JP2000339595A - Obstacle monitoring device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve operability by reducing an operation such as the cutback of the wheel of a vehicle without operating unnecessary warning. SOLUTION: A traveling locus calculating means 3 reads a detected value in each fixed time from a shift position sensor 1 and a steering angle sensor 2, and calculates the traveling locus of a vehicle and the possibility of the collision of the vehicle with an obstacle. A collision judging means 5 judges the possibility of the collision with the obstacle based on whether or not the position of the obstacle detected by a two-dimensional acoustic sensor 4 is present inside the traveling locus of the vehicle calculated by the traveling locus calculating means 3. For example, in a situation that any possibility of the collision of the vehicle with a wall being the obstacle is absent when the vehicle is traveling in parallel with the wall, any warning is not operated so that any unnecessary warning against the obstacle whose possibility of collision is absent can be prevented from being operated. Thus, operability can be inproved by reducing an operation such as the cutback of the wheel of the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle obstacle monitoring device for detecting an obstacle around a vehicle, notifying a driver of the approach of the obstacle, and preventing a collision from occurring.

[0002]

2. Description of the Related Art Generally, in an alarm device for preventing collision with an obstacle for a vehicle, a propagation time from emission of a sound wave or light to reception of a reflected wave is measured, and an obstacle closest to the vehicle is measured. Calculating the distance to the object and narrowing the sounding interval of the buzzer according to the distance, or changing the color or blinking interval of a light emitting element such as a light emitting diode, are performed.

[0003]

As described above, in the conventional apparatus, an alarm is issued based on the distance value between the obstacle and the vehicle. Therefore, for example, when the vehicle runs parallel to a wall, the warning is issued. Even in a situation where there is no possibility that the vehicle will collide with the wall, a warning is issued if the distance between the vehicle and the wall is equal to or less than a predetermined reference value. In addition, when there is an obstacle in the driver's blind spot area, it is difficult for the driver to know whether or not the obstacle can be avoided, and the driver must get off the vehicle to check the position of the obstacle, There was a problem that we had to switch back.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and it is an object of the present invention to provide an obstacle for a vehicle capable of improving maneuverability by reducing unnecessary operations such as turning over the vehicle without issuing an unnecessary alarm. It is intended to provide a monitoring device.

[0005]

According to a first aspect of the present invention, there is provided an obstacle position detecting apparatus for detecting a position of an obstacle from a distance and an angle to an obstacle around the vehicle. Detecting means, a traveling direction detecting means for detecting a traveling direction of the vehicle, a steering angle detecting means for detecting a steering angle of a steering wheel included in the vehicle, a traveling direction detecting means and a vehicle based on a detection result of the steering angle detecting means. Traveling trajectory calculating means for calculating the traveling trajectory, collision determining means for determining whether or not the position of the obstacle detected by the obstacle position detecting means is within the traveling trajectory calculated by the traveling trajectory calculating means, Notifying means for notifying the driver that there is a danger of a collision when the position of the obstacle is determined to be within the traveling trajectory by the collision determining means, Progress The driver is not notified of the danger of a collision when the vehicle is not on the traveling trajectory.Therefore, unnecessary warnings for obstacles with no possibility of collision are not issued, and operations such as turning back of the vehicle are reduced. As a result, the maneuverability can be improved.

According to a second aspect of the present invention, in the first aspect of the present invention, at least the traveling locus calculated by the traveling locus calculating means and the position of the obstacle detected by the obstacle position detecting means are displayed and the steering is performed. And a display means for updating the display of the traveling locus according to the detection result of the angle detecting means. In addition to the operation of the invention of claim 1, the traveling locus and the obstacle corresponding to the current steering angle of the steering wheel are provided. Since the position of the obstacle is displayed on the display means, even if the obstacle exists in the blind spot area of the driver, the position of the obstacle can be immediately recognized by the display means, and the obstacle can be identified while maintaining the current steering angle. It can be determined whether the vehicle can be avoided and if so, which direction the steering should be operated to the left or right.Get off to avoid the obstacle in the blind spot area and confirm the position of the obstacle. It is improved troublesome saves and maneuverability, or the like.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the collision determining means determines that the obstacle is not detected until the steering angle becomes maximum when the position of the obstacle is within the traveling locus. If it is determined that the steering can be avoided, the driver is instructed on the steering direction until the detection result of the steering angle detecting means reaches the steering angle of the steering capable of avoiding the obstacle, and the steering angle of the steering becomes maximum. If it is determined that the obstacle cannot be avoided, the driver is instructed to stop the vehicle, and if the position of the obstacle is not within the traveling locus, the obstacle can be avoided at the current steering angle. In addition to the functions of the invention according to claim 1 or 2, in order to prevent a driver from colliding with an obstacle when there is an obstacle around the vehicle. The operation to be performed, ie Maintenance of the steering angle of the standing of the steering,
Alternatively, the driver can immediately know the steering operation or the turning back to avoid an obstacle, so that unnecessary turning back can be avoided and the maneuverability is improved.

