JP2009078628A - Vehicular notifying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular notifying system capable of notifying for attracting attention without impairing the atmosphere of a car interior. <P>SOLUTION: In the vehicular notifying system 1, an active noise control mechanism 10 performs control for outputting a noise controlling acoustic noise having an anti-phase to the noise when a dangerous object is detected by a peripheral monitoring device 40 at the periphery of the vehicle so as to reduce the entire noise level of noise which a driver hear. The noise level is entirely reduced, and the atmosphere or signs inside the vehicle is changed with a change of the entire noise level. Then, the driver feels uncomfortable. Accordingly, the driver recognizes the existence of the dangerous object. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle notification system for alerting a driver in a vehicle, particularly an automobile.

JP 2002-104103 A

  In recent years, a vehicle such as an automobile is generally provided with a voice, a buzzer sound, or the like as a notification means for alerting a driver. Furthermore, there is a thing which gives a warning by the screen display by a display apparatus. In addition, there is a vehicle notification technique as disclosed in Patent Document 1.

  However, most of the notification contents by outputting such a sound or buzzer sound or displaying on the screen need only be viewed by the driver. However, such alerting notifications are only annoying for the passengers other than the driver, which makes it difficult to hear music and frequently interrupts the conversation. In particular, a warning sound or the like that is suddenly notified can be a factor that greatly impairs a passenger who is not driving. Furthermore, in recent vehicles, there is a tendency for such alerting notifications to increase, and these problems are becoming more apparent.

  The subject of this invention is providing the alerting | reporting system for vehicles which can perform alerting alerting | reporting, without impairing the atmosphere of the field of a vehicle interior.

Means and actions / effects for solving the problems

In order to solve the above problems, a vehicle notification system according to the present invention includes:
A noise detection microphone provided in the passenger compartment for detecting noise heard by the driver, a noise control waveform generator for generating a noise control waveform based on the noise waveform detected by the noise detection microphone, and a noise control waveform An active noise control mechanism having a noise control speaker for outputting a noise control waveform from the generator as a noise control sound wave, and capable of changing the overall noise level by the output of the noise control sound wave When,
A dangerous object detection means for detecting a dangerous object approaching the host vehicle;
When the dangerous object is not detected, the active noise control mechanism is driven and controlled so that the vehicle interior is in the first noise state. On the other hand, when the dangerous object is detected, the vehicle interior is The noise heard by the driver to alert the driver to dangerous objects by driving and controlling the active noise control mechanism so that the second noise state is different from the first noise state. A noise control means for notification given as a change in level;
It is characterized by providing.

  According to the present invention, when a dangerous object is detected, the noise level of the noise heard by the driver is changed overall, that is, the noise is increased or decreased overall. It has become. Since the noise level changes as a whole, the driver can feel a sense of incongruity due to the change in the car's atmosphere and attitude accompanying the overall change in the noise level, thereby recognizing the presence of dangerous objects. be able to. Further, since the noise level changes as a whole, the change is not recognized as a failure, and it is immediately possible to notice that it is a notification of a dangerous object. On the other hand, passengers other than the driver may notice that the atmosphere and signs in the car have changed, but it is not annoying as some of the noise components change locally. The atmosphere of is not disturbed. Furthermore, the atmosphere of the place is not disturbed compared to the conventional notification method in which at least a sudden sound warning or buzzer sound is output.

  The noise control waveform generator can be configured as a noise control waveform synthesizer that synthesizes a noise control waveform that is opposite in phase to the noise waveform detected by the noise detection microphone, and the active noise control mechanism is used for noise control. The level of noise can be suppressed as a whole by the output of sound waves. In this case, the notification noise control means has an active noise control mechanism that outputs a sound wave for noise control within a predetermined first output level range when no dangerous object is detected. On the other hand, when the dangerous object is detected, the sound control sound wave in the second output level range in which the noise is suppressed is more active when the dangerous object is detected than when the dangerous object is not detected. By driving and controlling the dynamic noise control mechanism to uniformly reduce the overall noise level heard by the driver in the passenger compartment and increase the quietness, the driver can be alerted to the dangerous object. As a result, the notification is made in the form of reducing the noise, so that the atmosphere of the place in the vehicle is not impaired. The first output level range includes a zero output level where no sound control sound wave is output.

  Further, the vehicle notification system of the present invention is provided with low-speed traveling state detection means for detecting whether or not the vehicle speed of the host vehicle is in a low-speed traveling state (including a vehicle stop state) that is lower than a predetermined vehicle speed level. The noise control means for notification at this time outputs a sound wave for noise control within the first output level range even when a dangerous object is detected when a low-speed traveling state is detected. The active noise control mechanism can be driven and controlled. There is little danger during low-speed driving, and repeated notifications due to noise level changes are rather troublesome for the driver. According to the above configuration, during a low-speed traveling including a stopped state (zero vehicle speed), attention to a dangerous object due to a noise level change is not made.

  Further, the vehicle notification system of the present invention can be provided with a dangerous object approaching distance detecting means for detecting a distance between the dangerous object and the host vehicle. The noise control means for notification at this time can increase the output level of the sound wave for noise control as the distance between the detected dangerous object and the own vehicle is smaller. According to this configuration, the closer the dangerous object is, the greater the change in the noise level. Therefore, the driver can surely feel the atmosphere and the sign in the vehicle, and can immediately deal with the danger.

  By the way, a dangerous object approach distance detecting means for detecting a distance between the dangerous object and the host vehicle may be used as the dangerous object detecting means. For example, it is possible to detect a dangerous object using a device capable of simultaneously detecting the distance to the object, such as a millimeter wave radar, a camera for photographing the periphery of the vehicle, a laser radar, and sonar.

