JP3925412B2 - Vehicle travel support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle travel support device that notifies a vehicle driver of a state in which a surrounding detection target such as another vehicle is relatively approaching.
[0002]
[Prior art]
For example, when changing lanes during driving of a vehicle, it is necessary to confirm the positions of other vehicles in the vicinity by visual inspection using a mirror or direct visual inspection. Conventionally, in order to assist such a confirmation work, a vehicle travel support device has been provided in which the presence or absence of an overtaking vehicle on the adjacent lane is detected and an alarm is issued. As an example of such a device, conventionally, a transmitter that transmits radio waves toward a detection target range set in a direction from the side to the rear of the host vehicle and a radio wave reflected by the detection target range are received. Calculation means for calculating the distance and relative velocity between the receiver and the object based on the time difference between the transmission and reception of the radio wave and the Doppler frequency, and determining the degree of danger against the collision with the object, and the determination result And a light emitting diode that informs the driver of the situation is provided (for example, see Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 2001-141813
[Problems to be solved by the invention]
In the apparatus having the above-described conventional configuration, there is a problem that the entire configuration is complicated because it is necessary to calculate the distance to the object, and the notification of the degree of danger is performed by the light emitting diode. There is also a problem that there is a delay time until the driver recognizes the vehicle, and the real-time property is lowered. In order to cope with such a problem related to the delay time, a configuration may be adopted in which the operation of notifying the degree of danger is performed by voice. However, in the case of such a configuration, it is necessary to simplify the contents of the notification in order to improve the real-time property, so that it is difficult to convey sufficient information to the driver. However, when it is configured to output a notification voice including information indicating the distance / approach speed with other vehicles, sufficient information transmission is possible, but the driver recognizes the notification content. Since the time required becomes long, real-time property is impaired.
In this case, by changing the frequency or volume of the audio sound signal from the in-vehicle audio device, sufficient information can be transmitted without impairing real-time performance, and the configuration can be simplified. In the state where no is output, the approach notification operation cannot be performed reliably.
[0005]
The present invention has been made in view of the above circumstances, and its purpose is to provide sufficient information without impairing the real-time property of notification when notifying the state in which a surrounding detection target such as another vehicle is approaching. An object of the present invention is to provide a vehicle travel support device capable of reliably performing an approach notification operation while enabling transmission and realizing a simplified configuration.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the means described in claim 1 can be employed. According to this means, the speed detection means measures the relative speed between the host vehicle and the detection object existing in the vicinity thereof, and the signal generation means responds to the change in the measured relative speed. will output a varying Doppler frequency signal and the audio output means of the vehicle-mounted audio apparatus, toward the vehicle driver is modulated so as to vary the frequency according to the frequency rate of change of the Doppler frequency signal audio An audio signal is output. That is, for example, when another vehicle is approaching from behind, an audio signal corresponding to the “sound Doppler effect” in which the frequency gradually increases is output toward the vehicle driver. As a result, a state in which an object to be detected such as another vehicle is approaching is notified to the vehicle driver without impairing real-time performance. Also, according to the “sound Doppler effect”, the frequency change of the audio sound signal output as described above increases as the approaching speed of the detection object increases, so that the detection object is included in the audio sound signal. Information indicating the approaching speed is also included, so that sufficient information transmission is possible. Furthermore, since it is not necessary to calculate the distance to the object, the overall configuration can be simplified.
[0007]
Here, when an object to be detected such as another vehicle approaches while an audio audio signal is being output from the in-vehicle audio device, the approaching notification operation is performed by gradually increasing the frequency of the audio audio signal. Is called. Therefore, even when the audio sound signal is being output, the approach notification operation by sound can be reliably performed. Further, during the period when the audio sound signal is not output, the approach notification operation is reliably performed by changing the frequency of the predetermined default sound signal.
