JP2001236599A - Moving object approach condition judging device, mobile telephone terminal, moving object action controller, radio wave transmitter and moving object approach condition judging method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately judge the mode of approach of a moving object. SOLUTION: When it is judged in a step S104 there is a received radio wave from another vehicle, the arriving azimuth and strength of the radio wave from the other vehicle are judged (step S120). On the basis of the data of the judged arriving azimuth and strength of the radio wave, the change rate in the arriving azimuth of the radio wave and the change rate in the strength of the radio wave are operated (step S122). Then, the possibility of collision is judged while using the operated change rates in the arriving azimuth and the strength (step S124). On the basis of the change rate in the arriving azimuth of the radio wave and the change rate in the strength of the radio wave, the mode of approach can be accurately judged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body approaching state determining device, a portable telephone terminal, a moving body operation control device, a radio wave transmitting device, and a moving body approaching state determining method. Moving object approaching state discriminating apparatus for discriminating the approaching state between a moving object and another moving object, a mobile phone terminal provided with this moving object approaching state discriminating apparatus, and a moving object provided with this moving object approaching state discriminating apparatus and controlling the operation of the moving body Motion control device,
The present invention relates to a radio wave transmitting device for transmitting a predetermined radio wave to the moving object approaching state determining device and a moving object approaching state determining method for determining an approaching state between the moving object and another moving object.

[0002]

2. Description of the Related Art Conventionally, as this kind of moving body approaching state discriminating apparatus, there has been proposed an apparatus for judging the approaching state of a moving body based on the radio wave intensity transmitted from a portable telephone terminal mounted on a vehicle. . This apparatus is disclosed in, for example,
No. 85102. In this device, the arrival direction of a radio wave is detected, and the approach status is calculated from the radio wave intensity.

[0003]

However, such a moving body approaching state determination device cannot sufficiently determine the approaching state of the moving body. For example, when a vehicle equipped with a mobile phone approaches from the front, it may be determined that there is a high possibility of a collision, even if the approaches are passing each other.

[0004] It is an object of the present invention to determine the approaching state between a moving object and another moving object with high accuracy. Another object of the present invention is to provide a mobile phone terminal for notifying an approach status. Another object of the present invention is to control the operation of the moving object more appropriately based on the approach state determined with high accuracy. It is another object of the radio wave transmitting device of the present invention to suitably transmit radio waves to a moving object approaching state determination device. Another object of the present invention is to provide a method for accurately determining the approaching state between a moving object and another moving object.

[0005]

Means for Solving the Problems and Actions and Effects Thereof A moving object approaching state determining apparatus, a portable telephone terminal, a moving object operation control apparatus, a radio wave transmitting apparatus, and a moving object approaching state determining method of the present invention have the above-mentioned objects. The following measures were taken to achieve at least a part.

A moving body approaching state determining apparatus according to the present invention is mounted on a moving body and determines the approaching state between the moving body and another moving body. Receiving means for receiving a radio wave transmitted from the mobile device, determining means for determining the direction and strength of arrival of the received radio wave, and the moving body and the other based on the determined direction and strength of arrival of the radio wave And an approach status determining means for determining an approach status to the moving body.

The moving body approaching state determining apparatus of the present invention is mounted on a moving body, receives a radio wave transmitted from another moving body by a receiving means, and determines an arrival direction and an intensity of the received radio wave. The approach status determining means determines the approach status between the moving object and another moving object based on the determined arrival direction and intensity of the radio wave. Since the moving body approaching state determination device determines the approaching state based on the arrival direction and intensity of the radio wave, it is possible to accurately determine the approaching state even if it is difficult to determine the approaching state using only the arrival direction or intensity alone. Here, the “moving object” includes a vehicle, a pedestrian, and the like. In the moving object approaching state determination device according to the present invention, the determination unit may determine the intensity of the radio wave based on the frequency of the received radio wave.