  Further, the vehicle notification system of the present invention can be provided with dangerous object direction detecting means for detecting whether the dangerous object is located on the left or right side of the host vehicle. Noise control speakers are provided on the left and right sides of the driver's seat, respectively, and the notification noise control means can output noise control sound waves from the speaker on the side where the detected dangerous object exists. Accordingly, the driver can recognize whether the dangerous object approaches from the left or right side of the vehicle.

  In addition, you may use the dangerous object direction detection means which detects whether a dangerous object is located in the right-and-left side of the own vehicle as a dangerous object detection means. For example, the approach direction of dangerous objects can be specified by arranging devices that can simultaneously detect the distance to an object, such as millimeter wave radar, a camera that captures the surroundings of the vehicle, laser radar, and sonar, at multiple locations on the vehicle. It is possible to make it possible.

  The speaker for noise control can be provided in the headrest portion of the driver's seat of the vehicle. As a result, only the driver can be alerted to dangerous objects due to noise level changes.

  In the vehicle notification system of the present invention, the vehicle traveling direction specification that identifies the traveling direction or estimated traveling direction of the host vehicle based on an operation input to a steering related operation unit related to steering to the left or right of the host vehicle. Means and dangerous object direction detecting means for detecting whether the dangerous object is located on the left or right side of the host vehicle can be provided. At this time, the noise control means for notification performs noise control at the second output level when the dangerous object is detected and the dangerous object is detected on the specified traveling direction side or the estimated traveling direction side. When the active noise control mechanism is driven and controlled so that a sound wave is output, but the dangerous object is not detected in the specified traveling direction side or the estimated traveling direction side, it is used for noise control at the first level. The active noise control mechanism can be driven and controlled so that sound waves are output.

  The steering-related operation unit can be a direction instruction operation unit for causing the direction indicator mounted on the host vehicle to execute either the left or right direction instruction operation. Thereby, the vehicle traveling direction specifying means can easily specify the estimated traveling direction of the host vehicle based on the operation input to the direction indicating operation unit.

  The steering-related operation unit can be a vehicle steering unit for changing the traveling direction of the host vehicle to either the left or right, for example, a steering handle. Thereby, the vehicle traveling direction specifying means can easily specify the traveling direction of the host vehicle based on the operation input to the direction indicating operation unit. In particular, in the case of a steering wheel, a steering angle detection means for detecting a steering angle is provided, and the traveling direction can be easily specified based on the detection result.

  Further, the vehicle traveling direction specifying means is configured to estimate the traveling of the host vehicle based on an operation input to the direction indicating operation unit for causing the direction indicator mounted on the host vehicle to execute either the left or right direction indicating operation. Based on the first vehicle traveling direction identifying means for identifying the direction and the operation input to the vehicle steering unit for changing the traveling direction of the host vehicle to either the left or right, the second is used to identify the traveling direction of the host vehicle Vehicle warning direction specifying means, and at this time, the alarming noise control means detects the dangerous object, and does not specify the traveling direction of the own vehicle, but only the estimated traveling direction. The active noise control mechanism can be driven and controlled so that the noise is suppressed when the dangerous object is detected and at least the traveling direction of the host vehicle is specified, compared to the case where it is specified. . According to this configuration, in a state in which the traveling direction of the host vehicle is only estimated, the attention to the dangerous object due to the noise level change is weakened, and in the state in which the traveling direction of the host vehicle is actually specified, Attention to dangerous objects due to changes in noise level is made stronger. As a result, in a situation where the danger level is high, the driver can more reliably recognize the dangerous object.

  By the way, when the dangerous object approach distance detecting means for detecting the distance between the dangerous object and the own vehicle is used as the dangerous object detecting means, the dangerous object approach distance detecting means The distance to the vehicle can be repeatedly detected at predetermined time intervals, and the dangerous object approach distance monitoring means for monitoring the repeatedly detected distance is provided in the vehicle notification system of the present invention. Can be provided. At this time, when the dangerous object is detected and the reduction rate of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold, the notification noise control means outputs a higher output than before. The active noise control mechanism can be driven and controlled so that sound waves for noise control are output at the level. According to this configuration, the greater the approach speed of the dangerous object to the host vehicle, the greater the noise level change. As a result, in a situation where the danger level is high, the driver can more reliably recognize the dangerous object.

  In addition to the above configuration, road map data storage means for storing road map data together with road type information and lane information for each road, position detection means for detecting the current position of the host vehicle on the road map, and host vehicle A traveling direction identifying means for identifying the traveling direction of the vehicle, a traveling road type identifying means for identifying the road type on which the vehicle is traveling based on the road type information, and a danger target for detecting the approach direction of the dangerous object to the host vehicle And an object direction detecting means. At this time, the notification noise control means detects the dangerous object and the rate of decrease of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold value. Drive control of the active noise control mechanism so that sound control sound waves are output at a higher output level than before when an approach from the rear of the host vehicle is detected on the same lane as the vehicle And can. According to this configuration, it is possible to make the driver surely recognize the presence of a rapidly approaching rear vehicle that is likely to collide with the host vehicle.

  Further, in the above configuration, the notification noise control means detects the dangerous object, and the reduction rate of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold. When an object travels on the same highway as the own vehicle and approaches from the rear of the own vehicle on the same overtaking lane of the highway, the sound wave for noise control is output at a higher output level than before. The active noise control mechanism can be driven to be output. When the vehicle is on the overtaking lane of the highway, if the driver can recognize the presence of a vehicle that is approaching the vehicle, it can avoid the driving lane. Is effective.

  By the way, the vehicle notification system of the present invention may be provided with necessary sound detection means for detecting a predetermined type of necessary sound that the driver should actively listen to in the vehicle out of the vehicle interior sound and the vehicle exterior sound. it can. The noise control means for notification at this time prohibits the drive control of the active noise control mechanism that suppresses the overall noise level by the output of the sound wave for noise control when the necessary sound is detected. And can. Necessary sound such as siren sound of emergency vehicle is information necessary for driving. If the noise control waveform having a phase opposite to that of the noise waveform is output to increase the quietness of the passenger compartment, it becomes difficult to hear these necessary sounds. According to the above configuration, when the necessary sound is detected, the noise control that increases the quietness in the passenger compartment is not performed, so that the necessary sound can be heard. The necessary sound can be defined as including at least one of the outside sound of the emergency vehicle siren sound, the crossing alarm sound, the following vehicle horn sound, and the human screaming sound, but is not limited thereto. Absent.

