JP2022090218A - Vehicle notification device - Google Patents

Abstract

To provide a vehicle notification device capable of notifying a crewman of another vehicle of a peripheral state of the vehicle.SOLUTION: A vehicle notification device includes: sensors for detecting a peripheral state of a host vehicle 1 including the vehicle notification device; an approach degree calculation section for calculating an approach degree between another vehicle 2A positioned behind the host vehicle 1 and the other different vehicle 2B which have been detected by the sensors; and an output section for outputting a notification signal to warn the crewman of the other vehicle 2A positioned behind when the approach degree calculated by the approach degree calculation section becomes equal to or more than a predetermined value.SELECTED DRAWING: Figure 1A

Description

The present invention relates to a vehicle notification device that notifies information obtained by a vehicle.

As a device of this type, conventionally, a device that detects the situation around the own vehicle with a sensor mounted on the own vehicle and notifies the occupants of the own vehicle of the situation such as the approach of another vehicle is known. (See, for example, Patent Document 1). In the device described in Patent Document 1, a predetermined situation such as an approach of another vehicle is notified by blinking a lamp provided on a side mirror or the like.

Japanese Patent Publication No. 2006-591427

However, unlike the device having a sensor for detecting the peripheral situation like the device described in Patent Document 1, the occupant of the vehicle not having the sensor for detecting the peripheral situation is notified of the peripheral situation of the vehicle. Is difficult.

The vehicle notification device according to one aspect of the present invention calculates the degree of approach between the detection unit that detects the surrounding situation of the own vehicle and the rear vehicle located behind the own vehicle and the obstacle detected by the detection unit. It includes an approach degree calculation unit and an output unit that outputs a notification signal to alert the occupants of the vehicle behind when the approach degree calculated by the approach degree calculation unit exceeds a predetermined value.

According to the present invention, it is possible to notify the occupants of other surrounding vehicles of the surrounding conditions of the vehicle.

The figure which shows an example of the driving scene to which the vehicle notification device which concerns on embodiment of this invention is applied. The figure which shows the other example of the driving scene to which the vehicle notification device which concerns on embodiment of this invention is applied. The figure which shows typically the structure of the rear part of the vehicle which has the vehicle notification device which concerns on embodiment of this invention. The block diagram which shows the main part structure of the vehicle notification device which concerns on embodiment of this invention. The flowchart which shows an example of the process executed by the controller of FIG.

Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1A to 4. The vehicle notification device according to the present embodiment is configured to notify the driver (occupant) of the rear vehicle (other vehicle) located behind the vehicle (own vehicle) that an obstacle is approaching. ..

1A and 1B are diagrams showing an example of a traveling scene to which the vehicle notification device according to the present embodiment is applied. FIG. 1A is an example in which the first lane LN1 (main lane) and the second lane LN2 (merging lane) intersect at the merging portion (merging point) AR and merge. In FIG. 1A, another vehicle 2 (2A) is traveling behind the own vehicle 1 traveling in the first lane LN1, and another vehicle 2 (2B) is further traveling in the second lane LN2. At this time, after the own vehicle 1 passes through the confluence point AR, the other vehicles 2A and 2B approach each other in the vicinity of the confluence point AR.

FIG. 1B is an example in which the first lane LN1 (driving lane) and the second lane LN2 (passing lane) extend adjacent to each other. In FIG. 1B, another vehicle 2 (2A) travels behind the own vehicle 1 traveling in the first lane LN1, and further separates the second lane LN2 behind the other vehicle 2A at a higher speed than the other vehicle 2A. Another vehicle 2 (2B) is running. At this time, the other vehicle 2B approaches the other vehicle 2A. In FIGS. 1A and 1B, the other vehicle 2B is an obstacle for the other vehicle 2A, and the other vehicle 2A is an obstacle for the other vehicle 2B. The other vehicle 2A may be referred to as a first vehicle, and the other vehicle 2B may be referred to as a second vehicle.

In FIG. 1A, the drivers of the other vehicles 2A and 2B may not notice each other's existence, and the other vehicles 2A and 2B may suddenly approach each other and may collide with each other in some cases. Also in FIG. 1B, the driver of the other vehicle 2A may not notice the existence of the other vehicle 2B, and the other vehicles 2A and 2B may suddenly approach each other and may collide with each other in some cases. In particular, when the other vehicles 2A and 2B do not have a sensor for detecting the surrounding situation, the possibility of collision increases. In such a situation, the present embodiment configures a vehicle notification device as follows so that the driver of the own vehicle 1 notifies the drivers of the other vehicles 2A and 2B of information that calls attention to the driving operation.