According to a fourth aspect of the present invention, in the third aspect of the invention, the collision judging means can avoid the obstacle until the steering angle of the steering becomes maximum when the position of the obstacle is within the traveling locus. 4. The method according to claim 3, further comprising: instructing the driver of a steering operation direction and a steering angle at which the obstacle can be avoided when it is determined that the obstacle is avoidable. The operation is easily performed, and the maneuverability is improved.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the position of the obstacle is within the traveling trajectory by the collision determination means and the steering is operated to avoid the obstacle. And a turning means for turning the steering wheel until there is no obstacle in the traveling locus calculated by the traveling locus calculating means when it is determined that the steering is possible. In addition to the effect of any one of the inventions described in the fourth aspect, the behavior of avoiding an obstacle is reliably and easily performed, and the safety and maneuverability are improved.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects of the present invention, even if the position of the obstacle is within the traveling locus and the steering angle of the steering wheel is maximized by the collision determination means, the obstacle can be eliminated. A control means for controlling the engine and the brake so as to stop the vehicle when it is determined that it is impossible to avoid the obstacle, is provided. In addition, the risk of colliding with an obstacle is reduced.

According to a seventh aspect of the present invention, in any one of the first to fifth aspects of the present invention, the collision determining means sets a risk according to the possibility of collision of an obstacle, and as the risk increases, 6. The vehicle according to claim 1, further comprising control means for controlling an engine and a brake of the vehicle so as to reduce a maximum speed or a maximum acceleration of the vehicle. This prevents a collision at the time of rapid acceleration due to an error in accelerator operation at the time of approaching or approaching when the risk of collision is high, and improves safety at the time of approaching an obstacle.

According to another aspect of the present invention, there is provided an obstacle position detecting means installed on a vehicle for detecting the position of an obstacle from a distance and an angle to an obstacle around the vehicle. Display means for displaying the position of the obstacle and the trajectory drawn by the corner of the vehicle when the vehicle turns with the minimum turning radius, the driver can turn the steering only by looking at the display of the display means It is possible to determine whether the obstacle can be avoided if the vehicle is cut to the maximum, or if it is not possible to avoid the steering operation, so it is necessary to turn back.If the obstacle can be avoided with a simple configuration, it is unnecessary Can be avoided.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) A vehicle obstacle monitoring apparatus according to the present embodiment, as shown in FIG. 1, shifts an automatic transmission to determine whether a vehicle of an automobile moves forward or backward. Lever position (eg parking, reverse, neutral, drive,
Shift position sensor 1 for detecting 2nd, 1st, etc.)
A steering angle sensor 2 for detecting a steering angle of a steering wheel of the vehicle, a traveling trajectory calculating means 3 for calculating a traveling trajectory of the vehicle based on detection results of the shift position sensor 1 and the steering angle sensor 2, and A two-dimensional ultrasonic sensor 4 serving as an obstacle position detecting means for detecting the position of the obstacle from the distance and the angle to the obstacle around the vehicle, and the position of the obstacle detected by the two-dimensional ultrasonic sensor 4 is used to calculate a traveling trajectory. A collision judging means for judging whether or not the obstacle is on the traveling locus calculated by the means 3; and a collision with the driver when the collision judging means 5 judges that the position of the obstacle is on the traveling locus. A buzzer 7 as a notification means for notifying that there is a danger of
A liquid crystal display that displays at least the traveling trajectory calculated by the traveling trajectory calculating means 3 and the position of the obstacle detected by the two-dimensional ultrasonic sensor 4 and updates the display of the traveling trajectory according to the detection result of the steering angle sensor 2. And the like, and a display device 6 comprising The traveling trajectory calculating means 3 and the collision determining means 5 are realized by a microcomputer and software (program) executed by the microcomputer. The steering angle sensor 2 has a conventionally well-known configuration, and includes a disk (not shown) that rotates in cooperation with a steering shaft on which a steering is mounted, and two sides of a hole provided in the disk. A light-emitting portion and a light-receiving portion (not shown) disposed opposite to each other, and H is output according to the amount of light received when light from the light-emitting portion is received by the light-receiving portion through the hole of the disk.
The level / L level pulse signal is counted, and the steering angle of the steering is detected from the rotation angle of the disk.

As shown in FIG. 2, the two-dimensional ultrasonic sensor 4 is mounted on a bumper provided in front (front side) of the vehicle.
It is also embedded in four places in a bumper provided at the rear (rear side) of the vehicle. The mounting position and the mounting number of the two-dimensional ultrasonic sensor 4 are not limited to this.

The positional relationship between the two-dimensional ultrasonic sensor 4 and the obstacle is expressed by using parameters shown in FIG. That is, H is a plane of the two-dimensional ultrasonic sensor 4 and an opening surface on which an opening for transmitting / receiving ultrasonic waves is formed in the two-dimensional ultrasonic sensor 4. V is a normal line of the ultrasonic sensor 4, passes through a substantially center O of an opening for transmitting / receiving ultrasonic waves in the two-dimensional ultrasonic sensor 4, and
a, 4b constitute a perpendicular bisector. L is the distance from the approximate center O of the opening to the obstacle, and φ is the angle between the normal V and the obstacle.

