JP2008158963A - Vehicle surrounding detecting system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle surrounding detecting system recognizing urgency, while notifying the direction of an obstacle for 360° around a vehicle. <P>SOLUTION: This vehicle circumference detecting system is provided with a front camera 41, a rear camera 42, a right camera 43 and a left camera 44 for detecting the obstacle around the vehicle, proximity sensors 61a-64a for detecting a distance to an obstacle, a left front speaker 71, a right front speaker 72, a left rear speaker 73 and a right rear speaker 74 arranged in a plurality of portions in a cabin, a sound localization device 2 for outputting an alarm sound in a sound image position according to a direction of the obstacle, a plurality of right side display 81 and left side display 82 arrayed in the cabin, and a display controller 3 for emitting a light while changing a light emitting condition according to the distance. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention belongs to the technical field of a vehicle surrounding detection system that detects an object around a vehicle.

Conventionally, a sound image based on a radar that detects an object around the host vehicle, a vehicle sensor that acquires vehicle information such as the vehicle speed and traveling direction of the host vehicle, and object information that indicates the position of the object by sound. A determination device that determines whether or not the object information is presented by the presentation device; and a head-up display that displays the object information indicating the position of the object for a short time within the range of conscious perception. And based on the determination result of a determination apparatus, before presenting target object information with a sound image presentation apparatus, the information of the target object is displayed by a head-up display (for example, refer patent document 1).
JP 2005-335503 A (page 2-10, all figures)

  However, conventionally, it is possible to notify the direction in which an obstacle exists from the direction of 360 degrees around the vehicle, but it is difficult to recognize the sense of distance (urgentness).

  The present invention has been made paying attention to the above-mentioned problems, and the purpose thereof is to recognize the sense of distance (emergency) while notifying the direction in which the obstacle exists from the direction of 360 degrees around the vehicle. An object of the present invention is to provide a vehicle surrounding detection system capable of

  In order to achieve the above object, in the present invention, image detection means for detecting an object to be detected around the vehicle by an image, distance detection means for detecting the distance to the object to be detected, Depending on the distance between the detected sound output means, the sound image presentation control means for outputting a warning sound at a sound image position corresponding to the direction of the detected object, a plurality of light emitting means arranged in the passenger compartment, and the distance to the detected object And a light emission display control means for changing the light emission state to emit light.

  Therefore, in the present invention, it is possible to recognize the sense of distance (emergency level) while notifying the direction in which the obstacle exists from the direction of 360 degrees around the vehicle.

  Hereinafter, an embodiment for realizing a vehicle surrounding detection system according to the present invention will be described based on Example 1 corresponding to the invention according to claims 1, 2, and 3.

First, the configuration will be described.
FIG. 1 is a block diagram of the vehicle surrounding detection system according to the first embodiment.
The vehicle surrounding detection system according to the first embodiment mainly includes a determination device 1, a sound image presentation device 2, a display control device 3, a camera unit 4, a radar unit 6, a speaker unit 7, and an LED display unit 8.
The determination device 1 determines whether or not an object has been detected around the image information from the camera unit 4 and sensor detection information from the radar unit 6.
The sound image presentation device 2 performs a control process for presenting the direction of the object detected in the surroundings as a sound image.

The camera unit 4 mainly includes a front camera 41, a rear camera 42, a right camera 43, a left camera 44, image decoder units 45 to 48, and VRAMs (image memories) 49 to 52.
The front camera 41 images the front of the vehicle. The rear camera 42 images the rear of the vehicle. The right camera 43 images the right direction of the vehicle. The left camera 44 images the left direction of the vehicle.

The image decoders 45 to 48 decode images captured by the cameras into predetermined image data.
VRAMs (image memories) 49 to 52 temporarily store the image data decoded by the image decoder units 45 to 48.

The radar unit 6 mainly includes a front approach sensor information input unit 61, a rear approach sensor information input unit 62, a right approach sensor information input unit 63, a left approach sensor information input unit 64, and signal processing units 65 to 68. ing.
The front approach sensor information input unit 61 inputs a detection signal of an approach sensor 61a (radar sensor) that detects approach in front of the vehicle.
The rear approach sensor information input unit 62 inputs a detection signal of an approach sensor 62a (radar sensor) that detects approach of the rear of the vehicle.