Further, in the moving body approaching state determining apparatus according to the present invention, the approaching state determining means includes the moving body and the other object based on the change rate of the arrival direction of the radio wave and the change rate of the intensity of the radio wave. Means for judging the approach status with the moving object may be used. Further, in the moving body approaching state determination device according to the aspect of the present invention, the approaching state determining means may determine that the rate of change of the intensity over time is within a predetermined range where the rate of change of the arrival direction is zero. When a predetermined increase tendency is shown along with the above, a means for determining the possibility of collision between the moving body and the other moving body may be used. This makes it possible to accurately determine the possibility of collision between the moving body and another moving body. Further, in the moving body approaching state determination device according to the aspect of the present invention, the approaching state determination unit changes the rate of change of the arrival direction beyond the predetermined range, and
When the rate of change of the intensity deviates from the predetermined increasing tendency with the passage of time, it may be configured to determine whether or not the moving body passes the other moving body. With this configuration, it is possible to accurately determine whether the moving body passes by another moving body or has a high possibility of collision. Further, when the change rate of the intensity shows a predetermined increasing tendency with the passage of time, the moving body approaching state determination device of the present invention of the aspect of determining the possibility of collision between the moving body and another moving body, A moving body speed detecting means for detecting a moving speed of the moving body; and a range tendency correcting means for correcting the predetermined range and / or the predetermined increasing tendency based on the detected moving speed of the moving body. It can also be. This way,
The determination result by the determination means can be changed according to the moving speed, and the determination according to the situation of the moving body can be performed.
In addition, the moving object approaching state determination device of the present invention in this aspect includes:
Moving body state detecting means for detecting a moving state of the moving body; and a rate of change of the arrival direction and / or a rate of change of the intensity based on the moving state of the moving body detected by the moving body state detecting means. And a change rate correcting means for correcting In this case, even if the moving state of the moving body changes, the determination can be performed with high accuracy.

[0009] In the moving object approaching state discriminating apparatus according to the present invention, the receiving means may be an array antenna having a plurality of antenna elements, and a radio wave transmitted from the other moving object may be propagated. It is also possible to use a means for scanning an area to be scanned.

[0010] Further, the moving object approaching state discriminating apparatus of the present invention includes transmitting means for transmitting a predetermined radio wave, and the receiving means transmits the radio wave from the other moving body based on the radio wave transmitted from the transmitting means. It can be used as a means for receiving the transmitted radio wave. In this case, since the receiving means receives a specific radio wave, the arrival direction and the strength are determined, and the approach status between the moving body and another moving body is determined as compared with when receiving an unspecified number of radio waves. Becomes easier. Further, in the moving body approaching state determination device of the present invention of this aspect, the transmitting means includes:
Means for transmitting a radio wave having an intensity that can reach a predetermined area may be used. By doing so, radio waves are transmitted only to other moving objects existing within the predetermined area, and radio waves are transmitted only from other moving objects existing within this predetermined area. It is easy to determine the approach status between the body and another moving body.

Further, in the moving body approaching state determination device of the present invention, the receiving means may be a portable telephone terminal capable of making a call using a wireless communication line. Further, in the moving body approaching state determination device of the present invention, the transmitting means may be a mobile phone terminal capable of making a call using a wireless communication line. The mobile phone terminal may be capable of performing data communication as well as calling.

Further, a mobile phone terminal according to the present invention is a mobile phone terminal capable of making a call using a wireless communication line. Notification means for notifying the approach status based on the determination of the approach status by the status determination device.

The portable telephone terminal of the present invention includes the above-described moving body approaching state determination device, and notifies the approaching state by the notification means based on the determination of the approaching state by the moving body approaching state determination device. Can be. A mobile phone terminal is excellent in portability, and it is easy to switch such a mobile phone terminal from one moving body to another moving body. Here, the approach status can be notified by sound from a speaker provided in the mobile phone terminal or by displaying it on a display. Further, the mobile phone terminal of the present invention in this aspect may include switching means for switching between a call using a wireless communication line and an approach state determination using the moving object approach state determination device.

A moving object operation control device according to the present invention is mounted on a moving object and controls the operation of the moving object based on approach information between the moving object and another moving object. A moving body approaching state determination device according to any one of the aspects of the present invention, and operation control means for controlling an operation of the moving body based on a determination result of the approaching state by the moving body approaching state determination device. Is the gist.

This moving body operation control device includes the above-described moving body approaching state determination device, and performs an operation on the moving body by the operation control means based on the result of the determination of the approaching state by the moving body approaching state determination device. Control. In this case, a highly accurate approach state determination result can be used for operation control of the moving body, and more appropriate operation control can be performed for the approach state. In the moving object operation control device of the present invention, the operation control means controls the brake so as to apply a braking force to the moving object when the moving object approaching state determination device determines that the possibility of collision is high. It can also be. In this way, when the possibility of collision is high, control can be performed so that the braking force is applied so that the moving body does not collide with another moving body. Also,
In the moving object operation control device according to the aspect of the present invention, when the operation control means determines that the moving object approaching state determination device determines that the other moving object approaches from the rear with respect to the traveling direction of the moving object, Means for inhibiting the control of the brake may be used. In this way, when another moving body approaches the moving direction of the moving body from behind, the braking force is not applied to the moving body, so that it is possible to prevent the collision of the other moving body from behind. it can.

