JP2009252098A - Drive support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive support device for notifying a driver of a position of an object without using a projection system. <P>SOLUTION: The drive support device 1 for notifying a driver of the presence of a detected object comprises: an object detection means 10 which detects an object; a position acquisition means 32 which acquires a position on a window shield corresponding to the position of the object detected by the detection means 10; light emitting means 20 and 21 which emit light with directivity onto the window shield; and a control means 33 which causes the light emitting means 20 and 21 to emit light according to the position of the object on the window shield acquired by the acquisition means 32. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device that notifies a driver of the presence of a detected object.

Various devices for assisting the driver have been developed, and there are devices that inform the driver of information on obstacles such as pedestrians existing in front of the vehicle. In order to notify the driver of the presence of an obstacle, a head-up display (HUD [Head Up Display]) is used to perform a superimposed display that displays various images superimposed on a real scene in front of the vehicle. For example, Patent Literature 1 discloses a projection type head-up display. In this head-up display, the image is projected from the projector onto the screen, the image is reflected toward the Fresnel mirror on the screen, the image is reflected toward the windshield with the Fresnel mirror, and the image is displayed on the driver's screen with the windshield. A virtual image is formed by reflecting in the direction of the viewpoint.
JP 2003-291688 A JP 2000-242897 A JP 2002-274216 A JP 2002-137655 A

  In the case of the projection type head-up display as described above, a projector, a screen, a Fresnel mirror, and the like are required for projection, and the apparatus becomes large. Therefore, a large space is required around the ceiling in the dashboard and the passenger compartment.

  Then, this invention makes it a subject to provide the driving assistance apparatus which can alert | report a driver's existing position to a driver | operator, without using a projection system.

  A driving support apparatus according to the present invention is a driving support apparatus that notifies a driver of the presence of a detected object, the object detecting means for detecting the object, and the presence of the object detected by the object detecting means. The position acquisition means for acquiring the position on the windshield corresponding to the position, the light emission means for emitting directional light on the windshield, and the position of the object on the windshield acquired by the position acquisition means Control means for causing the light emitting means to emit light.

  In this driving assistance device, an object (for example, another vehicle, a pedestrian, or a falling object that becomes an obstacle to driving) is detected by the object detecting means. And in a driving assistance device, the position on the windshield corresponding to the position of the target detected by the position acquisition means is acquired. Further, in the driving assistance device, the control means causes the light emitting means to emit light having directivity according to the position of the object on the windshield, and the light having directivity on the windshield to indicate the presence of the object. Run. As a result, the driver can turn his / her line of sight in the direction of the light having the directivity and can quickly recognize the object. As described above, the driving support device only emits light having directivity according to the position of the target object without using the projection method, so only the light emitting means is used as a means for notifying the driver. The device can be downsized. Therefore, a large space is not required in the dashboard or the passenger compartment. In addition, it can be equipped with any shape of windshield regardless of the shape of the windshield, and it is not necessary to design a device according to the shape of the windshield for each vehicle type, which is low in cost (conventional projection method). In this case, the variation in the shape of the windshield causes a reduction in image quality and image quality deterioration, and thus it is necessary to design the device according to the shape of the windshield, resulting in high cost. In addition, since the object is not enclosed or superimposed on the object as in the conventional projection method, there is no positional deviation or display delay from the object, and the driver feels uncomfortable. Not give.

  In the driving support apparatus of the present invention, the pair of light emitting means may be arranged to face each other, and each light emitting direction of the facing light emitting means may be a direction of the facing light emitting means.

  In this driving support device, a pair of light emitting means is disposed relative to each other, and the light emitting directions of the pair of light emitting means are opposite to each other. Therefore, when a pair of opposed light emitting means emit light to indicate the position of the object, light having directivity from opposite directions runs on a straight line on the windshield, so that the driver's visibility is improved.

  In the driving assistance apparatus of the present invention, it is preferable that the respective light emitting units emit light so as not to reach the light emitted by the opposed light emitting units.

  In this driving support device, when the pair of opposed light emitting units emits light, the light is emitted so as not to reach the light emitted by the opposed light emitting units. By shortening the light emission length in this way, light is not connected on the windshield. Therefore, there is no shielding feeling for the driver, the driver's front view is not obstructed, and it is easy to focus on the actual object. In addition, although the front-end | tips of each light produced | generated from the reverse direction are not connected, the visual effect | action which a driver | operator connects between the front-end | tips of the light by a main viewpoint outline supplement effect (for example, Kanisza triangle) is carried out. As a result, the driver can quickly visually recognize the position of the object.

