JP2003165404A - Obstacle detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately announce a position of a detected obstacle, to facilitate loading on a vehicle, and to eliminate complication for a fellow passenger. <P>SOLUTION: A detector comprises a control ECU 1, and vibrators 101FL, 101FR, 101RL, 101RR are disposed in the left front part, right front part, left back part, right back part in a seat cushion 102 of a driver's seat corresponding to obstacle detecting sensors 100FL, 100FR, 100RL, 100RR disposed in the left part (FL) and right part (FR) of the front bumper of the vehicle and in the left part (RL) and right part (RR) of the rear bumper, When one of the sensors detects the obstacle, the vibrator corresponding to the detecting sensor vibrates with the driving of the control ECU. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device for a vehicle, and more particularly to an obstacle detecting device for informing a driver of the position of an obstacle.

[0002]

2. Description of the Related Art FIG. 16 is a block diagram showing a general vehicle obstacle detection device. In FIG. 16, ultrasonic sensors 11, 51, 61, 71, which are obstacle detection sensors, are installed at appropriate obstacle detection positions such as front and rear bumpers of a vehicle, and a control ECU (electronic control unit) 1 serving as a central control unit is provided. And star-connected via lines 70, 80, 90 and 91, respectively. Microcomputer 2 in control ECU 1
Performs the following obstacle detection processing when the shift position 72 of the vehicle is one of R, D, 2, and L and the vehicle speed 73 is, for example, 10 km / h or less.

First, the microcomputer 2 uses the transmission switching signal and the reception switching signal to transmit the analog SW 4 respectively.
And the analog SW7 for reception are switched to the line 70 side of the ultrasonic sensor 11, and then the transmission driver 3 is controlled so as to generate an ultrasonic pulse (for example, 10 pulses of a rectangular wave of 40 kHz). The microcomputer 2 also uses the ultrasonic sensor 11
A threshold value (voltage) 8 for obstacle determination, which is set in advance, is set in the comparator 6. This ultrasonic pulse is transmitted to the ultrasonic sensor 11 via the analog SW 4 and the line 70, and in the ultrasonic sensor 11, the transmitting circuit 12 operates by the ultrasonic pulse to drive the microphone 15. If this ultrasonic wave is reflected by an obstacle in the detection area, the reflected wave is received by the microphone 15, and the gain of this received signal is adjusted by the amplifier 14 and the reception gain adjusting unit 13, and then the line is received. It is transmitted to the control ECU 1 via 70.

In the control ECU 1, the received signal is an analog SW.
7, sent to the comparator 6 via the reception gain adjustment unit 5,
It is compared with the threshold value 8, and when the received signal> the threshold value 8, the obstacle detection signal is sent to the microcomputer 2. The microcomputer 2 converts the time from the start of ultrasonic wave transmission to the obstacle detection signal into a distance, and issues an alarm if the distance is a notification distance. Then, after a multipath floating period with multipath reflected waves by obstacles and other objects (eg roads), another ultrasonic sensor 5
The same processing is sequentially executed for 1, 61, and 71, and this is repeated. Note that if an alarm is issued only once when an obstacle is detected, there is a risk of erroneous detection.

As a method of informing the driver of the detected position of the obstacle, for example, a buzzer having a different tone color is used to change the tone color before and after the vehicle, or an LED or the like is arranged on the front panel to detect the position. There is a method of blinking the LED corresponding to, or a method of using voice guidance.

[0006]

However, the method of changing the tone color of the buzzer before and after the vehicle cannot notify the left and right of the vehicle and is annoying to the passenger. Note that it is difficult for the driver to change the tone of the buzzer not only in the front and rear of the vehicle but also in the left and right.
In addition, the method of displaying with an LED or the like arranged on the front panel has a problem in that when there is an obstacle behind the vehicle, it is difficult for the driver to drive while looking at the rear of the vehicle. Depending on the vehicle, there is also a method of arranging the indicators near the intersections of the driver's eyes and the front and rear, left and right of the vehicle, and the obstacle detection sensors, respectively. The wiring of the harness increases and the cost becomes high. Further, the method of using the voice guidance is troublesome for a passenger.

In view of the above-mentioned problems of the conventional example, the present invention can accurately notify the detected position of an obstacle, can be easily mounted on a vehicle, and is not annoying to passengers. The purpose is to provide a device.

[0008]

In order to achieve the above object, the present invention provides a driver's seat with a plurality of vibrating members corresponding to the respective installation positions of a plurality of obstacle detection sensors. Further, the beam is emitted in a direction corresponding to the installation position of each of the plurality of obstacle detection sensors at a concentrated position in the vehicle.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION <First Embodiment> An embodiment of the present invention will be described below with reference to the drawings. Figure 1
Is an explanatory view showing the sensor position in each embodiment of the obstacle detection device according to the present invention, FIG. 2 is a block diagram showing the system configuration of each embodiment of the obstacle detection device according to the present invention, and FIG. FIG. 4 is a side view showing the arrangement of the notification device used in the embodiment of FIG. 4, and FIG. 4 is a plan view showing the arrangement of the notification device of FIG.

