JP2007133732A - Safe travel support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safe travel support device capable of surely notifying a driver of danger while reducing trouble when there is the danger by predicting a rear-end collision and a collision. <P>SOLUTION: The safe travel support device is provided with a moving body detecting means 101 for detecting a moving body, a danger predicting means 102 for predicting danger as to whether the moving body detected by the moving body detecting means 101 collides with one's own vehicle, an equipment operating state detecting means 103 for detecting an operating state of equipment mounted on the vehicle and an equipment operating state notifying means 104 for notifying the operating state of the equipment by a notification sound. The equipment operating state notifying means 104 changes notification sounds in accordance with a determination result of the danger predicting means 102. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a safe driving support apparatus for guiding a driver who drives a vehicle such as an automobile as to whether there is a danger of collision, rear-end collision, contact with a pedestrian, and the like.

  In order to guide the driver of a vehicle whether there is a danger of collision, rear-end collision or contact with a pedestrian, it is desirable to warn the driver only when necessary. That is, it is not necessary to output an alarm when the driver has already recognized that the vehicle is in a dangerous state. On the contrary, if the driver is notified of an extra alarm, the troublesomeness increases.

  Conventionally, as a device for guiding a driver of a vehicle whether it is in a dangerous state or a safe state, for example, there is a device that guides an alarm only when the driver wants to check whether or not the driver is in a dangerous state. (For example, see Patent Document 1).

  FIG. 6 is a block diagram showing a configuration of a conventional apparatus described in Patent Document 1. In FIG. In FIG. 6, the alert information request accepting means 601 is a switch for determining whether or not the driver accepts the alert information, and only when the driver wants to know whether the driver is in a dangerous state, that is, the driver requests the alert information. The alarm information is output only when it is operated.

  Also, in order to prevent contact with pedestrians, an ideal turning trajectory should be set in advance so that the driver's field of view is sufficiently secured when turning left or right at the intersection so that the delay in detecting the driver's danger is reduced. There are some which guide to become (see, for example, Patent Document 2).

FIG. 7 is a diagram for explaining the conventional device described in Patent Document 2, and is a diagram showing the behavior of the vehicle when making a right turn at an intersection. Reference numerals 701, 702, and 703 denote positions on the trajectory, 704 and 705 denote trajectories on which the vehicle travels, and 706 denotes a driver's view range at a position 702 on the trajectory. Since a sufficient field of view cannot be secured on the trajectory 704, the turning start position is guided by changing the sound interlocked with the turn signal so that the trajectory 705 is obtained. In addition, a blind spot or the like is displayed on the monitor to guide the driver to dangerous situations.
JP 2004-86523 A (first page, FIG. 1) Japanese Patent Laying-Open No. 2005-215771 (page 1-2, FIG. 1)

  However, when temporarily stopping at an intersection and waiting for a right turn, it may be difficult for the driver to determine when to turn right depending on the speed and position of the oncoming vehicle. In such a case, in order to guide whether there is a risk of collision, the conventional method has the following problems.

  In other words, in the configuration described in Patent Document 1, an alarm is not output unless the driver requests an alarm. Therefore, even if the in-vehicle device predicts the risk of a collision or a rear-end collision when the driver starts a right turn, If the dangerous state cannot be predicted, no warning is output and the driver cannot be surely notified of the dangerous state.

In addition, in the configuration described in Patent Document 2, since a rear-end collision or a collision is not predicted, it is not possible to determine a collision when turning right or left. Also, even if you guide using the sound linked to the blinker,
When waiting for a right turn, a guidance sound is always informed, which causes trouble.

  Therefore, in the conventional technology, there is a problem that when the in-vehicle device predicts the danger of a rear-end collision or a collision, the driver cannot be bothered and the danger cannot be reliably guided to the driver.

  The present invention solves the above-mentioned conventional problems, and can guide the driver whether the vehicle is in a dangerous state, and can reduce the annoyance and reliably guide the danger. An object of the present invention is to provide a safe driving support device.