FIG. 2 is a diagram schematically showing a main configuration of the own vehicle 1 having the vehicle notification device according to the present embodiment. FIG. 2 shows the configuration of the rear part of the own vehicle 1. The own vehicle 1 is configured as, for example, an autonomous driving vehicle having an automatic driving function. The self-driving vehicle is a vehicle that detects the surrounding conditions of the own vehicle 1 and controls the movement, turning, braking, and the like of the own vehicle 1. Therefore, the own vehicle 1 has a plurality of sensors that detect the presence or absence of an obstacle around the own vehicle 1, the distance from the own vehicle 1 to the obstacle (for example, another vehicle 2), and the like. As shown in FIG. 2, a part of the plurality of sensors (sensor 10) is provided at the rear end portion of the own vehicle 1.

The plurality of sensors are a rider that measures the scattered light with respect to the omnidirectional irradiation light of the own vehicle 1 to measure the distance from the own vehicle 1 to surrounding obstacles, and the rider that irradiates electromagnetic waves to detect the reflected wave. A radar that detects other vehicles and obstacles around the vehicle 1, mounted on the own vehicle 1, and has an image sensor such as a CCD or CMOS to image the surroundings (front, rear, and sides) of the own vehicle 1. Includes cameras and more. The inter-vehicle distance from the own vehicle 1 to another vehicle can be measured by any of a rider, a radar, and an in-vehicle camera. In particular, the sensor 10 provided at the rear end of the own vehicle 1 determines the presence or absence of the other vehicle 2 (FIGS. 1A and 1B) traveling behind the own vehicle 1 and the distance from the own vehicle 1 to the other vehicle 2. Can be detected.

A transparent or translucent transmissive screen 12 is attached to the inner surface of the rear window 11 of the own vehicle 1. A projection device (projector) 14 that projects a predetermined image on the transmissive screen 12 is provided on the ceiling above the seat (for example, the rear seat) 13 of the own vehicle 1. The projection device 14 is arranged at a position where projection is not obstructed by an occupant seated on the seat 13. The transmissive screen 12 and the projection device 14 form a display unit DU.

The predetermined image is an image showing characters and figures that can be visually recognized by the driver of the other vehicle 2 behind. For example, as shown in FIG. 1A, it is a text image such as "side caution" at the confluence point AR, and an image of an arrow showing the approach status of other vehicles 2A and 2B at the confluence point AR. Alternatively, as shown in FIG. 1B, it is a text image such as "rear side caution" when another vehicle 2B is approaching from behind, or an image of an arrow showing the approach status of the other vehicle 2B. These images are displayed in a color and size so that the driver of the other vehicle 2 can easily see them. The image displayed on the rear window 11 is changed according to the driving scene.

FIG. 3 is a block diagram showing a main configuration of the vehicle notification device 100 according to the embodiment of the present invention. As shown in FIG. 3, the vehicle notification device 100 includes a sensor 10, a projection device 14, a GPS sensor 15, and a controller 20. The sensor 10, the projection device 14, and the GPS sensor 15 are communicably connected to the controller 20, respectively. The GPS sensor 15 has a receiver that receives a positioning signal from a GPS satellite, and can measure the absolute position (latitude, longitude, etc.) of the own vehicle 1 based on the signal received by the GPS sensor 15.

The controller 20 includes a computer having a CPU, ROM, RAM and other peripheral circuits. The controller 20 has a storage unit 21, an approach degree calculation unit 22, and an output unit 23 as a functional configuration. The output unit 23 has a display control unit 24.

The storage unit 21 stores a plurality of images according to the traveling scene projected on the transmissive screen 3. For example, an image projected on the rear window 11 as shown in FIGS. 1A and 1B and an image corresponding to another traveling scene are stored. A threshold value (α1) for outputting a notification signal, which will be described later, is also stored in the storage unit 21. Road map information for grasping the existence of the confluence AR and the overtaking lane on the road is also stored in the storage unit 21.

