JP2003104146A - Control device of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of a vehicle capable of providing optimal alarms to an occupant considering situations inside and outside a vehicle. SOLUTION: In a vehicle W, priority of both a front obstruction alarm and a lane deviation alarm is set according to a sitting state of the occupant and when both the alarms are provided at the same time, the alarm with priority is priorly displayed on a display device 3 or notified by a voice through a speaker. When there is an occupant not using a seat belt, a child seat is placed in the front seat or the child seat is placed in the rear seat with facing the front direction, the front obstruction alarm is prioritized. When the child seat is placed in the rear seat with facing the rear direction or the occupant is sitting in a seat in the lane deviation direction, the lane deviation alarm is prioritized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a front obstacle warning means for warning a front obstacle of a vehicle, and a lateral warning means for warning a obstacle existing in a lateral direction of the vehicle or a lateral position of the vehicle. The present invention relates to a control device for a vehicle equipped with.

[0002]

2. Description of the Related Art In recent years, a vehicle speed sensor, a steering angle sensor, etc. are used to detect the running state of the vehicle itself, and a CCD camera, a laser radar, a road marker sensor, etc. are used to detect the situation outside the vehicle, and these are detected. 2. Description of the Related Art Vehicles in which a value is processed by a computer and information useful for driving the vehicle is provided to an occupant through a display or a speaker are becoming popular.

Specifically, for example, a scene in front of the own vehicle is photographed by using a CCD camera or the like to detect an obstacle in front of the own vehicle (hereinafter referred to as "front obstacle"), and the front obstacle is detected. A vehicle equipped with a front obstacle warning device that warns an occupant via a display, a speaker, or the like when an object may interfere with the vehicle is proposed (for example, see Japanese Patent Laid-Open No. 11-115660). .

Further, by using a CCD camera or the like, the white lines on both sides of the lane in which the vehicle is traveling are photographed, and the positional relationship between the vehicle and the white line within the lane is detected, and the vehicle detects the lane. A vehicle equipped with a lane departure warning device that issues an alarm to an occupant via a display, a speaker, or the like when there is a risk of departure is also proposed. (For example, Japanese Patent Laid-Open No. 11-12630
No. 0 publication). Further, a vehicle equipped with both a front obstacle warning device and a lane departure warning device has also been proposed (for example, see Japanese Patent Laid-Open No. 11-189071).

[0005]

However, for example, in the vehicle disclosed in Japanese Unexamined Patent Publication No. 11-189071, a warning is issued simply of the possibility of interference with a forward obstacle or the possibility of lane departure. Therefore, there is a problem in that it is not possible to give a finely detailed and appropriate warning according to the situation inside the vehicle. For example, when there is both the possibility of interference with a front obstacle and the possibility of departure from the lane, it is not possible to issue the optimum warning for ensuring the safety of the occupant.

The present invention has been made in order to solve the above-mentioned conventional problems, and it is of a vehicle capable of giving an optimal warning to an occupant in consideration of not only the condition outside the vehicle but also the condition inside the vehicle. It is an issue to be solved to provide a control device.

[0007]

SUMMARY OF THE INVENTION The present invention, which has been made to solve the above-mentioned problems, comprises (i) a front obstacle warning means for issuing a warning regarding a front obstacle of a vehicle based on a predetermined operating condition; ) A vehicle control device comprising a lateral direction warning means for issuing an alarm about an obstacle existing laterally of the vehicle or a lateral position of the vehicle based on a predetermined operating condition,
i) a seating state detecting means for detecting a seating state of an occupant;
v) priority setting means for setting the priority order of alarm output according to the seating state of the occupant when the front obstacle warning means and the lateral warning means simultaneously satisfy the operating conditions;
And an alarm control unit for outputting an alarm or controlling the vehicle based on the priority set by the priority setting unit.

According to this vehicle control device, the priority setting means outputs an alarm or controls the vehicle based on the priority set according to the sitting state of the occupant. Of course, it is possible to give the occupant an optimal warning in consideration of the situation inside the vehicle, or it is possible to automatically control the vehicle. Further, even when both the possibility of interference with a front obstacle and the possibility of lane departure exist at the same time, the occupant can be optimally alerted or the vehicle can be controlled according to the priority order.

In the above-described vehicle control device, the priority setting means determines whether there is an occupant who is not using a seat belt, a child seat is attached to the front seat, or a child seat is attached to the rear seat so as to face forward. When it is present, it is preferable that the warning of the front obstacle warning means is prioritized. This is because in such a case, there is a high possibility that the occupant may be in trouble or in danger when the own vehicle and the front obstacle interfere with each other.

Further, in the above-mentioned vehicle control device, the priority setting means is such that the occupant is seated in the seat in the direction in which the rear seat is equipped with the child seat facing backward, or in the direction in which the warning target of the lateral warning means exists. In this case, it is preferable to give priority to the warning of the lateral warning means. In such a case, when a lane departure occurs,
This is because there is a high possibility that the occupant will have trouble or danger.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be specifically described below. As shown in FIGS. 1A and 1B, the instrument panel 1 of the vehicle W has an entertainment display 2 and a display 3 for displaying information such as an alarm.
(Display device). The entertainment display 2 is arranged at a vehicle center position in the vehicle width direction at a substantially central position in the vertical direction of the instrument panel 1.

The indicator 3 is arranged at a position near the driver's seat in the meter unit 4 provided near the vehicle center in the vehicle width direction (a little closer to the driver's seat) at the upper position of the instrument panel 1. That is, the display device 3 is located diagonally above the entertainment display 2 at a position closer to the driver than the entertainment display 2. Reference numeral 5 is an in-vehicle electronic device such as an audio device, 6 is a steering wheel, and 7 is a windshield.

