JP2008282235A - Driving support device, automobile equipped with driving support device and driving support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the following problem: when another vehicle honks a horn, a vehicle for which the horn is honked is often not realized, and it is necessary for a driver of an automobile hearing the honk to first look around the periphery, to look at a rear view mirror, to confirm the vehicle honking the horn, and to confirm next whether the honk is warning sound for his/her own vehicle or not. <P>SOLUTION: This driving support device has a peripheral object position estimation means of the own vehicle, a sound source position estimation means of the warning sound, and a sound position display means. A peripheral object position is estimated by the peripheral object position estimation means, a warning sound source position is estimated by the sound source position estimation means of the warning sound, and the peripheral object position and the warming sound source position are simultaneously displayed by the sound source position display means. In addition to such a configuration, by equipping a warning sound decision result presentation device for the own vehicle, it is presented that the warning sound is the warning sound for the own vehicle when deciding that the warning sound is the warning sound for the own vehicle. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is equipped with a driving support device and a driving support device that detect a warning sound source vehicle that has sounded a car horn as a warning sound near the host vehicle and present the presence of the warning sound source vehicle to the driver. In particular, it is determined whether or not the warning sound is a warning sound for the own vehicle from the situation around the own vehicle, and when the warning sound is for the own vehicle, the warning sound for the own vehicle is determined. The present invention relates to a driving support device having a function of presenting voice, characters, graphics, and the like, a car equipped with the driving support device, and a driving support method.

  Automobile horns are often used as warning means to warn other vehicles or pedestrians of danger in order to prevent traffic accidents, and depending on how the horn sounds, simple means of communication between nearby cars. Used as When a horn sounds, the driver of the car who hears it pays attention to the sound, but at least when it is not clear from which vehicle the car was rang, the driver of the horn Often the intention cannot be guessed.

  As a conventional driving support device, when a plurality of sound sensors and a plurality of in-vehicle cameras are installed and a warning sound of a certain level or more is detected by the sound sensor, the direction in which the warning sound is generated is imaged for a certain period of time. Thus, an in-vehicle camera video switching control device that changes the orientation of the camera has been proposed (see, for example, Patent Document 1).

However, although the above-mentioned conventional device is excellent in that it shows the driver the image of the direction in which the warning sound is given, it does not show information on which vehicle specifically issued the warning sound. In addition, there is a problem in that no information is shown as to which vehicle the warning sound is emitted.
Japanese Utility Model Publication No. 7-17650

  The present invention detects a warning sound source vehicle that sounds a horn as a warning sound when a car horn sounds near the own vehicle, and can present the presence of the warning sound source vehicle to the driver. It is an object of the present invention to provide a driving support device, a car equipped with the driving support device, and a driving support method.

  In particular, when it is determined whether the horn is sounded for the own vehicle from the surroundings of the own vehicle, and it is determined that the horn is sounded for the own vehicle, It is an object of the present invention to provide a driving support device, a vehicle equipped with a driving support device, and a driving support method that present a horn directed to the vehicle and prompt a prompt and accurate response.

  The driving support apparatus according to the present invention includes a surrounding object position estimating unit of the host vehicle, a sound source position estimating unit of a warning sound, and a sound source position display unit. The surrounding object position is estimated by the surrounding object position estimating unit, and the warning sound The sound source position estimation means estimates the warning sound source position, and the sound source position display means displays the peripheral object position and the warning sound source position simultaneously.

  With this configuration, the alarm sound source position, that is, the position of the vehicle that issued the warning sound, is displayed at the same time as the positions of other objects such as other automobiles and motorcycles around the host vehicle. There is an effect that it is possible to promptly inform the driver whether the vehicle is a vehicle.

  Further, the sound source position estimating means for the warning sound of the driving support apparatus of the present invention has a plurality of sound collecting means and a sound source position calculating means, and the sound source position calculating means for the sound sources collected by the plurality of sound collecting means. The sound source position of the warning sound where the sound source of the warning sound exists is calculated, and the sound source position display means displays the display information indicating that the vehicle has emitted the warning sound near the sound source position or the sound source position. It was configured as follows.

  With this configuration, it is possible to accurately know the position of the warning sound source of the warning sound emitted near the host vehicle, so that it is possible to more clearly know which vehicle is the vehicle that issued the warning sound. .

  Further, the peripheral object position estimating means of the present invention has a plurality of outside vehicle imaging means, a peripheral object detection means, and a peripheral object position calculation means, and detects the peripheral object for an image photographed by the plurality of outside vehicle imaging means. The means detects a surrounding object of the host vehicle, and the surrounding object position calculating means calculates the position where the surrounding object exists.

  With this configuration, there is an effect that the peripheral object position can be estimated with high accuracy using a so-called stereo camera.

  Further, the driving support device of the present invention collates the warning sound source position and the surrounding object position, and indicates that the vehicle has emitted the warning sound when the warning sound source position and the surrounding object position match. The first display information is displayed in the vicinity of the warning sound source position or in the vicinity of the warning sound source position, and when there is no surrounding object corresponding to the warning sound source position, the second information indicating that the vehicle has issued the warning sound. The display information is configured to be displayed in the vicinity of the alert sound source position or the alert sound source position.