  FIG. 1 is a functional block diagram showing a configuration example of the vehicle notification system of the present invention. The vehicle notification system 1 shown in FIG. 1 mainly includes an active noise control mechanism (acoustic noise canceller) 10 and a processing unit 100 constituting a main control unit of the entire system.

  The processing unit 100 has a known configuration including a CPU, a ROM, a RAM, and the like, and is connected to a periphery monitoring device 40, a steering angle sensor 23, a vehicle speed sensor 24, a direction indicating switch 25, and a microphone 12, and The vehicle-mounted navigation device 200 is connected via an in-vehicle LAN (not shown).

  As shown in FIG. 4, the periphery monitoring device 40 functions as a dangerous object detection unit that detects a dangerous object approaching the host vehicle C1, and in the present embodiment, millimeter wave radars 40FR, 40FC, 40FL, 40RR, 40RC, 40RL, and in-vehicle cameras 40FS, 40RS, which cooperate to detect a dangerous object. Specifically, the processing unit 100 determines the surroundings of the host vehicle C1 based on the input images from the cameras 40FS and 40RS and the reflected wave reception information from the millimeter wave radars 40FR, 40FC, 40FL, 40RR, 40RC, and 40RL. The position of the obstacle and the distance from the own vehicle C1 are detected. The dangerous object detection means may be a millimeter wave radar or a vehicle-mounted camera alone, or is not limited to these. For example, a laser radar or a sonar may be used.

  The millimeter wave radar 40 that constitutes the peripheral monitoring device outputs a millimeter wave band radio wave and receives the reflected wave, thereby detecting an obstacle within a predetermined detection range and detecting a distance to the obstacle. It has a well-known configuration. Actually, the processing unit 100 can recognize the presence of an obstacle within a predetermined range and the distance to the obstacle by receiving the reflected wave (dangerous object detection means and dangerous object approach distance detection means). . In the present embodiment, as shown in FIG. 4, a front millimeter wave radar that is arranged inside the front bumper of the vehicle C1 and outputs a millimeter wave beam toward the front of the vehicle C1 and uses the front of the vehicle C1 as a detection range. (40FR, 40FC, 40FL) and a rear millimeter wave radar (40RR, 40RC, 40RL) which is arranged inside the rear bumper and outputs a millimeter wave beam toward the rear of the vehicle C1, and uses the rear of the vehicle C1 as a detection range. ). More specifically, a millimeter-wave beam is output in front of the vehicle C1 in front of the vehicle or vice versa, and the detection range is in front of the vehicle C1 or vice versa. (40FC, 40RC), a millimeter wave beam is output to the right side of the vehicle and the right side of the vehicle C1 is in the detection range (40FR, 40RR), and a millimeter wave beam is output to the left side of the vehicle to detect the left side of the vehicle C1. The range (40FL, 40RL) is included.

  In the present embodiment, these millimeter wave radars 40FR, 40FC, 40FL, 40RR, 40RC, and 40RL are used to detect vehicles traveling in the own vehicle traveling lane and adjacent traveling lanes, and obstacles (such as people) around the vehicle C1. Detection and further detection of the distance to these obstacles is possible. Further, since the processing unit 100 can identify the millimeter wave radars 40FR, 40FC, 40FL, 40RR, 40RC, and 40RL that have detected the obstacle, the processing unit 100 can determine the obstacle based on which millimeter wave radar has detected the obstacle. It is also possible to detect the direction in which an object exists. That is, it can function as a dangerous object direction detection unit that detects whether the dangerous object is located on the left or right side of the host vehicle.

  On the other hand, as shown in FIG. 4, the in-vehicle cameras 40FS and 40RS constituting the periphery monitoring device include a front camera (front photographing unit) 40FS that photographs the front of the vehicle, and a rear camera (rear photographing unit) 40RS that photographs the rear of the vehicle. , And at least each imaging range is arranged to cover the detection range of the front millimeter wave radar (40FR, 40FC, 40FL) or the rear millimeter wave radar (40RR, 40RC, 40RL). The in-vehicle cameras 40FS and 40RS in the present embodiment are CCD cameras that sense from the visible light region to the near infrared region, and can detect obstacles not only in the daytime but also at nighttime. When used at night, photographing is performed using near-infrared light emitted by a vehicle-mounted near-infrared projector (not shown) (which may also be used as a high beam of a headlamp for the front).

  The processing unit 100 is configured as an image processing unit including an image processing circuit (not shown) for analyzing an image photographed by the CCD cameras 40FS and 40RS by a known technique such as pattern recognition. In the image processing unit or a recording unit (for example, a non-volatile memory or the like: not shown) of the processing unit 100, reference data of an object serving as a detection reference is stored. The processing unit 100 sequentially compares the images captured by the CCD cameras 40FS and 40RS and the reference data thereof, and the matching ratio between the contents included in the captured images and the reference data of the object has a predetermined value. If it exceeds, it can be detected that the object is included in the photographed image. The reference data includes road markings (for example, road lane markings and pedestrian crossings) and obstacles on and around the road (for example, various vehicles, people, utility poles, streetlights, separation zones, etc.). It is possible to detect the presence of the sensor and further to detect the position of the presence. That is, it can function as a dangerous object direction detection unit that detects whether the dangerous object is located on the left or right side of the host vehicle.