The two-dimensional ultrasonic sensor 4 is shown in FIGS.
As shown in FIG. 5, an ultrasonic sensor 4a for both transmitting and receiving,
It is composed of an ultrasonic sensor 4b dedicated to receiving waves and a drive circuit (not shown) for driving them. The positional relationship of the obstacle is specified by the following method.

The ultrasonic sensors 4a and 4b are arranged on the same plane with a distance Ls therebetween. Ultrasonic sensor 4
As shown in FIG. 6, a transmission signal (pulse waveform signal) is applied to a, and an ultrasonic wave is transmitted while the transmission signal is at the H level. Even after the transmission signal becomes L level, it takes a predetermined time until the vibration of the ultrasonic transducer constituting the ultrasonic sensor 4a stops, so that a reverberation phenomenon occurs, and the ultrasonic signal continues to be emitted for a while ( FIG.
(B)).

FIG. 6D shows a reception signal of the ultrasonic sensor 4b, and a signal on the left side (a signal received first in time) is a signal directly received by the ultrasonic sensor 4a. The signal on the right side (a signal received later in time) indicates a reflected wave from an obstacle. FIG.
The received signals shown in (b) and (d) show the envelope of the vibration waveform (about 40 KHz) of the ultrasonic vibrator. When the amplitude is above a certain level, it becomes L level, It is shaped so as to be H level in the following cases (see FIGS. 6C and 6E). Two-dimensional ultrasonic sensor 4
In a and 4b, by detecting the falling of the shaped signals a and b from H level to L level (hereinafter, referred to as "shaped signals"), it is recognized that the received signal is a reflected wave. It is supposed to.

When the ultrasonic wave radiated from the ultrasonic sensor 4a hits a nearby object and is reflected, FIG. 6 (b) and FIG. 6 (d)
As shown in (1), reflected waves are observed at the ultrasonic sensors 4a and 4b. Ultrasonic waves travel in the air at the speed of sound c (=
(About 340 m / s), the distance to a nearby object can be calculated by measuring the time from the start of transmission of ultrasonic waves to the reception of reflected waves.

The time during which the reflected waves are received by the ultrasonic sensors 4a and 4b varies depending on the position of a nearby object because the ultrasonic sensors 4a and 4b are arranged apart from each other. For example, if a nearby object is located closer to the ultrasonic sensor 4a than the normal V on which the ultrasonic sensors 4a and 4b are arranged, the ultrasonic sensor 4a reflects first as shown in FIG. The wave is received (ta <tb), and if it is located on the ultrasonic sensor 4b side, the ultrasonic sensor 4b receives the reflected wave first (tb <ta) as shown in FIG. 7D. . That is, as shown in FIGS. 4 and 5, by measuring the times ta and tb from when the ultrasonic wave is transmitted from the ultrasonic sensor 4a to when the ultrasonic sensors 4a and 4b receive the reflected waves, the normal line is measured. It is possible to calculate the angle φ between V and a nearby object and the distance L (= tb × c / 2) from the approximate center O of the opening to the obstacle.

However, due to the reverberation of the ultrasonic sensor 4a,
The reflected wave cannot be received for a while after transmitting the ultrasonic wave. Therefore, for example, as shown in FIG. 7B, depending on the detection timing of the reflected wave, if there is an obstacle at a distance where the reflected wave can be received within the reverberation time, the reflected wave is detected only by the ultrasonic sensor 4b. Is not observed.
In this case, the calculation of the angle φ is not performed, and only the information of the distance L is obtained. Therefore, the angle φ is approximated to be 0.

As described above, the distance L to the nearby object and the angle φ are obtained by the two-dimensional ultrasonic sensor 4. An obstacle existing around the vehicle is detected from the information obtained from all the two-dimensional ultrasonic sensors 4 attached to the vehicle by the above procedure.

In this embodiment, the two-dimensional ultrasonic sensor 4 is used as the obstacle position detecting means. However, the distance measuring ultrasonic sensor array, or the obstacle using the laser or the microwave is used. May be used.
Further, since it is possible to determine whether the vehicle is going forward or backward by the shift position sensor 1, when the vehicle is going forward, only the two-dimensional ultrasonic sensor 4 attached in front of the vehicle is used. The power consumption may be reduced by using only the two-dimensional ultrasonic sensor 4 attached at the rear when the vehicle is going to retreat.

The traveling trajectory calculating means 3 reads the detected values from the shift position sensor 1 and the steering angle sensor 2 at regular intervals, and calculates the traveling trajectory of the vehicle as follows.