Further, the moving body operation control device of the present invention includes warning means for giving a warning to the moving body and / or the other moving body based on the result of the determination of the approaching state by the moving body approaching state determination device. It can also be. In the mobile object operation control device according to the aspect of the present invention, the warning means may be means for giving a warning to the other mobile body by at least one of sound and light, and the warning means may be , Sound, light, text, or video. This makes it possible for the moving body and / or another moving body to easily recognize the determination result of the approach status.

The radio wave transmitting device of the present invention is a radio wave transmitting device mounted on a moving body, and receives a first radio wave transmitted from the moving body approaching state determining device mounted on another moving body. Radio wave receiving means, and radio wave transmitting means for transmitting a second radio wave capable of determining the approaching state to the other moving body based on the received first radio wave by the moving body approaching state determination device. Is the gist.

This radio wave transmitting device receives the first radio wave transmitted from the above-mentioned moving object approaching state discriminating device by the radio wave receiving means, and transmits the second radio wave based on the received first radio wave by the radio wave transmitting means. Send. Such a radio wave transmission device can easily transmit and receive radio waves to and from the above-described moving object approaching state determination device.

In the radio wave transmitting apparatus according to the present invention, the radio wave transmitting means may be a means for transmitting a radio wave modulated by a specific method as the second radio wave. Further, in the radio wave transmitting device according to the present invention, the radio wave transmitting means may be means for transmitting a radio wave encoded by a specific method as the second radio wave. Further, in the radio wave transmitting device of the present invention, the radio wave transmitting means may be a means for transmitting a radio wave having an intensity that can reach a predetermined area. In addition, this mobile phone terminal is not only for calls,
Data communication may be possible.

The moving body approaching state determination method of the present invention is a moving body approaching state determining method for determining the approaching state between a moving body and another moving body, and (a) transmitted from the other moving body. Receiving a radio wave, (b) determining the arrival direction and intensity of the received radio wave, and (c) approaching the moving object and the other mobile object based on the determined arrival direction and intensity of the radio wave. The gist is to determine the situation.

Since the approaching state determination method of the present invention determines the approaching state based on the arrival direction and intensity of the radio wave, the approaching state determination method can accurately determine the approaching state even if it is difficult to determine only the arrival direction or the intensity alone. Can be.

Further, in the moving body approaching state determination method according to the present invention, the step (c) comprises the step of determining the moving body and the other object based on the change rate of the arrival direction of the radio wave and the change rate of the intensity of the radio wave. It may be a step of judging a state of approach to the moving body.

In the moving object approaching state determination method according to the aspect of the present invention, in the step (c), the rate of change of the intensity is within a predetermined range centered on zero. When a predetermined increasing tendency is shown with the passage of time, a step of determining the possibility of collision between the moving body and the other moving body may be employed. This makes it possible to accurately determine the possibility of collision between the moving body and another moving body. Further, in the moving object approaching state determination method according to the aspect of the present invention, in the step (c), the change rate of the arrival direction changes beyond the predetermined range, and the change rate of the intensity is time. When the predetermined moving tendency deviates from the predetermined moving tendency, a step of judging a passing of the moving body and the other moving body may be performed. With this configuration, it is possible to accurately determine whether the moving body passes by another moving body or has a high possibility of collision.

[0024]

Next, embodiments of the present invention will be described with reference to examples. FIG. 1 is a configuration diagram schematically showing the configuration of a vehicle operation control device 20 according to one embodiment of the present invention. The vehicle operation control device 20 according to the embodiment includes a receiver 22 that receives a radio wave modulated by a predetermined method (for example, a CDMA method) using an array antenna 32 including a plurality of antenna elements, An A / D converter 24 for converting a digital signal into a digital signal, a transmitter 30 for transmitting a radio wave modulated by a predetermined method, and an electronic control unit 28 for analyzing the digitally converted radio signal and controlling the entire apparatus.