  The present invention can notify the driver of the position of the object without using a projection method by emitting light having directivity on the windshield according to the position of the object.

  Embodiments of a driving assistance apparatus according to the present invention will be described below with reference to the drawings.

  In the present embodiment, the present invention is applied to a driving support device mounted on a vehicle. The driving support apparatus according to the present embodiment detects an obstacle ahead of the vehicle and indicates the position of the obstacle on the windshield to the driver.

  With reference to FIGS. 1-4, the driving assistance apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a driving support apparatus according to the present embodiment. FIG. 2 is a layout diagram of the LED units according to the present embodiment. FIG. 3 is a perspective view of the LED unit according to the present embodiment. FIG. 4 is a Kanisza triangle.

  The driving support device 1 uses a directional LED [light-emitting diode] to indicate to the driver the position of the obstacle. In particular, in the driving assistance device 1, a plurality of pairs of LED units are arranged along the left and right direction (vehicle width direction) on the upper and lower ends of the windshield, and when a target obstacle is detected, A pair of LED units closest to the position of the obstacle is turned on. For this purpose, the driving support apparatus 1 includes an obstacle detection sensor 10, a plurality of upper end LED units 20, a lower end LED unit 21, and an ECU [Electronic Control Unit] 30, and the ECU 30 includes an obstacle determination unit 31, obstacle position coordinates. A conversion unit 32 and an LED lighting control unit 33 are configured.

  In the present embodiment, the obstacle detection sensor 10 corresponds to the object detection means described in the claims, and the upper LED unit 20 and the lower LED unit 21 correspond to the light emitting means described in the claims. The obstacle position coordinate conversion unit 32 corresponds to the position acquisition unit described in the claims, and the LED lighting control unit 33 corresponds to the control unit described in the claims.

  The obstacle detection sensor 10 is a sensor for detecting an obstacle present in front of the vehicle, and includes, for example, a radar and a processing device such as a camera and a millimeter wave radar. The obstacle detection sensor 10 is provided at a predetermined location in front of the vehicle, and is arranged in a direction capable of detecting the front of the vehicle. The obstacle detection sensor 10 detects an obstacle existing in front of the vehicle, determines the type of the detected obstacle (vehicle, bicycle, person, guardrail, object, etc.) and calculates the position of the obstacle. To do. The obstacle detection sensor 10 transmits the obstacle detection information to the ECU 30 as an obstacle detection signal. Note that the presence position obtained by the obstacle detection sensor 10 is a coordinate system of the obstacle detection sensor 10. The coordinate system of the obstacle detection sensor 10 includes a coordinate in the depth direction (vehicle traveling direction) and a coordinate in the left-right direction (vehicle width direction).

  The upper end LED unit 20 and the lower end LED unit 21 have the same structure, and are different in arrangement and LED light emission direction. The upper LED unit 20 and the lower LED unit 21 are configured as a pair, and are arranged at the same coordinate position in the left-right direction of the windshield W. Accordingly, the upper LED unit 20 and the lower LED unit 21 are arranged on a straight line in the vertical direction of the windshield W. As shown in FIG. 2, the upper end LED units 20 are arranged at the upper end of the windshield W, and a plurality of upper end LED units 20 are arranged along the left-right direction of the windshield W (in the example of FIG. 2, seven are arranged). As shown in FIG. 2, the lower end LED units 21 are arranged at the lower end of the windshield W, and the same number as the upper end LED units 20 are arranged along the left-right direction of the windshield W.

  Each of the LED units 20 and 21 includes a prism 22 and an LED lamp 23 as shown in FIG. The prism 22 has a triangular pyramid shape for imparting directivity to the LED light, and is formed of plastic, for example. An LED lamp 23 is embedded in the prism 22. The bottom surface of the prism 22 is mirror-finished so that the LED light emitted from the LED lamp 23 is directed toward the apex of the triangular pyramid. The LED lamp 23 is turned on when an ON signal is received as a control signal from the ECU 30, and is turned off when an OFF signal is received as a control signal. The length of the LED light emitted from the LED units 20 and 21 is short, for example, about 10 cm. Accordingly, when the LED units 20 and 21 are turned on, the prism 22 shines in a triangular pyramid shape and a linear shape slightly extending from the apex thereof. The prism may have another shape as long as the LED light can have directivity, for example, a quadrangular pyramid shape and a conical shape.

  The upper LED unit 20 is arranged with the apex of the triangular pyramid of the prism 22 facing downward (to the opposite lower LED unit 21), and the light emission direction of the LED light is downward along the windshield W. The lower end LED unit 21 is arranged with the apex of the triangular pyramid of the prism 22 facing upward (to the opposite upper end LED unit 20), and the emission direction of the LED light is upward along the windshield W.

