JP2009059258A - Obstacle approach warning apparatus - Google Patents

Obstacle approach warning apparatus Download PDF

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JP2009059258A
JP2009059258A JP2007227284A JP2007227284A JP2009059258A JP 2009059258 A JP2009059258 A JP 2009059258A JP 2007227284 A JP2007227284 A JP 2007227284A JP 2007227284 A JP2007227284 A JP 2007227284A JP 2009059258 A JP2009059258 A JP 2009059258A
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warning
distance
obstacle
vehicle
start distance
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Kota Yamamoto
耕太 山本
Takehiko Sakagami
武彦 阪上
Mitsuaki Watanabe
光章 渡邉
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Alpine Electronics Inc
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Alpine Electronics Inc
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle approach warning apparatus for reducing unnecessary notice or warning by determining a warning start distance according to vehicle states and generating warning earlier in a more dangerous state. <P>SOLUTION: The obstacle approach warning apparatus for detecting an obstacle in a prescribed distance from a vehicle and generating warning, detects a distance between the vehicle and the obstacle, determines a warning start distance according to vehicle states (at least one of an average speed in parking, the height of a driver's visual line, rainy weather, a gear position, and a steering angle), and when the distance between the vehicle and the obstacle reaches the warning start distance, generates a warning. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は障害物接近警告装置に関わり、特に、車両から所定距離の障害物を検出して警告する障害物接近警告装置に関する。   The present invention relates to an obstacle approach warning device, and more particularly to an obstacle approach warning device that detects and warns an obstacle at a predetermined distance from a vehicle.

従来、車庫入れ時、細い道路走行時、あるいはカーブ走行時において、自車と障害物(壁、対向車、ガードレールなど)間の距離は運転手の肉眼やミラーを通して判断している。このため、判断ミスや、不注意などにより障害物と接触、衝突などして車両を傷つけ、あるいは、人身事故につながることがあった。そこで、最近は、車両と障害物までの距離を測定し、実際の距離が予め設定されている警告開始距離になると警告を発生する障害物接近警告装置が提案されている(特許文献1)。   Conventionally, when entering a garage, traveling on a narrow road, or traveling on a curve, the distance between the vehicle and an obstacle (such as a wall, an oncoming vehicle, or a guardrail) is determined through the driver's eyes or a mirror. For this reason, the vehicle may be damaged by contact with or colliding with an obstacle due to misjudgment or carelessness, or a personal injury may occur. Therefore, recently, there has been proposed an obstacle approach warning device that measures a distance between a vehicle and an obstacle and generates a warning when the actual distance reaches a preset warning start distance (Patent Document 1).

図6は超音波発生・受信素子を用いて障害物までの距離を測定して警告する従来の障害物接近警告装置の構成図である。警告発生制御部10は所定の周期で超音波発生トリガーパルスPTRGを出力すると共にタイマー10aによる計時を開始する。信号作成回路14は該トリガーパルスが入力すると所定周波数のパルス信号を発生し、駆動回路13は該パルス信号で超音波発生素子11を駆動して超音波を前方に向けて発射する。該超音波は前方に存在する障害物20で反射し、超音波受信素子12に入力する。アンプ15は超音波受信素子12により受信された信号を増幅し、フィルタ16は受信信号より所定周波数成分を抽出し、検波器17はフィルタ出力信号を検波し、比較器18は検波出力と設定値を比較して比較結果を警告発生制御部10に入力する。警告発生制御部10は検波出力が設定値より大きければ超音波が戻ってきたものと判定し、超音波発射から障害物で超音波が反射して戻ってくるまでの時間をタイマー10aより求め、該時間に応じた障害物までの距離Lを計算し、該距離がバッファ10bに保持してある警告開始距離Lalm以下になったかチェックし、以下になればアラーム発生部19を制御して障害物接近警告を発生する。 FIG. 6 is a block diagram of a conventional obstacle approach warning device that measures and warns the distance to an obstacle using an ultrasonic wave generation / reception element. The warning generation control unit 10 outputs an ultrasonic generation trigger pulse PTRG at a predetermined cycle and starts measuring time by the timer 10a. When the trigger pulse is input, the signal generation circuit 14 generates a pulse signal having a predetermined frequency, and the drive circuit 13 drives the ultrasonic wave generation element 11 with the pulse signal to emit the ultrasonic wave forward. The ultrasonic wave is reflected by the obstacle 20 existing in front and is input to the ultrasonic wave receiving element 12. The amplifier 15 amplifies the signal received by the ultrasonic receiving element 12, the filter 16 extracts a predetermined frequency component from the received signal, the detector 17 detects the filter output signal, and the comparator 18 detects the detection output and the set value. And the comparison result is input to the warning generation control unit 10. If the detection output is greater than the set value, the warning generation control unit 10 determines that the ultrasonic wave has returned, obtains the time from the ultrasonic emission until the ultrasonic wave is reflected by the obstacle and returns, from the timer 10a, The distance L to the obstacle according to the time is calculated, and it is checked whether the distance is equal to or less than the warning start distance Lalm held in the buffer 10b. An object approach warning is generated.

