JP2008076228A - Vehicle periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To contribute to prevention of an accident such as a collision and run off by detecting and displaying an obstruction such as a step in addition to a usual obstruction. <P>SOLUTION: The vehicle periphery monitoring device 1 comprises a plurality of ultrasonic sonars 3a-3j and 4a-4f, a control circuit 2, and a display device 5. The control circuit 2 detects existence of a projecting obstruction projecting above the vehicle travel surface and a recessed obstruction recessed below the vehicle travel surface, based on an obstruction detection signal detected by the ultrasonic sonars 3a-3j and 4a-4f, also detects the position of the detected obstruction, and displays the position of each detected obstruction on the display device 5. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device that detects and notifies an obstacle of a vehicle.

Generally, in this type of vehicle periphery monitoring device, an ultrasonic sensor as an obstacle detection sensor is disposed at an appropriate position such as a bumper before and after the vehicle, and an ultrasonic burst wave is transmitted from the ultrasonic sensor to Measure the time to receive the reflected wave from, detect the distance from the sensor to the obstacle according to the measurement time, estimate the shape of the obstacle, and display the shape on the display (For example, Patent Document 1).
JP 2001-194938 A

  However, in the above-described conventional device, the shape of the obstacle protruding upward from the vehicle travel surface is detected and displayed, but the obstacle, such as a portion lower than the vehicle travel surface, such as a step, is not detected.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to detect and display obstacles such as steps in addition to normal obstacles, and to contribute to prevention of accidents such as collisions and derailments. It is to provide a peripheral monitoring device.

  In order to achieve the above object, a first aspect of the present invention provides a plurality of obstacle detection sensors installed at appropriate parts of a vehicle and a vehicle running surface based on an obstacle detection signal output from the obstacle detection sensor. Detecting the presence or absence of a convex obstacle projecting upward and a concave obstacle recessed downward from the vehicle running surface, and detecting obstacle position detecting means for detecting the position of the detected obstacle, display means, and the obstacle A display control means for displaying the position of each obstacle detected by the situation detection means on the display means is provided.

  According to the first aspect of the present invention, the obstacle state detecting means can detect a convex obstacle protruding from the vehicle traveling surface, that is, a normal obstacle, and a concave obstacle that is recessed downward from the vehicle traveling surface, such as a step. Can also be detected. And the position of the detected obstacle can also be detected. And since the position of the detected obstacle is displayed by the display control means, the user can be notified that the obstacle has been detected, and this can contribute to the prevention of accidents such as collisions and derailments.

  In this case, the obstacle detection sensor includes an ultrasonic sonar, and the obstacle detection sensor is divided into a convex obstacle for detecting a convex obstacle and a concave obstacle for detecting a concave obstacle. (Invention of claim 2). If it does in this way, a convex obstacle and a concave obstacle can be distinguished and detected easily.

  Further, in this case, the obstacle detection sensor for the concave obstacle is provided at the uppermost position of the vehicle for changing the directivity angle, and the driving for automatically changing the directivity angle of the obstacle detection sensor for the concave obstacle is provided. The obstacle state detecting means may detect the presence / absence of the concave obstacle and the position of the obstacle by changing a directivity angle of the obstacle detection sensor for the concave obstacle by the driving means. Good (invention of claim 3). In this way, concave obstacles such as steps in a specific direction can be detected well by changing the angle of one obstacle detection sensor for concave obstacles, and the number of obstacle detection sensors for concave obstacles can be reduced. Can contribute.

  Further, the display control means may change the display form of the concave obstacle and the convex obstacle (invention of claim 4). If it does in this way, a concave obstacle and a convex obstacle can be distinguished favorably.

  Further, the obstacle state detection means can acquire the steering angle information of the vehicle and has a determination function for determining a travelable range based on the steering angle information, and the obstacle in the travelable range has a collision. It may be determined whether or not a prediction is made, and when a collision is predicted, warning means for giving a warning may be provided (invention of claim 5). In this way, occurrence of a collision with an obstacle can be prevented according to the steering angle.

  A first embodiment of the present invention will be described below with reference to the drawings. First, FIG. 1 shows a functional configuration of the vehicle periphery monitoring device 1. The vehicle periphery monitoring apparatus 1 includes a control circuit 2 as an obstacle state detection means, a display control means, and a warning means, ultrasonic sonars 3a to 3j as obstacle detection sensors for convex obstacles, and concave obstacles. Ultrasonic sonar 4a to 4f as obstacle detection sensors, display device 5 as display means, audio output device 6, steering angle sensor 7, vehicle speed sensor 8, operation switch group 9, angle adjustment motor 10L as drive means, 10R is comprised.

