JP2008140013A - Obstacle detecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid colliding with an obstacle when a vehicle starts to move from a stopping state with an obstacle detecting device for detecting the obstacle around the vehicle. <P>SOLUTION: In a departure safety apparatus, a control unit preliminarily prohibits the vehicle from moving by a departure safety process (S110), while the vehicle stops (S130:YES), operates a camera, a radar sensor, and an ultrasonic sensor for detecting the obstacle around the vehicle (S140), and releases the prohibition of the movement of the vehicle using a shift lever lock apparatus 24 (S200) when no obstacle is detected (S160:NO). Accordingly, the departure safety apparatus 1 can prevent the vehicle from colliding with the obstacle when the vehicle starts to move from the vehicle stopped state, maintaining a state prohibiting the vehicle from moving when the obstacle is detected. Thereby, the vehicle can avoid an accident contacting with the obstacle. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an obstacle detection device that detects an obstacle around a vehicle.

2. Description of the Related Art Conventionally, as the obstacle detection device, one that issues a warning to a driver of a vehicle when an obstacle around the vehicle is detected using a sensor is known.
JP 2006-216066 A

  However, since the obstacle detection device simply issues a warning when an obstacle is detected, the driver can move the vehicle without sufficient confirmation. As a result, the vehicle may collide with an obstacle.

  In particular, in the obstacle detection apparatus as described above, since the process of detecting an obstacle is not performed while the vehicle is stopped (for example, when the shift position is “parking”), the vehicle starts. For example, even if the process of detecting an obstacle is detected after detecting that the shift position is “drive” or “reverse”, the vehicle can already move, so the process of detecting the obstacle There is a risk that the vehicle may collide with an obstacle before completion.

  Therefore, in view of such problems, an obstacle detection device that detects obstacles around the vehicle is configured to prevent the vehicle from colliding with the obstacle when the vehicle starts from a stopped state. It is an object of the present invention.

  In the obstacle detection device according to claim 1, which is made to achieve the object, the movement prohibiting means prohibits the movement of the vehicle in advance while the vehicle is stopped, and the operation control means has the vehicle. During the stop of the vehicle, the operation control means activates the obstacle detection means for detecting obstacles existing around the vehicle. Then, the first release means releases the prohibition of movement in the vehicle when no obstacle is detected by the obstacle detection means.

  Therefore, according to such an obstacle detection device, since the movement of the vehicle remains prohibited when the obstacle is detected, the vehicle collides with the obstacle when the vehicle starts from the stop state. There can be no. Therefore, an accident in which the vehicle comes into contact with an obstacle can be prevented.

  Further, according to such an obstacle detection device, the prohibition of movement in the vehicle is not canceled until a state in which no obstacle is detected is detected. For example, when some failure occurs in the obstacle detection means. Can continue the state in which the movement of the vehicle is prohibited, and the vehicle can be prevented from moving.

  By the way, in the obstacle detection apparatus according to claim 1, whether or not the obstacle detected by the obstacle detection means comes into contact with the vehicle when the vehicle moves as described in claim 2. The first release means may release the prohibition of movement in the vehicle when the contact determination means determines that the obstacle does not contact the vehicle. .

  According to such an obstacle detection device, the movement of the vehicle can be prohibited only when an obstacle that may come into contact is detected among the detected obstacles. Therefore, for example, a camera that captures a wide range is adopted as the obstacle detection means, and even if many obstacles are detected, if no obstacle that may come into contact is detected, the vehicle can be moved. can do.

  Moreover, in order to achieve the said objective, you may make it as described in Claim 3. That is, in the obstacle detection device according to claim 3, while the operation control means stops the vehicle, the operation control means operates the obstacle detection means for detecting an obstacle existing around the vehicle, When an object is detected, the movement prohibiting means prohibits the movement of the vehicle by the obstacle detecting means.