The right approach sensor information input unit 63 inputs a detection signal of an approach sensor 63a (radar sensor) that detects approach in the right direction of the vehicle.
The left approach sensor information input unit 64 inputs a detection signal of an approach sensor 64a (radar sensor) that detects approach in the left direction of the vehicle.
The signal processing units 65 to 68 perform signal processing on the sensor detection signals from the respective information input units, output the information to the determination device 1 as data that can be processed.

The speaker unit 7 includes a left front speaker 71, a right front speaker 72, a left rear speaker 73, and a right rear speaker 74 as main components.
The left front speaker 71 outputs sound from the left front in the passenger compartment. The front right speaker 72 outputs sound from the front right in the passenger compartment. The left rear speaker 73 outputs sound from the left rear in the passenger compartment. The right rear speaker 74 outputs sound from the right rear in the passenger compartment.

The LED display unit 8 includes a right display device 81 and a left display device 82 as main components.
The right display device 81 is composed of LEDs arranged in a plurality of columns provided in the right A pillar portion, and the left display device 82 is composed of LEDs arranged in a plurality of columns provided in the left A pillar portion, The bottom object is red, and the top object is green.

Next, the arrangement of the camera unit 4, the radar unit 6, and the speaker unit 7 will be described.
FIG. 2 is an explanatory plan view showing the arrangement of the camera unit 4, the radar unit 6, and the speaker unit 7 of the vehicle surroundings detection system according to the first embodiment. FIG. 3 is an explanatory side view showing the arrangement of the camera unit 4, the radar unit 6, and the speaker unit 7 of the vehicle surrounding detection system according to the first embodiment.
In the vehicle surrounding detection system of the first embodiment, as shown in FIGS. 2 and 3, a front camera 41 and a front approach sensor 61a are disposed at the front end of the vehicle, a rear camera 42 is disposed at the rear end of the vehicle, An approach sensor 62a is disposed.
Also, a left camera 44 and a left approach sensor 64a are arranged near the center roof on the left side of the vehicle, and a right camera 43 and a right approach sensor 63a are arranged near the center roof on the right side of the vehicle. To do.

Next, the LED display unit 8 will be described in detail.
FIG. 4 is an explanatory diagram of an LED display unit of the vehicle surrounding detection system according to the first embodiment.
In the first embodiment, as shown in FIG. 4, the right display device 81 and the left display device 82 of the LED display unit 8 are provided on the left and right A pillars in the vehicle interior.
The right display device 81 includes a plurality of LEDs 811 to 815 arranged vertically along the right A pillar. The LEDs 811 to 815 emit light in a substantially gradation-like color scheme with the lowermost object being red and the uppermost object being green.

The left display device 82 has a plurality of LEDs 821 to 825 arranged vertically along the left side A pillar. The LEDs 821 to 825 have the bottom one in red and the top one in green. It emits light with an almost gradation color scheme.
Note that the LEDs 811 to 815 and the LEDs 821 to 825 in the right display device 81 and the left display device 82 are arranged so that the top LEDs 811 and 821 are at the line of sight, and the bottom LEDs 815 and 825 are A Try to be near the bottom of the pillar.

Next, the operation will be described.
[Vehicle surrounding detection, presentation processing]
FIG. 5 is a flowchart showing a flow of vehicle surrounding detection and presentation processing executed by the vehicle surrounding detection system of the first embodiment. Each step will be described below.

  In step S1, each parameter is initialized as an initial process.

  In step S2, image processing of the front camera 41, the rear camera 42, the right camera 43, and the left camera 44, which are in-vehicle cameras, is performed in the four directions of front, rear, left, and right.

  In step S3, obstacles are detected by radar detection by the proximity sensors 61a to 64a in the four directions of front, rear, left and right.

  In step S4, the determination apparatus 1 determines whether there is an obstacle. If it is determined that there is an obstacle, the process proceeds to step S5. If it is determined that there is no obstacle, the process returns to step S2.

  In step S5, the determination apparatus 1 determines whether the obstacle is within a certain distance. If the obstacle is within the certain distance, the process proceeds to step S6, and if it is outside the certain distance, the process returns to step S2.

  In step S6, the sound image presentation device 2 calculates a sound image presentation position.

  In step S7, the sound image presentation device 2 controls the left front speaker 71, the right front speaker 72, the left rear speaker 73, and the right rear speaker 74 to generate warning sound data.

  In step S <b> 8, the display control device 3 calculates the LED lighting position of the LED display unit 8.

  In step S <b> 9, the display control device 3 controls LED lighting of the right display device 81 and the left display device 82 of the LED display unit 8.