図6は一対の超音波発生・受信素子のみの場合であるが、実際には、超音波発生・受信素子は車両の前後に多数設けられている。図7は車両の前方部に6個の超音波発生・受信素子211〜216が設けられ、後方部に4個の超音波発生・受信素子217〜2110が設けられた場合である。このように複数の超音波発生・受信素子が車両に設けられている場合の障害物接近警告装置は、図示しないが、図6の駆動回路13で全超音波発生素子を駆動し、全超音波受信素子の受信信号を増幅後に合成してフィルタ16に入力する構成となる。
特開平8−43522号公報
FIG. 6 shows a case where only a pair of ultrasonic wave generation / reception elements is provided. FIG. 7 shows a case where six ultrasonic wave generation / reception elements 21 1 to 21 6 are provided in the front part of the vehicle and four ultrasonic wave generation / reception elements 21 7 to 21 10 are provided in the rear part. . Although the obstacle approach warning device in the case where a plurality of ultrasonic wave generation / reception elements are provided in the vehicle in this way is not shown, all the ultrasonic wave generation elements are driven by the drive circuit 13 of FIG. The received signals of the receiving elements are combined after amplification and input to the filter 16.
JP-A-8-43522

従来の障害物接近警告装置の第1の問題点は、距離の情報のみで警告を発生するため、車両が障害物から離れる方向に進んでいても超音波発生・受信素子(距離検出センサー)と障害物間の距離が警告開始距離Lalm以下であれば警告音を出し、これが運転手をあわてさせ、あるいは運転手に不快感を与えることである。図8はかかる状況の説明図であり、(A)は駐車位置より車両CARを前進する場合であるが、バックしないにもかかわらず車両後方の距離検出センサー(黒丸部)と壁などの障害物HL間の距離LBが警告開始距離Lalm以下であると障害物接近警告装置は警告音を出す。(B)は縦列駐車位置より車両CARをバックする場合である。この場合、後ろの車両との距離が大きいため警告を出す必要はないが、車両CARと前の車両との距離LCが警告開始距離Lalm以下であればバック時に障害物接近警告装置は警告音を出す。
また、障害物接近警告装置の第2の問題点は、車両が障害物に接近すると(例えば50cm)注意の警告表示をし、更に障害物に接近すると(例えば35cm)本来の警告表示をするようになっている。このため、駐車スピードが速いと、注意の警告表示をすることなく本来の警告表示をし、これが運転者にあせりを生む原因になり、接触事故につながる場合があった。
以上から本発明の目的は、車両の状況に応じて警告開始距離を制御して余計な注意や警告を減らし、かつ、より危険である状況において早めに警告を出すようにすることである。
The first problem of the conventional obstacle approach warning device is that the warning is generated only by the distance information. Therefore, even if the vehicle is moving away from the obstacle, the ultrasonic wave generation / reception element (distance detection sensor) If the distance between obstacles is less than or equal to the warning start distance Lalm , a warning sound is emitted , which causes the driver to panic or discomfort to the driver. FIG. 8 is an explanatory diagram of such a situation. FIG. 8A shows a case where the vehicle CAR is moved forward from the parking position, but a distance detection sensor (black circle) behind the vehicle and an obstacle such as a wall even though the vehicle is not backed. the distance between HL L B is less than a warning start distance L alm obstacle proximity warning device issues a warning sound. (B) is a case where the vehicle CAR is backed from the parallel parking position. In this case, there is no need to issue a warning because the distance to the vehicle behind is large, but if the distance L C between the vehicle CAR and the preceding vehicle is less than or equal to the warning start distance Lalm , the obstacle approach warning device warns when backing. make a sound.
The second problem of the obstacle approach warning device is that a warning warning is displayed when the vehicle approaches the obstacle (for example, 50 cm), and the original warning is displayed when the vehicle approaches the obstacle (for example, 35 cm). It has become. For this reason, when the parking speed is high, the original warning display is displayed without displaying the warning warning, which may cause the driver to be harsh, resulting in a contact accident.
From the above, an object of the present invention is to control the warning start distance according to the situation of the vehicle to reduce unnecessary cautions and warnings, and to issue warnings early in more dangerous situations.