Here, the traveling trajectory of the vehicle when traveling at low speed is
When the steering angle of the steering is kept constant at 0 degree, that is, when the vehicle is traveling straight, it becomes a straight line,
When the steering angle of the steering is not 0 degree, that is, when the vehicle is not traveling straight (for example, when the vehicle is turning right or left), the shape is substantially circular. Therefore, it is determined whether or not the vehicle is traveling straight, based on whether or not the steering angle of the steering is approximately 0 degrees. When the steering angle is approximately 0 degrees and the vehicle is traveling straight, the traveling locus is extended to the side of the vehicle body. A straight line consisting of lines. When the steering angle is not substantially 0 degree and the vehicle is not traveling straight, the traveling locus (hereinafter, referred to as “trajectory circle”) according to the steering angle.
Calculate the radius of. Since the relationship between the steering angle of the steering and the above-mentioned trajectory circle depends on the shape of the wheel base and body of the vehicle, the shape of the corners at the four corners, and the like, it is measured in advance according to the vehicle and stored in the microcomputer. The relationship between the steering angle and the radius of the trajectory circle is recorded as a table in the apparatus.

On the other hand, the collision judging means 5 reads information on the position (distance L and angle φ) of the obstacle from the two-dimensional ultrasonic sensor 4 at regular intervals, and as shown in FIG. When the presence of the obstacle X in the detection area D of the sound wave sensor 4 is detected, if the position of the obstacle X is included in the locus circle S, it is determined that there is a possibility of collision, and FIG. If the position of the obstacle X is not included within the trajectory circle S as shown in a), it is determined that there is no possibility of collision.

When it is determined that there is a possibility of collision as described above, the collision determination means 5 sounds the buzzer 7 to warn the driver. At this time, the volume and frequency of the buzzer 7 are changed according to the distance L from the vehicle to the obstacle X,
Alternatively, the driver may be informed of the risk of collision by changing the way of warning, for example, by shortening the interval of the intermittent sound in accordance with the distance L and making the sound continuous if the distance is shorter than a predetermined distance. If it is determined that there is no possibility of collision,
The collision judging means 5 does not give a warning by the buzzer 7, but in such a case, the buzzer 7 is sounded at a different volume and frequency from that at the time of the above warning in order to notify the driver of the presence of an obstacle, and a collision is possible. The notification (warning) may be made separately from the case where there is a possibility. Alternatively, the position of the obstacle and the possibility of collision may be notified by voice.

Based on whether or not the obstacle position detected by the two-dimensional ultrasonic sensor 4 is inside the traveling trajectory of the vehicle calculated by the traveling trajectory calculating means 3 as described above, the collision with the obstacle is determined. Since the possibility is determined, no warning is given in a situation where there is no possibility that the vehicle will collide with a wall which is an obstacle, for example, when the vehicle runs parallel to the wall, and there is no possibility of collision. Unnecessary alarms for obstacles are not issued, and operations such as turning back of the vehicle can be reduced, so that maneuverability can be improved.

The display 6 generates an image of the vehicle K, the traveling locus M and the obstacle position P as shown in FIG. 9 based on the information from the traveling locus calculating means 3 and the two-dimensional ultrasonic sensor 4. And display it on the screen. Here, as shown in FIGS. 9 to 11, the display 6 updates the display of the traveling trajectory M based on the information sequentially sent from the traveling trajectory calculating means 3, so that the driver does not need to display an obstacle. By turning the steering wheel until the position P no longer exists inside the traveling locus M and then moving the vehicle forward or backward, it is possible to know the steering operation necessary to avoid the obstacle by looking at the screen of the display 6. be able to. Thus, even if an obstacle is present in the driver's blind spot area, the position of the obstacle can be immediately recognized by the display 6, and it is possible to avoid the obstacle while maintaining the current steering angle of the steering. Or, if it is possible to avoid it, it is possible to know which direction to steer the steering in the left or right direction, and to avoid obstacles in the blind spot area, get off and check the position of the obstacles without maneuvering There is an advantage that performance is improved.

When the collision determining means 5 determines that there is a possibility that the vehicle will collide with an obstacle based on the current steering angle of the steering, the steering is turned until the vehicle reaches the maximum steering angle virtually. The possibility of collision in the event of a collision is sequentially determined, and the difference between the steering angle and the current steering angle at the time when the possibility of collision disappears and the steering operation direction are displayed on the display 6.
Display on the screen. For example, as shown in FIG. 9, the current steering angle is substantially 0 degree, the vehicle is traveling straight, and the traveling locus M
When there is an obstacle position P inside, the steering operation direction (right direction in this case) is displayed at the bottom of the screen of the display 6.
And the steering angle (eg, 510) of the steering wheel to be turned until the obstacle position P disappears inside the traveling locus M.
When the driver turns the steering wheel to the right as shown in FIG. 10 and the traveling locus M of the vehicle changes, the steering angle of the steering wheel to be further turned from there (for example, 180 degrees) is displayed.
Degrees). Then, as shown in FIG. 11, when the obstacle position P disappears inside the traveling locus M, the display of the steering operation direction is stopped and the display of the steering angle is set to 0 degree. If it is determined by the collision determining means 5 that the obstacle cannot be avoided before the steering angle of the steering becomes the maximum, the screen of the display 6 is urged to stop as shown in FIGS. The display (display of “STOP”) is performed.