  With this configuration, when there is no peripheral object corresponding to the warning sound source position, there is an effect that it is possible to present to the driver of the host vehicle that there is an invisible warning sound source nearby.

  In addition to the above configuration, the driving support device of the present invention further includes a warning sound determination result presentation device for the host vehicle. The warning sound determination result presentation device for the own vehicle is configured to determine that the warning sound is the warning sound for the third vehicle when the own vehicle is outside the field of view of the vehicle that issued the warning sound, or the horn When there is a vehicle in the field of view of the vehicle, if there is no third vehicle between the horn vehicle and the vehicle, the warning sound is a warning sound for the vehicle, and if there is a third vehicle, the warning sound is third. It was constituted so that it might be judged that it was a warning sound for vehicles. In addition, in order to make a quick determination under various circumstances, the vehicle has a warning sound determination table storage unit for the own vehicle, a warning sound determination unit for the own vehicle, and a determination result presentation unit. When the sound source position information is collated with a warning sound determination table stored in the warning sound determination table storage means and it is determined that the warning sound is a warning sound for the own vehicle, it is determined that the warning sound is for the own vehicle. Configured to present.

  With this configuration, when a warning sound is sounded for the host vehicle, the driver can quickly recognize that the warning sound is for the host vehicle and can take a quick and accurate response.

  In addition, since the vehicle equipped with the driving support device of the present invention has the driving support device installed in the vehicle from the beginning, it is linked with other in-vehicle electronic devices such as navigation devices and audio devices installed in the vehicle. Thus, it is possible to share the common means such as the sound source position display means, and it is possible to provide usability as a function of the navigation device functionally.

  The driving support method of the present invention includes a first step of detecting a sound source of a warning sound from sounds around the own vehicle, and a warning sound source position of the warning sound detected in the first step from the own vehicle. The second step of calculating the distance and direction, the third step of detecting the peripheral object from the image of the area with the warning sound source, and the distance from the host vehicle with respect to the peripheral object position detected in the third step; A fourth step of calculating a direction, a fifth step of determining whether or not the warning sound is a warning sound for the host vehicle based on the information of the warning sound source position of the warning sound and the information of the surrounding object position; When the warning sound is a warning sound for the own vehicle, the driving support method includes a sixth step of presenting that the warning sound is for the own vehicle.

  Therefore, if the required hardware means is incorporated in the automobile, it is controlled so as to execute the above steps of the present invention, from which vehicle the warning sound is emitted, and the warning sound is directed to the own vehicle. It is possible to know whether it was emitted or not, and to provide safe and comfortable driving support.

  In the driving support device of the present invention or the vehicle equipped with the driving support device, when a horn sounds near the own vehicle, it is possible to easily and quickly know which vehicle is emitted from the own vehicle or from the own vehicle. As a result, it is possible to provide driving assistance so that the horn for the own vehicle that needs to be dealt with can be dealt with quickly without losing sight of the accident prevention sign.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a block diagram of an automobile equipped with a driving support apparatus according to a first embodiment of the present invention. In FIG. 1, for easy understanding, a driving support device 102 indicated by a broken line frame is placed on the automobile 100 indicated by a solid line frame having four wheels 101. In addition, about each block other than the driving assistance apparatus 102, it abbreviate | omits and shows. The automobile 100 travels in the direction of the arrow 103 shown in the lower part of FIG. 1, that is, from right to left.

  The driving support apparatus 102 in FIG. 1 includes an outside-vehicle image capturing unit 104, a peripheral object detection unit 105, a peripheral object position estimation unit 106, four microphones, that is, a first sound collection unit 108, a second sound collection unit 109, and a third. The sound collecting unit 110, the fourth sound collecting unit 111, and the sound source position estimating unit 112 are included, and the peripheral object position estimating unit 106 and the sound source position estimating unit 112 are connected to the sound source position presentation control unit 107. The sound source position presentation control unit 107 is connected to a display unit 113, a presentation unit 114, and an activation switch 115.

  Although not shown, the outside-the-car image capturing unit 104 has a plurality of cameras, and not only captures an image of the subject, but also measures a distance of the subject from a stereoscopic image as a so-called stereo camera. Note that the outside-vehicle shooting unit 104 may be a night-vision camera that can be used in a dark place. In FIG. 1, the outside-vehicle shooting unit 104 is illustrated as being provided behind the automobile 100. For example, a carousel that can rotate 360 degrees is placed outside the ceiling of the car 100, and the outside-camera shooting unit 104 is placed on the turntable. It is good also as a structure which carried. When the turntable is rotated by a driving means (not shown) according to the course of the automobile 100 so that the direction of the outside-portion imaging unit 104 placed on the turntable matches the direction of travel or the direction of the handle, Can photograph the front of the automobile 100 and photograph the rear of the automobile 100 when backing.

  Further, when making a right turn, it is possible to capture a larger area in the front right direction, and when making a left turn, a larger area can be captured in the front left direction. Furthermore, when the vehicle stops at an intersection or at a point where the line of sight is poor, the direction of the outside-vehicle image capturing unit 104 may be controlled so as to shoot more areas that are likely to be blind spots or areas where the line of sight is poor. Moreover, you may make it always rotate.