本発明は、車両から所定距離の障害物を検出して警告する障害物接近警告装置であり、車両から障害物までの距離を検出するための距離検出部、車両の状況に応じて警告開始距離を決定する警告開始距離決定部、車両から障害物までの距離が前記警告開始距離になったとき警告を発生する警告発生部を備えている。
本発明の障害物接近警告装置は、更に、駐車時の平均速度を測定する測定部、運転手の視線の高さを検出する視線高さ検出部、雨降りか否かを検出する検出部、ギアポジション位置を検出するギアポジション位置検出部、操舵角度を検出する検出部の少なくとも1つを備え、また、前記距離検出部の距離検出センサーを車両の前方部及び後方部に備えており、前記警告開始距離決定部は、駐車時の平均速度、運転手の視線の高さ、雨降りか否か、ギアポジション位置、操舵角度の少なくとも1つを考慮して、前方の警告開始距離及び後方の警告開始距離をそれぞれ独立に決定する。
The present invention is an obstacle approach warning device for detecting and warning an obstacle at a predetermined distance from a vehicle, a distance detection unit for detecting the distance from the vehicle to the obstacle, and a warning start distance according to the situation of the vehicle A warning start distance determining unit for determining the warning, and a warning generating unit for generating a warning when the distance from the vehicle to the obstacle reaches the warning start distance.
The obstacle approach warning device of the present invention further includes a measuring unit that measures an average speed during parking, a gaze height detecting unit that detects the gaze height of the driver, a detecting unit that detects whether or not it is raining, and a gear. At least one of a gear position position detection unit for detecting a position position and a detection unit for detecting a steering angle; and a distance detection sensor of the distance detection unit is provided in a front part and a rear part of the vehicle; The start distance determination unit takes into account at least one of the average speed at parking, the driver's line of sight, whether it rains, the gear position, and the steering angle, and starts the warning start distance and the warning start backward. The distance is determined independently.

本発明によれば、車両の状況に応じて警告開始距離を決定して余計な注意や警告を減らすため、運転手をあわてさせ、あるいは運転手に不快感を与えることがなくなる。
また、本発明によれば、車両の状況に応じて警告開始距離を決定するため、より危険である状況において早めに警告を出すことにより安全運転が可能である。例えば、左折時、左折角度に応じて左後の距離検出部と障害物までの警告開始距離を大きくし、右折時、右折角度に応じて右後の距離検出部と障害物までの警告開始距離を大きくすることにより、危険である右左折時に早めに警告を出すことができる。
According to the present invention, since the warning start distance is determined according to the situation of the vehicle and unnecessary cautions and warnings are reduced, the driver is not hurt or uncomfortable.
In addition, according to the present invention, the warning start distance is determined according to the situation of the vehicle, so that safe driving is possible by issuing a warning early in a more dangerous situation. For example, when making a left turn, the warning start distance to the left rear distance detection unit and the obstacle is increased according to the left turn angle, and when starting a right turn, the warning start distance to the right rear distance detection unit and the obstacle according to the right turn angle By increasing the value, a warning can be issued early when turning right or left, which is dangerous.

図1は本発明の障害物接近警告装置の全体の構成図である。なお、車両の前方には図7で説明した6個の超音波発生・受信素子(距離検出センサー)が設けられ、後部には4個の超音波発生・受信素子が設けられているものとする。
警告開始距離決定部51は車両の状況に応じて警告開始距離を決定するものであり、駐車時の平均速度、運転手の視線の高さ、雨降りか否か、ギアポジション位置、操舵角度等の少なくとも1つを考慮して、車両の前方の警告開始距離及び後方の警告開始距離を決定する。駐車時平均速度測定部52は、駐車時(バック時)の平均速度を測定し、その平均速度を警告開始距離決定部51に入力する。視線高さ検出部53は車室内カメラによりドライバーの視線の高さを検出して警告開始距離決定部51に入力する。雨降り検出部54は雨滴センサーあるいはワイパー駆動信号に基づいて雨が降っているか検出し、検出結果を警告開始距離決定部51に入力する。ギアポジション検出部55はギア位置がドライブであるかバックであるかを検出してギア位置を警告開始距離決定部51に入力する。操舵角度検出部56は右折及び左折時のハンドル操舵角度を検出して警告開始距離決定部51に入力する。
FIG. 1 is an overall configuration diagram of an obstacle approach warning device according to the present invention. The six ultrasonic wave generation / reception elements (distance detection sensors) described in FIG. 7 are provided in front of the vehicle, and the four ultrasonic wave generation / reception elements are provided in the rear part. .
The warning start distance determination unit 51 determines the warning start distance according to the vehicle condition, and includes information such as the average speed during parking, the height of the driver's line of sight, whether or not it rains, the gear position, the steering angle, etc. Considering at least one, the warning start distance in front of the vehicle and the warning start distance in the rear are determined. The parking average speed measurement unit 52 measures the average speed during parking (backing) and inputs the average speed to the warning start distance determination unit 51. The line-of-sight height detection unit 53 detects the height of the driver's line of sight with the in-vehicle camera and inputs it to the warning start distance determination unit 51. The rain detection unit 54 detects whether it is raining based on a raindrop sensor or a wiper drive signal, and inputs the detection result to the warning start distance determination unit 51. The gear position detection unit 55 detects whether the gear position is a drive or a back and inputs the gear position to the warning start distance determination unit 51. The steering angle detection unit 56 detects the steering angle of the steering wheel when turning right and left, and inputs the detected steering angle to the warning start distance determination unit 51.