  The control circuit 2 is composed of a microcomputer, and the microcomputer includes a CPU, a memory (RAM, ROM, EEPROM, flash memory, etc.), an I / O, and the like. When the CPU executes the program stored in the ROM (or flash memory), the control circuit 2 functions as an obstacle state detection unit and a display control unit.

  The ultrasonic sonars 3a to 3j have directivity, and are disposed on the front portion of the vehicle 11 (see FIG. 2), for example, a bumper so as to be directed in the direction shown in FIG. In addition, the directional lines (virtual) of the ultrasonic burst wave output from the ultrasonic sonars 3a to 3j are respectively indicated by symbols S3a to S3j.

  Further, the ultrasonic sonars 4a to 4f are directional, the ultrasonic sonars 4a to 4c are accommodated in the unit 4L, and the ultrasonic sonars 4d to 4f are accommodated in the right unit 4R. The vehicle 11 is provided at almost the uppermost left and right front portions so that the directivity angle can be adjusted. In addition, the directional lines (virtual) of the ultrasonic burst wave output from the ultrasonic sonars 4a to 4f are indicated by symbols S4a to S4f, respectively.

  The unit 4L can automatically change the inclination angle (directivity angle) in the vehicle side surface direction by the angle adjusting motor 10L. That is, the unit 4L on the left side of FIG. 5 is changed from the origin angle 4L1 state to the three states of angles 4L2 and 4L3. When the origin angle 4L1 state of the left unit 4L is viewed from the side of the vehicle, it is as shown in FIG. 3, and the directivity angles of the ultrasonic sonars 4a, 4b, and 4c are 4a0, 4b0, and 4c0.

The right unit 4R is configured symmetrically with the left unit 4L.
The display device 5 is composed of, for example, a liquid crystal display panel. The audio output device 6 is constituted by a speaker, for example. The steering angle sensor 7 detects a steering angle. The vehicle speed sensor 8 generates a pulse corresponding to the rotational speed of the wheel and inputs it to the control circuit 2 as a speed detection signal.

The operation switch group 9 includes a mechanical switch provided in the vicinity of the screen of the display device 5, a touch panel provided on the screen of the display device 5, a remote controller, and the like.
The functions of the control circuit 2 as the obstacle state detection means and display control means will be described. FIG. 6 shows the traveling state of the host vehicle 11, and FIGS. 9 and 10 show display examples of the obstacle coordinates detected in FIG. In FIG. 6, there is a step D on the left side of the host vehicle 11 and the vehicle T is stopped or traveling in front of the right side.

  7 and 8 describe the control contents of the functions of the control circuit 2 as the obstacle state detection means and the display control means. In step P1 of FIG. 7, the detection order N by the ultrasonic sonars 3a to 3j and the ultrasonic sonars 4a to 4f is set to 1. The detection order N is, for example, “1” to “10” corresponding to the ultrasonic sonars 3a to 3j, and “11” to “13” corresponding to the ultrasonic sonars 4a to 4c of the unit 4L. ", And the detection orders corresponding to the ultrasonic sonars 4d to 4f of the unit 4R are 14" to "16".

  In step P2, it is determined whether or not the detection result of the detection order N is a convex obstacle. That is, in each of the ultrasonic sonars 3a to 3j (detection order “1” to “10”), an ultrasonic burst wave is transmitted from each of the ultrasonic sonars 3a to 3j and a reflected wave from an obstacle is received. It is determined that there is a convex obstacle, and the distance from the ultrasonic sonar to the convex obstacle depending on the time until reception (the position of the obstacle with respect to the host vehicle, this position is displayed in coordinates described later) Is detected. When the absence of a convex obstacle is detected, the absence of an obstacle in rank N is stored in step P4.