  An image photographed by the vehicle exterior photographing unit 104 is input to the peripheral object detection unit 105. In the surrounding object detection unit 105, a plurality of image pattern data such as buses, trucks, taxis, ordinary passenger cars, and motorcycles are registered in advance in a storage means (not shown), and images registered in advance from the input images. The presence / absence of a pattern is checked, and if there is an identical or similar image pattern in the input image, the image portion is detected as a peripheral object. Further, as described above, the outside-vehicle image capturing unit 104 can obtain stereoscopic image data as a so-called stereo camera. Then, the peripheral object position estimation unit 106 calculates the distance between the peripheral object and the outside-vehicle image capturing unit 104 and the direction in which the peripheral object exists.

  Further, the first sound collecting unit 108, the second sound collecting unit 109, the third sound collecting unit 110, and the fourth sound collecting unit 111 are also shown as being provided behind the automobile 100 in FIG. Similar to the outside-car image capturing unit 104, a rotating table that can rotate 360 degrees may be placed outside the ceiling of the automobile, and four sound collecting units may be placed thereon. These four sound collection units send the collected information to the sound source position estimation unit 112. The sound source position estimation unit 112 has sound source pattern detection means and sound source position calculation means as means. The sound source position estimation unit 112 analyzes the acoustic signals sent from the four sound collection units, and the sound source pattern detection means has a number of sound sources for the horn that is a so-called warning sound in the acoustic signal, It is determined what kind of warning sound the sound source is. Then, the sound source position calculation means calculates the distance from the sound collection unit of each sound source and the direction of the position where the sound source exists.

  In general, it is often the case that a horn is sounded by a specific vehicle, but with the above configuration, even if multiple vehicles sound horns at the same time, the sound source of each horn is And the direction of the position where the sound source exists can be calculated. Although not described in detail here, it is desirable to improve the S / N ratio for vehicle detection and to increase the accuracy of the spatial distribution of sound.

  The sound source position presentation control unit 107 uses a peripheral object position around the host vehicle that has been captured by the outside-vehicle image capturing unit 104 to estimate the position, and a sound source position estimated from sounds collected by the four sound collection units. The position and the sound source position are simultaneously displayed on the display unit 113. As the display unit 113, a liquid crystal display device or the like is used.

  The sound source position presentation control unit 107 collates the warning sound source position with the surrounding object positions. When the warning sound source position does not coincide with the surrounding object position, the sound source position is displayed on the display unit 113, and at the same time, a voice message or warning sound is generated using the presenting unit 114, assuming that there is a warning sound source at a position that cannot be seen. . This informs that there is a vehicle that has issued a warning sound in an invisible place, so that it is not only that the sound source is in an invisible position, but also where the vehicle is in an invisible position. In FIG. 1, a start switch 115 is a switch for starting the driving support device 102, and the driving support device 102 is started or stopped by the start switch 115.

  FIG. 2 is a flowchart showing the operation of the automobile 100 equipped with the driving support apparatus according to the first embodiment of the present invention. First, the start switch 115 is turned on to start the operation of each block of the driving support device 102 (step S1). Then, the four sound collection units, the first sound collection unit 108, the second sound collection unit 109, the third sound collection unit 110, and the fourth sound collection unit 111 collect sound around the automobile 100, and a sound source position estimation unit The collected information is sent to 112. The sound source position estimating unit 112 analyzes the acoustic signals sent from the four sound collecting units, and determines whether or not there is a horn sound source pattern that is a warning sound in the acoustic signals (step S2). If a horn sounds around the host vehicle (Yes in step S2), the warning sound source calculates the distance from the sound collection unit and the direction of the position where the sound source exists. Note that in order to calculate the position and direction in which the warning sound source exists, the frequency and power of the sound arriving at the four sound collection units are analyzed (step S3).

  When the warning sound source position is obtained, the outside-vehicle image capturing unit 104 identifies and captures a region with the warning sound source (step S4), and the peripheral object detection unit 105 detects peripheral objects in the region with the warning sound source. . Specifically, an image captured by the outside-vehicle image capturing unit 104 is input to the peripheral object detection unit 105, and image patterns of buses, trucks, taxis, ordinary passenger cars, motorcycles, and the like registered in advance in the peripheral object detection unit 105 are displayed. It is checked whether or not it is included in the image, and if there is an image pattern that is the same or similar to any one of the image patterns, it is detected as a peripheral object (step S5).

  Then, the peripheral object position estimation unit 106 calculates the distance between the peripheral object and the vehicle exterior imaging unit 104 and the direction in which the peripheral object is located from the stereoscopic image data captured by the vehicle exterior imaging unit 104 (step S6). Next, the position of the host vehicle, the positions of surrounding objects, and the position of the warning sound source are presented. In addition, the presentation is performed by displaying characters, figures, and colors using the display unit 113, and by using the presentation unit 114 by voice or buzzer sound (step S7). If the warning signal is not included in the acoustic signal sent from the sound collecting unit in step S2 of the flowchart of FIG. 2 (No in step S2), the sound collection is continued until the warning sound is detected. (Step S2).