図2は警告開始距離決定部51による警告開始距離決定処理フローである。
車両のアクセサリースイッチがオン(ACC ON)になると、所定の周期で警告開始距離決定部51は警告開始距離決定処理を開始し、基本警告開始距離(例えば50cm)に加算する距離を示すポイントPの初期値を0にする(ステップ101)。なお、1ポイントは距離に換算してk(cm)、例えば1cmである。ついで、警告開始距離決定部51は、バック状態(駐車状態)であれば駐車時平均速度が設定速度、例えば5Km/h以上であるかチェックし、設定速度以上であれば駐車に際して早めに警告を出せるように、車両後方の警告開始距離を10ポイントプラス(P=P+10)する(ステップ102)。ただし、駐車時平均速度が設定速度以下の場合にはポイントを増減しない。
FIG. 2 is a warning start distance determination processing flow by the warning start distance determination unit 51.
When the accessory switch of the vehicle is turned on (ACC ON), the warning start distance determination unit 51 starts the warning start distance determination process at a predetermined cycle, and the point P indicating the distance to be added to the basic warning start distance (for example, 50 cm) The initial value is set to 0 (step 101). One point is k (cm) in terms of distance, for example, 1 cm. Next, the warning start distance determination unit 51 checks whether the average speed during parking is a set speed, for example, 5 Km / h or more if the vehicle is in the back state (parking state). The warning start distance behind the vehicle is increased by 10 points (P = P + 10) so that it can be output (step 102). However, points are not increased or decreased when the average parking speed is below the set speed.

しかる後、警告開始距離決定部51は、運転手の視線の高さが設定高さH1以上であるか、設定高さH2(<H1)以下であるかチェックし、H1以上であればポイントを−5ダウンし、H2以下であればポイントを+5アップする。これは、視線が低いと障害物が実際より遠くに見え、視線が高いと障害物が実際より近くに見えるからである。ついで、警告開始距離決定部51は、現在雨降り中であるか、否かをチェックし、雨降り中であれば、ポイントを+5アップする(ステップ104)。これは、雨降り中は、見づらく、しかも、スリップしやすいためである。
雨降りか否かによる処理が終了すれば、警告開始距離決定部51は、ギアポジションがドライブであるかバックであるかチェックし、ドライブであれば前方の警告開始距離を+10ポイントアップし、後方の警告開始距離を−10ポイントダウンする。ドライブ運転時に、前方の警告開始距離が長くなったことにより前方の障害物に対して早めに警告を出すことができ、また、後方の警告開始距離が短くなったことにより後ろ側の障害物に通常より10ポイント分接近しないと警告が出ず、車両が障害物から離れる方向に進んでいる場合に警告が出にくくなる。また、警告開始距離決定部51は、ギアポジションがバックであれば前方の警告開始距離を−10ポイントダウンし、後方の警告開始距離を+10ポイントアップする。バック運転時に、後方の警告開始距離が長くなったことにより後方の障害物に対して早めに警告を出すことができ、また、前方の警告開始距離が短くなったことにより前方の障害物に通常より10ポイント分接近しないと警告が出ず、車両が障害物から離れるバック方向に進んでいる場合に警告が出にくくなる。・・・以上ステップ105
After that, the warning start distance determination unit 51 checks whether the driver's line of sight is higher than the set height H1 or lower than the set height H2 (<H1). Decrease by -5 and increase points by +5 if H2 or less. This is because when the line of sight is low, the obstacle appears farther than it actually is, and when the line of sight is high, the obstacle appears closer than it actually is. Next, the warning start distance determination unit 51 checks whether or not it is currently raining, and if it is raining, increases the point by +5 (step 104). This is because it is difficult to see and easy to slip during rain.
When the process according to whether it is raining or not is finished, the warning start distance determination unit 51 checks whether the gear position is a drive or a back, and if it is a drive, the warning start distance in the front is increased by +10 points, and the rear Decrease the warning start distance by -10 points. When driving, the front warning start distance becomes longer so that warnings can be given to obstacles ahead, and the rear warning start distance becomes shorter. If it does not approach 10 points from the normal, a warning will not be issued, and it will be difficult to issue a warning when the vehicle is moving away from the obstacle. Further, if the gear position is the back, the warning start distance determining unit 51 decreases the warning start distance in the front by -10 points and increases the warning start distance in the rear by +10 points. When driving in reverse, the rear warning start distance becomes longer, so it is possible to give warnings to obstacles ahead, and the forward warning start distance becomes shorter. If the vehicle is not approached by 10 points, the warning is not issued, and the warning is difficult to be issued when the vehicle is traveling in the back direction away from the obstacle. ... Step 105