As described above, the display 6 displays the steering operation direction and the steering angle value necessary for avoiding an obstacle, so that when an obstacle is present around the vehicle, the driver can use it. The operation to avoid collision with an obstacle, that is, maintaining the current steering angle, or operating the steering to avoid an obstacle, or turning back, is immediately known to the driver and the obstacle The driver is instructed on the steering operation direction and steering angle at which steering can be avoided, so that unnecessary turning back can be avoided and steering operation when avoiding obstacles is easily performed, thereby improving maneuverability. There are advantages. In the present embodiment, the case where the vehicle turns right at the front of the vehicle is shown. However, when there is an obstacle inside the traveling trajectory of the vehicle at the time of turning left or retreating, it is determined that there is a possibility of collision. Needless to say, the instruction of the operation direction and the display of the steering angle are performed. Also, the display of the steering angle may be a display using a level meter or the like instead of a numerical value. In addition, the vehicle obstacle monitoring device according to the present embodiment is intended to assist a driver during low-speed running (including stoppage) in a parking lot or a narrow place, and shifts when the vehicle is stopped or running at low speed. Since the traveling trajectory of the vehicle is calculated from the detection results of the position sensor 1 and the steering angle sensor 2, when the vehicle speed exceeds a predetermined value, the shift position sensor 1, the steering angle sensor 2, and the two-dimensional ultrasonic sensor 4 Such operations are stopped to reduce power consumption.

(Embodiment 2) The vehicle obstacle monitoring apparatus of this embodiment is controlled by a motor 10 for rotating a steering shaft 9 on which a steering 8 is mounted, and a collision judging means 5, as shown in FIG. And a steering drive circuit 11 for driving a motor 10 so as to rotate the steering 8. Other configurations are the same as those in the first embodiment. Is omitted.

In this embodiment, when the collision judging means 5 judges that there is a possibility of collision avoidance, the steering angle (target angle value) of the steering 8 capable of avoiding collision is calculated.
The target angle value is output from the collision determination means 5 to the steering drive circuit 11. The steering drive circuit 11
The motor 10 is driven to rotate the steering shaft 9 so that the steering angle of the steering 8 matches the received target angle value.

According to the present embodiment, the collision determining means 5 determines that the position of the obstacle is within the traveling locus and that the obstacle can be avoided by operating the steering 8. In this case, since the motor 10 and the steering drive circuit 11 that rotate the steering wheel until the position of the obstacle is no longer in the traveling locus calculated by the traveling locus calculating means 3 are provided, the avoidance action of the obstacle is ensured. There is an advantage that it is easily performed, and safety and maneuverability are improved.

(Embodiment 3) As shown in FIG. 15, a vehicle obstacle monitoring apparatus according to the present embodiment employs an engine 1 of an automobile.
An engine control circuit 13 for controlling the vehicle 2 and a brake control circuit 15 for controlling the brake 14 of the vehicle are provided. The other components are the same as those of the first embodiment. The description is omitted.

The collision judging means 5 judges the possibility of collision with an obstacle in a stepwise manner. Risk 2 is a situation where avoidance is possible, Risk 1 is a situation where collision can be avoided with the current steering angle, and Risk 0 is a situation where no obstacle is detected.
And the maximum speed value of the vehicle permitted according to each of the danger levels 3 to 0, for example, 0 [km /
h], 5 [km / h] for risk 2 and 10 for risk 1
The higher the risk is, for example, [km / h], the smaller the value is set, the lower the risk is, the lower the maximum speed value is set. Then, the collision determination means 5 controls the engine control circuit 13 and the brake control circuit 15 so as to limit the speed of the vehicle to the maximum speed value corresponding to each of the danger levels 3 to 1.
To output a control signal.

The engine control circuit 1 that has received the control signal
3 and the brake control circuit 15 control the engine speed based on the control signal and actuate the brake to control the vehicle speed to be equal to or lower than the maximum speed value. If the risk is 3, the vehicle is stopped.

Thus, according to the present embodiment, the collision determining means 5 sets the risk according to the possibility of the collision of the obstacle, and reduces the maximum speed value of the vehicle as the risk increases. The engine control circuit 13 and the brake control circuit 15 for controlling the engine 12 and the brake 14 of the vehicle in such a manner that the vehicle may suddenly shift due to an error in accelerator operation at the time of approaching or approaching when there is a high risk of collision with an obstacle. This has the advantage of preventing collisions during rapid acceleration and improving safety when maneuvering close to obstacles. In addition, by setting upper limit values such as the maximum acceleration value, wheel rotation speed, engine speed, etc. instead of the maximum speed value, it is possible to prevent sudden starting and excessive speeding in dangerous situations where obstacles are nearby. You may make it.