  In FIG. 3 (a), an automobile 100 (hereinafter, referred to as “own vehicle 100” to be distinguished from other automobiles) equipped with the driving support apparatus of the first embodiment of the present invention is shown as an automobile road 400. The perspective view when driving | running | working is shown typically. FIG. 3A shows a state in which the host vehicle 100 has passed the overtaking lane on the right side of the automobile road 400 and has overtaken the other vehicle 200. Only the other vehicle 200 is running near the own vehicle 100, and there is no other vehicle. Here, if the other vehicle 200 sounds a horn, the own vehicle 100 detects the horn as a warning sound, estimates the position of the warning sound source according to the flow chart of FIG. The emitted region is identified, an image is taken, the surrounding object is detected and the surrounding object position is estimated, and the own vehicle 100, the other vehicle 200 that issued the warning sound, and the warning sound source position are displayed.

  FIG. 3B shows an example of an image displayed on the display unit 113. In FIG. 3B, a display 220 indicating the own vehicle 100, the other vehicle 200, and the warning sound source position is displayed on the road 400. The display 220 displays the characters “horn car” surrounded by a square frame. The display 220 may display a simple mark.

  As a result, the driver of the host vehicle 100 is not limited to simply listening to the horn, and the display unit 113 and the presentation unit 114 grasp the positional relationship between the host vehicle 100 and the other vehicle 200 that has issued a horn, that is, a warning sound.

  In the case of FIGS. 3A and 3B, there is no other vehicle between the other vehicle 200 and the own vehicle 100, and the other vehicle 200 that has issued a warning sound is located toward the own vehicle 100. Therefore, it can be detected that a horn has been issued for the host vehicle. As a result, it can be seen that the driver of the other vehicle 200 has issued a warning, and the other vehicle 200 may have recklessly overtaken the vehicle 100 to be warned when viewed from the other vehicle 200. It is possible to get a chance to reflect on the feelings of the person.

  Note that the sound source position presentation control unit 107 of the driving support device 102 is connected to the memory 116 that is a storage unit, and therefore can store an image of the other vehicle 200 that has issued a warning sound. If you drive on the highway for a long time, a trivial matter of overtaking, overtaking, honking, and not enjoying the overtaking will cause a so-called car chase, causing unexpected trouble. As described above, if the image of the other vehicle 200 that has issued the warning sound is stored in the memory 116 together with the license plate, it is possible to search for the other vehicle 200 at a later date even if the car chase is hit or escaped. Become.

  Next, with reference to FIG. 4A, a case where the host vehicle 100 runs on the right overtaking lane on the motorway 400 and passes the other vehicle 200 and the third vehicle 300 will be described. A third vehicle 300 is running between the host vehicle 100 and the other vehicle 200. Here, if the other vehicle 200 sounds a horn, as in the case of FIG. 3, the own vehicle 100 estimates the position of the warning sound source, estimates the position of the surrounding object, and the surrounding object together with the own vehicle 100. The display unit 113 displays the other vehicle 200 and the third vehicle 300 that have issued a certain warning sound, and the presentation unit 114 presents them by voice.

  FIG. 4B shows an example of an image displayed on the display unit 113. In FIG. 4B, a display 220 indicating the own vehicle 100, the other vehicle 200, the third vehicle 300, and the warning sound source position is displayed on the road 400. The driver looks at the display 220 and recognizes that there is a third vehicle 300 between the host vehicle 100 and the other vehicle 200 that has horned. The presence of the third vehicle 300 between the host vehicle 100 and the other vehicle 200 means that the horn of the other vehicle 200 is directed to the third vehicle 300 and is not directed to the host vehicle 100. Probability is high. As a result, there is an advantage that the vehicle can be determined immediately unless the vehicle is warned.

  As described above, when the driver of the host vehicle 100 equipped with the driving support apparatus 102 according to the first embodiment of the present invention hears a horn, the other vehicle that has emitted a warning sound with the host vehicle 100 The display unit 113 and the presentation unit 114 can quickly know the positional relationship with the information 200. To check the situation, you don't have to look back at the direction of the horn and check with the rearview mirror. In particular, if an image of a vehicle that has issued a warning sound with the license plate is stored in the memory 116, it can be used as evidence material in the event of a contact accident with the vehicle.

  In the above description, as an explanation of a plurality of sound collection units, an example of four sound collection units has been shown, but the position of the sound source can be calculated from the difference in time or sound pressure reaching the sound collection unit. If possible, it is sufficient if there are two or more sound collecting units, and the number of sound collecting units may be increased to use five or six sound collecting units to increase the accuracy of sound source position calculation.

(Embodiment 2)
Next, an automobile equipped with the driving support apparatus according to the second embodiment of the present invention will be described. The driving support device according to the second embodiment of the present invention collates the peripheral object position with the warning sound source position, and alerts the driver when there is a warning sound source position that does not correspond to the peripheral object position. There is a feature in the point.

  With this configuration, when there is a warning sound source that does not correspond to the position of the surrounding object, it is determined that the vehicle that issued the warning sound is hidden in a place that is not visible in the image, and the driver It has the effect of calling attention by showing if there is.

  In the first embodiment already described, even if a warning sound emitted around the automobile is collected and the warning sound source position is estimated, the display 220 indicating the warning sound source position is displayed in the vicinity of the automobile. However, in the second embodiment, the warning sound source of the display unit 113 is determined to be hidden when there is no corresponding peripheral object after the warning sound source position is estimated. The display color indicating the position is changed to another color and blinking, and the presentation unit 114 utters a voice “Left side, invisible, horn. Caution” to assist the driver of the car. In addition, since the structure of the motor vehicle carrying the driving assistance device concerning 2nd embodiment of this invention is fundamentally the same as 1st embodiment already demonstrated, illustration and description of a block diagram are abbreviate | omitted.