  A safe driving support apparatus according to the present invention is a safe driving support apparatus mounted on a vehicle, and includes a moving body detection unit that detects a moving body, and a moving body detected by the moving body detection unit and the own vehicle. A risk prediction means for predicting whether a danger will occur, an equipment operation state detection means for detecting the operation state of the equipment mounted on the vehicle, and an alarm sound for the operation state of the equipment detected by the equipment operation state detection means And a device operating state notifying unit for guiding the device, and changing the notification sound of the device operating state notifying unit according to the risk prediction result of the risk predicting unit.

  With this configuration, when a danger such as a collision or rear-end collision is predicted, the danger can be reliably notified to the driver, and the troublesomeness for the driver can be reduced.

  In the safe driving support device of the present invention, the device is a turn signal or navigation, and the device operation state detection means detects the operation state of the turn signal or the operation state of the left / right turn guidance of the navigation, and detects the device operation state. According to the detection result of the means, the device operation state notifying means changes the operation confirmation sound of the winker.

  With this configuration, since the operation confirmation sound of the blinker only changes, it is possible to reduce the annoyance felt by the driver due to the output of an extra notification sound.

  In the safe travel support device of the present invention, the device operation state detection unit detects whether the vehicle is in a travelable state, and the device operation state notification unit is configured to detect the vehicle according to the detection result of the device operation state detection unit. The confirmation sound of the travelable state is changed.

  With this configuration, it is possible to reduce the annoyance felt by the driver due to the output of an extra notification sound.

  The safe driving support apparatus according to the present invention has a configuration in which the danger predicting unit determines the type of danger, and the device operation state notifying unit changes the operation confirmation sound of the device according to the type of danger.

  With this configuration, the driver can confirm the type of danger according to the operation confirmation sound.

  The safe driving support device according to the present invention is a safe driving support device mounted on a vehicle, and includes a moving body detection unit that detects a moving body, and a danger between the object detected by the moving body detection unit and the host vehicle. According to the risk prediction result of the risk prediction means, comprising: a risk prediction means for predicting whether or not the noise is generated; and a noise suppression means for suppressing driving noise in the passenger compartment or near the driver's ears or noise outside the passenger compartment. It has the structure which changes the operation state of the said noise suppression means.

With this configuration, when a danger is predicted, the amount of noise that stops or suppresses the operation of the noise suppression means can be reduced, the result of the prediction of the danger can be communicated to the driver, and an unnecessary amount is provided to the driver. The troublesomeness caused by the alarm can be reduced.

  According to the safe driving support device of the present invention, when a danger is predicted, the driver can be surely notified of the danger, and the troublesomeness to the driver due to the output of an extra notification sound can be reduced. Can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration of a safe driving support apparatus mounted on a vehicle in Embodiment 1 of the present invention. Here, using FIG. 1, an explanation will be given by taking as an example guidance in a startable state when the vehicle is temporarily stopped at the intersection for waiting for a right turn.

  In FIG. 1, the moving body detecting means 101 is a sensor composed of, for example, a camera that captures an image in front of the vehicle and a computing unit. Is detected. For example, two cameras are arranged in the vehicle interior so as to capture an image in front of the vehicle, and are used as a stereo camera so that an image in front of the vehicle is always taken. The computing unit performs processing for each frame on each of the images taken by the two cameras. First, smoothing is performed using a moving average in order to remove image noise, and edge extraction is performed by extracting high-frequency components of the image using a digital filter. Binarization is performed on the subsequent video. A shape close to a rectangular parallelepiped is extracted from the binarized image by pattern matching, and this is set as a three-dimensional object in front. In addition, by calculating the difference between the binarized images obtained from the two images, the parallax between the two images is calculated. Is a three-dimensional object in the distance. At this time, the relative positional relationship between the vehicle and the three-dimensional object is calculated using triangulation. This process is performed for each frame, and the relative positional relationship of the three-dimensional object for each frame is recorded. The coordinates of the relative position are two-dimensional coordinates with the own vehicle position as the origin and the y axis in the direction in which the own vehicle is facing.

  Examples of the mobile body detected by the mobile body detection unit 101 include a pedestrian, a motorcycle, and a bicycle in addition to a vehicle.