(Embodiment 4) As shown in FIG. 16, a vehicle obstacle monitoring device according to the present embodiment
A two-dimensional ultrasonic sensor 4; a display device for displaying a position of an obstacle detected by the two-dimensional ultrasonic sensor 4 and a locus drawn by a corner of the vehicle when the vehicle turns with a minimum turning radius. 16 are provided. Note that the shift position sensor 1 and the two-dimensional ultrasonic sensor 4 are common to the first embodiment, and thus description thereof is omitted. However, in the present embodiment as well as in the first embodiment, as the obstacle position detecting means, in addition to the two-dimensional ultrasonic sensor 4, a distance measuring ultrasonic sensor array or an obstacle using a laser or a microwave is used. May be used.

The display device 16 is composed of a liquid crystal display and its driving circuit. On the screen of the liquid crystal display, the vehicle K and its traveling locus M with the steering angle being maximized, that is, the vehicle has a minimum turning radius. When the vehicle turns, the locus drawn by the corner of the vehicle is displayed in advance, and the obstacle position P detected by the two-dimensional ultrasonic sensor 4 is displayed on the screen of the liquid crystal display together with the traveling locus M. In addition, the display device 16 displays the traveling locus M when the vehicle moves forward as shown in FIG. 17A and the vehicle moves backward as shown in FIG. 17B according to the detection result of the shift position sensor 1. The traveling locus M in this case is switched and displayed.

According to the present embodiment, the driver can avoid the obstacle by looking at the display on the display device 16 and turning the steering wheel to the maximum, and cannot avoid the obstacle by the steering operation. It is possible to determine whether or not it is necessary to switch back, and there is an advantage that unnecessary switching can be avoided when an obstacle can be avoided with a simple configuration. In conjunction with the steering angle sensor as described in the first embodiment, for example, when the steering is turned to the right, the traveling locus when turning left is not displayed, so that the traveling locus and the obstacle position can be more easily seen. It is also possible.

[0042]

According to the first aspect of the present invention, there is provided an obstacle position detecting means which is installed in a vehicle and detects a position of the obstacle from a distance and an angle to the obstacle around the vehicle, and a traveling direction which detects a traveling direction of the vehicle. Direction detecting means, steering angle detecting means for detecting a steering angle of a steering of the vehicle, traveling direction detecting means, and traveling trajectory calculating means for computing a traveling trajectory of the vehicle based on the detection result of the steering angle detecting means; Collision determining means for determining whether or not the position of the obstacle detected by the object position detecting means is within the traveling trajectory calculated by the traveling trajectory calculating means; Notification means for notifying the driver that there is a danger of collision when it is determined that the vehicle is located in the vehicle. Against Do not notified the risk of collision, no longer unnecessary alarm is performed against the possibility obstructions collision, there is an effect that reduces the operation of crosscut of a vehicle to improve the maneuverability.

According to the present invention, at least the traveling locus calculated by the traveling locus calculating means and the position of the obstacle detected by the obstacle position detecting means are displayed, and the detection result of the steering angle detecting means is displayed. Since the display means for updating the display of the traveling locus according to the present invention is provided, the traveling locus corresponding to the current steering angle and the position of the obstacle are displayed on the display means in addition to the effect of the first aspect of the invention. Because
Even if an obstacle is present in the blind spot area of the driver, the position of the obstacle can be immediately recognized by the display means, and whether or not the obstacle can be avoided while maintaining the current steering angle is determined. Knows which direction to operate the steering in the left or right direction, and has the effect of improving maneuverability by eliminating the trouble of getting off and checking the position of obstacles to avoid obstacles in the blind spot area. is there.

According to a third aspect of the present invention, if the collision determining means determines that the obstacle can be avoided by the time the steering angle of the steering reaches the maximum when the position of the obstacle is within the traveling locus, the steering is performed. The driver is instructed in the steering direction until the detection result of the angle detection means reaches the steering angle of the steering wheel capable of avoiding an obstacle, and the obstacle cannot be avoided until the steering angle of the steering wheel is maximized. If it is determined, the driver is instructed to stop the vehicle, and when the position of the obstacle is not within the traveling locus, the driver is instructed that the obstacle can be avoided at the current steering angle of the steering wheel, In addition to the effects of the first or second aspect of the present invention, in the case where an obstacle is present around the vehicle, an operation to be performed by the driver to avoid collision with the obstacle, that is, the current steering angle of the steering wheel Maintenance, or Steering operation to avoid harm thereof, or crosscut immediately to be seen in the driver, there is an effect that maneuverability to be able to avoid unnecessary crosscut is improved.

According to a fourth aspect of the present invention, if the collision determining means determines that the obstacle can be avoided before the steering angle of the steering reaches the maximum when the position of the obstacle is within the traveling trajectory, the obstacle is determined. Since the driver is instructed on the steering operation direction and the steering angle at which the obstacle can be avoided, in addition to the effect of the invention of claim 3, the steering operation when avoiding an obstacle is easily performed, and the maneuverability is improved. There is an effect of improving.

