JP4305265B2 - Ultrasonic alert device - Google Patents

Description

  The present invention relates to a warning device using ultrasonic waves.

2. Description of the Related Art Conventionally, an obstacle detection system has been proposed that changes the range in which an obstacle is detected according to the steering angle of the vehicle (see, for example, Patent Document 1). According to the obstacle detection system disclosed in Patent Document 1, for example, an ultrasonic sensor is configured to be able to swing by a swing mechanism, and the swing mechanism is operated in conjunction with a change in steering direction. Thus, the obstacle detection range is changed.
JP 2000-267729 A

  The above-described conventional obstacle detection device decelerates / stops the vehicle when an obstacle is detected within the safety detection range based on the obstacle detection range changed in conjunction with the change in the steering direction. However, it is impossible to alert the person who is within the safety detection range about the approach of the vehicle.

  Conventionally, there is an alarm device that generates an alarm sound toward the rear of the vehicle when the vehicle moves backward, but the alarm sound generated by this alarm device extends to a non-hazardous area other than the rear of the vehicle. There is. For this reason, there is a problem that alerts a person who is present in a non-hazardous area.

  This invention is made | formed in view of this problem, and it aims at providing the alerting apparatus which can alert attention only to the person who exists in a dangerous range.

The alerting device according to claim 1, which has been made to achieve the above object, is mounted on a moving body, generates an audible signal for alerting the moving body, and an audible signal generating means. The modulation means for outputting a modulation signal obtained by modulating the ultrasonic signal with the audible signal generated by the audible signal, and the ultrasonic radiation for emitting the modulated ultrasonic wave toward the periphery of the moving body by being driven by the modulation signal output from the modulation means The audible signal generating means generates an audible signal for each notification content corresponding to a plurality of different danger levels, and the ultrasonic wave radiating means is at least one of the front part and the rear part of the moving body. The ultrasonic radiation means provided near the center of the part in the left-right direction of the part is more suitable for the audible signal of the notification content corresponding to the higher danger level. Radiate ultrasound, as the ultrasound radiating means provided near the corners of the lateral direction of the site, characterized in that it emits modulated ultrasonic wave corresponding to the audio signal of the notification contents corresponding to low risk level.

  The present invention focuses on a technique in which a modulated ultrasonic wave modulated by an acoustic signal (audible signal) in an audible sound range is self-demodulated by a non-linear parametric phenomenon of air, resulting in an audible sound. That is, an audible signal for generating attention is generated, and the ultrasonic signal is amplitude-modulated with the audible signal, and the ultrasonic radiation means capable of obtaining strong directivity is amplitude-modulated by the ultrasonic signal in the ultrasonic range. By driving, modulated ultrasonic waves with high directivity are emitted toward the periphery of the moving body.

As a result, the modulated ultrasonic wave radiated toward the periphery of the moving body is self-demodulated by propagating in the air, and as a result, becomes a sound wave corresponding to the audible signal. Only can call attention to moving objects.
In addition, it is possible to radiate sound waves corresponding to the notification contents having different danger levels from a plurality of ultrasonic radiation means provided in the left and right directions of the front and rear of the moving body. As a result, a person who has received a sound wave with a notification content corresponding to a low danger level can recognize, for example, by hearing that the mobile object has entered a dangerous area in the expected path when moving, It becomes possible to grasp the danger level from the notification contents.
In addition, when a person who has received a sound wave of notification content corresponding to this low danger level receives a sound wave of notification content corresponding to a high danger level, for example, a more dangerous range in the expected path when the moving body moves You can recognize that you entered.

  The alerting device according to claim 2 radiates modulated ultrasonic waves toward the ground around the moving body. In this way, by emitting modulated ultrasonic waves toward the ground around the moving body, the sound waves corresponding to the audible signal are reflected on the ground and then diverge around the surroundings. Only can call attention to moving objects.

  According to the alerting device of claim 3, the ultrasonic radiation means radiates the modulated ultrasonic wave and receives the reflected wave, and based on the received reflected wave, the moving body It is provided with the obstacle detection means which detects the obstacle which exists around.