As shown in FIG. 2, the meter unit 4 includes a speedometer, a fuel gauge, a water temperature gauge,
Indicator lights such as odometers, trip meters, selector indicator lights, turn signal indicator lights are provided. Further, the meter unit 4 is also provided with various warning lights such as an Oitaney towering light and an oil pressure warning light.

As viewed in the vehicle front-rear direction, the display device 3 is arranged at the front position of the instrument panel 1, while the entertainment display 2 is arranged behind the display device 3. Here, the vertical viewing angle of the entertainment display 2, that is, the vertical angle of the line connecting the entertainment display 2 and the driver's eye point is set to about 22 degrees. On the other hand, the vertical confirmation angle of the display 3 is set to about 11 degrees. Therefore, the display device 3 has better visibility than the entertainment display 2.

As shown in FIG. 3, the display device 3 arranged offset in front of the driver's seat and below the driver's eye point has a display screen 3a. The display screen 3a is divided into a first display unit 8 that displays textual information indicating a caution or danger target related to traveling of the vehicle, and a second display unit 9 that displays graphic information indicating the traveling state of the vehicle. There is. The first display unit 8 is arranged above the second display unit 9. In addition, the first display unit 8 is also provided with a third display unit 10 for displaying a symbol mark m relating to display contents.

As shown in FIG. 4, at the front end of the vehicle, a forward obstacle radar 11 composed of a laser radar or a millimeter wave radar for detecting forward obstacles, and an infrared camera for photographing a scene in front of the vehicle at night, etc. And 12 are provided. A road surface marker sensor 13 is provided below the lower panel at the front of the vehicle body. This road marker sensor 1
Reference numeral 3 detects a magnetic signal output from a road surface marker on a road in which a magnet is embedded in advance, and detects the position of the traveling lane of the vehicle W from the magnetic signal.

Further, in the vehicle W, in order to protect an occupant when a rear impact vehicle is detected, a motor type seat belt pretensioner 14 for restraining the occupant by giving up the seat belt immediately before the collision, and various types of the vehicle. A CPU 20 for controlling is provided. Further, the vehicle W is provided with a road-vehicle communication unit 15. This road-vehicle communication unit 1
Reference numeral 5 performs road-vehicle communication with a road-side infrastructure that provides the vehicle W with information regarding the situation in the vehicle traveling direction.

On the outside of the center of the front header of the vehicle W, a CCD camera 1 for detecting a white line for photographing a white line on the road is provided.
6 is provided. This white line detection CCD camera 16
Is used to determine the vehicle position with respect to the white line. Further, the vehicle W includes an electric throttle 17 that electrically controls a throttle valve of an intake system of the engine to perform automatic acceleration / deceleration.
And a braking control actuator 18 (brake unit) that executes automatic braking (braking) as needed when an obstacle is detected.

As shown in FIG. 5, a line CCD sensor 19 for detecting a rear-end collision vehicle is provided at the center of the rear end of the vehicle W. Further, as shown in FIG. 6, line CCD sensors 22 for rear side warning are provided inside the left and right door mirrors 21 each of which is a half mirror. Each line CCD sensor 22 captures a scene behind the lane next to the lane in which the vehicle W is traveling. These line CCD sensors 22 are used when the vehicle W changes lanes.

A headlight switch 23 and a turn signal switch 24 are provided immediately in front of the steering wheel 6. Further, the vehicle W is provided with a steering angle sensor 25 that detects a snake angle and a vehicle speed sensor 26 that detects a vehicle speed. Further, the rear tray portion is provided with a GPS sensor 27 that constitutes a navigation device and a ROM 28 that stores road map data and the like. G
The PS sensor 27 receives the GPS signal from the GPS artificial satellite and detects the absolute position of the vehicle W.

As shown in FIG. 7, front speakers 29 and 30 are provided near the left and right ends of the instrument panel 1, respectively. At the bottoms of the left and right front doors, there are front door speakers 31, 32, respectively.
Is provided. Rear tray speakers 33 and 34 are provided near the left and right ends of the rear tray 33, respectively. These six loudspeakers 29 to 34 are used as ordinary loudspeakers that generate stereoscopic sound, and are also used as an alarm means for giving an alarm by voice. Instead of the speakers 29 to 34 (may be used together),
Electronic voice generator, electronic sound generator, electronic buzzer, etc.
Other warning means may be used.

In the passenger compartment of the vehicle W, there is a driver's seat 3 which is a front seat.
5 and a passenger seat 36, and a rear seat 37 are provided. Here, a child seat 38 is attached to the passenger seat 36. The child seat 38 may be attached to the rear seat 37. The child seat 38 can be mounted frontward or rearward.

The control system of the vehicle W will be specifically described below. As shown in FIG. 8, the CPU 20 includes, as its constituent elements, a lane departure warning CPU 20a, a front obstacle warning control CPU 20b, and a display / warning control CPU 2
0c and. Here, the lane departure warning CPU 2
0a is a road surface marker sensor 13 and a white line detection CCD
White line recognition means A including camera 16, and rudder angle sensor 25
Then, control information (control data) is input from the vehicle speed sensor 26.

The front obstacle warning control CPU 20b includes
Forward obstacle detecting means B including the forward obstacle radar 11 and the infrared camera 12, the steering angle sensor 25, and the vehicle speed sensor 2
The control information is input from 6. CP for display / alarm control
Control information is input to the U20c from the GPS sensor 27, the ROM 28, the occupant sensor 40, the child seat detection means 41, and the seat belt usage state detection means 42. The display / warning control CPU 20c includes a lane departure warning CPU 20a and a front obstacle warning control C.
The calculation results are input from the PU 20b.