  And about the ultrasonic sonar 4a-4c of detection order "11"-"13", the next detection operation (refer the flowchart of FIG. 8) is performed. Since the detection operations by the ultrasonic sonars 4a to 4c are the same, the detection operation by the ultrasonic sonar 4a will be described. First, at step Q1, at the origin angle 4L1 of the unit 4L, the arrival distance A1 (distance from the reference point Ck to the arrival point Cp1 in FIG. 5) is detected based on the time required to receive the reflected wave. At step Q2, the angle adjusting motor is detected. 10L is driven and controlled, the unit 4L is switched to the angle 4L2, and the reach distance A2 is detected. In step Q3, the unit 4L is switched to the angle 4L3 and the reach distance A3 is detected. The angles 4L1 to 4L3 are set to angles at which the ultrasonic burst wave can be reflected.

  In step Q4, heights H1, H2, and H3 are calculated from the detected reach distances A1, A2, and A3. In this case, since the reference height H (height from the running surface) of the unit 4L and the angles 4L1, 4L2, 4L3, and 4a0 of the ultrasonic sonar 4a are known, the heights H1, H2, and H3 are obtained by calculation. be able to.

  As can be seen from step Q5 to step Q14, each height H1, H2, H3 and the reference height H are compared, and if there is a difference (step difference to the lower side) of 50 cm or more, ultrasonic waves A step is detected as a concave obstacle with respect to the sonar 4a, and step coordinates (4aDp, see FIG. 9), which is the position of the concave obstacle, are acquired (steps Q7, Q10, Q13). If the difference between each of the above H1, H2, H3 and the reference height H is less than 50 cm, it is determined that there is no step and is stored (step Q14). The control in FIG. 8 is similarly performed for the other ultrasonic sonars 4b to 4f (detection orders “12” to “16”), but the flowchart is omitted.

  Thereafter, in step P9 of FIG. 7, display control is performed according to whether there is an obstacle or not. Here, the ultrasonic sonars 3h, 3i, 3j detect the presence of a convex obstacle (vehicle T), acquire the coordinates 3hTp, 3iTp, 3jTp shown in FIG. 9, and the ultrasonic sonars 4a, 4b, 4c are concave obstacles. It is assumed that the presence of an object (step D) is detected and the coordinates 4aDp, 4bDp, and 4cDp shown in FIG. 9 are acquired.

  In this display control, the coordinates 3hTp, 3iTp, 3jTp, 4aDp, 4bDp, and 4cDp with an obstacle are displayed in a dot form as shown in FIG. The coordinates 3hTp, 3iTp, and 3jTp of the convex obstacle are displayed in a predetermined color, and if there are coordinates in consecutive ranks, the corresponding coordinates are displayed in a line. In addition, the coordinates 4aDp, 4bDp, and 4cDp of the concave obstacle are displayed as dots in different colors (different display forms), and if the coordinates are in consecutive order, the corresponding coordinates are displayed in a line. In addition, with regard to the order in which no obstacle detection is detected, a relatively far area is displayed as a substantially arc-shaped line without displaying coordinates. The range surrounded by the line (hatched portion) is displayed in a suitable color as the travelable range Es.

  After such display control, in step P10, the steering angle information from the steering angle sensor 7 is acquired, and in step P11, the vehicle travelable range Es is designated according to the steering angle, and this travelable range. For obstacle coordinates deviating from Es (coordinates 3hTp, 3iTp, 3jTp in FIG. 10), the possibility of a collision is not determined because there is no possibility of a vehicle collision.

  Then, in the next step P12, it is determined whether or not there is a possibility of collision with the obstacle coordinates in the travelable range Es (determination function). In P13, the voice output device 6 is notified of the warning by voice.

  According to the present embodiment, a convex obstacle protruding from the vehicle traveling surface, that is, a normal obstacle can be detected, and a concave obstacle that is recessed downward from the vehicle traveling surface, that is, a step or the like can also be detected. The position (coordinates) of the detected obstacle can also be detected. And since the position of the detected obstacle is displayed on the display device 5, the user can be notified that the obstacle has been detected, which can contribute to the prevention of accidents such as collisions and derailments.

  Further, according to the present embodiment, the obstacle detection sensor is composed of ultrasonic sonars 3a to 3j and 4a to 4f, and the obstacle detection sensor is used as a superstructure for a convex obstacle for detecting a convex obstacle. Since the ultrasonic sonars 3a to 3j and the ultrasonic sonars 4a to 4f for concave obstacles for detecting the concave obstacles are divided, the convex obstacles that are normal obstacles and the concave obstacles such as steps are easy. Can be detected separately.