  FIG. 5 is a flowchart showing the operation of an automobile equipped with the driving support apparatus according to the second embodiment of the present invention. First, the driving support device is started by operating the start switch 115 (step S1). Then, the four sound collecting units, the first sound collecting unit 108, the second sound collecting unit 109, the third sound collecting unit 110, and the fourth sound collecting unit 111 collect sound around the own vehicle 100 and estimate the sound source position. The collected information is sent to the unit 112. The sound source position estimating unit 112 analyzes the acoustic signals sent from the four sound collecting units, and determines whether or not there is a horn sound source pattern that is a warning sound in the acoustic signals (step S2). If a horn sounds around the host vehicle (Yes in step S2), the warning sound source calculates the distance from the sound collection unit and the direction of the position where the sound source exists. Note that in order to calculate the position and direction in which the warning sound source exists, the frequency and power of the sound arriving at the four sound collection units are analyzed (step S3).

  When the warning sound source position is obtained, the outside-vehicle image capturing unit 104 identifies and captures a region with the warning sound source (step S4), and the peripheral object detection unit 105 detects peripheral objects in the region with the warning sound source. . Specifically, an image captured by the outside-vehicle image capturing unit 104 is input to the peripheral object detection unit 105, and image patterns of buses, trucks, taxis, ordinary passenger cars, motorcycles, and the like registered in advance in the peripheral object detection unit 105 are displayed. It is checked whether or not it is included in the image, and if there is an image pattern identical or similar to any one of the image patterns, it is detected as a peripheral object (step S5). Then, the peripheral object position estimation unit 106 calculates the distance between the peripheral object and the vehicle exterior imaging unit 104 and the direction in which the peripheral object is located from the stereoscopic image data captured by the vehicle exterior imaging unit 104 (step S6).

  The sound source position presentation control unit 107 sequentially collates each of the warning sound sound sources to determine whether or not the warning sound sound source position matches the surrounding object position (step S9). When the warning sound source position and the surrounding object position match, the warning sound source position is displayed in a first display form, for example, a blue character pattern (step S10). If all the warning sound sources have not been displayed (step S11), the positions of the surrounding objects are estimated (step S6) and collated (step S9). When the warning sound source position and the surrounding object position do not match, a sound such as “left side, not visible, horn. For example, it blinks with a red character pattern.

  Note that the sound output by the presenting unit 114 may be a specific warning message sound or a buzzer sound, but the sound that has reached the sound collection unit itself may be generated as a raw warning sound (step S12). If the warning signal is not included in the acoustic signal sent from the sound collecting unit in Step S2 of FIG. 5 (No in Step S2), the sound collection is continued until the warning sound is detected (Step S2). ).

  FIG. 6 shows an example of an image displayed on the display unit 113 when the vehicle that horns is hidden. In FIG. 6, not only the other vehicle 200 that sounded the horn in front of the host vehicle 100 on the automobile road 400 but also the display 220 is shown, and another vehicle that sounded the horn hidden in the left front wall 410. This vehicle is indicated by a display 320. As described above, the display 320 is blinked and displayed in the second display form, for example, a red character pattern. The driver of the own vehicle 100 who sees FIG. 6 can easily recognize that the vehicle that sounded the horn is hidden behind the wall 410 as well as the other vehicle 200 that sounded the horn to the right front.

  As described above, in the driving support device according to the second embodiment of the present invention, when there is a warning sound source that does not correspond to the position of the surrounding object, as well as a warning sound source that matches the position of the surrounding object, It is possible to judge that the vehicle that issued the horn is hidden in a place that is not visible as an image, and to alert the driver where the sound source is. And the effect that it can prevent colliding with the vehicle which came out unexpectedly is acquired.

(Embodiment 3)
Next, an automobile equipped with the driving support apparatus according to the third embodiment of the present invention will be described. The driving support apparatus according to the third embodiment of the present invention further includes a warning sound determination result presentation device for the own vehicle for automatically determining whether or not the warning sound is directed to the own vehicle. There are features.

  According to the driving support apparatus according to the third embodiment of the present invention, when a horn as a warning sound is heard around the host vehicle, as in the first embodiment already described, the host vehicle and the periphery Not only the vehicle that issued the warning sound that is the object or other vehicles, and the position of the warning sound source, but also the driver's judgment result whether the warning sound was directed to the vehicle Assist driving. By this, even if you hear a warning sound, you can quickly know whether it is for your vehicle, so if it is for your vehicle, you can respond quickly, if it is not for your vehicle, This has the effect of avoiding unnecessary worries.

  Note that the basic configuration of an automobile equipped with the driving support apparatus according to the third embodiment of the present invention is similar to that of the first embodiment. Therefore, the block diagram is not shown in the description.