The electronic control unit 28 is configured as a one-chip microprocessor centered on a CPU 28a, and includes a ROM 28c storing a processing program,
It has a RAM 28b for temporarily storing data, an input / output port (not shown), and a communication port (not shown). To the electronic control unit 28, a digital radio signal from the AD converter 24, a wheel speed from a wheel speed sensor 26 attached to a wheel, and the like are input via an input port. In addition, the electronic control unit 28 sends the transmitter 3
A control signal to 0, a lighting signal to the headlight 40, an output signal to the horn 42, a display signal to the display 44, and the like are output via the output port. Also,
The electronic control unit 28 is in communication with a brake ECU 46 that controls a brake via a communication port.

Although not shown, the brake ECU 46 has a C
It is configured as a microprocessor centered on a PU, and its input port has a brake pedal position sensor 48 for detecting the position of the brake pedal 47.
, The hydraulic pressure from a hydraulic gauge 52 attached to the brake master cylinder 50, and the like. In addition, a drive signal to a hydraulic adjuster 54 that adjusts the hydraulic pressure of the brake master cylinder 50 is output from the brake ECU 46 via an output port (not shown).

FIG. 1 shows a portable telephone terminal 10 having the same configuration as the main part 21 of the vehicle operation control device 20 of the embodiment as a partner for transmitting and receiving radio waves. In addition to the mobile phone terminal 10, other vehicles equipped with the vehicle operation control device 20 of the embodiment are also included.

Next, as an example of the operation of the vehicle operation control device 20 configured as described above, an operation of determining the possibility of collision between moving vehicles and performing brake control will be described. Here, the vehicle A is a vehicle on which the mobile phone terminal 10 is mounted, and the vehicle B is a vehicle on which the vehicle operation control device 20 is mounted.

FIG. 2 is a flowchart showing an example of a moving object approaching state processing routine executed by the vehicle operation control device 20 mounted on the vehicle B. This routine
Immediately after the vehicle operation control device 20 is started, it is repeatedly executed at a predetermined time (for example, every 500 ms).

When this processing routine is executed, the vehicle B
From the transmitter 30 periodically (for example, 100 ms) at an intensity at which radio waves modulated by a predetermined method can reach a predetermined area.
(Every time) (step S100). This predetermined area can determine an optimum range according to the transmission power and the transmission direction of the radio wave. When the vehicle A is within a predetermined area to which the transmitted radio wave can reach, the vehicle A receives the radio wave transmitted from the vehicle B, and transmits a radio wave of a predetermined method to the vehicle B with the reception. Send. Receiver 2 of vehicle B
2 scans a predetermined area for such a return radio wave (steps S102 and S104). If there is no received radio wave, the collision determination flag F is set to a value of 0 (step S1).
10), this routine ends.

On the other hand, if it is determined that there is a received radio wave,
The arrival direction and intensity of the radio wave from the vehicle A are determined (step S120). The direction of arrival of the radio wave is determined by ESPRI
Although the T analysis method is used, a Fourier analysis method, a wavelet analysis method, a MUSIC analysis method, an analysis method using an analog filter, or the like may be used. In particular, it is preferable to select an optimal analysis method in consideration of the load of the electronic control unit 28 spent for the determination and the determination accuracy of the direction of arrival. The determination of the intensity of the radio wave includes a determination using the intensity of the received radio wave itself and a determination of the intensity based on the frequency of the radio wave such as the Doppler effect. As a method of determining the intensity based on the frequency, for example, there is a method in which the frequency is associated with the intensity on a one-to-one basis, and the intensity is derived from the frequency of the received radio wave. In addition,
The determined arrival direction and intensity of the radio wave are stored in the RAM 28 b of the electronic control unit 28. Next, the change rate of the arrival direction of the radio wave and the change rate of the intensity of the radio wave are calculated (step S1).
22), the possibility of collision is determined using the calculated change rate of the arrival direction and the change rate of the intensity (step S12).
4).

The possibility of collision is determined as follows.