The display / warning control CPU 20c
Displays various information, which is the calculation result, on the display unit 3, the braking control actuator 18, and the alarm unit C (which may be configured by only some speakers) including the speakers 29 to 34. It outputs to the steering means 43 such as a power steering motor.

Thus, the CPU 20 performs various controls of the vehicle W on the basis of the above-mentioned various control information, and general control of the vehicle W is well known, and such general control is of the present invention. The description is omitted because it is not the gist, and only the display / warning control of the vehicle W and the control related thereto according to the gist of the present invention will be described below. Here, the display / warning control means to display to the occupant (including the driver) of the vehicle W various information relating to the safety or danger of traveling of the vehicle W on the display device 3, and to give an alarm means. The control is performed by giving a voice notification via C or controlling the braking control actuator 18 or the steering means 43.

A specific control method for the display / warning control according to the present invention will be described below with reference to the flowchart shown in FIG. In this display / warning control, priority is set for the front obstacle warning and the lane departure warning, and when both warnings are issued at the same time, the passenger with the higher priority warning is given priority. Done. The front obstacle warning is a warning issued when a front obstacle such as another vehicle located in front of the vehicle W may cause some danger or interference with the vehicle W. The lane departure warning is an alarm that is issued when the vehicle W may deviate laterally from the running lane.

As shown in FIG. 9, in this display / warning control, first, in step S1, based on the respective control information input from the occupant sensor 40, the child seat detection means 41, and the seat belt usage state detection means 42. , The seated state of the occupants in each of the seats 35 to 37, and the child seat 3
8 use status (presence or absence of child seat and orientation),
The seat belt usage state of each occupant is detected. In addition,
A specific method of detecting the seated state of the occupant and the use state of the child seat will be described in detail later.

Next, in step S2, the white line recognition means A
(Road surface marker sensor 13, CCD camera 1 for white line detection
6), based on various control information input from the steering angle sensor 25, the vehicle speed sensor 26, the GPS sensor 27, the ROM 28, etc., the traveling environment of the vehicle W, for example, the presence or absence of a wall in the vehicle departure direction, the distance to the wall, etc. To be detected.

Then, in steps S3 to S5, whether or not the primary warning flag FB1 or the secondary warning flag FB2 for lane departure warning is 1 and a wall exists within a predetermined distance in the lane departure direction, respectively. It is determined whether or not the child seat 38 is attached to the rear seat 37 in the rearward direction. Here, the primary warning flag FB1 and the secondary warning flag FB2 for the lane departure warning are set in the lane departure warning control (see FIG. 14) described later.
It is a flag that indicates the degree of deviation of the vehicle W in the traveling lane, that is, the degree to which the vehicle W may deviate laterally from the traveling lane.

If the degree of deviation of the vehicle W in the traveling lane is such that the possibility of deviation from the lane is not recognized, the primary warning flag FB1 and the secondary warning flag FB
Both 2 are 0. When the degree of deviation is relatively low, although there is a possibility of lane departure, the primary warning flag FB1 is 1 and the secondary warning flag FB2 is 0. When the degree of deviation is highly likely to deviate from the lane, the primary warning flag FB1 is 0 and the secondary warning flag FB2 is 1.

In step S4, it is determined whether or not there is a wall within a predetermined distance in the lane departure direction. However, when there is only a wall in the lane departure direction, it is not the white line but the wall. The degree of possibility of lane departure may be determined based on the distance. In this case, in step S4, it is determined "whether a wall exists in the lane departure direction".

In steps S3 to S5, the primary warning flag FB1 or the secondary warning flag FB2 for lane departure warning is 1, and there is a wall within a predetermined distance in the lane departure direction.
If it is determined that the child seat 38 is mounted rearward on the rear seat 37 (YES in steps S3 to S5), a high priority is given to the lane departure warning in step S6 (priority: front obstacle). Object warning <lane departure warning).

In this case, when the vehicle W deviates laterally from the traveling lane, the vehicle W may come into contact with or collide with the wall. On the other hand, since the child seat is mounted rearward, even if the child is seated on the child seat suddenly in order to avoid interference with obstacles in front of the child, the child sitting in the child seat cannot move forward or jump out of the child seat. It won't happen. Therefore, in this case, the lane departure warning is prioritized over the front obstacle warning. After this, step S described later
7 is executed.

On the other hand, in steps S3 to S5, a lane departure warning primary warning flag FB1 and a secondary warning flag FB2.
Are both 0, there is no wall within a predetermined distance in the lane departure direction, or it is determined that the child seat 38 is not mounted rearward on the rear seat 37 (one of steps S3 to S5). If the primary warning flag F1 for the front obstacle warning or the secondary warning flag F2 is 1, it is determined in step S8.

Here, the primary warning flag F1 and the secondary warning flag F2 for warning the front obstacle are set in the front obstacle warning control (see FIGS. 11 to 13) which will be described later, other vehicles, etc. Is a flag indicating the degree of danger or interference of the front obstacle of the vehicle W. The primary warning flag F1 and the secondary warning flag F2 are provided if the degree of danger or interference of the front obstacle is negligible.
Is 0 in each case. When the degree of danger or interference of the front obstacle is not negligible but is relatively low, the primary warning flag F1 becomes 1 and the secondary warning flag F
2 becomes 0. When the risk of the front obstacle or the degree of interference is high, the primary warning flag F1 becomes 0 and 2
The next alarm flag F2 becomes 1.