  FIG. 7 is a flowchart showing the operation of the automobile equipped with the driving support apparatus according to the third embodiment of the present invention. The flow chart of FIG. 7 is the same as FIG. 2 already described from step S1 to step S7, so description of these steps will be omitted. In step S7, after presenting the surrounding vehicle and the warning sound source position, which are vehicles that have issued a warning sound with the own vehicle, the sound source position presentation control means 107 is a vehicle in which the own vehicle has issued a horn as a first-stage determination operation. That is, it is determined whether or not the position is within the field of view when viewed from the driver's seat of the horn car. Whether or not the position is within the field of view when viewed from the driver's seat of the horn car is based on whether the image of the horn car photographed by the outside-vehicle photographing unit 104 is the front side or the rear side, or the windshield of the horn car is visible. It can be determined by whether or not it is present (step S14).

  If the host vehicle is not within the field of view when viewed from the driver's seat of the horn car (No in step S14), the driver of the horn car determines that the horn is sounded by looking at the third vehicle instead of the host vehicle. And it is shown that it is the warning sound for 3rd vehicles (step S15). If it is determined in step S14 that the host vehicle is in the field of view when viewed from the driver's seat of the horn car (Yes in step S14), a second-stage determination operation is performed.

  That is, if the own vehicle is in the field of view when viewed from the driver's seat of the horn car and there is no third vehicle (intervening car) between the horn car and the own vehicle (Yes in step S16), the horn car is driven. The person directly views the own vehicle and determines that the horn is sounded, and presents the warning sound for the own vehicle (step S17). However, even if the host vehicle is within the field of view when viewed from the driver's seat of the horn vehicle, if there is a third vehicle (intervening vehicle) between the horn vehicle and the host vehicle (No in step S16), the horn vehicle The driver determines that the horn is sounded with respect to the intervening third vehicle, and presents the warning sound for the third vehicle (step S15).

  As described above, an automobile equipped with the driving support apparatus according to the third embodiment of the present invention is whether or not the own vehicle is within the field of view of the horn car from the relative position between the own vehicle and the horn car. It is checked whether a third vehicle is interposed between the host vehicle and the horn vehicle. Then, as a first warning sound determination result presentation device for the own vehicle, when the own vehicle is out of the field of view of the horn vehicle, a first-stage determination operation for determining that the warning sound is a warning sound for the third vehicle As a second warning sound judgment result presentation device for the host vehicle, if the host vehicle is in the field of view of the horn vehicle, if there is no intervening vehicle between the horn vehicle and the host vehicle, the warning sound is directed to the host vehicle. The warning sound is the warning sound for the host vehicle by performing the second stage determination work that determines that the warning sound is the warning sound and if there is an intervening vehicle, the warning sound is the warning sound for the third vehicle. Whether or not it is automatically determined and presented to the driver.

(Embodiment 4)
Next, an automobile equipped with the driving support apparatus according to the fourth embodiment of the present invention will be described. The driving support apparatus according to the fourth embodiment of the present invention prepares in advance a warning sound determination table for automatically determining whether or not a warning sound is directed to the own vehicle, and the warning sound is directed to the own vehicle. This is characterized in that a third warning sound determination result presentation device for a vehicle is used to determine whether or not using a warning sound determination table. Note that the basic configuration of an automobile equipped with the driving support apparatus according to the fourth embodiment of the present invention is similar to that of the first embodiment. Therefore, the block diagram is not shown in the description.

  That is, the driving support device according to the fourth embodiment of the present invention includes the third warning sound determination result presentation device for the host vehicle, but constitutes the third warning sound determination result presentation device for the host vehicle. Therefore, a warning sound determination table storage unit for the own vehicle is provided in the memory 116 of the block diagram shown in FIG. 2, a warning sound determination unit for the own vehicle is provided in the sound source position presentation control unit 107, and the display unit 113 The presentation unit 114 is used as a determination result presentation unit. Then, when the information on the peripheral object position and the information on the sound source of the warning sound are collated with a warning sound determination table stored in the warning sound determination table storage means, and it is determined that the warning sound is a warning sound for the own vehicle It is configured to present the warning sound for the host vehicle.

  FIG. 8 shows an example of the contents of the warning sound determination table 500 used in the driving support apparatus according to the fourth embodiment of the present invention. The warning sound determination table 500 is stored in the memory 116 and is referred to by the sound source position presentation control means 107 as needed. In FIG. 8, one condition is shown for each line, and seven conditions from condition 1 to condition 7 are shown. The first row (501) from the left end indicates the condition number, and the second row (502) from the left end indicates whether or not the vehicle in which the host vehicle horns is within the field of view of the horn vehicle. The third row (503) from the left end indicates whether the travel lane is the same direction lane or the opposite lane. The fourth row (504) from the left end shows the number of intervening vehicles between the host vehicle and the horn vehicle. The fifth row (505) from the left end indicates whether there is a traffic light or traffic jam ahead of the host vehicle. One condition is a determination result as to whether the horn is for the own vehicle or the third vehicle when the second row (502) to the fifth row (505) from the left end are a set of conditions and all of them are satisfied. Is shown in the sixth column (506) from the left end.

  Each condition will be described later with reference to FIGS. 10 to 16, and the operation of the driving support apparatus according to the fourth embodiment of the present invention will be described with reference to the flowchart of FIG. The flow chart of FIG. 9 is the same as FIG. 2 already described from step S1 to step S7, so description of these steps will be omitted. The state when the sound source position presentation control means 107 detects the warning sound with reference to the memory 116 after presenting the surrounding object which is the vehicle that issued the warning sound with the own vehicle and the warning sound source position in step S7. Is compared with the warning sound determination table 500, and when it is determined that the warning sound is for the own vehicle, the presenting unit 114 emits a voice “Owner's horn. Caution” (step S19).