  Thereby, the obstacle which exists around the moving body can be detected. When the modulated ultrasonic waves are radiated toward the ground, a distance to the ground is obtained in advance from an angle formed by the radiation direction and a direction horizontal to the ground, and is shorter than the obtained distance to the ground. Detect only distance obstacles.

  According to the alerting device of claim 4, the ultrasonic radiation means modulates ultrasonic waves toward at least one of the surroundings of the moving body including the expected path when the moving body moves and the surrounding ground. It is characterized by radiating. Thereby, a modulated ultrasonic wave can be radiated | emitted toward the dangerous range containing the expected path | route of a moving body.

  According to the alerting device of the fifth aspect, the ultrasonic radiation means emits a modulated ultrasonic wave when the moving body moves backward. Thereby, when the moving body moves backward, for example, the modulated ultrasonic wave can be emitted toward the expected backward path of the moving body.

  Hereinafter, embodiments of the alerting device of the present invention will be described with reference to the drawings. In the present embodiment, an example will be described in which the alerting device of the present invention is employed as a function of an obstacle detection device that detects an obstacle present around the host vehicle.

  FIG. 1 is a block diagram showing the overall configuration of the obstacle detection apparatus of the present embodiment. As shown in the figure, the obstacle detection device 100 of this embodiment includes a corner sonar 10, a back sonar 20, a display device 30, a vehicle speed detection device 40, and a processing device 50.

  The corner sonar 10 is provided at each of the front and rear corners of the host vehicle. The corner sonar 10 radiates ultrasonic waves around the host vehicle and detects the reflected waves, thereby detecting obstacles around the host vehicle. Is detected.

  FIG. 2 is a block diagram showing the overall configuration of the back sonar 20. As shown in the figure, the back sonar 20 includes an oscillator 21, an audible signal generator 22, a modulator 23, an amplifier 24, and an ultrasonic transducer. As shown in FIGS. 3A and 3B, the back sonar 20 is disposed at the center in the left-right direction at the rear of the host vehicle.

  The oscillator 21 generates an ultrasonic signal in the ultrasonic sound range and outputs it to the modulator 23. The audible signal generator 22 generates an acoustic signal in the audible range of the voice message corresponding to the notification content such as “Kiken”, “Backsimas”, etc., and outputs the generated acoustic signal to the modulator 23. The voice message may be changed according to an instruction from the processing device 50. Moreover, not only a voice message but an alarm sound etc. may be sufficient.

  The modulator 23 amplitude-modulates the ultrasonic signal output from the oscillator 21 with the acoustic signal output from the audible signal generator 22, and outputs the amplitude-modulated modulation signal to the amplifier 24. The amplifier 24 amplifies the modulation signal at a predetermined ratio, and outputs the amplified modulation signal to the ultrasonic transducer 25.

  The ultrasonic transducer 25 is a transducer that is driven by the modulation signal amplified by the amplifier 24, and generates a sound source surface where the sound pressure level is located so that strong directivity can be obtained. When this ultrasonic transducer 25 is driven, modulated ultrasonic waves are radiated toward the rear of the host vehicle. The ultrasonic transducer 25 receives the reflected wave of the radiated modulated ultrasonic wave, and the processing device 50 detects an obstacle based on the received reflected wave.

  The modulated ultrasonic wave radiated from the ultrasonic transducer 25 is self-demodulated by the above-described nonlinear parametric phenomenon, and as a result, becomes a sound wave corresponding to an acoustic signal (audible sound) in the audible range of the voice message, as shown in FIG. Diversify into the notification range C shown in c). As a result, a person existing in the notification range C can hear a voice message by receiving a sound wave corresponding to the audible sound.

  As described above, the modulated ultrasonic waves are radiated toward the periphery of the host vehicle including the expected path when the host vehicle moves backward at the rear of the host vehicle. It may be emitted toward the ground around the host vehicle, such as the back ground. Thereby, since the sound wave corresponding to the audible sound is reflected to the surroundings after being reflected on the ground, the attention to the own vehicle can be alerted only to a person who exists in a dangerous range where the own vehicle moves backward. .

  When the modulated ultrasonic waves are radiated toward the ground, a distance to the ground is obtained in advance from an angle formed by the radiation direction and a direction horizontal to the ground, and is shorter than the obtained distance to the ground. Detect only distance obstacles.