[0008]
In order to achieve the object, it is possible to adopt the means described in claim 2 . According to this means, the speed detection means measures the relative speed between the host vehicle and the detection object existing in the vicinity thereof, and the signal generation means responds to the change in the measured relative speed. The changing Doppler frequency signal is output, and the audio output means of the in- vehicle audio device outputs an audio audio signal whose volume changes following the frequency change of the Doppler frequency signal toward the vehicle driver. It becomes like this. That is, for example, when the other vehicle is approaching from behind, an audio sound signal in which the “sound Doppler effect” is expressed by a change in volume is output to the vehicle driver. As a result, a state in which an object to be detected such as another vehicle is approaching is notified to the vehicle driver without impairing real-time performance. Further, since the volume change rate of the audio sound signal output as described above increases as the approach speed of the detection object increases (when the change rate of the Doppler frequency is large), the detection object is included in the audio sound signal. Information indicating the approaching speed is also included, so that sufficient information transmission is possible. Furthermore, since it is not necessary to calculate the distance to the object, the overall configuration can be simplified.
[0009]
Here, when an object to be detected such as another vehicle approaches while an audio audio signal is being output from the in-vehicle audio device, the notification operation of the approaching state follows the change in the volume of the audio audio signal as the Doppler frequency changes. It is done by gradually increasing. Therefore, even when the audio sound signal is being output, the approach notification operation by sound can be reliably performed. In addition, during the period when the audio sound signal is not output, the volume of the predetermined default sound signal is changed following the change of the Doppler frequency, and thus the approach notification operation is reliably performed.
[0010]
According to the third aspect of the present invention, since the position of the virtual sound source of the audio sound signal output from the sound output means of the in- vehicle audio device is controlled to be in the direction of the position where the detection target exists, the vehicle travels. It will be useful for providing accurate support.
[0011]
According to the fourth aspect of the present invention, since the Doppler radar principle is adopted to measure the relative speed between the object and the object to be detected, the measurement is appropriately performed from a short distance to a long distance. Is possible. Further, since the receiving means provided in the speed detecting means is also used as the signal generating means, it is possible to realize a reduction in device cost.
[0012]
According to the fifth aspect of the present invention , the first speed detection means measures the relative speed between the detection object approaching from the left rear of the vehicle and the second speed detection means approaches from the right rear of the vehicle. The relative speed between the object to be detected is measured. For example, when the turn signal switch is operated in the left turn direction to change the lane to the left lane, the first speed detection means is activated and the relative speed between the detection object adjacent from the left rear is set. An audio audio signal modulated in accordance with the frequency change rate of the corresponding Doppler frequency signal is output, and when the turn signal switch is operated in the right turn direction to change the lane to the right lane, An audio sound signal in a state modulated according to the frequency change rate of the Doppler frequency signal corresponding to the relative speed between the velocity detection means and the detection object that is approaching from the right rear is output. Therefore, an unnecessary audio sound signal is not output (for example, an audio sound signal caused by a detection object close to the right lane is output when the lane is changed to the left lane). It becomes convenient in use.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In FIG. 3 schematically showing the planar shape of the vehicle, for example, transmission / reception units 2 to 5 (corresponding to speed detection means) are respectively installed at four corners of the vehicle 1. These transmission / reception units 2 to 5 are provided in order to measure the relative speed between the surrounding detection target objects by the Doppler radar principle,
(1) Detection range A (transmission / reception unit 2) set in a direction from the left side of the vehicle 1 to the front.
(2) Detection target range B set in the direction from the right side of the vehicle 1 to the front (transmission / reception unit 3)
(3) Detection target range C set in the direction from the left side of the vehicle 1 to the rear (transmission / reception unit 4)
(4) Detection range D (transmission / reception unit 5) set in the direction from the right side to the rear side of the vehicle 1
It is installed so that the change of the relative distance between the objects to be detected can be measured.