  As for the condition, for example, in the condition 1, the vehicle in which the own vehicle horns is running in the same lane in the field of view of the horn vehicle (hereinafter referred to as “in the field of view”). If there is no intervening vehicle, no traffic light in front of the host vehicle, and no traffic jam, the horn target is determined to be “target vehicle”. Hereinafter, how individual specific situations are determined from condition 1 to condition 7 will be described. Note that the content and number of conditions may be arbitrarily determined as necessary.

  FIGS. 10 to 16 show the roads and vehicles in plan views so that the situation of the host vehicle and other vehicles can be easily understood.

  FIG. 10 shows a situation corresponding to condition 1. Here, condition 1 means that (a) the vehicle is in the field of view of the vehicle that honed the horn (hereinafter referred to as a horn vehicle), (b) the vehicle travels in the same lane as the horn vehicle, and (c) There is no intervening vehicle between the host vehicle and the horn vehicle, and (d) there are no traffic lights or traffic jams ahead of the traveling direction. At this time, it is determined as a warning sound for the host vehicle.

  FIG. 11 shows a situation corresponding to condition 2. Here, conditions 2 are: (a) the host vehicle is in the field of view of the horn vehicle, (b) the host vehicle is traveling in the same lane as the horn vehicle, and (c) is interposed between the host vehicle and the horn vehicle. There is a vehicle, and (d) there are no traffic lights or traffic jams ahead of the direction of travel. At this time, it is determined as a warning sound for the third vehicle 300.

  FIG. 12 shows a situation corresponding to condition 3. Here, condition 3 is that (a) the host vehicle is within the field of view of the horn car, (b) the host vehicle runs in the same lane as the horn car, and (c) is interposed between the host vehicle and the horn car. It is a condition that there is a vehicle and (d) there is a traffic light or traffic jam ahead of the traveling direction. At this time, it is determined as a warning sound for the host vehicle.

  FIG. 13 shows a situation corresponding to condition 4. Here, the condition 4 is that (a) the host vehicle is in the field of view of the horn car, (b) the host vehicle travels on the opposite lane with the horn car, and (c) an intervening vehicle between the host vehicle and the horn car. (D) There are no traffic lights or traffic jams ahead of the direction of travel. At this time, it is determined as a warning sound for the host vehicle.

  FIG. 14 shows a situation corresponding to condition 5. Here, the condition 5 is that (a) the host vehicle is in the field of view of the horn vehicle, (b) the host vehicle travels in the opposite lane with the horn vehicle, and (c) an intervening vehicle between the host vehicle and the horn vehicle. (D) It is a condition that there is no traffic light or traffic jam ahead of the traveling direction. At this time, it is determined as a warning sound for the third vehicle 300.

  FIG. 15 shows a situation corresponding to condition 6. Here, condition 6 is that (a) the host vehicle is out of the field of view of the horn vehicle, (b) the host vehicle travels on the opposite lane with the horn vehicle, and (c) an intervening vehicle between the host vehicle and the horn vehicle. (D) There are no traffic lights or traffic jams ahead of the direction of travel. At this time, it is determined as a warning sound for the third vehicle 300.

  FIG. 16 shows a situation corresponding to condition 7. Condition 7 means that (a) the vehicle is outside the field of view of the horn vehicle, (b) the vehicle travels in the same lane as the horn vehicle, and (c) is interposed between the vehicle and the horn vehicle. There is no vehicle, and (d) there are no traffic lights or traffic jams ahead of the direction of travel. In this case, it is determined that the warning sound for the host vehicle is high because there is a high possibility of warning because the vehicle that sounded the horn retreats.

  As described above, the driving support apparatus according to the fourth embodiment of the present invention includes the warning sound determination table that automatically determines whether or not the warning sound is directed to the host vehicle. As described in the first embodiment, not only the warning sound source and the vehicle that issued the warning sound or other vehicles that are other peripheral objects are displayed on the display unit 113, but the warning sound is also transmitted to the host vehicle. The result of determining whether or not it is directed is also presented to the driver, and the effect of driving assistance is obtained. Of course, the display of the determination result as to whether or not the warning sound is directed to the host vehicle may be a character enclosed in a square or a mark.

  The driving assistance apparatus according to the present invention can visually confirm the positional relationship between the vehicle that issued the warning sound and the host vehicle when a horn that is a warning sound sounds. Further, when a warning sound is sounded, it can be quickly determined whether or not it is for the host vehicle. Therefore, it is useful as a driving support device for a tired driver or a driver whose attention is reduced.