FIG. 3 is a conceptual diagram showing a case where a vehicle A traveling straight ahead and a vehicle B traveling straight ahead collide, and FIG. 4 is a diagram showing an example of a temporal change in the intensity of radio waves received from the vehicle A at the vehicle B. FIG. 5 is an explanatory diagram illustrating an example of a time change of the arrival direction of the radio wave from the vehicle A. As shown in FIG. 3, the vehicle A is traveling in the direction of arrow a, and the vehicle B is traveling in the direction of arrow b. The arrival direction of the radio wave from the vehicle A received by the vehicle B is indicated by an arrow a1 before the collision and by an arrow a2 at the time of the collision. At this time, the arrival direction 電波 of the radio wave is an angle formed between the traveling direction of the vehicle B and the arrival direction of the radio wave, and thus is Ф1 before the collision and Ф2 at the time of the collision. The intensity of the radio wave arriving from the vehicle A to the vehicle B repeatedly increases and decreases in a short time as shown in FIG. 4, but shows an increasing tendency on average. Assuming that the average change rate of the radio wave intensity is the change rate of the intensity, the change rate of the radio wave intensity tends to increase with time. As shown in FIG. 5, the arrival direction 電波 of the radio wave arriving from the vehicle A to the vehicle B repeats a small change in a short time, but is substantially constant on average. Assuming that the average change rate of the arrival direction 電波 of the radio wave is the change rate of the arrival direction, the change rate of the arrival direction takes a constant value 0 within a substantially predetermined range centering on the value 0. Therefore, when the rate of change of the intensity is increasing with time and the rate of change of the arrival direction is substantially within a predetermined range around the value 0, it can be determined that there is a possibility of collision.

On the other hand, when the vehicle A and the vehicle B pass each other, the rate of change of the intensity and the rate of change of the arrival direction tend to be different from those in the case of collision. FIG. 6 is a conceptual diagram in a case where a vehicle A traveling straight ahead and a vehicle B traveling straight ahead pass each other. FIG. 7 is an explanatory diagram showing an example of a time change of the intensity of radio waves received from the vehicle A in the vehicle B. FIG. 8 is an explanatory diagram showing an example of a time change of the arrival direction of the radio wave from the vehicle A. As shown in FIG. 6, vehicle A is traveling in the direction of arrow a ', and vehicle B is traveling in the direction of arrow b'. The arrival direction of the radio wave from the vehicle A received by the vehicle B is indicated by an arrow a1 'at a point in time before passing, and is indicated by an arrow a2' at the point in time of passing. At this time, the arrival direction 電波 of the radio wave is an angle formed between the traveling direction of the vehicle B and the arrival direction of the radio wave, and thus is Ф1 'at a time before passing and Ф2' at the time of a collision. As shown in FIG. 7, the intensity of the radio wave arriving at the vehicle B from the vehicle A repeatedly increases and decreases in a short time, but shows an increasing tendency on average. However, as vehicle A and vehicle B come closer, the increasing tendency of the radio wave intensity is gradually alleviated. Assuming that the average change rate of the radio wave intensity is the change rate of the intensity, the change rate of the radio wave intensity changes from an increasing trend to a decreasing trend over time. As shown in FIG. 8, the arrival direction 電波 of the radio wave arriving from the vehicle A to the vehicle B repeatedly fluctuates in a short time, but gradually rises on average. Assuming that the average change rate of the arrival direction of the radio wave is the change rate of the arrival direction, the change rate of the arrival direction shows an increasing tendency from the value 0. Therefore, when the rate of change of the intensity does not show an increasing tendency over time and the rate of change of the arrival direction deviates from a predetermined range around the value 0, it can be determined that the approach of the vehicle A is passing. .

Further, when the vehicle B turns, the angle of the vehicle A viewed from the vehicle B changes. Therefore, even when a collision occurs, the arrival direction of the radio wave transmitted from the vehicle A changes. FIG.
FIG. 3 is a conceptual diagram of a situation in which a turning vehicle B collides with a traveling vehicle A. As shown in FIG. 9, vehicle A is traveling in the direction of arrow a, and vehicle B is traveling in the direction of arrow b. The direction of arrival of radio waves from vehicle A received by vehicle B is
At the time before the collision, they are indicated by arrows a1, a2, and a3, and at the time of the collision, they are indicated by arrows a4. At this time, the arrival direction 電波 of the radio wave is an angle formed between the traveling direction of the vehicle B and the arrival direction of the radio wave, and thus is 前 1, Ф2, Ф3 before the collision, and Ф4 at the time of the collision. As shown in the figure, the arrival direction of the radio wave increases with time, and the rate of change of the arrival direction also changes. At this time, the possibility of collision can be determined by detecting the turning state of the vehicle B and correcting the rate of change of the arrival direction. For example, the arrival direction of the radio wave at a certain time tn is Фn, the arrival direction of the radio wave at a time tn-1 before the time tn is Ф (n-1), and the steering angle of the vehicle B is θ,
When the vehicle speed of the vehicle B is V, Δtn−t (n−
1) The change in the direction of the vehicle A as viewed from the vehicle B at｝ time can be represented by a predetermined function f (θ, V), and using this function, the rate of change of the arrival direction can be corrected by the following equation.