  Therefore, according to such an obstacle detection device, the movement of the vehicle is prohibited when the obstacle is detected, so that the vehicle does not collide with the obstacle when the vehicle starts from the stop state. be able to. Therefore, an accident in which the vehicle comes into contact with an obstacle can be prevented.

  Further, in such an obstacle detection device, since the obstacle is detected while the vehicle is stopped, the vehicle is started after it is detected that the vehicle is started, compared with the case where the obstacle is detected. Therefore, the process of prohibiting the movement of the vehicle can be completed before the vehicle moves.

  By the way, in the obstacle detection device according to claim 3, as described in claim 4, when the vehicle moves, does the obstacle detected by the obstacle detection means come into contact with the vehicle? Contact determination means for determining whether or not the movement prohibiting means may prohibit the movement of the vehicle when the contact determination means determines that the obstacle and the vehicle are in contact with each other.

  According to such an obstacle detection device, the movement of the vehicle can be prohibited only when an obstacle that may come into contact is detected among the detected obstacles. Therefore, for example, a camera that captures a wide range is adopted as the obstacle detection means, and even if many obstacles are detected, if no obstacle that may come into contact is detected, the vehicle can be moved. can do.

  Further, in the obstacle detection device according to any one of claims 1 to 4, as described in claim 5, the obstacle detection means when the movement of the vehicle is prohibited by the movement prohibition means. When the obstacle is no longer detected, the vehicle may be provided with second release means for releasing the prohibition of movement in the vehicle.

  According to such an obstacle detection device, even if an obstacle is temporarily detected, if the obstacle is not detected due to the movement of the obstacle, the vehicle can be moved. it can.

  Furthermore, in the obstacle detection device according to any one of claims 1 to 5, as described in claim 6, an operation detection for detecting an operation when the driver of the vehicle moves the vehicle. When the operation when the driver moves the vehicle is detected by the operation detecting means when the movement of the vehicle is prohibited by the means and the movement prohibiting means, a warning for warning the driver Means.

  That is, in this obstacle detection device, when an obstacle is detected by the device and the movement of the vehicle is prohibited, an operation for moving the vehicle is detected by the driver, Warning.

  Therefore, according to such an obstacle detection device, the driver can be informed that the vehicle may come into contact with the obstacle. Further, since the warning is not issued when the driver does not move the vehicle, unnecessary warnings such as a warning when the driver notices an obstacle can be prevented. Therefore, it is possible to prevent the driver from feeling troublesome.

  By the way, in the obstacle detection device according to any one of claims 1 to 6, as a specific configuration of the movement prohibiting unit, for example, a motor for moving the vehicle and an operation of an internal combustion engine are limited. Although the structure which adds and act | operates the brake of a vehicle can be considered, you may make it fix the shift lever position in a vehicle to a parking position as described in Claim 7.

  According to such an obstacle detection device, the vehicle can be prevented from moving with a simple configuration because the shift lever position is simply fixed. Further, when the vehicle is provided with a mechanism for fixing the shift lever position, the structure of the present invention can be realized by using this mechanism, so that the obstacle detection device can be provided at a low cost. it can.

  Furthermore, in the obstacle detection device according to any one of claims 1 to 7, as described in claim 8, the driver of the vehicle can operate to cancel the prohibition of movement in the vehicle. When the operation unit is operated when the movement of the vehicle is prohibited by the movement prohibiting unit, a third release unit that cancels the prohibition of movement in the vehicle may be provided.

  According to such an obstacle detection device, the vehicle can be moved by operating the operation unit when the driver of the vehicle determines that the vehicle may be moved by performing safety confirmation or the like. It can be in a state.

  In the present invention, the prohibition of movement is canceled by the driver because the vehicle is stopped, so that the driver can sufficiently confirm the safety. Therefore, it can prevent as much as possible that a vehicle and an obstruction contact when a vehicle moves.