ギアポジションによる処理が終了すれば、警告開始距離決定部51は、操舵角度に基づいてポイント制御を行う。図3(A)に示すように左折する場合、車両CARの左後が障害物OBSと接触しやすく、しかも操舵角度が大きいほど接触しやすい。同様に、図3(B)に示すように右折する場合、車両CARの右後が障害物OBSと接触しやすく、しかも操舵角度が大きいほど接触しやすい。そこで、図4に示すように左折する場合、左後の警告開始距離を長くし、早めに警告が出されるようにし、右折する場合、右後方向の警告開始距離を長くし、早めに警告が出されるようにする(ステップ106)。なお、図4において4マスで1組を形成し、各マスそれぞれは左前、右前、左後、右後の警告開始距離の増減ポイントを意味し、例えば、左折時の操舵角度100〜200の時に左後のポイントを+2することを意味し、右折時の操舵角度200〜300の時に右後のポイントを+4することを意味する。 When the processing based on the gear position is completed, the warning start distance determination unit 51 performs point control based on the steering angle. When making a left turn as shown in FIG. 3 (A), the left rear of the vehicle CAR is more likely to come into contact with the obstacle OBS, and more easily as the steering angle is larger. Similarly, when making a right turn as shown in FIG. 3B, the right rear of the vehicle CAR is likely to come into contact with the obstacle OBS, and the greater the steering angle, the easier it is to come into contact. Therefore, when turning left as shown in FIG. 4, the warning start distance on the left rear is lengthened and warning is issued early, and when turning right, the warning start distance in the right rear direction is lengthened and warning is given early. (Step 106). Incidentally, form a set of 4 mass 4, each mass, respectively left, front right, rear left, means an increase or decrease point warning start distance after the right, for example, at the time of left turn steering angle 10 0-20 0 which means that a point after the left means to +2, and +4 points after right at the time of the steering angle 20 0 - 30 0 at the time of a right turn at the time of the.

以上のポイント計算が終了すれば、前方右側の総ポイントをPFR、前方左側の総ポイントをPFL、後方右側の総ポイントをPRR、後方左側の総ポイントをPRL、1ポイントをk(cm)とすれば、次式
前方右の警告開始距離D FR =基本警告開始距離+k×P FR
前方左の警告開始距離D FL=基本警告開始距離+k×P FL
後方右の警告開始距離D RR=基本警告開始距離+k×P RR
後方左の警告開始距離D RL=基本警告開始距離+k×P RL
により計算して、警告発生制御部61に入力する。以上では前方右、前方左、後方右、後方左別に警告開始距離を計算したが、操舵角度を考慮しなければ前方警告開始距離、後方警告開始距離の2つを計算して警告発生制御部61に入力する。
When the above point calculation is completed, the total point on the front right side is P FR , the total point on the front left side is P FL , the total point on the rear right side is P RR , the total point on the rear left side is P RL , and one point is k ( cm), the warning start distance D FR on the front right side = basic warning start distance + k x P FR
Front left warning start distance D FL = basic warning start distance + k × P FL
Rear right warning start distance D RR = Basic warning start distance + k × P RR
Rear left warning start distance D RL = Basic warning start distance + k × P RL
Is calculated and input to the warning generation control unit 61. In the above description, the warning start distance is calculated separately for the front right, the front left, the rear right, and the rear left. However, if the steering angle is not taken into account, the warning generation control unit 61 calculates the two warning start distances and the rear warning start distance. To enter.

警告発生制御部61は警告開始距離決定部51より受信した前方右の警告開始距離DFR、前方左の警告開始距離D FL、後方右の警告開始距離D RR、後方左の警告開始距離D RLをメモリに保存する。また、警告発生制御部61は超音波発射・検出部(距離検出部)62より入力する各方向の反射超音波検出信号に基づいて前方右の障害物までの距離dFR、前方左の障害物までの距離dFL、後方右の障害物までの距離dRR、後方左の障害物までの距離dRLをそれぞれ計算し、対応する前方右の警告開始距離DFR、前方左の警告開始距離D FL、後方右の警告開始距離D RR、後方左の警告開始距離D RLより小さいか比較し、いずれかが警告開始距離より短ければ警告発生指令を表示処理部63、ブザー音処理部64に入力してモニター表示によりあるいはブザーにより障害物接近警告を発生する。 The warning generation control unit 61 receives the front right warning start distance D FR , the front left warning start distance D FL , the rear right warning start distance D RR , and the rear left warning start distance D RL received from the warning start distance determination unit 51. Is stored in memory. Further, the warning generation control unit 61 is based on the reflected ultrasonic detection signal in each direction input from the ultrasonic emission / detection unit (distance detection unit) 62, the distance d FR to the front right obstacle, and the front left obstacle. Distance d FL , distance to rear right obstacle d RR , distance to rear left obstacle d RL , respectively, and corresponding front right warning start distance D FR , front left warning start distance D FL , compare whether the rear right warning start distance D RR is smaller than the rear left warning start distance D RL , and if either is shorter than the warning start distance, a warning generation command is input to the display processing unit 63 and the buzzer sound processing unit 64 Then, an obstacle approach warning is generated by a monitor display or by a buzzer.