[0014]
Of the transmission / reception units 2 to 5, the transmission / reception unit 4 corresponding to the detection target range C corresponds to the first speed detection means in the invention of claim 5 , and the transmission / reception unit 5 corresponding to the detection target range D. Corresponds to the second speed detecting means referred to in the invention of claim 5 . Further, in this embodiment, an example in which four sets of transmission / reception units 2 to 5 are provided has been described, but as shown by broken lines in FIG. 3, the left side, right side, and rear direction of the vehicle 1 are set as detection target ranges. A configuration in which more transmission / reception units are provided such as transmission / reception units a, b, and c is also possible.
[0015]
Four speakers 6a to 6d (corresponding to sound output means) for in-vehicle audio devices are respectively provided at the four corners in the vehicle interior 1a of the vehicle 1, and many speakers 6a to 6d are used by using these speakers 6a to 6d. It is configured to perform channel audio playback.
[0016]
In FIG. 1 schematically showing an electrical configuration, transmission / reception units 2 to 5 transmit transmitters 2a to 2a that transmit radio wave signals (corresponding to airborne signals) toward the detection target ranges A to D (see FIG. 3). 5a (corresponding to transmission means) and receivers 2b to 5b (corresponding to reception means and signal generation means) that receive radio waves reflected from detection objects existing in the detection object ranges A to D. Yes. The oscillation circuit 7 supplies an oscillation signal having a predetermined frequency to the transmitters 2a to 5a via the amplifier 8, whereby the radio waves corresponding to the frequency of the oscillation signal are transmitted from the transmitters 2a to 5a. The signal is transmitted.
[0017]
An AV (audio video) device 9 (corresponding to an in-vehicle audio device) is configured to output an audio sound signal to the speakers 6 a to 6 d through the mixing amplifiers 10 a to 10 d in the synthesizer / amplifier 10. The control circuit 11 provided in the synthesizer / amplifier 10 extracts the Doppler frequency component from the received signals of the receivers 2b to 5b, and divides the frequency signal by a predetermined frequency dividing ratio so as to adjust the audible frequency band. The signal is converted into a signal, and the converted frequency signal is supplied to the mixing amplifiers 10a to 10d. Thereby, the audio sound signal from the AV apparatus 9 is modulated by the Doppler frequency signal in the audible frequency band.
[0018]
In this case, the control circuit 11 is configured to receive a signal from the turn signal switch 12 of the vehicle, that is, a right turn signal output when the turn signal switch 12 is turned right and a left turn signal outputted when the left turn is operated. The receivers 2b to 5b are selectively enabled (turned on) according to the type of the input signal.
[0019]
FIG. 2 shows a control routine related to the gist of the present invention among the contents of control by the control circuit 11, and this will be described below together with related operations.
That is, in the control routine of FIG. 2, it is determined whether or not the turn signal switch 12 is on based on the presence or absence of a signal from the turn signal switch 12 (step S1). Then, after performing other processing, the determination in step S1 is performed again. On the other hand, if the turn signal switch 12 is in the on state, it is determined whether or not the input signal is a right turn signal (step S2). In the input state of the right turn signal, the receivers 3b and 5b located on the right side of the vehicle 1 are turned on (step S3), and in the input state of the left turn signal (state determined as “NO” in step S2), the left side of the vehicle 1 The receivers 2b and 4b located at (1) are turned on (step S4).
[0020]
In a state where the group of the receivers 2b and 4b is turned on (left turn operation state), when a detection target object such as another vehicle exists in the detection target ranges A and C (see FIG. 3) corresponding to the transmission / reception units 2 and 4 The radio waves reflected by the detection object are received as Doppler frequency signals by the receivers 2b and 4b. In addition, when the group of the receivers 3b and 5b is turned on (right turn operation state), detection objects such as other vehicles exist in the detection object ranges B and D (see FIG. 3) corresponding to the transmission / reception units 3 and 5. In this case, the radio waves reflected by the detection target are received as Doppler frequency signals by the receivers 3b and 5b.