  The direction indication switch 25 is a steering-related operation unit related to steering of the host vehicle C1 to the left or right, and executes either the left or right direction instruction operation with respect to a direction indicator (blinker) mounted on the host vehicle C1. It is a direction instruction operation part for making it go. Based on the operation input to this direction instruction operation unit 25, the processing unit 100 specifies vehicle travel direction specifying means (first vehicle travel direction specifying means) for specifying the estimated travel direction in which the host vehicle C1 will travel thereafter. ).

  The steering angle sensor 23 is a steering angle detection unit that detects the steering angle of the steering handle 21 that forms a vehicle snake control unit for changing the traveling direction of the host vehicle C1 to either the left or right, and is provided on the handle shaft 22. It is configured using an element or circuit that converts a rotation angle into an electrical signal, such as a known resolver. The processing unit 100 functions as vehicle traveling direction specifying means (second vehicle traveling direction specifying means) for calculating the steering angle based on the electrical signal and specifying the traveling direction of the host vehicle C1.

  The vehicle speed sensor 24 includes a rotation detection unit such as a known rotary encoder, and is installed, for example, in the vicinity of the wheel mounting unit to detect the rotation of the wheel and output it to the processing unit 100 as a pulse signal. The processing unit 100 converts the rotation speed of the wheel into the speed of the host vehicle C1, and uses the conversion result, for example, a low-speed traveling state in which the vehicle speed falls below a predetermined vehicle speed level (including a vehicle stop state). It functions as a low-speed traveling state detecting means for detecting whether or not the vehicle is in the state.

  The vehicle-mounted navigation device 200 includes a known geomagnetic sensor, gyroscope, distance sensor, GPS receiver, and the like, and detects the current position of the own vehicle C1 and its traveling direction (position detecting means and traveling direction). Specific means), a data storage device (road map data storage means) for storing map data, etc. and a navigation program for executing route guidance, etc., as well as a known configuration comprising a display device, an audio output device, an operation unit, etc. It is what has. In the map data, road type data and lane information of each road are stored together with the road map data. The navigation device 200 can identify the road on which the host vehicle C1 is traveling by comparing the current position information of the host vehicle C1 detected by the host vehicle position detector with map data (road map data). Furthermore, it is possible to specify the type of road (high speed, national highway, prefectural road, narrow street, etc.) on the basis of the road type information (traveling road type specifying means).

  The microphone 12 is a noise detection microphone provided in the passenger compartment that detects noise heard by the driver. In the present embodiment, as shown in FIGS. 2 and 3, the microphone 12 is positioned at the front upper position of the driver seat 50. Is provided. The microphone 12 is connected to the processing unit 100 via a microphone amplifier and an A / D converter (not shown), and the detected noise is transmitted from the processing unit 100 to the active noise control unit 13. Note that the microphone 12 may be directly connected to the active noise control unit 13.

  The active noise control unit 13 functions as a noise control waveform generation unit that generates a noise control waveform based on the noise waveform detected by the microphone 12. Note that the noise control waveform generation unit in the present embodiment is configured as a noise control waveform synthesis unit that synthesizes a noise control waveform having an opposite phase to the noise waveform detected by the microphone 12. More specifically, a noise detection waveform captured from the microphone 12 is read and subjected to fast Fourier transform to decompose the noise detection waveform into sinusoidal waves having different wavelengths. Then, an inverted elementary wave obtained by inverting the phase of each sine wave elementary wave is generated and synthesized again, thereby obtaining a noise control waveform having a phase opposite to the detected noise waveform. This is output from the speaker 11.

  The speakers 11 are noise control speakers 11R and 11L that output the above-described noise control waveform as a noise control sound wave. In this embodiment, as shown in FIG. The output is directed toward the driver. Specifically, it is provided on the left and right of the headrest 51 of the driver's seat 50 so as to correspond to the left and right ears of the driver's seat passenger.

  An active noise control mechanism (acoustic noise canceller) 10 according to the present embodiment includes a microphone 12, an active noise control unit 13, and a speaker 11. The noise level is generally set by output of sound control sound waves. Can be changed.

  By the way, in the processing unit 100, a noise control program for notification is stored, and when the dangerous object is not detected by the CPU executing the program, the vehicle interior is in the first noise state. The active noise control mechanism 10 is driven and controlled so that the vehicle interior becomes active in a second noise state having a different noise level from the first noise state when a dangerous object is detected. It is possible to drive and control the static noise control mechanism 10. Thereby, the alerting | reporting system 1 for vehicles of this embodiment can give the alerting to a driver | operator with respect to a dangerous target object as a change of the noise level which the said driver | operator hears.

  In the present embodiment, an active noise control mechanism that outputs sound waves for noise control within a predetermined low output level range (first output level range) in a normal time when no dangerous object is detected. Has drive control. Here, a zero output state in which no sound control sound wave is output (included in the first output level range) is set. However, when a dangerous object is detected, noise is suppressed more than when no dangerous object is detected, and a high output level range (second output level range) having a higher output level than the normal time. The active noise control mechanism controls the drive so that the sound control sound wave is output. As a result, when a dangerous object is detected, the noise level changes in such a manner that the entire noise level is uniformly reduced. This change appears as a change in which the quietness increases around the speaker 11, and in the present embodiment, the change is provided mainly in the form of being felt only by the passenger in the driver's seat 50 provided with the speaker 11, that is, the driver.

  Hereinafter, an example of the process of the noise control program for notification will be described with reference to FIG.

  In S1, the vehicle speed is acquired from the detection result of the vehicle speed sensor 24. Specifically, the number of wheel rotations detected by the vehicle speed sensor 24 is acquired in the form of conversion into speed. In S2, it is determined whether or not the vehicle speed is in a low-speed traveling state (including a vehicle stop state) that is lower than a predetermined vehicle speed threshold value (specified speed in the figure). If it is determined that the vehicle is traveling at a low speed, the process proceeds to S3. If it is not determined that the vehicle is traveling at a low speed, the process proceeds to S6.