The approach degree calculation unit 22 calculates the degree of approach (approach degree) α between the other vehicle 2A and the other vehicle 2B behind the own vehicle 1 based on the signal from the sensor 10. For example, the smaller the distance difference between the distance from the own vehicle 1 to the other vehicle 2A (first distance) detected by the sensor 10 and the distance from the own vehicle 1 to the other vehicle 2B (second distance), the closer the approach degree α is. The degree of approach α is calculated using a relationship that increases. From the rate of change in the first distance and the rate of change in the second distance, the relative vehicle speed of the other vehicle 2A to the own vehicle 1 (first relative vehicle speed) and the relative vehicle speed of the other vehicle 2B to the own vehicle 1 (second relative vehicle speed). May be calculated respectively, and the approach degree α may be calculated in consideration of the difference between the first relative vehicle speed and the second relative vehicle speed. For example, the larger the difference between the first relative vehicle speed and the second relative vehicle speed, the larger the approach degree α of the other vehicles 2A and 2B may be. The degree of approach α may be calculated in consideration of road conditions such as the slope of the road surface.

First, the output unit 23 detects the current position of the own vehicle 1 by the GPS sensor 15 mounted on the own vehicle 1, and the road is based on the detected current position and the road map information stored in the storage unit 21. The position of the own vehicle 1 on the map is grasped, and the traveling scenes (merging, overtaking, etc.) of the own vehicle 1 and the other vehicle 2 are grasped by this. The traveling scene of the own vehicle 1 may be grasped by a camera or the like mounted on the own vehicle 1. Next, it is determined whether or not the approach degree α calculated by the approach degree calculation unit 22 is equal to or higher than a predetermined value α1 predetermined for each traveling scene. This determination is a determination as to whether or not the possibility of collision between other vehicles 2A and 2B is equal to or greater than a predetermined value. For example, whether or not the difference between the first distance and the second distance is equal to or less than a predetermined value. Corresponds to the judgment.

When the display control unit 24 determines that the approach degree α is equal to or higher than the predetermined value α1, the display control unit 24 selects an image corresponding to the traveling scene from the plurality of images stored in the storage unit 21 in advance, and displays the image as the image. The corresponding image signal is output to the projection device 14. In other words, the output unit 23 (display control unit 24) outputs a predetermined notification signal according to the traveling scene, which calls attention to the occupants of the other vehicle 2. For example, a notification signal corresponding to an image of a merging traveling scene (FIG. 1A) and a notification signal corresponding to an image of an overtaking traveling scene (FIG. 1B) are output to the projection device 14. As a result, a predetermined image is projected on the transmissive screen 12 of the rear window 11.

FIG. 4 is a flowchart showing an example of processing executed by the CPU of the controller 20 according to a predetermined program. The process shown in this flowchart is started, for example, when the main power supply of the own vehicle 1 is turned on, and is repeated at a predetermined cycle. First, in step S1, the signals from the sensor 10 and the GPS sensor 15 are read.

Next, in step S2, the traveling scene of the own vehicle 1 is specified based on the road map information stored in the storage unit 21 and the current position of the own vehicle 1 detected by the GPS sensor 15. For example, as shown in FIG. 1A, a road that has passed a confluence AR where the first lane LN1 and the second lane LN2 meet, or as shown in FIG. 1B, a road where the first lane LN1 and the second lane LN2 exist. The driving scene such as driving in the first lane LN1 of the above is specified. The traveling scene may be specified based on the image acquired by the camera mounted on the own vehicle 1.

Next, in step S3, whether or not another vehicle 2A (rear vehicle) exists behind the own vehicle 1 and another vehicle 2B exists around the other vehicle 2A based on the signal from the sensor 10. That is, it is determined whether or not a plurality of other vehicles 2A and 2B exist behind the own vehicle 1. If affirmed in step S3, the process proceeds to step S4, and if denied, the process proceeds to step S7.

In step S4, the degree of approach α of the other vehicles 2A and 2B is calculated based on the signal from the sensor 10. Next, in step S5, it is determined whether or not the calculated approach degree α is a predetermined value α1 or more. As the predetermined value α1, a value corresponding to the traveling scene specified in step S2 is adopted. If affirmed in step S5, the process proceeds to step S6, and if denied, the process proceeds to step S7.

In step S6, the projection device 14 is operated to project a predetermined image according to the traveling scene on the transmissive screen 12 of the rear window 11. For example, the images shown in FIGS. 1A and 1B are projected. On the other hand, in step S7, the operation of the projection device 14 is stopped, that is, the projection device 14 is deactivated.

The main operations of the vehicle notification device 100 according to the present embodiment are summarized as follows. For example, as shown in FIG. 1A, when the own vehicle 1 passes through the merging point AR, another vehicle 2B traveling in the merging lane LN2 approaches another vehicle 2A behind the own vehicle 1 traveling on the main lane LN1. The controller 20 of the own vehicle 1 calculates the degree of approach α between the other vehicles 2A and 2B based on the signal from the sensor 10 (step S4). Then, when the degree of approach α becomes the predetermined value α1 or more, the projection device 14 is activated, and a predetermined image notifying that the other vehicle 2B is approaching the other vehicle 2A is projected on the rear window 11 (step). S6). As a result, the drivers of the other vehicles 2A and 2B can easily recognize the surrounding conditions, and the driving safety at the confluence AR is enhanced.