[0036]

(1) {n − {(n−1) −f (θ, V)} / Δt
nt (n-1)} If the predetermined range of the change rate of the arrival direction and / or the predetermined increase tendency of the radio wave intensity change rate are corrected based on the traveling state of the vehicle, it is more preferable. The possibility of a collision can be quickly determined.

If it is determined in step S126 that there is no possibility of collision, the value of the collision determination flag F is set to 0 (step S110), and this routine ends.

On the other hand, when it is determined that there is a possibility of collision, the collision determination flag F is set to a value of 1 (step S130), and a warning is issued to the vehicle A such as turning on the headlights 40 or sounding the horn 42. , Display 4
A warning is issued to the vehicle B by displaying the possibility of collision with the vehicle 4 (step S132), and the routine ends.

Next, a description will be given of a brake control routine executed as an example of a process for controlling the operation of the vehicle based on the determination result in the vehicle operation control device 20. FIG.
9 is a flowchart showing a brake control routine. This routine is performed in parallel with or after the moving object determination processing routine.

When this routine is executed, it is first determined whether or not the collision determination flag F has a value of 1 (step S200). If the collision determination flag F is not equal to 1, the possibility of a collision has not been determined, and the routine ends without performing any special brake control.

On the other hand, when it is determined that the collision determination flag F has the value 1, that is, when it is determined that there is a possibility of collision, the arrival direction of the radio wave is checked, and the approach of the vehicle A is approach from behind. Is determined (step S202). This determination is made because the brake control is often not appropriate when the vehicle A approaches from behind the vehicle B. When it is determined that the approach of the vehicle A is approaching from behind, the collision determination flag F is set to a value of 0 (step S206), and this routine ends.

On the other hand, if the vehicle A is not approaching from behind, brake control is performed (S204). Specifically, from the electronic control unit 28 to the brake ECU 46
Control signal is sent to the brake EC
The U46 drives the hydraulic adjuster 54 to adjust the hydraulic pressure of the brake master silling 50 to apply a braking force to the vehicle B. The brake control is performed based on the speed of the vehicle B, the state of the hydraulic pressure detected by the hydraulic pressure gauge 52, and the like. When the brake control is performed, the display 44
Is displayed on the display 44, indicating that the brake control has been performed for the operator of the vehicle B on the display 44 (S210), and this routine ends.

As described above, according to the vehicle operation control device 20 of the embodiment, it is possible to accurately determine the approaching state between the vehicles. In addition, by using the result of this determination, it is possible to perform more appropriate brake control for the approaching situation.

In the vehicle operation control apparatus 20 of the embodiment, the main part 21 is described as being fixed to the vehicle.
May be connected to the electronic control unit of the vehicle via a signal line or the like. Further, when not giving a warning to the opponent vehicle, the mobile phone terminal provided with the main part 21 may not be connected to the electronic control unit of the vehicle by a signal line or the like. If the mobile phone terminal includes the main unit 21 as described above, it is possible to determine the approaching state of the moving body even when using a vehicle of another person, such as a rental car, and use it for driving the vehicle. The receiver 22 and the transmitter 30 of the main part 21
May be connected to the electronic control unit of the vehicle via a signal line or the like. In this case, either the receiver 22 or the transmitter 30 is unnecessary for the vehicle B, and the device mounted on the vehicle B can be simplified.

In the vehicle operation control device 20 of the embodiment,
From the transmitter 30 of the vehicle B, a radio wave modulated by a predetermined method is periodically transmitted with an intensity capable of reaching a predetermined area.
The transmission of this radio wave may be performed simultaneously in all directions.

Although the vehicle operation control device 20 of the embodiment has exemplified the case where the brake control is performed based on the result of the determination of the approaching state of the moving body, the vehicle A and the vehicle A may be replaced with the vehicle A by controlling the steering, the engine speed, etc. Control for avoiding a collision with the vehicle B may be performed.

In the vehicle operation control device 20 of the embodiment,
Although the approaching state of the moving object is determined using the radio wave, the approaching state of the moving object may be determined using an electromagnetic wave or a sound wave other than the electric wave.

The mobile phone terminal 10 which is the transmission / reception partner of the vehicle operation control device 20 of the embodiment may be provided with a switching means for switching between the telephone call on the mobile phone terminal and the discrimination in the main part 21. In this way, when the user carrying the mobile phone terminal 10 is in a room or the like and there is no need to determine the approach status with the moving object, it is possible to perform only the call on the mobile phone without determining the approach status. .