[Vehicle detection and presentation]
A technical background of the vehicle surrounding detection system according to the first embodiment will be described.
2. Description of the Related Art Conventionally, for the purpose of supporting safe driving of automobiles, a system in which a small camera is installed in a vehicle and displayed in the passenger compartment has been put into practical use. In addition, the distance to the object photographed in the camera image is measured by stereo cameras (two pairs of cameras with a certain distance on the left and right), reflection of electromagnetic waves such as infrared rays, or by millimeter wave radar or low frequency radar. Those that do have also been put into practical use. The result of detecting the surroundings of the vehicle is presented in the passenger compartment and is quickly recognized by a warning sound. If a plurality of speakers are installed, the direction can be recognized by emitting a sound from a specific direction where the obstacle exists in all directions of 360 degrees of the vehicle.

However, although it is possible to notify the direction in which the obstacle exists from the direction of 360 degrees around the vehicle, it is difficult to recognize the sense of distance (emergency). When a display device (liquid crystal monitor or the like) is prepared and displayed as character data there is generally a delay for reading the characters. The display device is meaningless unless it is displayed within the effective visual field of the driver. For this reason, there is a technique for detecting the sight line of the passenger and displaying in the sight line direction. However, doing so makes the system line-of-sight detection complicated (expensive).
The vehicle surrounding detection system according to the first embodiment solves these problems.

[Vehicle surrounding detection and presentation]
In the vehicle surrounding detection system according to the first embodiment, the surroundings of the vehicle are imaged by the front camera 41, the rear camera 42, the right camera 43, and the left camera 44 (step S2), and the surroundings of the vehicle are measured by the proximity sensors 61a to 61a. Obstacle detection is performed at 64a (step S3).
Since the proximity sensors 61a to 64a are radar detection, when an obstacle is detected, the distance from the vehicle to the obstacle can be detected.

  Therefore, when the determination apparatus 1 determines that an obstacle is present (step S4), two-dimensional mapping data of the obstacle is acquired from the image recognition data of the camera around the vehicle and the distance measurement data. The two-dimensional mapping data is 360-degree direction data centered on the vehicle in the second dimension, and is data that expresses the distance data to the obstacle.

On the other hand, it is determined whether or not the obstacle is within a certain distance (step S5). If the obstacle is within the certain distance, the sound image presentation device 2 controls the sound image presentation by controlling the speakers arranged at the four corners of the vehicle interior. That is, a directed warning sound is emitted.
As a result, the occupant, mainly the driver, can recognize the direction of the obstacle.

FIG. 6 is an explanatory diagram illustrating an obstacle detection state of the vehicle surroundings detection system according to the first embodiment.
Furthermore, in Example 1, the right display device 81 and the left display device 82 of the LED display unit 8 light the LEDs 811 to 815 or 821 to 825.
When this LED is lit, from the distance data to the obstacle already obtained, from the red LED 815,824 arranged at the lowermost to the green LEDs 811,825 arranged at the uppermost, among the LEDs arranged vertically One of the lights up.
That is, as the distance becomes shorter, the lighting position moves downward while approaching red.
Or, when the LED is lit, the distance from the red LED 815 and 825 disposed at the lowermost position to the upper position is calculated and lit based on the distance data to the obstacle already obtained. .
That is, when the distance to the obstacle is very close, only the red LEDs 815 and 825 arranged at the bottom are lit, and when the distance to the obstacle is farthest in the setting range, the red LED 815 and 825 is arranged at the bottom. From the red LEDs 815 and 825 to the green LEDs 811 and 825 arranged at the uppermost position, all the LEDs arranged vertically are turned on.
Alternatively, when the distance to the obstacle is the farthest in the detection range, only the green LEDs 811 and 825 arranged at the top are lit, and when the distance to the obstacle is the shortest, it is arranged at the bottom. All the LEDs arranged vertically from the red LEDs 815 and 825 to the green LEDs 811 and 825 arranged at the uppermost position are lit.

Therefore, the occupant, mainly the driver, recognizes the direction of the obstacle based on the position of the sound image, and determines the emission color of the uppermost LED according to the distance, the upper and lower emission column lengths according to the distance, and the emission position. Instantly recognize the distance to the obstacle.
When the actual obstacle is also far away, it exists at a position close to the horizon of the eye point, and as you approach the car body, the line of sight moves downward. Similarly, by changing the display position, Simulate the degree of urgency (like approaching the distance). Therefore, the passenger, mainly the driver, can recognize the distance to the obstacle more intuitively, which is very useful.
In addition, since the right display device 81 and the left display device 82 are similarly lit on both the left and right A pillars, the lighting is recognized when the front half of the vehicle enters the field of view, regardless of where the line of sight of the occupant is facing. Can do.