If it is determined in step S8 that both the primary warning flag F1 and the secondary warning flag F2 for warning the front obstacle are 0 (NO), the control routine of this time is ended. In this case, since the danger or the interference of the front obstacle to the vehicle W is negligible, there is no possibility that the front obstacle warning is generated, and the front obstacle warning and the lane departure warning are simultaneously issued. This is because there is no possibility of occurrence.

On the other hand, if it is determined in step S8 that the primary warning flag F1 or the secondary warning flag F2 for warning a front obstacle is 1 (YES), steps S9 to S1.
In No. 1, whether or not the child seat 38 is attached to the front seat (that is, the front passenger seat 36), whether or not the child seat 38 is attached to the rear seat 37 in the front direction, and whether there is an occupant who does not use the seat belt. It is determined whether or not.

In steps S9 to S11, whether the child seat 38 is attached to the front seat or the child seat 3
When it is determined that 8 is mounted on the rear seat 37 in the front direction or there is an occupant who does not use the seat belt (YES in any one of steps S9 to S11), in step S12, in step S6. High priority is given to front obstacle warning (Priority: Front obstacle warning>
Lane departure warning).

For example, if the vehicle is suddenly braked to avoid interference with a front obstacle, the child seat 38
When the front seat is attached to the front seat or the rear seat 37 is attached to the front seat, the infant sitting in the child seat may suddenly move forward or jump out of the child seat. Further, an occupant who does not use the seat belt may suddenly move forward. Therefore, in this case, the front obstacle warning is prioritized over the lane departure warning. Then, step S7 described later is executed.

On the other hand, in steps S9 to S11, the child seat 38 is not attached to the front seat and the child seat 3
When it is determined that 8 is not attached to the rear seat 37 in the forward direction and there is no occupant who is not using the seatbelt (NO in all of steps S9 to S11), step S13
Then, the same priority is set for the front obstacle warning and the lane departure warning. In this case, the risk of lane departure and the risk of obstacles in front are both extremely low, and no particular problem occurs even if either alarm is prioritized. Then, step S7 is executed.

In step S7, the flags F1, F2,
Image display and voice alarm are performed according to the states of FB1 and FB2 and the priority of both alarms. The warning image is displayed on the display unit 3, and the voice warning is given by the warning means C (speaker 29
~ 34). Here, when there are two display screens, the image display of the alarm having a high priority is emphasized.
It should be noted that only the warning image of the alarm having a high priority may be displayed. Further, when there is only one display screen, only the warning image of the alarm having a high priority is displayed. It is also possible to divide the display screen and display the warning images of both alarms, and then widen or emphasize the display screen of the alarm with a high priority. As for the voice alarm, the sound of the voice alarm of the high priority alarm may be increased or only the voice alarm of the high priority alarm may be output.

When the priority levels of both alarms are the same, the warning images of both alarms are displayed when there are two display screens, and the warning images of both alarms are displayed in equal divisions when there is one display screen. On the other hand, with regard to the voice warning, when both warnings have the same priority, the lane departure warning voice warning is given priority. This is because the occupant (particularly the driver) tends to look ahead when the voice alarm is issued and tends to neglect the attention to the lane departure direction.

The contents of the image display or the voice alarm of both alarms differ depending on the state of each flag F1, F2, FB1, FB2. For example, when the first warning flag F1 for warning a front obstacle is 1, the warning image shown in FIG. 15A is displayed, and when the second warning flag F2 is 1, the warning image shown in FIG.
The warning image shown in (b) is displayed. In addition, when the first warning flag FB1 for lane departure warning is 1 (FIG. 16A)
Warning image is displayed and the second warning flag FB2 is set to 1
In this case, the warning image shown in FIG. 16 (b) is displayed.

Here, when the first warning flag F1 for the front obstacle warning is 1, only a warning image is displayed and a voice warning is issued, but when the second warning flag F2 is 1, As is clear from FIG. 15 (b), CP
The braking control actuator 18 is automatically driven by U20, and interference with or collision with a front obstacle is avoided. Further, when the first warning flag FB1 for lane departure warning is 1, only a warning image is displayed and a voice warning is issued, but when the second warning flag FB2 is 1, FIG. As you can see from the CPU20
As a result, the steering means 43 is automatically driven and lane departure is avoided.

FIG. 10 is a flow chart showing a modified example of the display / warning control according to the present invention. The flowchart shown in FIG. 10 is based on the child seat 38 shown in FIG.
In place of step S5 for determining whether or not the vehicle is mounted on the rear seat 37 facing backward, step S15 for determining whether or not an occupant (excluding the driver) is seated in a seat in the lane departure direction is provided. The other steps are the same as in the case of FIG.

Therefore, in the display / warning control shown in FIG. 10, the primary warning flag FB1 or the secondary warning flag FB2 for the lane departure warning is set to 1 in steps S3, S4 and S15.
If it is determined that the wall exists within the predetermined distance in the lane departure direction and the occupant is seated in the seat in the lane departure direction (YES in steps S3, S4, and S15), in step S6. High priority is given to the lane departure warning (priority: front obstacle warning <lane departure warning).

In this case, when the vehicle W laterally deviates from the lane in which the vehicle W is running, there is a possibility that a portion of the vehicle W in the lane departure direction may contact or collide with the wall. However, according to the display / warning control shown in FIG. 10, the lane departure warning is given priority, so that the occupant sitting in the seat in the lane departure direction can grasp such a situation at an early stage. The crew can take appropriate action to address such a situation. Other points are the same as in the case of the display / warning control shown in FIG.