  In S6, the active noise control mechanism 10 is driven and controlled so that the noise control sound wave is output at the normal output level. In other words, in this program, when a low-speed traveling state is detected, the same noise control sound wave as that in the normal time is output even if a dangerous object is detected, and the vicinity of the speaker 11 The warning object notification due to the change in which the entire noise level is uniformly reduced and the quietness is increased as compared with the normal time is not executed. Thereby, for example, in a situation where the host vehicle C1 is parked and there are many other vehicles in the vicinity, it is possible to stop useless output of sound waves for noise control.

  Note that the processing of S1 and S2 can be omitted so that the dangerous object notification is executed even when a dangerous object is detected in the low-speed traveling state.

  On the other hand, when it progresses to S3, the dangerous object located in the periphery of the own vehicle C1 is detected from the monitoring result of the periphery monitoring apparatus 40. FIG. Specifically, based on the reception result of the reflected wave with respect to the transmission wave of the millimeter wave radars 40FR, 40FC, 40FL, 40RR, 40RC, and 40RL, and the analysis result of the rear shot image captured by the in-vehicle cameras 40FS and 40RS, A dangerous object located around the vehicle C1 is detected, and further, a distance between the own vehicle C1 and the dangerous object is also detected.

  In S4, it is determined whether or not the distance between the dangerous object and the host vehicle C1 has approached within a predetermined distance (approach distance threshold). If the dangerous object is not detected, or if the distance between the detected dangerous object and the host vehicle C1 is not within the specified distance, the process proceeds to S6. On the other hand, the detected dangerous object and the host vehicle C1 If the inter-vehicle distance is within the specified distance, the process proceeds to S5.

  In S5, the active noise control mechanism is driven and controlled such that a high-output-level sound control sound wave having a higher output level than normal is output. Note that the noise control sound wave may be output at a fixed high output level, or output as the distance between the detected dangerous object and the host vehicle C1 decreases. The level may be increased. Further, the specified distance is set as the first specified distance, and the distance closer to the dangerous object and the vehicle C1 is set as the second specified distance, and the detected dangerous object and the vehicle C1 are Is the output of only one of the speakers 11L and 11R when the distance is between the first specified distance and the second specified distance, and when the distance is less than the second specified distance, the speaker 11L , 11R may be output from both.

  When the process of S5 or S6 is executed, this program is terminated while the output of the sound wave for noise control at that time is held. However, this program is repeatedly executed at a predetermined cycle.

  The specified distance (approach distance threshold) can be determined within the detection limit distance of the periphery monitoring device 40, but in the present embodiment, the detection limit distance is set as the specified distance. That is, in the present embodiment, the process of S4 is a process of determining whether or not a dangerous object is detected, and the dangerous object notification (the entire noise level around the speaker 11 is reduced uniformly) by detecting the dangerous object. If the dangerous object is not detected, the dangerous object notification is not executed.

  As mentioned above, although one Embodiment of this invention was described, these are only illustrations to the last, and this invention is not limited to these, A various change is possible unless it deviates from the meaning of a claim. is there.

  For example, while having the same configuration as that of the first embodiment, the processing unit 100 is changed to a snake-related operation unit (for example, the direction instruction switch 25 and the steering handle 21) related to the snake to the left or right of the host vehicle C1. In accordance with an operation input to any one of the above, the traveling direction or the estimated traveling direction of the host vehicle C1 can be specified, and in the state where a dangerous object is detected by executing the notification noise control program, Only when the traveling direction or the estimated traveling direction is specified, the active noise control mechanism 10 is driven and controlled to output a sound wave for noise control that suppresses noise more than usual, and a dangerous object is detected. If the traveling direction or the estimated traveling direction is not specified even in the state where the noise is detected, the active noise control mechanism 10 is driven so that the sound control sound wave at the normal output level is output. It may be adapted to control. In other words, in this embodiment, the dangerous object notification is executed as the own vehicle C1 moves toward the dangerous object side, or as an operation for notifying if it takes it. Yes.

  Further, in the above configuration, the processing unit 100 can specify the estimated travel direction of the host vehicle C1 based on an operation input to the direction instruction switch (direction instruction operation unit) 25, and the steering unit (vehicle steering unit) 21 can be identified. The travel direction of the host vehicle can be specified based on the operation input, and the travel direction of the host vehicle is not specified when a dangerous object is detected in the execution of the notification noise control program. The active noise control mechanism 10 is driven and controlled so that the noise is suppressed when the dangerous object is detected and at least the traveling direction of the host vehicle is specified, rather than when only the vehicle is specified. You can also That is, in this embodiment, the noise control sound wave is generated so that the dangerous object notification made by operating the steering handle 21 is quieter than the dangerous object notification made by operating the direction indicating switch 25. It is designed to output.

  In all the above embodiments, by executing the notification noise control program, it is detected from the monitoring result of the periphery monitoring device 40 whether the dangerous object is located on the left or right side of the host vehicle C1, and the headrest of the driver's seat is detected. Of the speakers 11R and 11L provided on the left and right, the sound control sound wave can be output from the speaker on the side where the detected dangerous object exists.

  Further, the processing unit 100 executes various types of notification noise control programs corresponding to specific scenes, and based on the arrival of the specific scenes, dangerous object notifications are executed by the corresponding notification noise control programs. It may be like this.

  The notification noise control program of FIG. 6 shows that when the host vehicle C1 is traveling on a highway where an overtaking lane exists as shown in FIG. 7, a vehicle (dangerous obstacle) approaches the host vehicle C1 from behind. This is a program for outputting sound control sound waves within the second output level range.

  In S11, the current position of the own vehicle C1 is specified by the own vehicle position detector of the navigation device 200. In S12, it is determined whether or not the current position is on the overtaking lane of the expressway. Specifically, in the navigation device 200, the current position of the host vehicle C1 specified by the host vehicle position detector is located on the highway on the road map, or if it is located, the position is on the overtaking lane. And the processing unit 100 acquires the communication. If the host vehicle C1 is not located on the overtaking lane of the highway, the process proceeds to S18, and if it is located on the overtaking lane of the highway, the process proceeds to S13. Note that S18 is the same processing as S6 of FIG.