  Therefore, as shown in the second pair from the left in FIG. 2, when the pair of upper LED units 20 and the lower LED units 21 are lit, the upper and lower ends of the windshield W shine as indicated by arrows, and the LED light having directivity. Extend toward the LED units facing each other on a straight line, but the tips of the LED lights are not connected to each other. However, since the LED light extends from the opposite direction on a straight line, the driver who sees the LED light is subjected to a subjective contour supplementary effect such as the Kanisza triangle shown in FIG. As a result, as shown by a broken line L in FIG. 2, the driver has a visual action that connects the tip of the LED light from above and the tip of the LED light from below.

  The ECU 30 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the driving support device 1. In the ECU 30, an obstacle determination unit 31, an obstacle position coordinate conversion unit 32, and an LED lighting control unit 33 are configured by loading an application program stored in the ROM into the RAM and executing it by the CPU. The ECU 30 receives an obstacle detection signal from the obstacle detection sensor 10 at regular time intervals. Then, the ECU 30 performs processing in each of the units 31, 32, 33 based on the obstacle detection signal, and transmits a control signal to the pair of LED units 20, 21 as necessary.

  The obstacle determination unit 31 determines whether there is an obstacle ahead based on the obstacle detection information detected by the obstacle detection sensor 10. When there is an obstacle ahead, the obstacle determination unit 31 determines whether or not the obstacle is a target to be notified to the driver (for example, a person (pedestrian)). The notification target varies depending on the specifications of the driving support device 1.

  When the obstacle determination unit 31 determines that the target obstacle exists, the obstacle position coordinate conversion unit 32 acquires the obstacle position from the obstacle detection information obtained by the obstacle detection sensor 10. The obstacle position coordinate conversion unit 32 converts the position of the obstacle in the coordinate system of the obstacle detection sensor 10 into a position in the coordinate system of the windshield W when viewed from the viewpoint of the driver. The coordinate system of the windshield W includes a left-right direction (vehicle width direction) coordinate and a vertical direction (height direction) coordinate along the surface of the windshield W.

  In the LED lighting control unit 33, when the obstacle position coordinate conversion unit 32 performs coordinate conversion, the pair of upper and lower LED units 20 and 21 that are closest to the horizontal coordinate among the coordinates in the windshield coordinate system of the obstacle are displayed. select. Then, the LED lighting control unit 33 transmits a control signal in which an ON signal is set to the selected pair of upper and lower LED units 20 and 21, respectively. While lighting the pair of upper and lower LED units 20 and 21, the LED lighting control unit 33 selects the other pair of upper and lower LED units 20 and 21 or when the obstacle determination unit 31 determines that there is no target obstacle, A control signal in which an off signal is set is transmitted to the pair of upper and lower LED units 20 and 21 that have been lit.

  In the case of the example shown in FIG. 2, a pedestrian P is detected in front of the left side of the host vehicle, and a pair of upper and lower LED units whose left and right positions in the coordinate system of the windshield W of the pedestrian P are the second from the left. 20 and 21 are determined to be closest to each other, and the LED units 20 and 21 are turned on. With each LED light from above and below by the LED units 20 and 21, the driver looks in the direction and visually recognizes the pedestrian P.

  With reference to FIGS. 1-4, operation | movement of the driving assistance apparatus 1 is demonstrated. In particular, the processing in the ECU 30 will be described along the flowchart of FIG. FIG. 5 is a flowchart showing the flow of processing in the ECU of FIG.

  The obstacle detection sensor 10 detects an obstacle in front of the vehicle at regular intervals. If the obstacle can be detected, the type and location of the obstacle are obtained, and an obstacle detection signal is transmitted to the ECU 30. Yes. The ECU 30 receives an obstacle detection signal at regular intervals and acquires obstacle detection information (S1).

  At certain time intervals, the ECU 30 determines whether or not the obstacle is the target obstacle when there is an obstacle ahead of the host vehicle based on the obstacle detection information of the obstacle detection signal ( S2). When it is determined that there is no target obstacle in S2, the ECU 30 ends the current process.

  If it is determined in S2 that the target obstacle exists, the ECU 30 displays the coordinates of the position of the target obstacle in the coordinate system of the obstacle detection sensor 10 obtained from the obstacle detection information in the obstacle detection signal. The coordinates are converted into coordinates in the coordinate system on the shield W (S3). Then, the ECU 30 determines a pair of upper and lower LED units 20 and 21 that are closest to the left-right coordinate of the converted obstacle (S4). Further, the ECU 30 transmits a control signal in which an ON signal is set to the determined pair of upper and lower LED units 20 and 21 (S5).