A method of detecting the seated state of the occupants of the seats 35 to 37 and a method of detecting the use state of the child seat 38 in step S1 of the flowchart shown in FIGS. 9 to 10 will be described below. First, each seat 35-37
A method of detecting the seated state of the occupant will be described. As shown in FIG. 7 again, the vehicle W includes a driver seat 35 and a passenger seat 3
6 and a rear seat 37 are provided, and a child seat 38 is attached to the passenger seat 36.

An occupant sensor 40 (see FIG. 8) is attached to each of the seats 35 to 37. It should be noted that the rear seat 37 is provided with occupant sensors 40 at its right side position, center position, and left side position, respectively, so that it is possible to detect at which position of the rear seat 37 the occupant is seated. ing. Each occupant sensor 40 is embedded in the seat seat surface of each seat 35 to 37, and detects whether or not the occupant is seated by weight. Thus, each seat 35
The passenger occupancy sensor 40 attached to each of the seats 37 to 37 detects the seated state of the passenger in each of the seats 35 to 37.

Next, a method of detecting the usage state of the child seat 38 will be described. The vehicle W is provided with a child seat detection means 41 (transmission / reception antenna) (FIG. 8).
reference). As shown in FIG. 17, for example, in the passenger seat 36, the child seat detection means 41 is provided in the child seat 38 and the receiving antennas 41F and 41R and the transmitting antenna (not shown) embedded in the passenger seat 36. Wireless communication is performed with a transponder (not shown), and signals received by the receiving antennas 41F and 41R are converted based on a predetermined format and transmitted to the CPU 20 via the transmitting antenna. In this way, the child seat 3 is attached to the passenger seat 36.
Whether or not No. 8 is attached, that is, the usage state of the child seat 38 is detected. The same applies to the rear seat 37.

FIG. 17 is a view showing various mounted or used states of the child seat 38. FIG. 17 (a)
~ (D) shows the passenger seat 36 and the child seat 3 respectively.
The state in which 8 is mounted or placed on the passenger seat 36 is represented by the receiving antennas 41F and 41R of the passenger seat 36 and the transponder 50 of the child seat 38. 17A to 17D, the arrow indicates the front of the passenger seat 36.

FIG. 17A shows a state in which the child seat 38 is normally mounted in the forward direction. here,
The transponder 50 is located within the range of the receiving antenna 41F. In this case, the CPU 20 uses the receiving antenna 4
By receiving the frequency signal from the transponder 50 via 1F, it is detected that the child seat 38 is normally mounted in the forward direction.

FIG. 17B shows a state in which the child seat 38 is normally mounted rearward. Here, the transponder 50 is located within the range of the receiving antenna 41R. In this case, the CPU 20 receives the frequency signal from the transponder 50 via the reception antenna 41R to detect that the child seat 38 is normally mounted backward.

FIG. 17C shows a state in which the child seat 38 is obliquely mounted forward. here,
Although the transponder 50 is located within the range of the receiving antenna 41F, the receiving antenna 41F cannot receive a predetermined signal strength due to the displacement of the child seat 38, and therefore the CPU 20 determines that the position of the child seat 38 is abnormal. The same determination is made when the child seat 38 is displaced backward.

FIG. 17D shows a state in which the child seat 38 is placed sideways. Here, the transponder 50 includes a reception antenna 41F and a reception antenna 41R.
Located across both. In such cases, C
The PU 20 relatively compares the signal intensities obtained via both receiving antennas and determines that the child seat 38 is placed sideways.

Hereinafter, a method of setting the first warning flag F1 and the second warning flag F2 for warning the front obstacle used in step S8 of the flowchart shown in FIG. 9 or 10 or a control method of the front obstacle warning control will be described. To do.

As shown in FIG. 4 again, the vehicle W is provided with the forward obstacle radar 11. And the CPU 20
Receives the detection signal from the front obstacle radar 11 and calculates object data such as the distance, azimuth or position, moving speed, and moving direction of an obstacle existing in front of the vehicle with respect to the vehicle W. From the calculation result, the CPU 20 extracts or specifies the object that should be paid the most attention to the safety of the vehicle W, and further, based on the vehicle speed detected by the vehicle speed sensor 26, the margin between the object and the vehicle W. The degree is judged.

Then, the CPU 20 displays the object data regarding the above-mentioned object as information to be provided to the occupant (driver) while changing it in accordance with the margin or the like on the display device 3. Further, the CPU 20 causes the alarm means C (speaker 29
34), a voice alarm is issued to the occupant driver according to the degree of margin.

Here, the forward obstacle radar 11 directs the radar wave H toward the front of the vehicle W (own vehicle), and the entire scan area is 46 °, the vertical direction visual field is 2 °, and the horizontal instantaneous visual field is. It scans and transmits under set conditions such as 0.06 °, and detects the reflected wave. For example, as shown in FIG. 18, each object such as the parked vehicle P2 on the front right side in the traveling direction of the vehicle W (own vehicle) and the pedestrian P1 crossing just behind the CPU W
In the image processing of 20, each is regarded as a group of a large number of reflected waves, and a group of the reflected waves of the group is recognized and detected as each individual object.

Next, an example of a specific control operation performed by the CPU 20 will be described according to the flowchart (main routine) shown in FIG. As shown in FIG. 11, first, in step S21, the imaging data acquired from the front obstacle radar 11 is subjected to image processing to detect individual objects. Subsequently, in step S22, an object identification process is performed such as whether each object is a vehicle or a person who can be an obstacle, or whether the object is a reflector along the road, a guardrail, or a street light. In this case, fixed stationary objects along the road are excluded, and only movable traffic objects such as vehicles and people are identified as obstacles.