Embodiments according to the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of a departure safety device 1 to which the present invention is applied.
The departure safety device 1 is mounted on a vehicle such as a passenger car, for example, and the position of the shift lever 21 (shift position or shift position) is fixed when there is an obstacle that may collide around the vehicle. And a device that suppresses the start of the vehicle.

  Specifically, as shown in FIG. 1, the departure safety device 1 includes a control unit 11, a shift lever 21, a shift position change SW (switch) 22, a shift position sensor 23, and a shift lever locking device 24. , A shift lever lock release SW 25, a camera 31, a radar sensor 32, an ultrasonic sensor 33, and an alarm device 34. The vehicle (hereinafter also referred to as “the vehicle”) on which the departure safety device 1 is mounted is configured as an AT vehicle (automatic transmission vehicle).

  The shift lever 21 is a well-known shift lever 21, and in an AT vehicle such as the vehicle, a parking position (hereinafter also referred to as “P” position) that is a shift position when the vehicle is stopped (parked). A drive position that is a shift position when the vehicle is moved forward, a reverse position (hereinafter also referred to as “R” position) that is a shift position when the vehicle is moved backward, and the like are set to be changeable by a driver's operation.

  The shift position change SW 22 is normally provided in the shift lever 21 and is a switch operated by the driver when the shift lever 21 is moved from the “P” position or the “R” position to another position. . In this embodiment, especially when the shift lever 21 is moved from the “P” position to another position, the shift lever 21 does not move to another position when the shift position change SW 22 is not operated. Is set to

The shift position sensor 23 detects which shift position the shift lever 21 is in.
The shift lever lock device 24 is a device that mechanically locks the shift position of the shift lever 21 and is configured as a mechanism different from the shift position change SW 22. When the shift lever locking device 24 is locked, the shift position of the shift lever 21 is fixed, and the shift position cannot be changed even if the shift position change SW 22 is operated.

  Further, when the shift lever locking device 24 is in a released state, the shift position is not fixed in the shift lever 21. For example, when the shift lever 21 is moved from the “P” position to another position, the shift position change SW22 is changed. If is operated, the shift position can be changed.

The alarm device 34 is configured by, for example, a well-known speaker or lamp, and operates according to a command from the control unit 11.
The radar sensor 32 and the ultrasonic sensor 33 detect the distance to the obstacle by detecting a radio wave or a reflected wave of the ultrasonic wave.

  The camera 31 is arranged so that the front and rear of the vehicle are imaging regions, and the control unit 11 detects the distance to the obstacle by performing image processing on the image captured by the camera 31. As a specific configuration of the camera 31, for example, a plurality of cameras may be configured as a stereo camera, or a camera including a CMOS pixel sensor having a distance measuring function.

  When the camera 31 is configured as a stereo camera, the control unit 11 may detect the distance to the obstacle from the degree of difference between the images captured by the plurality of cameras. In addition, when the camera 31 is configured as a camera having a CMOS pixel sensor having a distance measuring function, an irradiation unit that irradiates an obstacle with projection light such as infrared rays is provided. A distance image may be generated by measuring the time until the reflected light from the irradiation means is received by the camera, and the distance from the distance image to the obstacle may be detected.

  The control unit 11 uses the detection result of various states using the shift position change SW 22, the shift position sensor 23, and the shift lever lock release SW 25, and the detection result of the obstacle using the camera 31, the radar sensor 32, and the ultrasonic sensor 33. Accordingly, a process for changing the state of the shift lever locking device 24 is performed. This specific process will be described with reference to FIG.

FIG. 2 is a flowchart showing the departure safety process executed by the control unit 11.
The departure safety process is started when the ignition of the vehicle is turned on. First, the shift lever locking device 24 is set to the locked state (S110).

  Subsequently, it is determined whether or not a device activation time (for example, about 2 seconds) indicating a time required when the camera 31, the radar sensor 32, the ultrasonic sensor 33, the alarm device 34, and the like have elapsed (S120). ).