The transmission / reception partner of the vehicle operation control device 20 of the embodiment does not include the main part 21,
May be a device that receives a radio wave transmitted from the vehicle B and transmits a radio wave that allows the vehicle B to determine the approach status based on the received radio wave.

The embodiments of the present invention have been described with reference to the embodiments. However, the present invention is not limited to these embodiments. For example, the embodiments and the like are within the scope of the present invention. Of course, the present invention can be implemented in various forms.

[Brief description of the drawings]

FIG. 1 is a vehicle operation control device 2 according to an embodiment of the present invention.
FIG. 2 is a configuration diagram schematically illustrating a configuration of a zero.

FIG. 2 is a flowchart illustrating an example of a moving object approaching state processing routine executed by an electronic control unit of the vehicle operation control device 20 according to the embodiment.

FIG. 3 is a conceptual diagram in a case where vehicles traveling straight ahead collide with each other.

FIG. 4 is an explanatory diagram showing an example of a temporal change in the intensity of an incoming radio wave when vehicles traveling straight ahead collide with each other.

FIG. 5 is an explanatory diagram showing an example of a time change of the arrival direction of an incoming radio wave when vehicles traveling straight ahead collide with each other.

FIG. 6 is a conceptual diagram in a case where vehicles traveling straight ahead of each other.

FIG. 7 is an explanatory diagram showing an example of a temporal change in the intensity of an incoming radio wave when vehicles traveling straight ahead pass each other.

FIG. 8 is an explanatory diagram showing an example of a time change of the arrival direction of an incoming radio wave when vehicles traveling straight ahead pass each other.

FIG. 9 is a conceptual diagram when a turning vehicle and a straight-ahead vehicle collide with each other.

FIG. 10 is a flowchart illustrating an example of a brake control routine executed by the electronic control unit of the vehicle operation control device 20 according to the embodiment.

[Explanation of symbols]

Reference Signs List 10 mobile phone terminal, 20 vehicle operation control device, 21
Main parts, 22 receivers, 26 wheel speed sensors, 28 electronic control units, 30 transmitters, 40 headlights,
42 horn, 44 display, 46 brake ECU, 47 brake pedal.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 630 B60R 21/00 630G B60T 7/12 B60T 7/12 C G01S 5/12 G01S 5/12 G08B 21/00 G08B 21/00 HF term (reference) 3D046 BB18 HH02 HH20 HH36 MM34 5C086 AA53 BA22 CA06 CB27 DA15 DA16 DA19 DA28 DA29 EA15 EA25 EA40 EA41 EA42 EA45 FA02 FA18 5H180 EA01 BB05 CC12 LL05

Claims (28)