Next, in step S23, object data of each identified obstacle is calculated. This object data calculation process is performed according to the procedure shown in the flowchart of FIG. That is, as shown in FIG. 12, first, the object number n is set to 1 in step S31. That is, since the objects identified as obstacles in step S22 are numbered according to a predetermined rule, the first object is designated. Then, the subsequent steps S32 to S
At 37, for each object identified as an obstacle, a vertical distance Dy (distance between the vehicle W and the object in the traveling direction of the vehicle W) and a horizontal distance Dx (of the vehicle W A distance between the vehicle W and an object in a direction perpendicular to the traveling direction), a vertical speed Vy (moving speed of the vehicle W in the traveling direction obtained by differentiating the vertical distance Dy with respect to time), and a lateral direction. The speed Vx in the direction (the moving speed in the direction perpendicular to the traveling direction of the vehicle W obtained by differentiating the lateral distance Dx with respect to time) is calculated.

Calculation of such object data, for example, as shown in FIG. 18, the XY coordinates () of each obstacle n1, n2, ..., With the own vehicle position as the origin (0, 0) ( Xn
, Yn1), (Xn2, Yn2), ... In FIG. 18, the crossing pedestrian P1 has the object number 1
(N1) and the parked vehicle P2 is the object number 2 (n2). Further, in this case, since the parked vehicle P2 (n2) is stopped, the vertical and horizontal velocities Vy and Vx are zero.
On the other hand, if the pedestrian P1 (n1) is crossing from the right side to the left direction substantially perpendicular to the traveling direction of the vehicle W as indicated by the arrow a, only the lateral moving speed Vx is obtained, The vertical movement speed Vy has a small value. Further, the lateral movement direction is obtained from the lateral movement speed Vx (change in the value of the X coordinate).

Then, in step S24, an object to be most noticed for driving when the vehicle W will travel in the future is extracted based on the object data. Here, only the lateral moving speed Vx is calculated as a significant value, and the obstacle whose vertical moving speed Vy is calculated as a small value, that is, the obstacle that moves forward in the traveling direction of the vehicle W is specified as the object. To be done. In particular, the lateral movement speed Vx is about 0.
The object having a velocity of 6 to 1.0 m / sec, that is, the lateral movement speed Vx close to the average walking speed is specified as the object. Further, among them, the one having the smallest value of the vertical distance Dy, that is, the one that is closest to the front in the traveling direction of the vehicle W is specified as the object. In the example shown in FIG.
The pedestrian P1 will be extracted and specified as the object.

Next, in step S25, the margin between the object and the vehicle W is determined. This margin determination processing is performed according to the procedure shown in the flowchart of FIG. That is, as shown in FIG. 13, first, in step S41, the distance I to the object, that is, the vertical distance Dy or (Dy2 + Dx2) / 2, the relative speed S between the vehicle W and the object, and the vehicle speed V and are input. If the pedestrian P1 crosses substantially perpendicularly to the traveling direction of the vehicle W and the vertical movement speed Vy is substantially 0 as in the above example, the relative speed S becomes the own vehicle speed V. Are almost equal.

Subsequently, in step S42, the primary warning distance L1 and the secondary warning distance L2 are set. Where CP
The memory attached to U20 stores the characteristics of the primary warning distance L1 and the secondary warning distance L2 with the vehicle speed V, the relative speed S, the road friction coefficient, and the time zone as parameters. The above-mentioned alarm distances L1 and L can be obtained by applying measured values or calculated values of parameters or running time zones.
2 is determined.

In this case, the primary warning distance L1 and the secondary warning distance L2 both become longer as the vehicle speed V becomes larger, become longer as the relative speed S becomes larger, become longer as the road surface friction coefficient becomes smaller, and at night. It is set to be longer than daytime. Also, in any case, 1
The secondary warning distance L1 is set to a value larger than the secondary warning distance L2, and in any case, the primary warning distance L1 and the secondary warning distance L2 are both braking distances under the combination of the above respective conditions. Is set to be longer than.

The traveling time zone, that is, the nighttime or the daytime can be determined by, for example, whether or not the headlight is turned on. Further, the magnitude of the road surface friction coefficient is determined by, for example, whether or not the wiper is ON. In that case, the characteristics of the warning distances L1 and L2 with the road surface friction coefficient as a parameter are large when the wiper is ON and OFF. In the case of, it may be set to be small and change in two steps. Furthermore, the warning distances L1 and L2 may be set to increase in multiple steps as the wiper operating speed increases.

Next, at step S43, it is judged if the distance I to the object is shorter than the primary warning distance L1. That is, it is determined whether or not the object is within the primary warning distance L1 of the vehicle W. Then, if YES, 1 is set (set) in the primary alarm flag F1 in step S44, and if NO, it is reset to 0 in step S45.

When the primary warning flag F1 is set to 1, it is determined in step S46 whether the distance I to the object is shorter than the secondary warning distance L2. That is, it is determined whether or not the object is within the secondary warning distance L2 shorter than the primary warning distance L1. Then, if YES, 1 is set (set) in the secondary alarm flag F2 in step S47, and if NO, it is reset to 0 in step S48.

As a result, as the vehicle speed V increases, the relative speed S increases, the road surface friction coefficient decreases, and the object is farther from the vehicle W (own vehicle) at night than in the daytime. These warning flags F1 and F2 are easily set to 1, and as a result, the warning system is entered earlier.