The danger prediction means 102 predicts the danger of whether or not a collision between the three-dimensional object and the host vehicle occurs in association with the moving body detection means 101. First, a state where the vehicle is stopped waiting for a right turn at an intersection is set as an initial state, and a time and a position when a right turn is started from that time are calculated. For example, the position at 0 second is taken as the origin until 5 seconds after every 0.1 second, and the direction in which the vehicle is facing at the time of 0 second is taken as the y-axis and calculated as a two-dimensional coordinate. At this time, the change in rudder angle and speed may be given a certain pattern, or the change in rudder angle and speed at the time of right turn from usual is recorded, and this change pattern is averaged and used. Alternatively, the trajectory may be predicted by recognizing the shape of the intersection with a camera and applying an arc to the lane of the road that intersects the current position of the host vehicle. On the other hand, the trajectory up to 5 seconds after the three-dimensional object extracted by the moving body detection means 101 is predicted every 0.1 seconds. Since the moving object detection means 101 records the trajectory of the three-dimensional object so far, it is sufficient to extrapolate the trajectory. The simplest method is to linearly interpolate the relative position obtained in the current frame and the previous frame to obtain the traveling direction of the three-dimensional object as a two-dimensional vector. The trajectory at the frame interval time can be predicted by adding the vector a plurality of times. The position obtained by this frame interval time is further linearly interpolated and corrected to a position of 0.1 second interval. Then, the Eugrid distances of these positions are calculated with respect to the predicted trajectory obtained every 0.1 second of the vehicle and the three-dimensional object for each time of 0.1 second. It is predicted that there is a possibility of collision when there is a case where the Eugrid distance is shorter than a certain threshold value (for example, about 4 m for one vehicle).

  On the other hand, the device operation state detection unit 103 detects the operation state of the winker, for example. This can be done by simply detecting whether the turn signal switch is on the right. Further, instead of detecting the operating state of the blinker, for example, the operating state of left / right turn guidance for navigation may be detected.

  The device operating state notification unit 104 is configured as shown in FIG. 2, for example. In FIG. 2, the first operation confirmation sound data storage means 202 and the second operation confirmation sound data storage means 203 are composed of a non-volatile semiconductor memory, and for operation confirmation to inform the driver that the winker is operating. The sound data is stored. At this time, different sounds are stored in the first operation confirmation sound data storage unit 202 and the second operation confirmation sound data storage unit 203. For example, the first operation confirmation sound data storage means 202 stores a sound (first operation confirmation sound) that simulates the operation sound of a mechanical relay such as “catch” synchronized with one blink of the blinker. Keep it. On the other hand, the second operation confirmation sound data storage unit 203 similarly stores a sound such as “ka” (second operation confirmation sound) synchronized with one blink of the blinker. The output sound data selection unit 204 selects whether to notify whether to notify according to the risk prediction result and the device operation state detection result. The selection algorithm is shown in FIG. FIG. 3 shows an example in which two types of safety and danger are output as danger prediction results. The contents to be notified are as follows. The first operation confirmation sound is notified when the device is predicted to be safe during operation, while the second operation confirmation sound is notified when the device is predicted to be dangerous during operation. When the device is stopped, nothing is selected and control is performed so as not to notify. When two or more types of states are predicted as the risk prediction results and the results are notified, the means for storing the operation confirmation sound may be increased according to the number.

  The volume control means 205 amplifies the gain using a power amplifier after converting the digitized sound data into analog by a D / A converter.

  The speaker 206 outputs an analog signal output from the volume control unit 205 as a sound.

  In the above description, the operation confirmation sound of the blinker has been described to be changed by electronic control, but if the operation sound of the relay that switches blinking of the blinker is still the operation confirmation sound, a new one is added to this relay. Another terminal may be provided, and the operation sound may be changed by inputting a dangerous state to this terminal, or only the sound superimposed on the operation sound of the relay is output separately, and the driver can make a difference. It may be perceivable. For example, prepare another same relay so that the added relay operates according to the result of the danger prediction, and the added relay operates with a delay of about 0.2 seconds. For example, a blinking sound of a blinker can be notified by distinguishing the sound of “cut” from the sound of “cut”, so the driver can perceive the difference.