According to a fifth aspect of the present invention, when the collision judging means determines that the position of the obstacle is within the traveling locus and that it is possible to avoid the obstacle by operating the steering wheel, Since the turning means is provided for turning the steering wheel until the position of the obstacle disappears in the traveling trajectory calculated by the trajectory calculating means, in addition to the effects of the invention according to any one of claims 1 to 4, in addition to the effect of the invention, The avoidance action is performed reliably and easily, and there is an effect that safety and maneuverability are improved.

According to a sixth aspect of the present invention, it is determined by the collision determining means that the position of the obstacle is within the traveling locus and that it is impossible to avoid the obstacle even if the steering angle of the steering is maximized. In this case, a control means for controlling the engine and the brake so as to stop the vehicle is provided.
In addition to the effects of any one of the fifth aspect, there is an effect that the risk of colliding with an obstacle is reduced.

According to a seventh aspect of the present invention, the collision determining means sets a risk according to the possibility of collision with an obstacle, and reduces the maximum speed or the maximum acceleration of the vehicle as the risk increases. Since the control means for controlling the engine and the brake of the vehicle is provided, in addition to the effects of any one of claims 1 to 5, the accelerator for the approaching or approaching operation when there is a high risk of colliding with an obstacle There is an effect that a collision at the time of rapid acceleration due to an operation error is prevented, and safety at the time of maneuvering approaching an obstacle is improved.

The invention according to claim 8 is an obstacle position detecting means which is installed in a vehicle and detects the position of the obstacle from a distance and an angle to the obstacle around the vehicle; Display means for displaying the trajectory drawn by the corner of the vehicle when turning with the minimum turning radius is provided, so the driver can turn the steering wheel to the maximum just by looking at the display on the display means and remove the obstacle It is possible to determine whether it is necessary to turn back because it can be avoided or it is impossible to avoid it by steering operation, and it is possible to avoid unnecessary turning back when obstacles can be avoided with a simple configuration. .

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment.

FIG. 2 is an explanatory diagram for explaining a place where the two-dimensional ultrasonic sensor is mounted on a vehicle in the above.

FIG. 3 is an explanatory diagram of parameters for displaying a positional relationship between a two-dimensional ultrasonic sensor and an obstacle in the above.

FIG. 4 is an explanatory diagram of a process of detecting a position of an obstacle in the above.

FIG. 5 is an explanatory diagram of a process of detecting a position of an obstacle in the above.

FIG. 6 is a time chart of a transmission / reception signal of the two-dimensional ultrasonic sensor in the above.

FIG. 7 is a time chart of a shaped signal obtained by shaping a transmission / reception signal of the two-dimensional ultrasonic sensor in the above.

FIGS. 8 (a) and (b) are explanatory diagrams of the above operation.

FIG. 9 is an explanatory diagram showing an example of a display screen of the display device in the above.

FIG. 10 is an explanatory diagram showing an example of a display screen of the display device in the above.

FIG. 11 is an explanatory diagram showing an example of a display screen of the display device in the above.

FIG. 12 is an explanatory diagram showing an example of a display screen of the display device in the above.

FIG. 13 is an explanatory diagram showing an example of a display screen of the display device in the above.

FIG. 14 is a block diagram showing a second embodiment.

FIG. 15 is a block diagram showing a third embodiment.

FIG. 16 is a block diagram showing a fourth embodiment.

FIGS. 17A and 17B are explanatory diagrams showing an example of a display screen of the display device in the above.

[Explanation of symbols]

 Reference Signs List 1 shift position sensor 2 steering angle sensor 3 traveling trajectory calculating means 4 two-dimensional ultrasonic sensor 5 collision determining means 6 display 7 buzzer

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[Procedure amendment]

[Submission date] July 19, 1999 (1999.7.1)
9)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

According to a second aspect of the present invention, in the first aspect of the present invention, at least the traveling locus calculated by the traveling locus calculating means and the position of the obstacle detected by the obstacle position detecting means are displayed and the steering is performed. And a display means for updating the display of the traveling locus according to the detection result of the angle detecting means. In addition to the operation of the invention of claim 1, the traveling locus and the obstacle corresponding to the current steering angle of the steering wheel are provided. Since the position of the obstacle is displayed on the display means, even if the obstacle exists in the blind spot area of the driver, the position of the obstacle can be immediately recognized by the display means, and the obstacle can be identified while maintaining the current steering angle. whether it is avoidable, know may be the steering to the right or left direction when avoiding needless possible, the position of the obstacle in getting off to avoid obstacles blind area Troublesome saves and maneuverability, such as the certification is improved.