  Each of the ultrasonic transducers 25 is provided with an electric motor via a gear (not shown), and the processing device 50 drives the electric motor to change the radiation direction of the modulated ultrasonic wave. It has become.

  Thereby, the radiation | emission direction of a modulation | alteration ultrasonic wave can be changed to the arbitrary directions around the own vehicle. FIG. 5 shows a change in the notification range when the radiation direction of the modulated ultrasonic wave is changed up and down. The notification range CF is a notification range when the radiation direction is changed upward, and the notification range CS is The notification range when the radiation direction is changed downward is shown.

  FIG. 6A shows the notification ranges CIR, CIC, CIL when the radiation direction is fixed upward and the radiation direction is changed to the left-right direction. FIG. The notification ranges CWR, CWC, and CWL when the radiation direction is fixed upward and changed to the left and right directions are shown.

  The display device 30 displays the position of the obstacle detected by the corner sonar 10 and the back sonar 20 on the screen. The vehicle speed detection device 40 detects the vehicle speed of the host vehicle, and outputs the detected vehicle speed signal to the processing device 50. When a car navigation device is mounted on the host vehicle, a car navigation display device may be used.

  As shown in FIG. 4, for example, when the corner sonar 10 provided at the left rear of the host vehicle detects an obstacle, the processing device 50 displays the position of the obstacle on the screen of the display device 30. Execute display processing.

  In addition, the processing device 50 executes an alerting process for emitting modulated ultrasonic waves from the back sonar 20 when the host vehicle moves backward. In the present embodiment, the radiation direction of the modulated ultrasonic wave is made upward or downward depending on the vehicle speed detected by the vehicle detection device 40.

  Next, the alerting process in the obstacle detection apparatus 100 of the present embodiment will be described using the flowchart shown in FIG. First, in step (hereinafter referred to as S) 10, a modulation signal obtained by modulating an ultrasonic signal with an audible signal of a voice message is generated. In S20, whether the vehicle speed of the host vehicle is high (for example, whether it is a predetermined vehicle speed or more). ) Determine whether or not. If it is determined that the vehicle speed is high, the process proceeds to S30. If the determination is negative, the process proceeds to S40.

  In S30, the emission direction of the modulated ultrasonic wave of the back sonar 20 is changed upward (so that a sound wave corresponding to the audible signal of the voice message is emitted in the notification range CF in FIG. 5), and in S40, the modulation of the back sonar 20 is performed. The radiation direction of the ultrasonic wave is changed downward (so that a sound wave corresponding to the audible signal of the voice message is emitted in the notification range CS of FIG. 5).

  In S50, the modulated ultrasonic wave is emitted. In S60, it is determined whether an obstacle is detected by the corner sonar 10 or the back sonar 20. If the determination is affirmative, the position of the detected obstacle is displayed on the screen in S70.

  As described above, the obstacle detection device 100 according to the present embodiment changes the radiation direction upward so that the modulated ultrasonic wave is radiated to a certain distance from the own vehicle when the speed of the own vehicle is high. On the other hand, when the vehicle speed is low, the radiation direction is changed downward so that the modulated ultrasonic waves are radiated in a range close to the own vehicle. As a result, the notification range can be changed according to the vehicle speed of the host vehicle, and only the person in the notification range corresponding to the dangerous range can be alerted to the host vehicle.

(Modification 1)
In the obstacle detection device 100 described in the present embodiment, when an obstacle is detected, the position of the obstacle is displayed on the display device 30, but various types of driving system, braking system, and steering system of the own vehicle are displayed. You may make it avoid the collision with an obstruction by controlling the drive of an actuator.

  For example, the opening / closing of the throttle valve is automatically controlled to reduce the vehicle speed of the host vehicle, the driving of the brake actuator is automatically controlled, or the host vehicle advances in a direction in which no obstacle exists. Thus, the steering torque of the steering may be automatically controlled.

(Modification 2)
In the obstacle detection device 100 described in the present embodiment, the emission direction of the modulated ultrasonic wave is made upward or downward depending on the vehicle speed of the host vehicle. You may make it make it upward or downward for every fixed time.