  In S13, the vehicle speed is acquired from the detection result of the vehicle speed sensor 24. In S14, it is determined whether or not the vehicle speed is in a low-speed traveling state (including a stop state) that is lower than a predetermined vehicle speed threshold value (specified speed in the figure). If it is in the low speed running state, the process proceeds to S18, and if it is not in the low speed running state, the process proceeds to S14. That is, in this program, when a low-speed traveling state is detected, even if a dangerous object (here, the rear approaching vehicle C2 is a dangerous object) is detected, the normal noise control sound wave Is controlled so that the active noise control mechanism 10 is output. As a result, in a situation where the other vehicle C2 is always approaching the host vehicle C1 such as when there is a traffic jam or the like, the sound wave for noise control at a high output level is not output wastefully.

  In S15, the other vehicle C2 located behind the own vehicle C1 and on the same lane as the own vehicle C1 is detected from the monitoring result of the periphery monitoring device 40. Specifically, based on the reception result of the reflected wave with respect to the transmission radio waves of the rear millimeter wave radars 40RR, 40RC, and 40RL, and the analysis result of the rear captured image captured by the rear in-vehicle camera 40RS, the position is located behind the host vehicle C1. And the other vehicle C2 located on the same lane as the own vehicle C1 is detected, and further, the distance between the own vehicle C1 and the other vehicle C2 is also detected.

  In S16, the other vehicle C2 is detected behind the own vehicle C1 on the same lane as the own vehicle C1, and it is determined whether or not the inter-vehicle distance between the other vehicle C2 and the own vehicle C1 approaches within a specified distance. . The specified distance here is the maximum value of the inter-vehicle distance in which the muffling (attenuation) amount higher than zero is specified among the inter-vehicle distances shown in FIG. If the inter-vehicle distance between the other vehicle C2 and the host vehicle C1 is within this specified distance, the process proceeds to S17, and if not, the process proceeds to S18.

  In S17, with reference to the table value shown in FIG. 8, the sound wave for noise control of the output level corresponding to the present inter-vehicle distance is output. In the table of FIG. 8, it is determined that the output level of the sound wave for noise control is increased as the inter-vehicle distance between the detected other vehicle (dangerous object) C2 and the host vehicle C1 is smaller. By controlling the output of the sound wave for noise control according to this table, the overall noise level heard by the driver DR is uniformly as the distance between the other vehicle (dangerous object) C2 and the host vehicle C1 is smaller. The quietness around the speaker 11 is increased. As a result, the driver DR can recognize the change in the atmosphere or the sign in the passenger compartment due to the increase in the quietness, and can recognize the presence of the vehicle approaching from the rear in the own vehicle traveling lane, and the sense of distance.

  When the process of S17 or S18 is executed, this program ends with the output of the sound wave for noise control at that time being held. However, this program is repeatedly executed at a predetermined cycle, and the output level of the sound wave for noise control changes sequentially according to the detected distance from the vehicle approaching rearward.

  As shown in FIG. 10, the notification noise control program of FIG. 9 desires that the own vehicle C1 change the lane to the right lane on a road where the lane also exists on the right side of the lane of the own vehicle C1. In this scene, when a vehicle (dangerous obstacle) approaches the right lane from the rear, a sound control sound wave within the second output level range is output.

  In S21, the other vehicle C2 located behind the host vehicle C1 and on the right lane of the travel lane of the host vehicle C1 is detected from the monitoring result of the periphery monitoring device 40. Specifically, based on the reception result of the reflected wave with respect to the transmission radio waves of the rear millimeter wave radars 40RR and 40RC and the analysis result of the rear captured image captured by the rear vehicle-mounted camera 40RS, the vehicle is located behind the vehicle C1. The other vehicle C2 located on the right lane of the traveling lane of the host vehicle C1 is detected, and further, the distance between the host vehicle C1 and the other vehicle C2 is also detected. Note that the travel lane determination of the other vehicle C2 is performed by specifying the road surface marking on the road by analyzing the rear shot image.

  In S22, another vehicle C2 located on the same lane as the own vehicle C1 and behind the own vehicle C1 and on the right lane of the traveling lane of the own vehicle C1 is detected, and the other vehicle C2 and the own vehicle are detected. It is determined whether the inter-vehicle distance with C1 has approached within a specified distance. When the other vehicle C2 as described above is detected and the inter-vehicle distance between the other vehicle C2 and the host vehicle C1 is within the specified distance, the process proceeds to S23, and the other vehicle C2 as described above is not detected or is detected. If not within the specified distance, the process proceeds to S29. Note that S29 is the same process as S6 in FIG.

  In S23, the detection result of the steering angle sensor 23 is acquired, and in S24, it is determined whether or not the steering handle 21 is steered to the right side exceeding a predetermined steering angle threshold. When the rightward steering is performed, the process proceeds to S25, and when the rightward steering is not performed, the process proceeds to S26.

  In S26, the operation state of the direction indicating switch 25 is acquired. In S27, it is determined whether or not there is an operation for operating the direction indicator on the right side of the vehicle from the result of acquiring the operation state. If there is an operation on the direction indicator switch 25 for operating the right direction indicator on the vehicle, the process proceeds to S28. On the other hand, if there is no operation for operating the direction indicator on the right side of the vehicle, the process proceeds to S29.