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0026

[Correction method] Change

[Correction contents]

On the other hand, the collision judging means 5 reads information on the position (distance L and angle φ) of the obstacle from the two-dimensional ultrasonic sensor 4 at regular intervals, and as shown in FIG. when detecting the presence of an obstacle X in the detection region D of the ultrasonic sensor 4, it determines the position of the obstacle X is a possibility of collision if it contains inside said circular path S is present, FIG. If the position of the obstacle X is not included in the trajectory circle S as shown in (a), it is determined that there is no possibility of collision.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0029

[Correction method] Change

[Correction contents]

The display 6 generates an image of the vehicle K, the traveling locus M and the obstacle position P as shown in FIG. 9 based on the information from the traveling locus calculating means 3 and the two-dimensional ultrasonic sensor 4. And display it on the screen. Here, as shown in FIGS. 9 to 11, the display 6 updates the display of the traveling trajectory M based on the information sequentially sent from the traveling trajectory calculating means 3, so that the driver does not need to display an obstacle. By turning the steering wheel until the position P no longer exists inside the traveling locus M and then moving the vehicle forward or backward, it is possible to know the steering operation necessary to avoid the obstacle by looking at the screen of the display 6. be able to. Thus, even if an obstacle is present in the driver's blind spot area, the position of the obstacle can be immediately recognized by the display 6, and it is possible to avoid the obstacle while maintaining the current steering angle of the steering. or, know may be the steering to the right or left direction when avoiding needless possible, eliminates the need of such to identify the location of getting off to avoid obstacles blind area obstacle There is an advantage that maneuverability is improved.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0043

[Correction method] Change

[Correction contents]

According to the present invention, at least the traveling locus calculated by the traveling locus calculating means and the position of the obstacle detected by the obstacle position detecting means are displayed, and the detection result of the steering angle detecting means is displayed. Since the display means for updating the display of the traveling locus according to the present invention is provided, the traveling locus corresponding to the current steering angle and the position of the obstacle are displayed on the display means in addition to the effect of the first aspect of the invention. Because
Immediately understand the position of the obstacle by the display means even when an obstacle in the blind spot region for the driver is present, whether it is possible to avoid leaving obstacle maintaining the current steering angle, if avoiding needless possible The driver can know which direction to operate the steering wheel in the left or right direction, and the maneuverability is improved by eliminating the trouble of getting off and checking the position of obstacles to avoid obstacles in the blind spot area There is.

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Claims (8)

[Claims] 1. An obstacle position detecting means installed in a vehicle for detecting a position of an obstacle from a distance and an angle to an obstacle around the vehicle, a traveling direction detecting means for detecting a traveling direction of the vehicle, Steering angle detecting means for detecting the steering angle of the steering wheel, traveling direction detecting means, traveling path calculating means for calculating the traveling path of the vehicle based on the detection result of the steering angle detecting means, and obstacle position detecting means. Collision judging means for judging whether or not the position of the obstacle that has occurred is within the traveling locus calculated by the traveling locus calculating means, and it is determined by the collision judging means that the position of the obstacle is on the traveling locus. And a notifying means for notifying the driver that there is a danger of collision in the case. 2. Displaying at least the traveling trajectory calculated by the traveling trajectory calculating means and the position of the obstacle detected by the obstacle position detecting means and displaying the traveling trajectory in accordance with the detection result of the steering angle detecting means. 2. The obstacle monitoring device for a vehicle according to claim 1, further comprising display means for updating the display. 3. The collision determination means detects the obstacle if the obstacle can be avoided by the time the steering angle of the steering is maximized when the position of the obstacle is within the traveling locus. Instructs the driver in the steering direction until the result reaches the steering angle of the steering that can avoid obstacles, and drives if it determines that obstacles cannot be avoided by the maximum steering angle of the steering. The vehicle is instructed to stop the vehicle, and when the position of the obstacle is not within the traveling locus, the driver is instructed that the obstacle can be avoided at the current steering angle of the steering wheel. 1
Or the obstacle monitoring device for vehicles according to 2. 4. The collision determining means determines that the obstacle can be avoided by determining that the obstacle can be avoided before the steering angle becomes maximum when the position of the obstacle is within the traveling locus. 4. The vehicle obstacle monitoring device according to claim 3, wherein the driver is instructed on the steering operation direction and the steering angle. 5. The travel trajectory calculating means calculates the obstacle when the collision determination means determines that the position of the obstacle is within the travel locus and that the obstacle can be avoided by operating the steering wheel. The obstacle monitoring device for a vehicle according to any one of claims 1 to 4, further comprising a rotation unit configured to rotate the steering until the position of the obstacle does not exist in the traveling trajectory. 6. When the collision determining means determines that the position of the obstacle is within the traveling locus and that it is impossible to avoid the obstacle even if the steering angle of the steering is maximized, the vehicle is moved. The vehicle obstacle monitoring device according to any one of claims 1 to 5, further comprising control means for controlling the engine and the brake so as to stop. 7. A vehicle according to claim 1, wherein the collision determining means sets a risk according to the possibility of collision of the obstacle, and reduces the maximum speed or the maximum acceleration of the vehicle as the risk increases. The obstacle monitoring device for a vehicle according to any one of claims 1 to 5, further comprising control means for controlling the vehicle. 8. An obstacle position detecting means installed on a vehicle for detecting the position of the obstacle from a distance and an angle to an obstacle around the vehicle, and the detected position of the obstacle and the vehicle turning with a minimum turning radius. Display means for displaying a trajectory drawn by a corner of the vehicle when the vehicle is turned off.