  Further, the audible signal generator 22 generates an audible signal for each notification content (for example, “Kiken”, “Chuui”, “Back Shimas”, etc.) corresponding to a plurality of different danger levels, and the radiation direction is changed upward. If it is, the modulated ultrasonic wave corresponding to the notification content corresponding to the low danger level is emitted, and if the radiation direction is changed downward, the modulated ultrasonic wave corresponding to the notification content corresponding to the high danger level is emitted. You may make it do.

  As a result, the emission direction of the modulated ultrasonic waves can be changed so that the modulated ultrasonic waves are radiated toward a range close to or away from the host vehicle at regular time intervals, and a notification corresponding to a low danger level is provided. The person who receives the sound wave of the contents can recognize by hearing that he / she has entered the dangerous area, and can grasp the danger level from the notified contents.

  In addition, when a person who has received a sound wave having a notification content corresponding to the low risk level receives a sound wave having a notification content corresponding to the high risk level, it can be recognized that the person has entered a more dangerous range.

(Modification 3)
In the obstacle detection device 100 described in the present embodiment, the emission direction of the modulated ultrasonic wave is made upward or downward depending on the vehicle speed of the host vehicle. You may make it change to the left-right direction for every fixed time.

  Specifically, an angle formed by the longitudinal axis of the host vehicle and the emission direction of the modulated ultrasonic wave is set so that the emission direction of the modulated ultrasonic wave is changed at regular intervals, and the set angle is set. Change the emission direction of the modulated ultrasound.

  Further, the audible signal generator 22 generates an audible signal for each notification content (for example, “Kiken”, “Chuui”, “Backsima”, etc.) according to a plurality of different danger levels, and the aforementioned angle is set to be small. When the radiation direction of the modulated ultrasonic wave is changed so as to be the set angle, the modulated ultrasonic wave corresponding to the notification content corresponding to the high danger level is radiated, and the aforementioned angle is set to be large. When the radiation direction of the modulated ultrasonic wave is changed so that the set angle is obtained, the modulated ultrasonic wave corresponding to the notification content corresponding to the low danger level may be emitted.

  Thereby, it is possible to change the emission direction of the modulated ultrasonic waves so that the modulated ultrasonic waves are radiated toward a range close to the left and right central part of the host vehicle and a range away from the central part at regular time intervals. A person who has received a sound wave with a notification content corresponding to a low danger level can recognize, for example, by hearing that the vehicle has entered a dangerous area in the expected path when the host vehicle is moving backward. It becomes possible to grasp the danger level from the contents.

  Also, when a person who has received a sound wave of notification content corresponding to this low danger level receives a sound wave of notification content corresponding to a high danger level, for example, a more dangerous range in the expected route when the host vehicle is moving backward You can recognize that you entered.

(Modification 4)
In the obstacle detection device 100 described in the present embodiment, the emission direction of the modulated ultrasonic wave is made upward or downward depending on the vehicle speed of the host vehicle. May be provided, and the radiation direction of the modulated ultrasonic wave may be changed in the left-right direction of the host vehicle in accordance with the steering angle.

  Specifically, the smaller the angle difference between the steering angle of the host vehicle and the steering angle of the host vehicle in the straight traveling state, the smaller the angle formed by the longitudinal axis of the host vehicle and the radiation direction of the modulated ultrasonic wave, The greater the difference between the steering angle of the host vehicle and the steering angle of the host vehicle in the straight traveling state, the greater the angle formed by the longitudinal axis of the host vehicle and the radiation direction of the modulated ultrasonic wave. The radiation direction of the modulated ultrasonic wave is changed so that

  Thereby, when the said angle difference is small, the radiation | emission direction of a modulation | alteration ultrasonic wave can be changed so that a modulation | alteration ultrasonic wave may be radiated | emitted in the range near the center part of the left-right direction of the own vehicle. On the other hand, when the angular difference is large, the radiation direction of the modulated ultrasonic wave can be changed so that the modulated ultrasonic wave is radiated in a range away from the center portion in the left-right direction of the host vehicle.

(Modification 5)
In the obstacle detection device 100 described in the present embodiment, as shown in FIG. 3B, one back sonar 20 that emits modulated ultrasonic waves is arranged at the center in the left-right direction at the rear of the host vehicle. However, a plurality of them may be provided in the left-right direction of the front part or the rear part of the host vehicle.