  In S25 and S28, the active noise control mechanism performs drive control so that a high-output-level sound control sound wave having a higher output level than normal is output. Furthermore, the output of the sound wave for noise control in S28 executed in accordance with the right driving operation of the direction indicating switch 25 is performed in order to notify that the dangerous object (other vehicle C2) approaches from the right rear side. The sound wave for noise control of the speaker 11R is output at a higher output level than the left speaker 11L so as to increase the quietness of the driver on the right side. In the present embodiment, a high-output-level noise control sound wave having a higher output level than normal is output from the right speaker 11R, and a noise-control sound wave having the same output level as normal is output from the left speaker 11L. It has become. On the other hand, the output of the sound wave for noise control in S25 executed in accordance with the right steering of the steering handle 21 is highly urgent. Therefore, the noise of a high output level with a higher output level than normal is output from both the left and right speakers 11R and 11L. A control sound wave is output.

  Note that when the process of S28 or S29 is executed, the program ends with the output of the sound wave for noise control at that time held. However, this program is repeatedly executed at a predetermined cycle. In this program, when a vehicle (dangerous obstacle) approaches the right lane from the rear in a scene where a lane change to the right lane is desired, the sound control sound wave within the second output level range is generated. By outputting “right” here with “left”, the same processing can be performed in a scene in which a lane change to the left lane is desired.

  By the way, in all the embodiments described above, the detection of the dangerous object is repeated at predetermined time intervals, and when the dangerous object is detected, the dangerous object is detected in the repeated detection process. The processing unit 100 can be configured to sequentially monitor the distance between the vehicle and the host vehicle, and the dangerous object is sequentially detected in a state where the dangerous object is detected by executing the notification noise control program. The active noise control mechanism can be driven and controlled such that the sound control sound wave is output at a higher output level than before when the distance reduction rate of the distance exceeds a predetermined reduction rate threshold. . Thus, for example, a vehicle approaching more rapidly than a vehicle approaching gradually from the rear is emphasized and notified, so that the driver can recognize the urgency from the difference in notification.

  In addition, when the rate of decrease in the distance between the dangerous object detected by the above configuration and the host vehicle exceeds a predetermined rate of decrease rate threshold, the sound control sound wave is output at a higher output level than before. In the configuration, it is possible to add that the detected dangerous object and the own vehicle are located on the same lane to the condition for outputting the sound wave for noise control at the high output level. Furthermore, since the driver can easily recognize the dangerous object approaching from the front, it may be added to the condition that the detected dangerous object is approaching from behind the host vehicle C1. Furthermore, you may add that the detected dangerous object is located on the same overtaking lane of the highway where the own vehicle C1 drive | works to the said conditions. In addition, it is good also as a structure which outputs the sound wave for noise control in the above-mentioned high output level, when the relative speed of the detected other vehicle C2 and the own vehicle C1 exceeds a predetermined threshold value.

  Moreover, in all the above-described embodiments, a microphone (necessary sound detecting means) that detects a predetermined type of necessary sound that the driver should actively listen to in the vehicle is provided. When the necessary sound is detected by executing the notification noise control program, the drive control of the active noise control mechanism that suppresses the noise level due to the output of the noise control sound wave may be prohibited. The necessary sound at this time can be determined to include at least one of the outside sound of the emergency vehicle siren sound, the crossing alarm sound, the horn sound of the following vehicle, and the screaming sound of the person. The detection means) can be provided outside the vehicle.

  The various embodiments described above can be implemented in combination of a plurality of them.

The block diagram which shows one Embodiment of the alerting | reporting system for vehicles of this invention. The side view of the driver's seat of the vehicle by which the information system for vehicles of the present invention is carried. The front view of the driver's seat of the vehicle by which the information system for vehicles of the present invention is carried. 1 is a layout diagram of a vehicle periphery monitoring device 40 equipped with a vehicle notification system of the present invention. The flowchart explaining the flow about an example of the noise control process for information. The flowchart explaining the flow of the noise control process for information different from FIG. The figure explaining the scene where the noise control process for information shown in FIG. 6 is applied. A table in which the distance between the host vehicle and the other vehicle is associated with the sound deadening level. The flowchart explaining the flow of the noise control process for information different from FIG.5 and FIG.6. The figure explaining the scene where the noise control process for information shown in FIG. 9 is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle notification system 10 Active noise control mechanism 11 Speaker (noise control speaker)
12 Microphone (noise detection microphone)
13 Active Noise Control Unit (Noise Control Waveform Generation Unit (Noise Control Waveform Synthesis Unit))
100 processing unit (vehicle traveling direction specifying means (first vehicle traveling direction specifying means, second vehicle traveling direction specifying means))
200 On-vehicle navigation device (position detecting means, traveling direction specifying means, road map data storage means, traveling road type specifying means)
21 Steering handle (steering operation section: steering section)
23 Steering angle sensor (steering angle detection means)
24 Vehicle speed sensor 25 Direction indication switch (steering related operation section: direction instruction operation section)
40 Perimeter monitoring device (dangerous object detection means, dangerous object approach distance detection means, dangerous object direction detection means)
50 Driver's seat 51 Driver's seat headrest C1 Own vehicle C2 Other vehicle (dangerous object)
DR driver

Claims (17)