  If the apparatus activation time has not elapsed (S120: No), the process returns to S110. If the apparatus activation time has elapsed (S120: Yes), a signal from the shift position sensor 23 is acquired, and based on this signal, it is determined whether or not the shift position is the “P” position ( S130). If the shift position is not the “P” position (S130: No), the process proceeds to S200 described later.

  On the other hand, if the shift position is the “P” position (S130: Yes), an obstacle around the vehicle is detected using the camera 31, the radar sensor 32, and the ultrasonic sensor 33 (S140). Subsequently, it is determined whether or not there is a dangerous obstacle that may cause the detected obstacle (or each obstacle when a plurality of obstacles are detected) to collide with the vehicle (S150).

  Here, whether or not the vehicle is a dangerous obstacle is determined by calculating the course of the vehicle based on a signal from a steering sensor (not shown) and whether or not there is an obstacle on the course. Alternatively, the determination may be made simply by determining whether the distance to the obstacle is less than a preset threshold value. The threshold may be set to a distance that is a blind spot of the driver (for example, about 0.5 m in front of the vehicle and about 1.5 m behind the vehicle).

  Next, if a dangerous obstacle is not detected (S160: No), the process proceeds to S200 described later. If a dangerous obstacle is detected (S160: Yes), it is determined whether or not the shift lever lock release SW25 is turned on (S170).

  If the shift lever lock release SW25 is in the OFF state (S170: No), it is determined whether or not the shift position change SW22 is in the ON state (S180). If the shift position change SW 22 is in the ON state (S180: Yes), the alarm device 34 is activated to sound an alarm (S190), and the process returns to S140.

If the shift position change SW 22 is in the OFF state (S180: No), the process returns to S140 as it is.
On the other hand, if the shift lever lock release SW 25 is in the ON state in the process of S170 (S170: Yes), the shift lever lock device 24 is set in the release state (S200). If the alarm is sounded, the operation of the alarm device 34 is stopped to cancel the alarm (S210), and the departure safety process is terminated.

  The camera 31, the radar sensor 32, and the ultrasonic sensor 33 in the above embodiment correspond to the obstacle detection means in the present invention, and the shift position change SW 22 corresponds to the operation detection means in the present invention, and the shift lever. The unlock SW 25 corresponds to the operation unit in the present invention.

  In the departure safety process performed by the control unit 11, the process of S110 and the shift lever lock device 24 correspond to the movement prohibiting means in the present invention, and the process of S140 corresponds to the operation control means in the present invention. , S150 corresponds to the contact determination means in the present invention.

  Further, in the departure safety process, the processes of S160 and S200 correspond to the second release means in the present invention, the processes of S170 and S200 correspond to the third release means in the present invention, and the process of S190 is This corresponds to the warning means in the present invention.

  In the departure safety device 1 described in detail above, when the departure safety process is started, the control unit 11 prohibits the movement of the vehicle in advance, and the obstacle that exists around the vehicle while the vehicle is stopped. The camera 31, the radar sensor 32, and the ultrasonic sensor 33 that detect objects are operated, and when the obstacle is not detected, the prohibition of movement in the vehicle using the shift lever lock device 24 is canceled.

  Therefore, according to such a departure safety device 1, since the movement of the vehicle is prohibited when an obstacle is detected, the vehicle does not collide with the obstacle when the vehicle starts from a stop state. be able to. Therefore, an accident in which the vehicle comes into contact with an obstacle can be prevented.

  In addition, according to such a departure safety device 1, the prohibition of movement in the vehicle is not canceled until a state in which no obstacle is detected is detected, and thus, for example, the camera 31, the radar sensor 32, and the ultrasonic sensor 33 are used. When some failure occurs, the state where the movement of the vehicle is prohibited can be continued and the vehicle can be prevented from moving.