Next, the effect will be described.
In the vehicle surrounding detection system according to the first embodiment, the effects listed below can be obtained.
(1) A front camera 41, a rear camera 42, a right camera 43, a left camera 44 that detect obstacles around the vehicle with images, proximity sensors 61a to 64a that detect the distance to the obstacle, Left front speaker 71, right front speaker 72, left rear speaker 73, right rear speaker 74, sound image presentation device 2 that outputs a warning sound at a sound image position corresponding to the direction of an obstacle, and a plurality of arrays in the vehicle interior Since the right display device 81 and the left display device 82, and the display control device 3 that emits light by changing the light emission state according to the distance of the obstacle, the direction in which the obstacle exists from the direction of 360 degrees around the vehicle It is also possible to recognize the sense of distance (emergency) while informing the user.

  (2) Since the light emission state is at least one of the light emission column length, the light emission color, or the light emission position, the sense of distance (emergency) is more intuitively recognized, and the sense of distance (emergency) is more instantaneous. ) Can be recognized. For example, the recognition time is greatly shortened as compared with display using character information.

  (3) Since the light emitting means has a plurality of LEDs 811 to 815 and 821 to 825 arranged in a row along the left and right A pillars in the passenger compartment, it is easy to see from the occupant, particularly the driver, and the field of view for driving It is possible to recognize the sense of distance (urgentness) more instantaneously by showing the light emission state without causing a large movement of the line of sight or the head.

  As described above, the vehicle surrounding detection system of the present invention has been described based on the first embodiment, but the specific configuration is not limited to these embodiments, and the invention according to each claim of the claims. Design changes and additions are allowed without departing from the gist.

For example, in Example 1, although LED was shown as a light emission means, you may make another light emission.
Further, for example, in Example 1, the lower part is red light emission and the upper part is green light emission, but the reverse may be possible, and other colors may be used.

1 is a block diagram of a vehicle surroundings detection system according to a first embodiment. FIG. 3 is an explanatory plan view illustrating an arrangement of a camera unit, a radar unit, and a speaker unit of the vehicle surroundings detection system according to the first embodiment. It is an explanatory side view showing arrangement of a camera part, a radar part, and a speaker part of a vehicle periphery detection system of Example 1. It is explanatory drawing of the LED display part of the vehicle periphery detection system of Example 1. FIG. 3 is a flowchart showing a flow of vehicle surrounding detection and presentation processing executed by the vehicle surrounding detection system of the first embodiment. It is explanatory drawing which shows the obstruction detection state of the vehicle periphery detection system of Example 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Determination apparatus 2 Sound image presentation apparatus 3 Display control apparatus 4 Camera part 41 Front camera 42 Rear camera 43 Right camera 44 Left camera 45-48 Image decoder part 49-52 VRAM (image memory)
6 Radar part 61 Front approach sensor information input part 61a Approach sensor 62 Rear approach sensor information input part 62a Approach sensor 63 Right approach sensor information input part 63a Approach sensor 64 Left approach sensor information input part 64a Approach sensor 65-68 Signal processing Unit 7 speaker unit 71 left front speaker 72 right front speaker 73 speaker 74 speaker 8 LED display unit 81 right display devices 811 to 815 LED
82 Left display device 821-825 LED
C vehicle

Claims (3)

Image detection means for detecting an object to be detected around the vehicle by an image;
Distance detecting means for detecting a distance to the object to be detected;
Audio output means arranged at multiple locations in the passenger compartment;
Sound image presentation control means for outputting a warning sound at a sound image position corresponding to the direction of the detected object;
A plurality of light emitting means arranged in the passenger compartment;
Light emission display control means for changing the light emission state to emit light according to the distance of the detected object;
A vehicle surroundings detection system comprising: In the vehicle surrounding detection system according to claim 1,
The light emission state is
It is at least one of a light emission column length, a light emission color, or a light emission position.
A vehicle surrounding detection system characterized by the above. In the vehicle surrounding detection system according to claim 1 or 2,
The light emitting means includes
A plurality of light emitters are arranged in a row along the A pillar in the passenger compartment.
A vehicle surrounding detection system characterized by the above.

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