1 is a block diagram of an automobile equipped with a driving assistance device according to Embodiment 1 of the present invention. The flowchart which shows operation | movement of the motor vehicle carrying the driving assistance apparatus in Embodiment 1 of this invention. (A) The perspective view which shows the state which the vehicle carrying the driving assistance apparatus in Embodiment 1 of this invention is drive | working a motorway (b) It displays on the display means of the driving assistance apparatus in Embodiment 1 of this invention Showing what is done (A) The perspective view which shows the state which the vehicle carrying the driving assistance apparatus in Embodiment 1 of this invention is drive | working a motorway (b) It displays on the display means of the driving assistance apparatus in Embodiment 1 of this invention Showing what is done FIG. 5 is a flowchart showing the operation of an automobile equipped with the driving support apparatus according to Embodiment 2 of the present invention. The figure which shows the content displayed on the display means of the driving assistance apparatus in Embodiment 2 of this invention. FIG. 5 is a flowchart showing the operation of an automobile equipped with a driving support apparatus according to Embodiment 3 of the present invention. The figure which shows the content of the warning sound determination table of the driving assistance device in Embodiment 4 of this invention. FIG. 5 is a flowchart showing the operation of an automobile equipped with a driving support apparatus in Embodiment 4 of the present invention. The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 1 of a warning sound determination table. The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 2 of a warning sound determination table The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 3 of a warning sound determination table The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 4 of a warning sound determination table. The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 5 of a warning sound determination table. The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 6 of a warning sound determination table The top view which shows the relationship between the driving | running | working state of the motor vehicle carrying the driving assistance device in Embodiment 4 of this invention, and the conditions 7 of a determination table

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Self-vehicle 102 Driving support apparatus 104 Outside imaging | photography part 105 Peripheral object detection part 106 Peripheral object position estimation part 107 Sound source position presentation control part 108 1st sound collection part 109 2nd sound collection part 110 3rd sound collection part 111 4th Sound collection unit 112 Sound source position estimation unit 113 Display unit 114 Warning unit 115 Start switch 116 Memory

Claims (9)

A surrounding object position estimating means of the own vehicle;
Sound source position estimation means for warning sound;
Having sound source position display means,
The surrounding object position is estimated by the surrounding object position estimating means,
The sound source position of the warning sound is estimated by the sound source position estimating means,
The driving support device, wherein the sound source position display means displays the peripheral object position and the warning sound source position simultaneously. The sound source position estimating means of the warning sound is
A plurality of sound collecting means;
Having sound source position calculating means,
Concerning the sound source collected by the plurality of sound collecting means, the sound source position calculating means is configured to calculate the warning sound source position where the sound source of the warning sound exists,
2. The display according to claim 1, wherein the sound source position display means displays display information indicating that the vehicle has emitted a warning sound at the warning sound source position or in the vicinity of the warning sound source position. Driving assistance device. The surrounding object position estimating means includes
A plurality of vehicle exterior photographing means;
Surrounding object detection means;
A surrounding object position calculating means;
For the images photographed by the plurality of vehicle exterior photographing means, the surrounding object detection means detects the surrounding objects of the host vehicle,
The driving support apparatus according to claim 1, wherein the peripheral object position calculating unit calculates the position of the detected peripheral object. Collating the warning sound source position and the surrounding object position,
When the warning sound source position and the surrounding object position coincide with each other, the first display information indicating that the vehicle has issued a warning sound is displayed in the vicinity of the warning sound source position or the warning sound source position,
When there is no surrounding object corresponding to the warning sound source position, the second display information indicating that the vehicle has emitted the warning sound is displayed near the warning sound source position or the warning sound source position. The driving support device according to any one of claims 1 to 3, wherein In the driving assistance device according to any one of claims 1 to 4,
Furthermore, a first warning sound determination result presentation device for the own vehicle is provided,
In the first vehicle warning sound determination result presentation device, if the vehicle is outside the field of view of the vehicle that issued the warning sound (hereinafter referred to as a horn vehicle), the warning sound is a warning sound for the third vehicle. A driving support device characterized in that it is determined to have occurred. In the driving assistance device according to any one of claims 1 to 4,
Furthermore, a second warning sound determination result presentation device for the host vehicle is provided,
The second warning sound judgment result presenting device for the host vehicle has a warning sound for the host vehicle if there is no third vehicle between the horn vehicle and the host vehicle when the host vehicle is in the field of view of the horn vehicle. Judge that it was a warning sound,
When there is a host vehicle in the field of view of the horn vehicle, if there is a third vehicle between the horn vehicle and the host vehicle, the warning sound is determined to be a warning sound for the third vehicle. A featured driving support device. In the driving assistance device according to any one of claims 1 to 4,
Furthermore, it is provided with a third warning sound determination result presentation device for the own vehicle,
The third vehicle warning sound determination result presentation device includes a vehicle warning sound determination table storage unit;
Warning sound determination means for the own vehicle;
A determination result presentation means;
The information on the peripheral object position and the information on the warning sound source position are collated with a warning sound determination table stored in the warning sound determination table storage means,
A driving support device configured to present a warning sound for the host vehicle when the warning sound is determined to be a warning sound for the host vehicle. An automobile equipped with the driving support device according to any one of claims 1 to 7. A first step of detecting a sound source of a warning sound from sounds around the vehicle;
About the warning sound source position of the warning sound detected in the first step, a second step of calculating the distance and direction from the own vehicle;
A third step of detecting a peripheral object from an image of an area of the warning sound source;
For the peripheral object position detected in the third step, a fourth step for calculating the distance and direction from the host vehicle;
A fifth step of determining whether the warning sound is a warning sound for the host vehicle based on the information of the warning sound source position of the warning sound and the information of the surrounding object position;
A driving support method comprising a sixth step of presenting a warning sound for the host vehicle when the warning sound is a warning sound for the host vehicle.

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