[Claims] 1. A moving body approaching state determination device mounted on a moving body to determine an approaching state between the moving body and another moving body, the receiving apparatus receiving a radio wave transmitted from the other moving body. Means, determining means for determining the direction and strength of arrival of the received radio wave, and determining the approach status between the moving body and the other moving body based on the determined direction and strength of arrival of the radio wave. A moving body approaching state determining device comprising: an approaching state determining unit. 2. The approach status determining means for determining an approach status between the moving body and the other moving body based on a change rate of an arrival direction of the radio wave and a change rate of an intensity of the radio wave. The moving object approaching state determination device according to claim 1. 3. The approach state determining means, when the rate of change of the intensity shows a predetermined increasing tendency over time within a predetermined range centered on zero, The moving body approaching state determination device according to claim 2, wherein the means determines a possibility of collision between the moving body and the other moving body. 4. The approach status determination means, wherein the rate of change of the arrival direction changes beyond the predetermined range, and the rate of change of the intensity deviates from the predetermined increasing tendency with time. 4. The moving body approaching state determining device according to claim 3, wherein when the moving body is located, the moving body and the other moving body are determined to pass each other. 5. The moving body approaching state determining device according to claim 3, wherein the moving body speed detecting means detects a moving speed of the moving body, and the moving body speed detecting means detects a moving speed of the moving body based on the detected moving speed of the moving body. And a range tendency correction means for correcting the predetermined range and / or the predetermined increase tendency. 6. The moving body approaching state determining device according to claim 3, wherein the moving body state detecting unit detects a moving state of the moving body, and the moving body state detecting unit detects the moving state of the moving body. A moving body approaching state determination device, comprising: a change rate correction unit that corrects the rate of change of the arrival direction and / or the rate of change of the intensity based on the moving state of the moving body. 7. The moving object approaching state determining device according to claim 1, wherein said receiving means is an array antenna having a plurality of antenna elements. 8. The moving body approaching state determination device according to claim 1, wherein said receiving means is means for scanning an area in which a radio wave transmitted from said another moving body propagates. 9. The moving body approaching state determining device according to claim 1, further comprising a transmitting unit that transmits a predetermined radio wave, wherein the receiving unit transmits the radio wave transmitted from the transmitting unit. A moving body approaching state determining device for receiving a radio wave transmitted from the other moving body based on the moving object. 10. The apparatus according to claim 9, wherein said transmitting means is means for transmitting a radio wave having an intensity capable of reaching a predetermined area. 11. The apparatus according to claim 1, wherein said receiving means is a portable telephone terminal capable of making a telephone call using a wireless communication line. 12. The moving body approaching state determining device according to claim 9, wherein said transmitting means is a portable telephone terminal capable of making a call using a wireless communication line. 13. A mobile phone terminal capable of making a call using a wireless communication line, comprising: the mobile object approaching state determining device according to claim 1; Notification means for notifying the approach status based on the determination of the mobile phone terminal. 14. The mobile phone terminal according to claim 13, further comprising a switching unit configured to switch between a call using the wireless communication line and a determination of an approaching state using the moving object approaching state determination device. 15. A moving body operation control device mounted on a moving body and controlling an operation of the moving body based on information on an approach between the moving body and another moving body, wherein: A moving object operation control device comprising: a moving object approaching state determination device according to any one of claims 1 to 3, and an operation control unit that controls an operation of the moving object based on a result of the approaching state determination performed by the moving object approaching state determination device. 16. The moving control device according to claim 15, wherein the operation control means controls a brake so as to apply a braking force to the moving body when the moving body approaching state determination device determines that the possibility of collision is high. The moving body operation control device according to any one of the preceding claims. 17. The device according to claim 17, wherein the operation control unit prohibits the control of the brake when the moving body approaching state determination device determines that the other moving body approaches from the rear in the traveling direction of the moving body. The mobile object operation control device according to claim 16, wherein: 18. The apparatus according to claim 15, further comprising a warning unit that warns the moving body and / or the other moving body based on a result of the determination of the approaching state by the moving body approaching state determination device. Mobile body motion control device. 19. The moving body operation control device according to claim 18, wherein the warning means is a means for giving a warning to the other moving body by at least one of sound and light. 20. The moving body operation control device according to claim 18, wherein the warning means is a means for giving a warning to the moving body by at least one of sound, light, text, and video. 21. A radio wave transmitting device mounted on a moving object, wherein the first radio wave transmitting device transmitted from the moving object approaching state determining device according to claim 9 is mounted on another moving object. Radio wave receiving means for receiving a radio wave; radio wave transmitting means for transmitting a second radio wave capable of determining the approaching state to the other mobile object based on the received first radio wave, A radio wave transmitting device comprising: 22. The radio wave transmitting device according to claim 21, wherein said radio wave transmitting means is means for transmitting a radio wave modulated by a specific method as said second radio wave. 23. The radio wave transmitting device according to claim 21, wherein said radio wave transmitting means is means for transmitting a radio wave encoded by a specific method as said second radio wave. 24. The radio wave transmitting means for transmitting a radio wave having an intensity capable of reaching a predetermined area.
23. The radio wave transmitting device according to any one of 23. 25. A moving body approaching state determining method for determining an approaching state between a moving body and another moving body, comprising: (a) receiving a radio wave transmitted from the other moving body; (C) judging the arrival direction and intensity of the received radio wave, and (c) judging the approach status between the mobile object and the other mobile object based on the arrival direction and intensity of the radio wave thus determined. Method. 26. The step (c) is a step of judging an approaching state between the moving body and the other moving body based on a change rate of an arrival direction of the radio wave and a change rate of an intensity of the radio wave. 26. The moving body approaching state determination method according to claim 25. 27. The step (c), when the rate of change of the intensity shows a predetermined increasing tendency over time within a predetermined range centered on zero, 27. The moving body approaching state determination method according to claim 26, further comprising a step of determining a possibility of collision between the moving body and the other moving body. 28. The step (c), wherein the rate of change of the arrival direction changes beyond the predetermined range, and the rate of change of the intensity deviates from the predetermined increasing tendency with time. 28. The moving body approaching state determination method according to claim 27, further comprising the step of determining whether the moving body and the other moving body pass each other when the moving body approaches.