  In the first embodiment, a sound that simulates the operation sound of a mechanical relay has been described as an example of the operation confirmation sound of the winker. However, if the operation confirmation sound is a sound effect that does not cause the driver to feel bothered anything is fine. For example, the result of predicting danger by using the voices uttered as “Ikke” and “Dame” in synchronism with the blinking of the blinker as a material and converting it into a mechanical voice quality. May be switched according to

Further, in the first embodiment, the case where the operating state of the winker is detected and the operation confirmation sound of the winker is changed has been described. However, an engine sound for making the driver confirm that the hybrid vehicle is ready to start is used. The simulated operation confirmation sound may be changed.
In addition, the device operation state notification unit has been described as a dedicated unit, but it can also be configured in combination with an audio device such as a speaker or an amplifier in a car audio or car navigation. Furthermore, the device operating state notification means can be configured to change the volume of the MD player, radio, etc. In this case, in an unsafe state, the volume is reduced to leave an extra alarm sound. Instead, you may tell the driver about dangerous or safe conditions.

  Moreover, although the example which performs the risk judgment at the time of a right turn was demonstrated in this Embodiment 1, it cannot be overemphasized that this invention is not limited to the alert | report by the risk prediction at the time of a right turn. For example, it can be applied to all cases in which the risk of an accident has been predicted from the past, such as the danger of a rear-end collision when traveling on a single road, the risk of involving a pedestrian at the time of a left turn at an intersection, and an alarm is notified when it is dangerous Is possible. At this time, an operation confirmation sound that simulates an engine sound for allowing the driver to confirm that the vehicle is ready to start can be used as the operation confirmation sound of the device.

  Further, it is possible for the risk prediction means to determine the type of dangerous state, change the output method of the operation confirmation sound of the device according to the type of dangerous state, and inform the driver of the type of danger. For example, if there is a dangerous condition on the right side of the vehicle, an operation confirmation sound is output from the speaker on the right side of the vehicle interior. Conversely, if there is a dangerous condition on the left side of the vehicle, the speaker on the left side of the vehicle interior is It is also possible to output an operation confirmation sound. It is also possible to prepare an operation confirmation sound to convey a dangerous state. For example, if the risk prediction means predicts the risk of involving a pedestrian when making a left turn at an intersection, the sound that sounds “human” as the operation confirmation sound that matches the blinking of the blinker once is used as the material. Converted to mechanical voice quality and used as operation confirmation sound. In this way, the driver can be informed that the subject in a dangerous state is a human being.

  As described above, according to the first embodiment, the risk prediction result of the risk prediction unit 102 and the device operation state detection result of the device operation state detection unit 103 are input to the device operation state notification unit 104, thereby It is possible to change the operation confirmation sound that informs the operation status of the vehicle according to the result of predicting the danger, and to reliably inform the driver about the danger and safety related to driving using the sound that is usually in the passenger compartment In addition, it is possible to reduce the troublesomeness to the driver due to an extra alarm. For example, if you are waiting for a right turn at an intersection and an oncoming vehicle is continuously entering the intersection, it is predicted that a right turn will be dangerous. Since only the sound is output, the troublesomeness for the driver can be greatly reduced, and even if the driver knows the situation when it is possible to turn right, the operation sound of the blinker only changes The troublesomeness felt by the driver due to the output of the extra notification sound can be greatly reduced.

(Embodiment 2)
FIG. 4 is a block diagram of the safe driving support device according to Embodiment 2 of the present invention. 4, the same reference numerals are used for the moving body detection means and the danger prediction means having the same components as in FIG. 1, and the description thereof is omitted.

  The configuration of the noise suppression means 403 in FIG. 4 is shown in FIG. The noise suppression unit 403 includes a microphone 501, an antiphase sound generation unit 502, a suppression amount adjustment unit 503, and a speaker 504.

  The microphone 501 is a microphone for collecting noise, and is arranged at a position where the noise is the highest from outside the vehicle compartment and enters the vehicle interior.

  The speaker 504 is disposed near the driver's ear and outputs a sound for canceling the noise. The sound for canceling the noise is generated by the antiphase sound generation means 502. For example, the sign is inverted with respect to the noise collected by the microphone 501, and the delay time in consideration of the sound transmission time from the speaker 504 to the driver's ear and the sound transmission time from the microphone 501 to the driver's ear. Is added to generate an anti-phase sound.