図5は障害物接近警告装置における超音波発生検出部62の詳細を示す要部ブロック図である。
超音波発射・検出部62において、信号作成回路71は警告発生制御部61から入力する超音波発生トリガーパルスPTにより所定周波数のパルス信号を発生し、駆動回路72は該パルス信号で車両の前部及び後部に設けられた全超音波発生素子73e1〜73e10を駆動して超音波を前方に向けて発射する。該超音波は前方に存在する障害物で反射し、超音波受信素子73r1〜73r10に入力する。
FIG. 5 is a principal block diagram showing details of the ultrasonic wave generation detecting unit 62 in the obstacle approach warning device.
In the ultrasonic emission / detection unit 62, the signal generation circuit 71 generates a pulse signal of a predetermined frequency by the ultrasonic generation trigger pulse PT input from the warning generation control unit 61, and the drive circuit 72 uses the pulse signal to indicate the front of the vehicle. All the ultrasonic wave generating elements 73 e1 to 73 e10 provided in the rear part and the rear part are driven to emit ultrasonic waves forward. The ultrasonic waves are reflected by an obstacle existing in front, and input to the ultrasonic receiving elements 73 r1 to 73 r10 .

前方右増幅合成部74FR は前方右の3つの超音波受信素子73r1〜73r3から入力する信号を増幅後合成し、フィルタ・検波部75FR は受信信号より所定周波数成分を抽出すると共にフィルタ出力信号を検波し、比較器76FRは検波出力と設定値を比較し、検波出力が設定値より大きければ反射超音波検出信号S FRを警告発生制御部61に入力する。
前方左増幅合成部74FLは前方左の3つの超音波受信素子73r4〜73r6から入力する信号を増幅後合成し、フィルタ・検波部75FL は受信信号より所定周波数成分を抽出すると共にフィルタ出力信号を検波し、比較器76FLは検波出力と設定値を比較し、検波出力が設定値より大きければ反射超音波検出信号S FLを警告発生制御部61に入力する。
後方右増幅合成部74RR は後方右の2つの超音波受信素子73r7〜73r8から入力する信号を増幅後合成し、フィルタ・検波部75RR は受信信号より所定周波数成分を抽出すると共にフィルタ出力信号を検波し、比較器76RRは検波出力と設定値を比較し、検波出力が設定値より大きければ反射超音波検出信号S RRを警告発生制御部61に入力する。
後方左増幅合成部74RL は後方左の2つの超音波受信素子73r9〜73r10から入力する信号を増幅後合成し、フィルタ・検波部75RL は受信信号より所定周波数成分を抽出すると共にフィルタ出力信号を検波し、比較器76RLは検波出力と設定値を比較し、検波出力が設定値より大きければ反射超音波検出信号S RLを警告発生制御部61に入力する。
The front right amplifying / synthesizing unit 74 FR amplifies and synthesizes the signals input from the three front right ultrasonic receiving elements 73 r1 to 73 r3 , and the filter / detection unit 75 FR extracts a predetermined frequency component from the received signal and filters it. The output signal is detected, and the comparator 76 FR compares the detected output with the set value. If the detected output is larger than the set value, the reflected ultrasonic detection signal S FR is input to the warning generation control unit 61.
Filter with the front left amplifier combining unit 74 FL synthesizes amplified signals input from the three ultrasonic receiving elements 73 r4 to 73 r6 of the front left, the filter detection section 75 FL extracts a predetermined frequency component from the received signal The output signal is detected, and the comparator 76 FL compares the detected output with the set value. If the detected output is larger than the set value, the reflected ultrasonic detection signal SFL is input to the warning generation control unit 61.
The rear right amplifying / synthesizing unit 74 RR amplifies and synthesizes the signals input from the two rear right ultrasonic receiving elements 73 r7 to 73 r8 , and the filter / detection unit 75 RR extracts a predetermined frequency component from the received signal and filters The output signal is detected, and the comparator 76 RR compares the detected output with the set value. If the detected output is larger than the set value, the reflected ultrasonic detection signal S RR is input to the warning generation control unit 61.
The rear left amplifying / combining unit 74 RL amplifies and synthesizes the signals input from the two rear left ultrasonic receiving elements 73 r9 to 73 r10 , and the filter / detection unit 75 RL extracts a predetermined frequency component from the received signal and filters The output signal is detected, and the comparator 76 RL compares the detected output with the set value. If the detected output is larger than the set value, the reflected ultrasonic detection signal S RL is input to the warning generation control unit 61.