[0021]
After the execution of step S3 or S4 as described above, the synthesis processing routine S5 is executed. In this routine S5, the Doppler frequency component is extracted from the reception signals (Doppler frequency signals) of the receivers 2b to 5b, and the frequency signal is divided by a predetermined frequency division ratio to be converted into an audio frequency band signal, The converted frequency signal is supplied to the mixing amplifiers 10a to 10d. Thereby, the audio sound signal from the AV device 9 is modulated so that the frequency changes in accordance with the frequency change rate of the Doppler frequency signal. In the synthesis processing routine S5, the channels of the speakers 6a to 6d are controlled so that the position of the virtual sound source with respect to the modulated audio signal is in the direction of the presence position of the detection target. Further, in a state where no audio audio signal is output from the AV apparatus 9, a process is performed in which a predetermined default audio signal is output in a state of being modulated in accordance with the frequency change rate of the Doppler frequency.
[0022]
The synthesis processing routine S5 is continued until the turn signal switch 12 is switched to the OFF state in the subsequent step S6. That is, in step S6, it is determined whether or not the turn signal switch 12 is in an off state based on the presence / absence of a signal from the switch 12, and in the on state, the process returns to the step S2 to return to the step S3. And S4 and the synthesis processing routine S5 are re-executed. On the other hand, when the turn signal switch 12 is turned off, the process returns after executing step S7 for turning off the receivers 2b to 5b in the on state, and after performing other processes accordingly, The determination in step S1 is performed again.
[0023]
As a result of such control, for example, as schematically shown in FIG. 4, after another vehicle 13 (corresponding to a detection target) approaches from the rear of the right lane of the vehicle 1 (own vehicle), it overtakes. Assuming a certain situation (the direction of travel is indicated by an arrow), the following operations are performed. That is, when the turn signal switch 12 is turned right to change the lane to the right lane in the vehicle 1, the receivers 3b and 5b in the transmission / reception units 3 and 5 provided on the right side of the vehicle 1 are turned on. Therefore, the radio waves transmitted from the corresponding transmitters 3a and 5a are reflected by the other vehicles 13 and then received by the receivers 3b and 5b, and the received signals are given to the control circuit 11 as Doppler frequency signals.
[0024]
Then, in the control circuit 11, the audio sound signal from the AV apparatus 9 is modulated by following the frequency change rate of the Doppler frequency signal extracted from the reception signals at the receivers 3b and 5b. For this reason, from the speakers 6a to 6d, an audio sound signal whose frequency gradually increases according to the proximity of the other vehicle 13 from the rear and whose frequency gradually decreases as the vehicle 13 moves forward is output. Will be. Further, in this case, channel control is performed such that the position of the virtual sound source for the modulated audio signal is in the direction of the presence position of the detection target, so that the driving situation of the other vehicle 13 is high. It will be notified by feeling.
[0025]
In short, according to the above-described embodiment, the following operations and effects can be achieved.
That is, for example, when another vehicle is approaching from behind, an audio signal corresponding to the “sound Doppler effect” that the frequency gradually increases toward the vehicle driver (the audio audio signal when the AV device 9 is operated, When the operation is stopped, a default audio signal) is output. As a result, a state in which an object to be detected such as another vehicle is approaching is notified to the vehicle driver without impairing real-time performance. In addition, according to the “sound Doppler effect”, the higher the approach speed of the detection object, the greater the change in the frequency of the sound signal output as described above. Information indicating the speed is also included, so that sufficient information transmission is possible. Furthermore, since it is not necessary to calculate the distance to the object as in the conventional configuration, the overall configuration can be simplified.
[0026]
When an object to be detected such as another vehicle approaches while the audio sound signal is being output from the AV device 9, the approaching state notification operation is performed by gradually increasing the frequency of the audio sound signal. Therefore, even when the audio sound signal is being output, it is possible to reliably perform the approach notification operation by sound. In this case, since the approach notification operation is reliably performed by changing the frequency of the predetermined default audio signal during a period in which the audio audio signal is not output, there is no problem.