As another example, as shown in FIG. 1B, when another vehicle 2B traveling in the overtaking lane LN2 approaches another vehicle 2A traveling behind the own vehicle 1 traveling in the traveling lane LN1, the own vehicle 1 The controller 20 calculates the degree of approach α between the other vehicles 2A and 2B based on the signal from the sensor 10 (step S4). Then, when the degree of approach α becomes the predetermined value α1 or more, the projection device 14 is activated, and a predetermined image notifying that the other vehicle 2B is approaching the other vehicle 2A is projected on the rear window 11 (step). S6). As a result, the driver of the other vehicle 2A can easily recognize the surrounding situation, and the driving safety when the other vehicle 2B overtakes the other vehicle 2A is enhanced.

According to this embodiment, the following effects can be obtained.
(1) The vehicle notification device 100 is for the sensor 10 that detects the surrounding situation of the own vehicle 1, the rear vehicle (other vehicle 2A) located behind the own vehicle 1 detected by the sensor 10, and the other vehicle 2A. When the approach degree calculation unit 22 that calculates the approach degree α with the other vehicle 2B that becomes an obstacle and the approach degree α calculated by the approach degree calculation unit 22 become the predetermined value α1 or more, the driver of the other vehicle 2A or the other vehicle It includes an output unit 23 that outputs a notification signal that calls attention to both the 2A and 2B drivers (FIG. 3). As a result, it is possible to notify the drivers of the other vehicles 2A and 2B around the own vehicle 1 of the surrounding conditions of the other vehicles 2A and 2B. That is, it is possible to provide useful information to the occupants of the other vehicles 2A and 2B that do not have a sensor for detecting the surrounding situation, and it is possible to improve the running safety of the other vehicles 2A and 2B.

(2) The vehicle notification device 100 is output to a predetermined position of the own vehicle 1, that is, the rear window 11, by a display unit DU that displays an image that can be visually recognized by the drivers of the other vehicles 2A and 2B behind, and an output unit 23. A display control unit 24 that controls the display unit DU so as to display a predetermined image corresponding to the notification signal is further provided (FIG. 3). As a result, the driver of the other vehicle 2 can easily recognize the surrounding situation regardless of the configuration of the other vehicles 2A and 2B.

(3) The display unit DU has a transmissive screen 12 provided in the rear window 11 of the own vehicle 1 and a projection device 14 for projecting an image on the transmissive screen 12 (FIG. 3). In this way, by projecting the image onto the rear window 11 of the vehicle in front (own vehicle 1) that is highly visible to the driver of the other vehicle 2, the driver of the other vehicle 2 can easily grasp the notified information. can do. Further, since the transmissive screen 12 is configured to be transparent or translucent, it is possible to sufficiently secure the visibility of the driver (driver of the own vehicle 1) while traveling through the transmissive screen 12.

(4) The approach degree calculation unit 22 detects by the sensor 10 after the own vehicle 1 passes the confluence point AR (confluence portion) where the first lane LN1 and the second lane LN2 merging into the first lane LN1 intersect. The degree of proximity α between the other vehicle 2A traveling in the first lane LN1 and the other vehicle 2B traveling in the second lane LN2 behind the own vehicle 1 is calculated (FIGS. 1A and 4). When the approach degree α calculated by the approach degree calculation unit 22 becomes a predetermined value α1 or more, the output unit 23 outputs a notification signal for calling attention to the drivers of the other vehicles 2A and 2B (FIGS. 1A and 4). ). This enhances driving safety at the confluence point AR where the confluence lane merges with the main lane.

(5) The approach degree calculation unit 22 travels in the first lane LN1 behind the own vehicle 1 detected by the sensor 10 while the own vehicle 1 is traveling in the first lane LN1 adjacent to the second lane LN2. The degree of approach α between the other vehicle 2A and the other vehicle 2B traveling in the second lane LN2 is calculated (FIGS. 1B and 4). When the approach degree α calculated by the approach degree calculation unit 22 becomes a predetermined value α1 or more, the output unit 23 outputs a notification signal for calling attention to the driver of the other vehicle 2A (FIGS. 1B and 4). This enhances driving safety during overtaking driving.