警告発生制御部61は反射超音波検出信号S FRを受信すれば、右前方向への超音波の発射時刻から障害物で該超音波が反射して戻ってくるまでの時間を求め、該時間に応じた障害物までの距離d FRを計算し、該距離d FRと前方右の警告開始距離DFRを比較し、d FR≦DFRであれば、警告信号を出力する。また、警告発生制御部61は反射超音波検出信号S FLを受信すれば、左前方向への超音波の発射時刻から障害物で超音波が反射して戻ってくるまでの時間を求め、該時間に応じた障害物までの距離d FLを計算し、該距離d FLと前方左の警告開始距離DFLを比較し、d FL≦DFLであれば、警告信号を出力する。同様に、警告発生制御部61は反射超音波検出信号S RRを受信すれば、右後方向への超音波の発射から障害物で超音波が反射して戻ってくるまでの時間を求め、該時間に応じた障害物までの距離d RRを計算し、該距離d RRと後方右の警告開始距離DRRを比較し、d RR≦DRRであれば、警告信号を出力する。また、警告発生制御部61は反射超音波検出信号S RLを受信すれば、左後方向への超音波の発射から障害物で超音波が反射して戻ってくるまでの時間を求め、該時間に応じた障害物までの距離d RLを計算し、該距離d RLと後方左の警告開始距離DRLを比較し、d RL≦DRLであれば、警告信号を出力する。 When the warning generation control unit 61 receives the reflected ultrasonic detection signal SFR , the warning generation control unit 61 obtains the time from when the ultrasonic wave is emitted in the right front direction to when the ultrasonic wave is reflected by the obstacle and returns, The distance d FR to the corresponding obstacle is calculated, the distance d FR is compared with the warning start distance D FR on the front right, and if d FR ≦ D FR , a warning signal is output. In addition, when the warning generation control unit 61 receives the reflected ultrasonic detection signal SFL , the warning generation control unit 61 obtains the time from when the ultrasonic wave is emitted in the left front direction until the ultrasonic wave is reflected by the obstacle and returns. The distance d FL to the obstacle according to the above is calculated, the distance d FL is compared with the warning start distance D FL on the left front, and if d FL ≦ D FL , a warning signal is output. Similarly, when the warning generation control unit 61 receives the reflected ultrasonic detection signal SRR , the warning generation control unit 61 obtains the time from the emission of the ultrasonic wave in the right rear direction until the ultrasonic wave is reflected by the obstacle and returns. The distance d RR to the obstacle according to the time is calculated, the distance d RR is compared with the rear right warning start distance D RR , and if d RR ≦ D RR , a warning signal is output. In addition, when the warning generation control unit 61 receives the reflected ultrasonic detection signal SRL , the warning generation control unit 61 obtains the time from the emission of the ultrasonic wave in the left rear direction until the ultrasonic wave is reflected by the obstacle and returns. The distance d RL to the obstacle according to is calculated, the distance d RL is compared with the rear left warning start distance D RL , and if d RL ≦ D RL , a warning signal is output.

以上のように、本発明によれば、車両の状況に応じて警告開始距離を決定して余計な注意や警告を減らすことができ、また、より危険である状況において早めに警告を出すことができるようになった。なお、考慮すべき車両の状況は実施例で説明した車両の状況(駐車時の平均速度、運転手の視線の高さ、雨降りか否か、ギアポジション位置、操舵角度)だけでなく、種々の状況を採用でき、例えば、バック時のアクセルの踏み込み癖を加速度センサーで検知し、アクセル踏み込み加速度が大きい時にバック時のポイントを+5アップするようにもできる。また、実施例では駐車時の平均速度、運転手の視線の高さ、雨降りか否か、ギアポジション位置、操舵角度の全てを考慮して警告開始距離を決定した場合であるが、少なくとも1つを考慮して警告開始距離を決定することができる。
また、ポイントPを増減し、該ポイントを距離に換算して警告開始距離を変更したが、ポイントPの代わりに距離を用いることができる。
As described above, according to the present invention, it is possible to determine the warning start distance according to the situation of the vehicle to reduce unnecessary cautions and warnings, and to issue warnings early in more dangerous situations. I can do it now. The vehicle situation to be considered is not only the vehicle situation described in the embodiment (average speed when parking, height of driver's line of sight, whether or not it rains, gear position position, steering angle), but various The situation can be adopted, for example, an accelerator depressing saddle can be detected by an acceleration sensor, and when the accelerator depressing acceleration is large, the back point can be increased by +5. In the embodiment, the warning start distance is determined in consideration of all of the average speed during parking, the driver's line of sight, whether it rains, the gear position, and the steering angle. The warning start distance can be determined in consideration of the above.
Further, although the point P is increased or decreased and the warning start distance is changed by converting the point into a distance, the distance can be used instead of the point P.