[0027]
Since the position of the virtual sound source of the audio signal output in a state modulated according to the Doppler frequency is controlled so as to be in the direction of the presence position of the detection target, it is useful for accurately performing the driving support of the vehicle 1. become. Furthermore, since the Doppler radar principle is employed to measure the relative speed between the object and the object to be detected, the measurement can be appropriately performed from a short distance to a long distance. Further, since the receivers 2b to 5b are also used as signal generating means for generating a Doppler frequency signal, it is possible to reduce the apparatus cost.
[0028]
The transmission / reception units 2 to 5 provided to measure the relative speed between the detection object and the left / right transmission / reception units 2 and 4 are activated when the turn signal switch 12 is operated in the left turn direction. Since the right transmission / reception units 3 and 5 are enabled when the turn signal switch 12 is operated in the right turn direction, an unnecessary audio signal is output (for example, lane change to the left lane) (A situation in which a sound signal due to a detection object close to the right lane is sometimes output) is not caused, which is convenient in actual use.
[0029]
(Other embodiments)
In addition, the present invention is not limited to the above-described embodiments, and can be modified or expanded as described below.
In the above embodiment, when there is another vehicle approaching the direction indicating lane in the operation state of the turn signal switch 12 (in this case, an audio signal whose frequency gradually increases is output). A configuration may be adopted in which it is determined that there is a possibility of colliding with the other vehicle when steering is performed toward the direction support side, and control is performed to increase the load necessary for the steering operation in the same direction. In addition, the relative speed between the vehicle ahead and behind is measured, and based on the measurement result, the load required for the operation of the accelerator pedal and brake pedal is suppressed to suppress the collision with the vehicle ahead and the rear-end collision of the following vehicle. It is good also as a structure to control.
[0030]
In the above embodiment, the speaker 6a to 6d outputs a sound signal corresponding to the “sound Doppler effect” in which the frequency changes according to the frequency change rate of the Doppler frequency signal received by the receivers 2b to 5b. However, a configuration in which an audio signal whose volume changes following the frequency change of the Doppler frequency signal may be output. According to this configuration, for example, when another vehicle is approaching from behind, an audio signal in a state where the “sound Doppler effect” is expressed by a change in volume is output to the vehicle driver. Thereby, it is possible to obtain the same effect as the above-described embodiment, for example, a state in which a detection target such as another vehicle is approaching is notified to the vehicle driver without impairing real-time performance.
[0031]
Further, when such a configuration is adopted, when the audio signal is output from the AV device 9 and the Doppler frequency signal is output from the receivers 2b to 5b, the volume of the audio signal is adjusted. When the Doppler frequency signal is output during the output stop period of the audio sound signal, the predetermined default sound signal is made to follow the change of the Doppler frequency and the volume is changed. It can be set as the structure which outputs. According to this configuration, an effect equivalent to that of the above-described embodiment can be obtained, for example, an approach notification operation by voice can be reliably performed even when an audio voice signal is being output.
[0032]
As the speed detection means, the transmission / reception units 2 to 5 for measuring the relative speed between the detection object and the object to be detected are provided. However, a structure using an air propagation signal such as an ultrasonic wave is also possible.
Although the Doppler radar transmission / reception unit is provided as the speed detection means, the present invention is not limited to this. For example, the position information of other vehicles is acquired by inter-vehicle communication, and the relative speed between the other vehicles is detected by performing acquisition of such position information in a predetermined cycle, and the frequency is determined according to the detected speed. It can be set as the structure which synthesize | combines the Doppler frequency signal from which changes.
[0033]
Since the presence or absence of a surrounding vehicle can be determined according to the presence or absence of reception signals at the receivers 2b to 5b, the determination result can be displayed in the vehicle and notified to the driver.
If it is set as the structure which can adjust the size of the detection target range by the transmission / reception units 2-5, it will become possible to measure the relative speed between the detection target existing in the periphery of the vehicle 1 from a narrow range to a wide range. In addition, if the detection target range of the transmission / reception units 2 to 5 is given directivity and the detection angle can be changed, the detection target can be easily changed.