The above embodiment can be transformed into various forms. Hereinafter, some modification examples will be described. In the above embodiment, the sensor 10 provided at the rear end of the own vehicle 1 is used to detect the surrounding condition of the own vehicle 1, but the configuration (arrangement, etc.) of the detection unit is not limited to that described above. In the above embodiment, the approach degree calculation unit 22 calculates the approach degree α between the other vehicle 2A and the other vehicle 2B (obstacle) located behind the own vehicle 1, but with an obstacle other than the vehicle. The degree of approach of may be calculated. In the above embodiment, the display unit DU is configured by the transmissive screen 12 provided in the rear window 11 and the projection device (projection unit) that projects an image on the transmissive screen 12, but the occupant of the vehicle behind can visually recognize the display unit DU. Any configuration of the display unit may be used as long as a simple image is displayed.

In the above embodiment, when the approach degree α of the other vehicles 2A and 2B becomes a predetermined value α1 or more, the output unit 23 displays a signal (notification signal) so that the display unit DU displays an image calling attention to the occupants of the vehicle behind. ) Is output, but the form of the notification signal is not limited to this. For example, a notification signal may be output to the rear vehicle via a communication unit so that a predetermined image is displayed on an instrument panel or a monitor mounted on the rear vehicle. Information that calls attention to the approach of an obstacle may be notified by voice from a speaker mounted on the vehicle behind. A notification signal may be output so that a display grounded on the road displays information that alerts the occupants of the vehicle behind to be aware of the approach of an obstacle.

In the above embodiment, the own vehicle 1 is configured as an automatic driving vehicle having an automatic driving function, but the own vehicle may be a vehicle having no automatic driving function, that is, a manually driven vehicle. In the above embodiment, the vehicle notification device 100 is applied in the scene where the other vehicle 2B approaches and joins the other vehicle 2A and the scene where the other vehicle 2B approaches and overtakes the other vehicle 2A. The present invention can be applied not only to the above-mentioned driving scenes but also to various driving scenes in which a vehicle behind the vehicle approaches an obstacle.

The above description is merely an example, and the present invention is not limited to the above-described embodiments and modifications as long as the features of the present invention are not impaired. It is also possible to arbitrarily combine one or a plurality of the above-described embodiments and the modified examples, and it is also possible to combine the modified examples.

1 vehicle, 2, 2A, 2B other vehicle, 10 sensor, 12 transmissive screen, 14 projection unit, 20 controller, 22 approach degree calculation unit, 23 output unit, 24 display control unit, 100 vehicle notification device, LN1 1st lane , LN2 2nd lane

Claims (5)

A detector that detects the surrounding conditions of your vehicle,
An approach degree calculation unit that calculates the degree of approach between the rear vehicle located behind the own vehicle and an obstacle detected by the detection unit, and
A vehicle notification device comprising: an output unit that outputs a notification signal to alert the occupants of the rear vehicle when the degree of approach calculated by the approach degree calculation unit becomes a predetermined value or more. In the vehicle notification device according to claim 1,
A display unit that displays an image that can be visually recognized by the occupants of the rear vehicle at a predetermined position of the own vehicle, and a display unit.
A vehicle notification device further comprising a display control unit that controls the display unit so as to display a predetermined image corresponding to the notification signal output by the output unit. In the vehicle notification device according to claim 2,
The display unit is a vehicle notification device including a transmissive screen provided in a window on the rear surface of the own vehicle and a projection unit for projecting an image on the transmissive screen. In the vehicle notification device according to any one of claims 1 to 3.
The approach degree calculation unit is located behind the own vehicle, which is detected by the detection unit after the own vehicle has passed the confluence point where the first lane and the second lane merging into the first lane intersect. The degree of approach between the first vehicle traveling in the first lane and the second vehicle traveling in the second lane is calculated.
When the degree of approach calculated by the degree of approach calculation unit becomes a predetermined value or more, the output unit outputs the notification signal for calling attention to at least one occupant of the first vehicle and the second vehicle. A vehicle notification device characterized by the fact that. In the vehicle notification device according to any one of claims 1 to 3.
The approach degree calculation unit is a first vehicle traveling in the first lane behind the own vehicle detected by the detection unit while the own vehicle is traveling in the first lane adjacent to the second lane. The degree of approach to the second vehicle traveling in the second lane is calculated.
When the degree of approach calculated by the degree of approach calculation unit becomes a predetermined value or more, the output unit outputs the notification signal for calling attention to at least one occupant of the first vehicle and the second vehicle. A vehicle notification device characterized by the fact that.

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