  Further, the audible signal generator 22 generates an audible signal for each notification content (for example, “Kiken”, “Chuui”, “Back Shimas”, etc.) corresponding to a plurality of different danger levels, The back sonar 20 provided near the center in the left-right direction emits modulated ultrasonic waves corresponding to the audible signal of the notification content corresponding to the high danger level, and near the left and right corners of the front and rear of the host vehicle The back sonar 20 provided in the above may emit modulated ultrasonic waves corresponding to an audible signal having a notification content corresponding to a low danger level.

  Thereby, it becomes possible to radiate sound waves corresponding to the notification contents having different danger levels from the plurality of back sonars 20 provided in the left and right directions of the front part and the rear part of the host vehicle. As a result, a person who has received a sound wave of a notification content corresponding to a low danger level can recognize for example that he / she has entered a dangerous area in the expected path when his vehicle moves, It becomes possible to grasp the danger level from the notification contents.

  In addition, when a person who has received a sound wave of notification content corresponding to this low danger level receives a sound wave of notification content corresponding to a high risk level, for example, a more dangerous range in the expected route when the vehicle moves You can recognize that you entered.

1 is a block diagram illustrating an overall configuration of an obstacle detection apparatus 100 according to an embodiment of the present invention. 2 is a block diagram showing an overall configuration of a back sonar 20. FIG. (A) is an image figure which shows the attachment position of the back sonar 20 when it sees from the left direction of a vehicle, (b) is an image figure which shows the attachment position of the back sonar 20 when it sees from the back of a vehicle. (C) is an image figure which shows the notification range C. FIG. It is the figure which showed the image when alerting a pedestrian concerning the embodiment of this invention. It is an image figure which shows notification range CF when changing the radiation | emission direction of a modulation | alteration ultrasonic wave upward, and notification range CS when changing downward. (A) is an image figure which shows notification range CIR, CIC, CIL at the time of changing the radiation direction of a modulation | alteration ultrasonic wave upwards, and also changing to the left-right direction, (b) is the radiation | emission direction of a modulation | alteration ultrasonic wave. It is an image figure which shows notification range CWR, CWC, CWL at the time of changing to downward and also changing to the left-right direction. It is a flowchart which shows the flow of the alerting process in the obstacle detection apparatus 100 concerning embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Corner sonar 20 Back sonar 21 Oscillator 22 Audible signal generator 23 Modulator 24 Amplifier 25 Ultrasonic transducer 30 Display apparatus 40 Vehicle speed detection apparatus 50 Processing apparatus 100 Obstacle detection apparatus C Notification range

Claims (5)

Mounted on mobile objects,
Audible signal generating means for generating an audible signal for calling attention to the moving body;
Modulation means for outputting a modulation signal obtained by modulating an ultrasonic signal with the audible signal generated by the audible signal generation means;
An ultrasonic radiation unit that emits a modulated ultrasonic wave toward the periphery of the movable body by being driven by the modulation signal output from the modulation unit ;
The audible signal generating means generates an audible signal for each notification content according to a plurality of different danger levels,
The ultrasonic radiation means includes
A plurality of front and rear parts of the moving body are provided in the left-right direction of at least one of the parts;
The ultrasonic radiation means provided near the center in the left-right direction of the part emits a modulated ultrasonic wave corresponding to an audible signal of notification contents corresponding to a high danger level,
The alerting device characterized in that the ultrasonic radiation means provided near the left and right corners of the part emits a modulated ultrasonic wave corresponding to an audible signal having a notification content corresponding to a low danger level . The alerting device according to claim 1 , wherein a direction in which the ultrasonic radiation unit emits the modulated ultrasonic wave is a ground around the moving body . The ultrasonic radiation means emits the modulated ultrasonic wave and receives a reflected wave thereof,
The alerting device according to claim 1 or 2, further comprising obstacle detection means for detecting an obstacle existing around the moving body based on the received reflected wave.   The ultrasonic radiation means radiates the modulated ultrasonic wave toward at least one of the surroundings of the moving body including at least the expected path when the moving body moves and the surrounding ground. The alerting device according to any one of claims 1 to 3.   The alerting device according to claim 4, wherein the ultrasonic radiation means emits the modulated ultrasonic wave when the moving body moves backward.

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