[0034]
If the transmission / reception units 2 to 5 are operated even while the vehicle 1 is parked, it can function as a theft prevention alarm.
If the vehicle 1 is configured to output the audio signal as in the above embodiment by measuring the relative speed between the vehicle 1 and the object to be detected ahead, the accident in the intersection can be prevented. Is possible.
It is good also as a structure which displays supplementarily the screen from which a color, a size, etc. change according to the change of the Doppler frequency signal output from the receivers 2b-5b with respect to the display provided in the vehicle.
[Brief description of the drawings]
FIG. 1 is an electrical configuration diagram showing an embodiment of the present invention. FIG. 2 is a flowchart showing the contents of control by a control circuit. FIG. 3 is a diagram schematically showing a planar shape of a vehicle. 3 equivalent diagram [Explanation of symbols]
1 is a vehicle, 2 to 5 are transmission / reception units (speed detection means), 2a to 5a are transmitters (transmission means), 2b to 5b are receivers (reception means, signal generation means), and 6a to 6d are speakers (audio output). Means), 9 is an AV apparatus (vehicle audio apparatus), 11 is a control circuit, and 13 is a vehicle (detection target).

Claims (5)

A speed detection means for measuring a relative speed between the own vehicle and a detection object existing in the vicinity thereof;
Signal generating means for outputting a Doppler frequency signal that changes in frequency in response to a change in relative speed measured by the speed detecting means;
In a vehicle travel support device comprising: an audio output unit of an in- vehicle audio device that outputs an audio audio signal modulated so that a frequency changes in accordance with a frequency change rate of the Doppler frequency signal toward a vehicle driver ;
The audio output means modulates the audio audio signal according to the frequency change rate of the Doppler frequency signal when the Doppler frequency signal is output from the signal generation means in the output state of the audio audio signal, and the audio audio signal When the Doppler frequency signal is output from the signal generating means during the output stop period, a predetermined default audio signal is output in a state modulated in accordance with the frequency change rate of the Doppler frequency signal. Support device. A speed detection means for measuring a relative speed between the own vehicle and a detection object existing in the vicinity thereof;
Signal generating means for outputting a Doppler frequency signal that changes in frequency in response to a change in relative speed measured by the speed detecting means;
In a vehicle travel support device comprising a sound output means of an in-vehicle audio device that outputs an audio sound signal whose volume changes following the frequency change of the Doppler frequency signal from the signal generating means for a vehicle driver,
The sound output means changes the volume of the audio sound signal to follow the change of the Doppler frequency when the Doppler frequency signal is output from the signal generation means in the output state of the audio sound signal, and A vehicle driving support characterized in that when the Doppler frequency signal is output from the signal generating means during an output stop period, a predetermined default audio signal is output in a state in which the volume is changed following the change in the Doppler frequency. apparatus. The audio output means includes a plurality of speakers,
3. The vehicle travel support apparatus according to claim 1, wherein the speed detection unit performs control to output an audio sound signal having a virtual sound source in a direction where the detection target exists . The speed detection means includes a transmission means for transmitting an aerial propagation signal of a predetermined frequency and a reception means for receiving an aerial propagation signal reflected by the detection target, and the Doppler frequency component in the received signal by the reception means 4. The structure according to claim 1, wherein the receiver is configured to measure a relative speed between the detection object and the signal generating unit. vehicle travel support device according to. As the speed detection means, a first speed detection means in which the detection target range is set in a direction from the left side of the vehicle to the rear, and a second speed in which the detection target range is set in a direction from the right side of the vehicle to the rear. Speed detecting means, and
The first speed detection means is activated when a turn signal switch provided in the vehicle is operated in the left turn direction, and the second speed detection means is activated when the turn signal switch is operated in the right turn direction. The vehicle travel support device according to claim 1, wherein the vehicle travel support device is validated .

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