, the entire screen may be blinked, and the blinking speed may be increased as the alarm level increases. This figure exemplifies a case where there is a front obstacle that moves laterally from left to right in the direction of travel, and a person image showing a directionality to move from left to right is moved from left to right. However, when there is a front obstacle that moves laterally from right to left, the person image showing the directionality to move from right to left is moved from right to left.

FIG. 22 displays the character display “CAUTION” alternately with the drawing shown in FIG. 12, FIG. 19, FIG. 20, or FIG. Then, as the distance gets tight and the alarm level changes from primary to secondary and tertiary, the word “caution” is changed to characters “danger”, “warning”, etc. Change the color of yellow and red to give the driver a sense of urgency and provide information to the driver according to the warning level. Further, the entire screen may be blinked, and the blinking speed may be increased as the alarm level increases.

It should be noted that a dedicated display is separately provided when the lateral movement direction of the laterally moving obstacle in front of the vehicle is right to left from the direction of travel of the vehicle, and a dedicated display is separately provided when the direction is left to right. It may be.

  As described above, according to the present invention, an obstacle moving across the front in the traveling direction of the host vehicle can be accurately recognized by the driver through vision, and the driver can be encouraged to perform an appropriate driving operation. Therefore, it may be suitably used in the automobile manufacturing industry.

10 Electronic Control Unit 11 Laser Radar 12 Vehicle Speed Sensor 13 Display 14a, 14b Speaker 15 Horn 16 Headlight 17 Hazard Lamp

Claims (7)

  An obstacle alarm device for a vehicle that supports a driver's safe driving, detecting an obstacle existing in front of the vehicle, and detecting a moving direction of the obstacle detected by the obstacle detector. A display unit for providing information through vision, comprising: a moving direction detecting unit; and a moving information providing unit that provides a driver with information on the moving direction of the obstacle detected by the moving direction detecting unit. And displaying on the display section an obstacle determined to move across the front in the traveling direction of the host vehicle based on the moving direction of the obstacle detected by the moving direction detecting means. Obstacle alarm device.   An obstacle alarm device for a vehicle that supports a driver's safe driving, detecting an obstacle existing in front of the vehicle, and detecting a moving direction of the obstacle detected by the obstacle detector. A display unit for providing information through vision, comprising: a moving direction detecting unit; and a moving information providing unit that provides a driver with information on the moving direction of the obstacle detected by the moving direction detecting unit. And displaying the obstacle on the display unit using an image based on the moving direction of the obstacle detected by the moving direction detecting means, and determining that the vehicle moves across the front in the traveling direction of the host vehicle. The vehicle obstacle alarm device according to claim 1, wherein the display unit displays the image larger as the obstacle approaches the host vehicle. 3. The vehicle obstacle alarm device according to claim 1 or 2, wherein the movement information providing means calculates a lateral movement speed and a vertical movement speed based on the obstacle detection means, and the vertical movement speed is high. An obstacle warning device for a vehicle, wherein an obstacle having a value smaller than the value is determined as an obstacle that moves across the front in the traveling direction of the host vehicle. 3. The obstacle warning device for a vehicle according to claim 2, wherein the display unit of the movement information providing means is arranged in a width direction on a lower side of the display unit as a part of the road on which the host vehicle is traveling is closer to the host vehicle. An obstacle alarm device for a vehicle, characterized in that the length of the vehicle is displayed in a horizontal direction. 3. The vehicle obstacle alarm device according to claim 2, wherein the movement information providing means displays a lateral movement image image indicating a lateral movement direction of the obstacle on the display unit as information relating to the movement direction of the obstacle. Vehicle obstacle warning device characterized by the above.   4. The obstacle warning device for a vehicle according to claim 3, wherein the movement information providing means is configured such that the movement information providing means has only the obstacle whose vertical movement speed is smaller than a large value on the display unit. An obstacle alarm device for a vehicle characterized by displaying a lateral movement image showing   The obstacle alarm device for a vehicle according to claim 1, further comprising a lateral movement speed calculating means for calculating a lateral movement speed of an obstacle moving across the front in the traveling direction of the own vehicle, and the movement of the obstacle An obstacle alarm device for a vehicle, characterized in that the speed is displayed using a lateral movement image.

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