  Further, the control unit 11 determines whether or not the obstacle detected by the camera 31, the radar sensor 32, and the ultrasonic sensor 33 comes into contact with the vehicle when the vehicle moves, and the obstacle and the vehicle When it is determined that there is no contact, the prohibition of movement in the vehicle is lifted.

  Therefore, according to such a departure safety device 1, the movement of the vehicle can be prohibited only when an obstacle that may come into contact is detected among the detected obstacles. Therefore, even if many obstacles are detected, the vehicle can be made movable if no obstacles that may come into contact are detected.

  Further, when the obstacle is not detected by the camera 31, the radar sensor 32, and the ultrasonic sensor 33 when the movement of the vehicle is prohibited, the control unit 11 cancels the prohibition of the movement of the vehicle.

  Therefore, according to such a departure safety device 1, even if an obstacle is temporarily detected, if the obstacle is not detected due to the obstacle moving, the vehicle can move. be able to.

  Further, the departure safety device 1 includes a shift position change SW 22 that detects an operation when the driver of the vehicle moves the vehicle, and the control unit 11 is configured such that when the movement of the vehicle is prohibited, When an operation when the driver moves the vehicle is detected by the shift position change SW 22, a warning is given to the driver.

  That is, in this departure safety device 1, when an obstacle is detected by the device and an operation of moving the vehicle is detected by the driver even though the movement of the vehicle is prohibited, Warning.

  Therefore, according to such a departure safety device 1, the driver can be informed that the vehicle may come into contact with an obstacle. Further, since the warning is not issued when the driver does not move the vehicle in danger, unnecessary warnings such as a warning when the driver notices an obstacle can be prevented. Therefore, it is possible to prevent the driver from feeling troublesome.

  Further, in the departure safety device 1, the shift lever lock device 24 is used to prohibit the movement of the vehicle by fixing the shift lever position in the vehicle to the parking position.

  Therefore, according to such a departure safety device 1, since the shift lever position is simply fixed, the movement of the vehicle can be prevented with a simple configuration. Further, when the vehicle is provided with a mechanism for fixing the shift lever position, the structure of the present invention can be realized by using this mechanism, so that the departure safety device 1 can be provided at low cost. it can.

  Further, the departure safety device 1 includes a shift lever lock release SW 25 that can be operated by the driver of the vehicle to release the prohibition of movement in the vehicle, and the control unit 11 is prohibited from moving the vehicle. When the shift lever lock release SW 25 is operated while the vehicle is moving, the prohibition of movement in the vehicle is released.

  Therefore, according to such a departure safety device 1, when the driver of the vehicle determines that the vehicle may be moved by performing safety confirmation or the like, the shift lever lock release SW 25 is operated. Thus, the vehicle can be moved.

  In the present invention, the prohibition of movement is canceled by the driver because the vehicle is stopped, so that the driver can sufficiently confirm the safety. Therefore, it can prevent as much as possible that a vehicle and an obstruction contact when a vehicle moves.

The embodiment of the present invention is not limited to the above-described embodiment, and can take various forms as long as it belongs to the technical scope of the present invention.
For example, in the departure safety processing according to the present embodiment, the movement of the vehicle is prohibited by locking the position of the shift lever 21 using the shift lever locking device 24. For example, a motor or an internal combustion engine for moving the vehicle It may be configured to prohibit the operation of the vehicle or to operate the brake of the vehicle.

  Furthermore, in the above-described embodiment, the obstacle is detected using all of the camera 31, the radar sensor 32, and the ultrasonic sensor 33, but the obstacle may be detected using only one of them.

  In the above embodiment, the present invention is applied to an AT vehicle. However, the present invention may be applied to an MT (manual transmission) vehicle. In this case, a sensor for detecting whether or not the parking brake is applied may be provided, and a sensor for detecting that the clutch pedal has been depressed may be provided instead of the shift position change SW22.

  In the process of S130 of the departure safety process, it is determined whether (1) the parking brake is applied or (2) the shift position is neutral. If all the determinations are affirmative, the process proceeds to S140. If a negative determination is made in step S200, the process may proceed to S200. In the process of S180, it may be determined whether or not the clutch pedal has been depressed.