本発明の障害物接近警告装置の全体の構成図である。It is a block diagram of the whole obstacle approach warning apparatus of this invention. 警告開始距離決定部よる警告開始距離決定処理フローである。It is a warning start distance determination process flow by a warning start distance determination part. 操舵角度に基づいてポイント制御を行う場合の説明図である。It is explanatory drawing in the case of performing point control based on a steering angle. 操舵角度に基づいてポイント制御を行う場合のポイント増減図表である。It is a point increase / decrease chart when performing point control based on a steering angle. 障害物接近警告装置における超音波発生検出部の詳細を示す要部ブロック図である。It is a principal part block diagram which shows the detail of the ultrasonic wave generation | occurrence | production detection part in an obstacle approach warning apparatus. 超音波発生・受信素子を用いて障害物までの距離を測定して警告する従来の障害物接近警告装置の構成図である。It is a block diagram of the conventional obstacle approach warning apparatus which measures and warns the distance to an obstacle using an ultrasonic wave generation / reception element. 車両の前方部に6個の超音波発生・受信素子が設けられ、後方部に4個の超音波発生・受信素子が設けられた場合の説明図である。It is explanatory drawing when the six ultrasonic wave generation / reception elements are provided in the front part of the vehicle, and the four ultrasonic wave generation / reception elements are provided in the rear part. 従来の障害物接近警告装置の問題点説明図である。It is explanatory drawing of the problem of the conventional obstacle approach warning apparatus.

符号の説明Explanation of symbols

51 警告開始距離決定部
52 駐車時平均速度測定部
53 視線高さ検出部
54 雨降り検出部54
55 ギアポジション検出部
56 操舵角度検出部
61 警告発生制御部
62 超音波発射・検出部
63 表示処理部
64 ブザー音処理部
51 Warning start distance determining unit 52 Parking average speed measuring unit 53 Gaze height detecting unit 54 Rain detecting unit 54
55 Gear position detection unit 56 Steering angle detection unit 61 Warning generation control unit 62 Ultrasonic emission / detection unit 63 Display processing unit 64 Buzzer sound processing unit

Claims (3)

車両から所定距離の障害物を検出して警告する障害物接近警告装置において、
車両から障害物までの距離を検出するための距離検出部、
車両の状況に応じて警告開始距離を決定する警告開始距離決定部、
車両から障害物までの距離が前記警告開始距離になったとき警告を発生する警告発生部、
を備えたことを特徴とする障害物接近警告装置。
In the obstacle approach warning device for detecting and warning an obstacle at a predetermined distance from the vehicle,
A distance detector for detecting the distance from the vehicle to the obstacle,
A warning start distance determination unit that determines a warning start distance according to the vehicle situation;
A warning generating unit that generates a warning when the distance from the vehicle to the obstacle reaches the warning start distance;
An obstacle approach warning device characterized by comprising:
駐車時の平均速度を測定する測定部、運転手の視線の高さを検出する視線高さ検出部、雨降りか否かを検出する検出部、ギアポジション位置を検出するギアポジション位置検出部、操舵角度を検出する検出部の少なくとも1つを備え、また、前記距離検出部の距離検出センサーを車両の前方部及び後方部に設け、
前記警告開始距離決定部は、駐車時の平均速度、運転手の視線の高さ、雨降りか否か、ギアポジション位置、操舵角度の少なくとも1つを考慮して、前方の警告開始距離及び後方の警告開始距離をそれぞれ独立に決定する、
ことを特徴とする請求項1記載の障害物接近警告装置。
Measuring unit that measures the average speed when parking, gaze height detection unit that detects the driver's gaze height, detection unit that detects whether it is raining, gear position position detection unit that detects the gear position, steering It includes at least one detection unit that detects an angle, and a distance detection sensor of the distance detection unit is provided in a front part and a rear part of the vehicle,
The warning start distance determination unit takes into account at least one of the average speed during parking, the height of the driver's line of sight, whether it rains, whether the gear position, and the steering angle. Determine the warning start distance independently,
The obstacle approach warning device according to claim 1.
前記警告開始距離決定部は、左折時、左折角度に応じて左後方の警告開始距離を大きくし、右折時、右折角度に応じて右後方の警告開始距離を大きくする、
ことを特徴とする請求項2記載の障害物接近警告装置。
The warning start distance determination unit increases the warning start distance on the left rear according to the left turn angle when turning left, and increases the warning start distance on the right rear according to the right turn angle when turning right.
The obstacle approach warning device according to claim 2.
JP2007227284A 2007-09-03 2007-09-03 Obstacle approach warning apparatus Withdrawn JP2009059258A (en)

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