  Further, ultrasonic sonars 4a to 4f, which are obstacle detection sensors for concave obstacles, are provided at almost the uppermost part of the vehicle 11 for changing the directivity angle, and the directivity angles of the ultrasonic sonars 4a to 4f are automatically changed. The angle adjusting motors 10L and 10R are provided, and the presence / absence of a concave obstacle and the position of the obstacle are detected by changing the directivity angles of the ultrasonic sonars 4a to 4f by the angle adjusting motors 10L and 10R. Therefore, a concave obstacle such as a step in a specific direction can be detected well by changing the angle of one ultrasonic sonar, which can contribute to a reduction in the number of obstacle detection sensors for concave obstacles.

Moreover, since the display form (display color) of the concave obstacle and the convex obstacle is made different, the concave obstacle and the convex obstacle can be distinguished well.
Further, it is possible to acquire the steering angle information of the vehicle, and has a determination function for determining a travelable range based on the steering angle information, and determines whether or not a collision is predicted for an obstacle within the travelable range. Since a warning is given when a collision is predicted, it is possible to prevent a collision with an obstacle from occurring according to the steering angle.

  The present invention is not limited to the above embodiment, and may be modified as follows. As shown in FIG. 11 showing the second embodiment of the present invention, the object pattern F may be displayed outside the coordinates connected by lines. Further, as shown in FIG. 12 as the third embodiment of the present invention, when the displayed coordinates are single (indicated by the symbol Za), the danger zone Za ′ is displayed in the predetermined range. You may do it. In addition, the display form can be implemented with various changes. Further, an obstacle detection sensor may be provided at the rear of the vehicle and applied to vehicle periphery monitoring during reverse travel.

1 is a functional block diagram of a vehicle periphery monitoring device showing a first embodiment of the present invention. Plan view showing schematic configuration of vehicle Side view showing schematic configuration of vehicle Side view of ultrasonic sonar for detecting concave obstacles Rear view of the vehicle from behind for obstacle detection explanation Perspective view from above showing the situation around the vehicle Flow chart of control contents 1 Flow chart of control contents 2 Figure showing the display form The figure which shows the display form when steering angles differ FIG. 9 equivalent view showing a second embodiment of the present invention. FIG. 9 equivalent view showing a third embodiment of the present invention.

Explanation of symbols

  In the drawings, 1 is a vehicle periphery monitoring device, 2 is a control circuit (obstacle status detection means, display control means and warning means), 3a to 3j are ultrasonic sonars (obstacle detection sensors for convex obstacles), 4a -4f is an ultrasonic sonar (obstacle detection sensor for concave obstacles), 5 is a display device (display means), 7 is a steering angle sensor, 10L and 10R are angle adjustment motors (drive means).

Claims (5)

A plurality of obstacle detection sensors installed in appropriate parts of the vehicle;
Based on the obstacle detection signal output from this obstacle detection sensor, the presence or absence of a convex obstacle protruding upward from the vehicle traveling surface and a concave obstacle recessed downward from the vehicle traveling surface is detected, and the detected obstacle Obstacle condition detection means for detecting the position of the object;
Display means;
A vehicle periphery monitoring device comprising: display control means for displaying the position of each obstacle detected by the obstacle condition detection means on the display means. In the vehicle periphery monitoring device according to claim 1,
The obstacle detection sensor comprises an ultrasonic sonar,
The obstacle detection sensor according to claim 1, wherein the obstacle detection sensor is divided into a convex obstacle for detecting a convex obstacle and a concave obstacle for detecting a concave obstacle. In the vehicle periphery monitoring device according to claim 2,
The obstacle detection sensor for the concave obstacle is provided at the uppermost part of the vehicle for changing the directivity angle,
Drive means for automatically changing the directivity angle of the obstacle detection sensor for the concave obstacle,
The obstacle state detecting means detects the presence of the concave obstacle and the position of the obstacle by changing a directivity angle of the obstacle detection sensor for the concave obstacle by the driving means. Monitoring device. In the vehicle periphery monitoring device according to any one of claims 1 to 3,
A vehicle periphery monitoring device characterized in that the display control means changes the display form of the concave obstacle and the convex obstacle. In the vehicle periphery monitoring device according to any one of claims 1 to 4,
The obstacle state detection means is capable of acquiring vehicle steering angle information, and has a determination function for determining a travelable range based on the steering angle information,
A vehicle periphery monitoring device comprising: warning means for determining whether or not a collision is predicted for an obstacle within the travelable range and for warning when a collision is predicted.

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