  When this control signal is received, the LED units 20 and 21 are turned on. The upper end LED unit 20 shines in a triangular pyramid shape and a line extending slightly from its apex toward the lower side on the windshield W. On the other hand, the lower end LED unit 21 shines in a triangular pyramid shape and a line extending slightly from the apex thereof upward on the windshield W. The driver directs his / her line of sight to the shining portion and connects the tip of light from above and the tip of light from below on a straight line by visual action. And a driver | operator visually recognizes the obstacle which exists in the back of the connected line periphery.

  According to the driving support device 1, since only a pair of upper and lower LED units 20 and 21 closest to the obstacle position emits directional light, the LED unit is used as a means for notifying the driver. 20 and 21 are sufficient, and the apparatus can be miniaturized. As a result, since a conventional projection head-up display is not used, a large space is not required in the dashboard or the passenger compartment. Further, regardless of the shape of the windshield W, any shape of the windshield W can be installed, and it is not necessary to design an apparatus according to the shape of the windshield W, so that the cost is low.

  Furthermore, in the driving assistance device 1, since light having directivity travels in opposite directions (upper and lower ends) on a straight line on the windshield W, the visibility of the driver is improved. In addition, since light is emitted only at each end on a straight line at the position closest to the obstacle, there is no position shift from the obstacle or display delay unlike conventional superimposed display, giving the driver a sense of incongruity. Absent.

  Moreover, in the driving assistance apparatus 1, light is not connected on the windshield W by shortening the light emission length so that the light emitted from the LED units 20 and 21 facing each other does not reach each other. Therefore, there is no shielding feeling for the driver, the front vision of the driver is not obstructed, and it is easy to focus on the actual obstacle. In addition, the main viewpoint contour supplementary effect causes a visual action such that the driver connects the light tips, so that the driver can quickly visually recognize the position of the object.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, a plurality of pairs of upper and lower LED units are arranged along the left and right directions at the upper and lower ends of the windshield, but the LED units may be arranged only at the lower ends, or on a straight line. It is good also as a structure arrange | positioned along the up-down direction at the left-right end or left end or right end which opposes, and it is good also as a structure arrange | positioned at the both ends or one end of the diagonal direction which opposes on a straight line, and it follows a horizontal direction at an upper-lower end A plurality of arrangements may be provided along the vertical direction at the right and left ends. Even in the configuration in which the LED unit is arranged only at one end such as the lower end, the position of the obstacle can be sufficiently indicated by the arrow display effect.

  Further, in the present embodiment, a pair of upper and lower LED units are independently arranged. However, as shown in FIG. 6, a pair of LED units 20 and 21 are connected by a thin transparent thread 25 such as a fishing line. May be. Even if a thin transparent thread is laid on the windshield, it passes therethrough, so the driver does not feel a feeling of shielding and can reduce the sense of incongruity.

  In this embodiment, the light emitting means is constituted by a prism-shaped LED unit. However, other light emitting means may be used as long as it has directivity and does not affect the human body.

  In this embodiment, the position and the light emission direction of the LED unit are fixed. However, the LED unit may move in the horizontal direction or the vertical direction or change the light emission direction according to the position of the obstacle. With this configuration, the number of LED units can be reduced.

It is a block diagram of the driving assistance device which concerns on this Embodiment. It is a layout view of the LED unit according to the present embodiment. It is a perspective view of the LED unit which concerns on this Embodiment. It is a Kanisza triangle. It is a flowchart which shows the flow of the process in ECU of FIG. It is another example of a pair of LED unit.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 10 ... Obstacle detection sensor, 20 ... Upper end LED unit, 21 ... Lower end LED unit, 22 ... Prism, 23 ... LED lamp, 30 ... ECU, 31 ... Obstacle judgment part, 32 ... Obstacle position Coordinate converter 33, LED lighting controller

Claims (3)

A driving support device that notifies the driver of the presence of the detected object,
An object detection means for detecting the object;
Position acquisition means for acquiring the presence position on the windshield corresponding to the presence position of the object detected by the object detection means;
A light emitting means for emitting directional light on the windshield;
And a control means for causing the light emitting means to emit light according to the position of the object on the windshield obtained by the position obtaining means. A pair of the light emitting means is disposed relative to each other;
The driving support device according to claim 1, wherein each light emitting direction of the opposed light emitting means is a direction of the opposed light emitting means.   The driving support device according to claim 2, wherein each of the opposed light emitting units emits light so as not to reach the light emitted by the opposed light emitting units.

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