Then, the following steps S26, S27,
In S28, by summing up the above results, the information about the above-mentioned object is displayed to the occupant (driver) using the display 3, and a voice alarm is issued using the alarm means C (speakers 29 to 34). Is emitted.

A method of setting the first warning flag FB1 and the second warning flag FB2 for lane departure warning used in step S3 of the flowchart shown in FIG. 9 or FIG. 10 or a control method of lane departure warning control will be described below.

As shown in FIG. 14, in this lane departure warning control, in step S51, the lane boundary line of the lane in which the vehicle W is traveling (hereinafter referred to as "white line") is detected by the CCD camera 16 for detecting the lane. ) Is detected. continue,
In step S52, the degree of deviation of the vehicle W in the lane is calculated. The degree of deviation is represented by an estimated value of the distance to the white line after a predetermined time, or an estimated value of the time until the vehicle deviates from the white line.

A specific method of calculating the deviation degree of the vehicle W in the traveling lane will be described below. CPU 20
The captured image input from the CCD camera 16 for white line detection is processed. In addition, the position of the vehicle W (own vehicle) in the traveling lane is determined based on the steering angle and the vehicle speed input from the steering angle sensor 25 and the vehicle speed sensor 26, respectively, and then the display device 3 and the alarm means C (speaker). 29 to 34) are controlled by the following procedure.

First, the CPU 20 determines the degree of lateral deviation of the traveling position of the vehicle W in the lane from the positional relationship between the white line and the vehicle W detected in step S51. At this time, when it is determined that the traveling position of the vehicle W is deviated to the left side in the lane, the speakers 29 to 29.
The volume of 34 is controlled to give a voice warning to the occupant so that the sound produced by combining the sounds output from the speakers 29 to 34 can be heard from the left side. Also, the CPU 20
Displays the image IW showing the vehicle W on the display screen 3a of the display device 3 by shifting it toward the left side as shown in FIG. 19B, for example. When the vehicle W is not offset to the left or right, the image IW is displayed in the center of the lane as shown in FIG. FIG. 19 (a),
In (b), Ll and Lr represent images of white lines on the left and right sides of the lane in which the vehicle W is traveling, respectively. The same applies when the vehicle W is offset to the right.

Then, the CPU 20 calculates the degree of deviation of the vehicle W to the left or right in the traveling lane by the following method. That is, FIG. 19C
As shown in, the vehicle speed is V, and the detected left and right white lines g
Let θ be the inclination of the vehicle W with respect to the lane obtained from the change in the distance between the vehicle W and one of l and gr. Then, G is a constant for converting the vehicle speed expressed in kilometers per hour into the vehicle speed expressed in meters per second, and T is the time related to the reaction time of the driver. Further, the current distance from the side portion of the vehicle W in the direction in which the vehicle W is inclined to the white line gl (or gr) on the side is Ya.

Then, from the current point in time expressed by the following equation 1, 1
After a second, the distance Y between the side portion of the vehicle W in the inclined direction and the white line gl (or gr) on that side is obtained. Y = Ya- (T + Y / 2G) · V · θ ………………………… Equation 1

Here, the second term on the right side of the equation 1 is that the vehicle W is 1
It shows the dimension that moves to the left and right in a second. Thus, the degree of deviation of the vehicle W in the traveling lane can be represented based on the distance Y. For example, Y> 30
In cm, the deviation degree is determined to be “small”, and 10 cm ≦
When Y ≦ 30 cm, the degree of deviation is determined to be “medium”, and Y
When <10 cm, the degree of deviation is determined to be “large”.

In this way, the vehicle W in the driving lane is
After the deviation degree is calculated, it is determined in step S53 whether the deviation degree is greater than or equal to a first predetermined value. That is, it is determined whether the estimated value of the distance Y from the white line after a predetermined time is smaller than the first predetermined distance (for example, 30 cm). Note that this determination may be performed based on whether or not the time until the deviation from the white line is within the first predetermined time.

If it is determined in step S53 that the degree of deviation is less than the first predetermined value (NO), that is, if it is determined that the distance Y exceeds the first predetermined distance,
Since the possibility of lane departure can be ignored, step S59
Then, 0 is set to the primary warning flag FB1 and the secondary warning flag FB2. This completes the control routine this time and returns to step S51.

On the other hand, if it is determined in step S53 that the degree of deviation is greater than or equal to the first predetermined value (YES), that is, if the distance Y is less than or equal to the first predetermined distance, then step S54 is performed. Then, it is determined whether the deviation degree is equal to or more than the second predetermined value. That is, it is determined whether or not the estimated value of the distance Y to the white line after the predetermined time is smaller than the second predetermined distance (smaller than the first predetermined distance, for example, 10 cm). Note that this determination may be performed based on whether or not the time until the deviation from the white line is within the second predetermined time (shorter than the first predetermined time).

If it is determined in step S54 that the degree of deviation is less than the second predetermined value (NO), that is, if it is determined that the distance Y exceeds the second predetermined distance,
Since there is a possibility that the vehicle deviates from the lane, but the degree thereof is low, 1 is set in the primary warning flag FB1 and 0 is set in the secondary warning flag FB2 in step S57. Then, the lane departure direction is determined in step S58. As a result, the control routine of this time is completed, and step S51
Return to.

On the other hand, if it is determined in step S54 that the degree of deviation is greater than or equal to the second predetermined value (YES), that is, if the distance Y is less than or equal to the second predetermined distance, lane departure Since there is a high possibility, step S55
Then, the primary warning flag FB1 is set to 0, and the secondary warning flag FB2 is set to 1. Then, step S
At 58, the lane departure direction is determined. This completes the control routine this time and returns to step S51.