In FIG. 1 and FIG. 2, this obstacle detecting device is an example of a control ECU having a structure as shown in FIG.
1, and an obstacle detection sensor 100F arranged at each of four obstacle detection positions of left (FL), right (FR) of the front bumper of the vehicle, left (RL), and right (RR) of the rear bumper.
L, 100FR, 100RL, 100RR (hereinafter, FL sensor, FR sensor, RL sensor, and RR sensor, respectively) and vibration device 101 corresponding to the FL sensor, FR sensor, RL sensor, and RR sensor, respectively.
It has FL, 101FR, 101RL, 101RR (hereinafter referred to as FL vibrator, FR vibrator, RL vibrator, RR vibrator, respectively). The FL vibrator, the FR vibrator, the RL vibrator, and the RR vibrator are respectively left front and right front inside the seat cushion 102 of the driver's seat as shown in FIGS. 3 and 4.
They are provided on the left rear and right rear.

FIGS. 5 and 6 show another example. The FL vibrator and the FR vibrator are respectively seat cushions 1.
02 front left and right front, RL vibrator, RR
The vibrators are provided on the left and right sides of the seat back 103, respectively. Each vibrator can be configured, for example, by eccentric to the rotation shaft of the DC motor 104 and attaching a weight 105 to vibrate as shown in FIG.

In the above structure, the sensor 100FL,
When any of 100FR, 100RL, and 100RR detects an obstacle, the vibrator 101 corresponding to the detected sensor 100 is driven by the control ECU 1 and vibrates.
For this reason, the driver has the vibrators 101FL and 101F.
Since the vibrations of R, 101RL, and 101RR can be detected near the left knee, the right knee, the left thigh (or the left side of the back), and the right thigh (or the right side of the back), the vibrator position and the sensor can be detected. The position (obstacle detection position) corresponds to and it is easy to intuitively grasp the obstacle detection position. Further, this vibration is notified only to the driver who needs it, and is not transmitted to other passengers as unnecessary and unpleasant vibration. Further, since the obstacle detection device according to the present invention does not operate at a low speed of, for example, 10 km / h or less, it has an additional effect that it can be used as a massage machine when it does not operate during medium-high speed driving.

Further, instead of simply turning on the vibration of the vibrator 101 when an obstacle is detected, the vibration of the vibrator 101 is increased as the distance to the obstacle is shorter, so that the distance to the obstacle is also increased. Can be notified. FIG. 8 shows the operation of the control ECU 1 in this case.

In FIG. 8, the front left FL after starting the measurement
Whether or not there is an obstacle detection signal from the sensor is determined (step S1). If yes, the process proceeds to step S2 and below, and if not, the process proceeds to step S4 and below. In step S2, the distance to the obstacle is measured based on the level of the obstacle detection signal from the FL sensor, and then a drive signal corresponding to the distance is output to the FL vibrator (step S).
3). Similarly, if there are obstacle detection signals from the FR sensor, RL sensor, and RR sensor in steps S4, S7, and S10, respectively, based on the levels of the obstacle detection signals from the FR sensor, RL sensor, and RR sensor. And measure the distance to the obstacle (steps S5, S8, S1
1) Then, a drive signal corresponding to the distance is output to the FR vibrator, the RL vibrator, and the RR vibrator (steps S6, S9, S12).

<Second Embodiment> FIG. 9 is a left side view showing the position of the alarm device in the second embodiment, and FIG. 10 is a plan view of the same. In the second embodiment, the laser pointers 111FL, 111FR, 111RL, 111RR are located at concentrated positions near the room lamp on the ceiling of the vehicle.
(Hereinafter, FL laser pointer, FR laser pointer, RL laser pointer, RR laser pointer) are attached. The FL laser pointer, the FR laser pointer, the RL laser pointer, and the RR laser pointer correspond to the FL sensor, the FR sensor, the RL sensor, and the RR sensor, respectively, and when an obstacle is detected, for example, the left front of the vehicle, The front right pillar, the left center or the back, and the right center or the back pillar (or the ceiling) are arranged to irradiate the beam.

11 and 12 show another example of the second embodiment. In this example, the FL laser pointer, the FR laser pointer, the RL laser pointer, and the RR laser pointer are concentrated near the vehicle rearview mirror. Is installed in position. As shown in FIG. 13, the configuration of these laser pointers includes a laser diode 112 and a condenser lens 11.
3, a switch SW or the like can be used to irradiate a beam in a predetermined direction.