In this way, the present invention can also be applied to MT vehicles.
Furthermore, when the apparatus activation time (S120) in the departure safety process is short enough to be ignored, the process of S110 may be performed between S180 and S190. That is, when an obstacle is detected, the movement of the vehicle may be prohibited using the shift lever lock device 24.

According to such a departure safety device, since movement of the vehicle is prohibited when an obstacle is detected, the same effect as the departure safety device 1 of the above embodiment can be obtained.
Further, when the movement of the vehicle is prohibited by using the shift lever lock device 24 when an obstacle is detected as described above, the control unit 11 detects the camera 31 and the radar sensor when the vehicle moves. 32. It is determined whether or not the obstacle detected by the ultrasonic sensor 33 is in contact with the vehicle. If it is determined that the obstacle is in contact with the vehicle, the movement of the vehicle is prohibited. be able to. Therefore, the movement of the vehicle can be prohibited only when an obstacle that may come into contact is detected among the detected obstacles.

1 is a block diagram showing a schematic configuration of a departure safety device 1. FIG. It is a flowchart which shows a departure safety process.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Departure safety device, 11 ... Control part, 21 ... Shift lever, 22 ... Shift position change SW, 23 ... Shift position sensor, 24 ... Shift lever lock device, 25 ... Shift lever lock release SW, 31 ... Camera, 32 ... Radar sensor, 33 ... ultrasonic sensor, 34 ... alarm device.

Claims (8)

An obstacle detection device having obstacle detection means for detecting obstacles existing around a vehicle,
Operation control means for operating the obstacle detection means while the vehicle is stopped;
Movement prohibiting means for prohibiting movement of the vehicle in advance while the vehicle is stopped;
First cancellation means for canceling prohibition of movement in the vehicle by the movement prohibition means when no obstacle is detected by the obstacle detection means;
An obstacle detection device comprising: Contact determining means for determining whether the vehicle is in contact with the obstacle detected by the obstacle detecting means when the vehicle has moved,
2. The obstacle according to claim 1, wherein when the contact determination unit determines that the obstacle does not contact the vehicle, the first release unit cancels the prohibition of movement in the vehicle. Object detection device. An obstacle detection device having obstacle detection means for detecting obstacles existing around a vehicle,
Operation control means for operating the obstacle detection means while the vehicle is stopped;
Movement prohibiting means for prohibiting movement of the vehicle when an obstacle is detected by the obstacle detecting means;
An obstacle detection device comprising: Contact determining means for determining whether the vehicle is in contact with the obstacle detected by the obstacle detecting means when the vehicle has moved,
The obstacle detection device according to claim 3, wherein the movement prohibiting unit prohibits the movement of the vehicle when the contact determination unit determines that the obstacle and the vehicle are in contact with each other. A second canceling unit for canceling the prohibition of movement in the vehicle when the obstacle is not detected by the obstacle detecting unit when the movement of the vehicle is prohibited by the movement prohibiting unit;
The obstacle detection device according to any one of claims 1 to 4, further comprising: Operation detecting means for detecting an operation when the driver of the vehicle moves the vehicle;
A warning means for warning the driver when the operation is detected by the operation detection means when the movement of the vehicle is prohibited by the movement prohibition means;
The obstacle detection device according to any one of claims 1 to 5, further comprising: The obstacle detection device according to any one of claims 1 to 6, wherein the movement prohibiting unit prohibits movement of the vehicle by fixing a shift lever position of the vehicle to a parking position. An operation unit operable by the driver of the vehicle to release the prohibition of movement in the vehicle;
When the operation unit is operated when movement of the vehicle is prohibited by the movement prohibiting means, third release means for canceling the prohibition of movement in the vehicle;
The obstacle detection device according to any one of claims 1 to 7, further comprising:

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