As described above, according to this vehicle control device, the CP
The U outputs an alarm to the display 3 or the alarm means C or controls the steering or braking of the vehicle W based on the priority order set according to the seated state of the occupant. It is possible to give the occupant an optimal warning in consideration of the situation in the vehicle. Further, even when both the possibility of interference with the front obstacle and the possibility of lane departure exist at the same time, the occupant can be given an optimum warning according to the priority order.

[Brief description of drawings]

FIG. 1 (a) is an elevation view in the vicinity of an instrument panel of a vehicle equipped with a control device according to the present invention,
(B) is the JJ of the instrument panel shown in (a).
It is a line sectional view.

FIG. 2 is an elevational view of a meter unit.

FIG. 3 is an elevation view of a display.

FIG. 4 is a perspective view of the vehicle seen from the front side.

FIG. 5 is a perspective view seen from the rear side of the vehicle.

FIG. 6 is a plan view of the vehicle.

FIG. 7 is a plan view of a vehicle compartment.

FIG. 8 is a block diagram of a vehicle control system.

FIG. 9 is a flowchart showing a control method for display / warning control.

FIG. 10 is a flowchart showing another display / warning control method.

FIG. 11 is a flowchart showing a control method for forward obstacle warning control.

FIG. 12 is a flowchart showing a control method of forward obstacle warning control.

FIG. 13 is a flowchart showing a control method of front obstacle warning control.

FIG. 14 is a flowchart showing a control method of lane departure control.

FIG. 15 (a) is a schematic view of a display screen when the first warning flag F1 for warning a front obstacle is 1.
(B) is a schematic diagram of a display screen when the second alarm flag F2 is 1.

16 (a) is a schematic view of a display screen when the first lane departure control first warning flag FB1 is 1. FIG.
(B) is a schematic diagram of a display screen when the second alarm flag FB2 is 1.

17 (a) to (d) are schematic diagrams showing a mounted state of a child seat, respectively.

FIG. 18 is a schematic diagram showing an image processing method of a front obstacle in front obstacle alarm control.

FIG. 19A is a schematic view of a display screen in lane departure warning control, FIG. 19B is a schematic view of another display screen in lane departure warning control, and FIG. 19C is a lane departure warning control. It is a schematic diagram which shows the calculation procedure of a deviation degree.

[Explanation of symbols]

W ... Vehicle, A ... White line recognition means, B ... Front obstacle detection means, C ... Warning means, 1 ... Instrument panel, 2 ...
Entertainment display, 3 ... Indicator, 3a ...
Display screen, 4 ... Meter unit, 5 ... In-vehicle electronic device, 6
... Searing wheel, 7 ... Front windshield, 8 ... First display section, 9 ... Second display section, 10 ... Third display section, 11 ... Front obstacle radar, 12 ... Infrared camera, 1
3 ... Road surface marker sensor, 14 ... Seat belt tensioner, 15 ... Road-vehicle communication unit, 16 ... CC for white line detection
D camera, 17 ... Electric throttle, 18 ... Braking control actuator, 19 ... Line CCD sensor, 20 ... C
PU, 20a ... CPU for lane departure warning, 20b ... CPU for front obstacle warning control, 20c ... CP for display / warning control
U, 21 ... Door mirror, 22 ... Line CCD sensor, 2
3 ... Headlight switch, 24 ... Turn signal switch,
25 ... Steering angle sensor, 26 ... Vehicle speed sensor, 27 ... GPS sensor, 28 ... ROM, 29 ... Speaker, 30 ... Speaker, 31 ... Speaker, 32 ... Speaker, 33 ... Speaker, 34 ... Speaker, 35 ... Driver's seat, 36 ... passenger seats, 3
7 ... Rear seats, 38 ... Child seats, 40 ... Occupant sensors, 41 ... Child seat detection means, 42 ... Seat belt use state detection means, 43 ... Steering means.

Front page continuation (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 624F 624G 626 626B 626C 626G 627 627 628 628B 628F G08B 21/00 G08B 21/00 H

Claims (6)

[Claims] 1. A front obstacle warning means for warning a front obstacle of a vehicle based on a predetermined operating condition, and an obstacle existing laterally of the vehicle or a lateral position of the vehicle based on the predetermined operating condition. In a vehicle control device equipped with a lateral warning means for issuing an alarm, when the seating state detecting means for detecting the seating status of the occupant, the front obstacle warning means and the lateral warning means satisfy the operating conditions at the same time, And a warning control means for outputting a warning or controlling the vehicle based on the priority set by the priority setting means. A vehicle control device characterized in that 2. The vehicle control device according to claim 1, wherein the priority setting means gives priority to the warning of the front obstacle warning means when there is an occupant who is not using a seat belt. 3. The vehicle control apparatus according to claim 1, wherein the priority setting means prioritizes the warning of the front obstacle warning means when the child seat is mounted on the front seat. 4. The priority setting means prioritizes the warning of the front obstacle warning means when the child seat is mounted on the rear seat facing forward.
The control device for a vehicle according to item 1. 5. The vehicle control apparatus according to claim 1, wherein the priority setting means prioritizes the warning of the lateral direction warning means when the child seat is mounted rearward in the rear seat. 6. The priority setting means prioritizes the warning of the lateral warning means when the occupant is seated in the seat in the direction in which the warning target of the lateral warning means is present. The control device for a vehicle described in [1].