A noise detection microphone provided in a vehicle interior that detects noise heard by a driver, a noise control waveform generation unit that generates a noise control waveform based on a noise waveform detected by the noise detection microphone, and the noise control A noise control speaker that outputs the noise control waveform from the waveform generation unit as a noise control sound wave, and the noise level can be entirely changed by the output of the noise control sound wave An active noise control mechanism,
A dangerous object detection means for detecting a dangerous object approaching the host vehicle;
When the dangerous object is not detected, the active noise control mechanism is driven and controlled so that the vehicle interior is in a first noise state, while the dangerous object is detected. Driving the active noise control mechanism so that the vehicle interior is in a second noise state having a different noise level from the first noise state, thereby alerting the driver to the dangerous object. A noise control means for notification given as a change in the noise level heard by the driver;
A vehicle notification system comprising: The noise control waveform generating unit is configured as a noise control waveform synthesizing unit that synthesizes a noise control waveform having an opposite phase to the noise waveform detected by the noise detection microphone,
The active noise control mechanism generally suppresses the noise level by the output of the noise control sound wave,
The notification noise control means drives the active noise control mechanism so that the sound control sound wave within a predetermined first output level range is output when the dangerous object is not detected. On the other hand, when the dangerous object is detected, the noise control sound wave within the second output level range in which the noise is suppressed is output as compared with the case where the dangerous object is not detected. The active noise control mechanism is driven and controlled, and the noise level heard by the driver in the passenger compartment is uniformly reduced to increase quietness, thereby alerting the driver to the dangerous object. The vehicle notification system according to claim 1, wherein: Low speed running state detecting means for detecting whether or not the vehicle speed of the host vehicle is lower than a predetermined vehicle speed level and is in a low speed running state including a vehicle stop state;
When the low-speed traveling state is detected, the notification noise control means is configured to output the noise control sound wave within the first output level range even if the dangerous object is detected. The vehicle notification system according to claim 2, wherein the active noise control mechanism is driven and controlled. A dangerous object approach distance detecting means for detecting a distance between the dangerous object and the host vehicle;
The said noise control means for alerting | reporting makes the output level of the said sound wave for noise control large, so that the distance between the detected said dangerous object and the said own vehicle is small. The vehicle notification system described.   The vehicle notification system according to claim 4, wherein the dangerous object detection means also functions as the dangerous object distance detection means. Dangerous object direction detection means for detecting whether the dangerous object is located on the left or right side of the host vehicle,
The noise control speakers are provided on the left and right sides of the driver seat,
The vehicle noise control device according to any one of claims 2 to 5, wherein the noise control means for notification outputs the sound wave for noise control from a speaker on a side where the detected dangerous object exists. Notification system.   The vehicle notification system according to claim 6, wherein the dangerous object detection means also functions as the dangerous object direction detection means.   The vehicle noise notification system according to any one of claims 2 to 7, wherein the noise control speaker is provided in a headrest portion of a driver's seat of the vehicle. Vehicle traveling direction identifying means for identifying the traveling direction or estimated traveling direction of the host vehicle based on an operation input to a steering related operation unit related to steering to the left or right of the host vehicle;
Danger object direction detection means for detecting whether the dangerous object is located on the left or right side of the host vehicle;
With
When the dangerous object is detected and the dangerous object is detected from the specified traveling direction side to the estimated traveling direction side, the notification noise control means is configured to perform the second output level. When the active noise control mechanism is driven and controlled so that the noise control sound wave is output, the dangerous object is not detected on the specified traveling direction side or the estimated traveling direction side. The vehicle notification system according to any one of claims 2 to 8, wherein the active noise control mechanism is driven and controlled so that the noise control sound wave is output at a first level.   The vehicle notification system according to claim 9, wherein the steering-related operation unit is a direction instruction operation unit for causing a direction indicator mounted on the host vehicle to execute a left or right direction instruction operation.   The vehicle notification system according to claim 9, wherein the steering-related operation unit is a vehicle steering unit for changing a traveling direction of the host vehicle to left or right. The vehicle traveling direction specifying means is configured to estimate the traveling of the host vehicle based on an operation input to a direction indicating operation unit for causing the direction indicator mounted on the host vehicle to perform a left or right direction indicating operation. Based on a first vehicle traveling direction identifying means for identifying a direction and an operation input to a vehicle steering unit for changing the traveling direction of the host vehicle to either the left or right, a first traveling direction of the host vehicle is identified. Two vehicle traveling direction specifying means,
The notification noise control means detects the dangerous object more than the case where the dangerous object is detected and the traveling direction of the host vehicle is not specified and only the estimated traveling direction is specified. The vehicle notification system according to claim 9, wherein the active noise control mechanism is driven and controlled so that the noise is suppressed at least when the traveling direction of the host vehicle is specified. Comprising the requirements of claim 4;
The dangerous object approach distance detecting means detects the distance between the dangerous object and the host vehicle by repeating every predetermined time interval,
The dangerous object approach distance monitoring means for monitoring the distance repeatedly detected,
The notification noise control means outputs a higher output than before when the dangerous object is detected and the reduction rate of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold value. The vehicle notification system according to any one of claims 2 to 12, wherein the active noise control mechanism is driven and controlled so that the noise control sound wave is output at a level. Road map data storage means for storing road map data together with road type information and lane information of each road;
Position detecting means for detecting a current position of the host vehicle on the road map;
A traveling direction identifying means for identifying the traveling direction of the host vehicle;
Driving road type specifying means for specifying the road type on which the vehicle is running based on the road type information;
Dangerous object direction detection means for detecting the approach direction of the dangerous object to the host vehicle;
With
The notification noise control means detects the dangerous object, and the reduction rate of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold. When the approach from the rear of the host vehicle is detected on the same lane as the host vehicle, the active noise control mechanism is driven so that the noise control sound wave is output at a higher output level than before. The vehicle notification system according to claim 13, which is to be controlled.   The notification noise control means detects the dangerous object, and the reduction rate of the distance sequentially detected with respect to the dangerous object exceeds a predetermined reduction rate threshold. When traveling on the same highway as the host vehicle and approaching from behind the host vehicle on the same overtaking lane of the host vehicle, the sound wave for noise control is output at a higher output level than before. The vehicle notification system according to claim 14, wherein the active noise control mechanism is driven and controlled. Among the in-vehicle sound and the outside sound, the vehicle includes a necessary sound detecting means for detecting a predetermined necessary sound that the driver should actively listen to in the vehicle,
The notification noise control means prohibits the drive control of the active noise control mechanism that suppresses the noise level as a whole by the output of the noise control sound wave when the necessary sound is detected. The vehicle notification system according to any one of claims 2 to 15.   The vehicle notification system according to claim 16, wherein the necessary sound includes at least one of a vehicle exterior sound of an emergency vehicle siren sound, a crossing alarm sound, a following vehicle horn sound, and a human scream.

Images