In the above structure, when any of the sensors 100 detects an obstacle, the laser pointer 111 corresponding to the detected sensor 100 emits light or blinks by driving the control ECU 1. Therefore, the driver can easily grasp the obstacle detection position sensuously because the beam by the laser pointer 111 is in the field of view. Further, since these laser pointers 111 can be concentrated and arranged in the vicinity of the room lamp and the room mirror on the ceiling of the vehicle, the indicators are distributed to the left front, right front, left center, and right center pillars of the vehicle. Wiring of the wire harness is also easier than the method of arranging. In the second embodiment, as shown in FIG. 14, it is desirable that the laser beam be attached so that it does not enter the eyes of the driver or fellow passenger.

Further, instead of simply turning on the laser pointer 111 when an obstacle is detected, the beam of the laser pointer 111 is made stronger as the distance to the obstacle is shorter, so that the distance to the obstacle is increased. Can be notified. FIG. 15 shows the operation of the control ECU 1 in this case.

In FIG. 15, the F on the left front after starting the measurement
It is determined whether or not there is an obstacle detection signal from the L sensor (step S1). If yes, the process proceeds to step S2 and subsequent steps. On the other hand, if not, the process proceeds to step S4 and subsequent steps. In step S2, the distance to the obstacle is measured based on the level of the obstacle detection signal from the FL sensor, and then a drive signal corresponding to the distance is output to the FL laser pointer (step S3a). Similarly, if there are obstacle detection signals from the FR sensor, RL sensor, and RR sensor in steps S4, S7, and S10, respectively, based on the levels of the obstacle detection signals from the FR sensor, RL sensor, and RR sensor. Measure the distance to the obstacle (steps S5, S8, S
11) Then, a drive signal corresponding to the distance is output to the FR laser pointer, the RL laser pointer, and the RR laser pointer (steps S6a, S9a, S12a).

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a sensor position in each embodiment of an obstacle detection device according to the present invention.

FIG. 2 is a block diagram showing a system configuration common to each embodiment of the obstacle detection device of the present invention.

FIG. 3 is a side view showing the arrangement of the notification device according to the first embodiment.

FIG. 4 is a plan view showing the arrangement of the notification device of FIG.

FIG. 5 is a side view showing another example of the notification device according to the first embodiment.

6 is a plan view showing the arrangement of the notification device of FIG.

FIG. 7 is an explanatory diagram illustrating a detailed configuration of the notification device according to the first embodiment.

FIG. 8 is a flowchart for explaining a notification process according to the first embodiment.

FIG. 9 is a side view showing the arrangement of the notification device according to the second embodiment.

10 is a plan view showing the arrangement of the notification device of FIG.

FIG. 11 is a side view showing another example of the arrangement of the notification device according to the second embodiment.

12 is a plan view showing the arrangement of the notification device of FIG. 11. FIG.

FIG. 13 is an explanatory diagram showing a detailed configuration of the notification device according to the second embodiment.

FIG. 14 is an explanatory diagram showing still another example of the arrangement of the notification device according to the second embodiment.

FIG. 15 is a flowchart for explaining a notification process according to the second embodiment.

FIG. 16 is a block diagram showing a general obstacle detection device.

[Explanation of symbols]

1 Control ECU (electronic control unit) 100FL, 100FR, 100RL, 100RR Obstacle detection sensor 101FL, 101FR, 101RL, 101RR Vibrator 111, 111FL, 111FR, 111RL, 111
RR laser pointer

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) // G01S 15/93 G01S 15/93 F term (reference) 3B087 DE08 5C086 AA51 AA53 BA22 CA10 CB26 CB28 DA02 DA28 DA29 EA11 EA36 EA45 FA12 FA16 FA20 5J083 AA02 AB13 AC29 AD04 AE10 AF05 BA01 BE19 EB11

Claims (2)

[Claims] 1. A plurality of obstacle detection sensors installed at each of a plurality of obstacle detection positions of a vehicle, and a corresponding installation position of each of the plurality of obstacle detection sensors on a driver's seat of the vehicle. An obstacle detection device that is equipped with a plurality of vibrating means that vibrate and notify the driver when each obstacle detection sensor detects an obstacle. 2. A plurality of obstacle detection sensors installed at each of a plurality of obstacle detection positions of a vehicle, and corresponding installation positions of the plurality of obstacle detection sensors at a concentrated position in the vehicle. Obstacle detection equipped with a plurality of beam irradiation means that are installed so as to irradiate each beam in the direction in which the obstacles are detected, and when each obstacle detection sensor detects an obstacle, irradiates the beam and notifies the driver apparatus.