  The suppression amount adjustment unit 503 adjusts the noise suppression amount according to the risk prediction result. For example, when there are two types of danger prediction results, danger and safety, the amount of suppression is maximized when predicted to be safe, and the amount of suppression is minimized when predicted as dangerous.

  In the second embodiment, the case where there is one microphone has been described as an example. However, it is also possible to estimate the noise near the driver's ear using a plurality of microphones and generate a sound of opposite phase. Two or more speakers may be arranged in the vicinity of the left and right ears to reproduce sounds having opposite phases for each of the left and right ears. The basic method of noise suppression is not limited to the above example.

  In the second embodiment, the case where an electronic method is used as a method of suppressing noise has been described. However, even if the noise suppression unit 403 is configured using a method of slightly opening and closing the window glass of the vehicle, A similar effect can be obtained by allowing the driver to perceive a difference in the noise that enters the passenger compartment and outside the passenger compartment.

  As described above, according to the second embodiment, since the operation state of the noise suppression unit 403 can be changed according to the risk prediction result of the risk prediction unit 102, a vehicle that can be heard by the driver according to the result of predicting the risk. It is possible to change the magnitude of outdoor noise, so that it is possible to convey information related to driving danger and safety to the driver, and it is possible to reduce annoyance to the driver due to an extra alarm.

  The safe driving support device according to the present invention can reliably notify the driver of the danger when the danger is predicted, and can reduce the annoyance to the driver due to the output of an extra notification sound. It has the effect of being able to be performed, and is useful as a device for notifying when a dangerous state is predicted and when a safe state is predicted.

The block diagram which shows the structure of the safe driving assistance apparatus in Embodiment 1 of this invention. The block diagram which shows the structure of the apparatus operation state alerting | reporting means in Embodiment 1 of this invention. The figure which shows the data selection of the output sound data selection means in Embodiment 1 of this invention. The block diagram which shows the structure of the safe driving assistance apparatus in Embodiment 2 of this invention. The block diagram which shows the structure of the noise suppression means in Embodiment 2 of this invention. Block diagram showing the configuration of a conventional safe driving support device The figure for demonstrating the conventional safe driving assistance apparatus

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Mobile body detection means 102 Risk prediction means 103 Equipment operation state detection means 104 Equipment operation state notification means 202 First operation confirmation sound data storage means 203 Second operation confirmation sound data storage means 204 Output sound data selection means 205 Volume control means 206 Speaker 403 Noise suppression means 501 Microphone 502 Antiphase sound generation means 503 Suppression amount adjustment means 504 Speaker

Claims (5)

A safe driving support device mounted on a vehicle,
A moving body detecting means for detecting the moving body;
Danger prediction means for predicting whether or not danger occurs between the moving body detected by the moving body detection means and the own vehicle;
Device operation state detection means for detecting the operation state of the device mounted on the vehicle;
A device operating state notifying unit for guiding the operating state of the device detected by the device operating state detecting unit with a notification sound;
A safe driving support device that changes a notification sound of the device operation state notification means according to a risk prediction result of the risk prediction means. The device is a turn signal or navigation;
The device operation state detection means detects the operation state of the turn signal or the operation state of the left / right turn guidance of the navigation,
The safe driving support device according to claim 1, wherein the device operation state notification unit changes the operation confirmation sound of the winker according to a detection result of the device operation state detection unit. The device operation state detection means detects whether the vehicle is in a travelable state,
The safe driving support device according to claim 1, wherein the device operating state notifying unit changes a confirmation sound of a vehicle travelable state according to a detection result of the device operating state detecting unit. The safe driving support device according to claim 1, wherein the danger prediction unit determines a type of danger, and the device operation state notification unit changes an operation confirmation sound of the device according to the type of danger. A safe driving support device mounted on a vehicle,
A moving body detecting means for detecting the moving body;
Danger prediction means for predicting whether or not danger occurs between the object detected by the moving body detection means and the own vehicle;
Noise suppression means that suppresses running noise in the passenger compartment or near the driver's ears or noise outside the passenger compartment,
A safe driving support device that changes an operation state of the noise suppression unit in accordance with a risk prediction result of the risk prediction unit.

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