JP2010061552A - Driving support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To inform a driver of a distance to an alarm object accurately with sound. <P>SOLUTION: An alarm sound So corresponding to the distance to the alarm object A1 existing around an own vehicle 1 is created. A reference sound Sd allowing the driver to recognize as a sound from a predetermined distance is created. The alarm sound So and the reference sound Sd are output at the same time or different timing. It is preferable to control sound volume so that the sound volume of the alarm sound So is larger than that of the reference sound Sd. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle driving support apparatus.

In the vehicle, it is preferable for safety to notify the driver of the presence of dangerous objects in the vicinity. As a kind of such notification, when there is a dangerous object such as another vehicle or a pedestrian, that is, an object to be alarmed, as shown in Patent Document 1, using an output (sound generation) from a speaker, It has been proposed that a sound image be localized in a direction in which an alarm target exists (form a sound field so that sound can be heard from the direction in which the alarm target exists). Further, Patent Document 2 discloses changing the localization position of a virtual sound source and the type of notification sound according to the content to be notified.
JP 2001-1851 A JP 2006-19908 A

  By the way, it is extremely preferable for safety to know the distance to a dangerous object existing around the host vehicle, that is, an alarm target. For this reason, it is conceivable to create an alarm sound according to the distance to the alarm object. For example, it is conceivable to increase the volume (sound pressure) of the alarm sound as the distance to the alarm object is shorter.

  However, it is difficult for a human to simply and accurately grasp the distance to a sound source where the sound is generated simply by listening to the sound. That is, it is practically impossible for the driver to accurately recognize the distance to the alarm target object by simply changing the volume of the alarm sound according to the distance.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle driving support device that can accurately notify the driver of the distance to the alarm target object by sound. There is.

In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in claim 1 in the claims,
Distance detecting means for detecting the distance to the alarm target existing around the vehicle;
An alarm sound creating means for creating an alarm sound according to the distance to the alarm object detected by the distance detecting means;
A reference sound creating means for creating a reference sound for the driver to recognize as a sound from a predetermined distance;
A sound output means for outputting the warning sound created by the warning sound creating means and the reference sound created by the reference sound creating means simultaneously or at a timing shifted in time;
It is supposed to be equipped with.

  According to the above solution, the driver can accurately recognize the distance to the alarm object based on the difference between the alarm sound and the reference sound. In other words, it is difficult for humans to recognize the distance to the sound source that generates the sound by listening to only one sound, but by listening to the two sounds, which sound source is far (or It is easy to tell if it is located nearby. Therefore, the driver can determine the distance to the alarm target object by listening to the alarm sound in comparison with the reference sound while audibly grasping the rough reference distance based on the reference sound indicating the sound from the predetermined distance. You will be able to recognize it accurately.

A preferred mode based on the above solution is as described in claim 2 and the following claims. That is,
The reference sound creating means creates the reference sound based on a sound from a sound source between the driver and the alarm target (corresponding to claim 2). In this case, since the reference sound is a sound from a sound source in a direction close to the alarm object side, the distance to the alarm object can be recognized more accurately.

The reference sound creating means creates a first reference sound based on a sound from a sound source between the driver and the alarm target object as the reference sound, and in the direction of the alarm target object and the alarm Create a second reference sound based on the sound from a sound source far from the object,
The sound output means outputs both the first reference sound and the second reference sound.
(Corresponding to claim 3). In this case, the driver recognizes the difference between the warning sound with respect to the two reference sounds of the first reference sound indicating the distance closer to the alarm object and the second reference sound indicating the distance than the alarm object. Thus, the distance to the alarm target can be recognized more accurately.

  The first reference sound and the second reference sound are output with a time shift (corresponding to claim 4). In this case, the driver can easily compare the alarm sound with the reference sound indicating the vicinity and the reference sound indicating the distance so that the driver can easily compare the alarm sound. Therefore, it is preferable to obtain the above.

  The volume of the reference sound is changed based on at least one of the distance to the alarm object and the alarm sound (corresponding to claim 5). In this case, it is preferable to prevent the driver's consciousness from being directed toward the sound source direction of the reference sound or to clearly distinguish the difference between the warning sound and the reference sound.

  The reference sound has orientation information indicating the direction of the alarm object (corresponding to claim 6). In this case, it is preferable for promptly recognizing the direction in which the alarm object exists.

  The reference sound is created as a road environment sound stored in advance or a road environment sound collected by a microphone (corresponding to claim 7). In this case, the road environment sound having abundant sound source information from near to far is suitable for localization comparison.

  The reference sound is a synthesized sound synthesized by combining the road environment sound with a predetermined reference sound (corresponding to claim 8). In this case, it can be created as a more preferable sound such as setting a sound including various information as the reference sound.

The volume of the reference sound is lower than the volume of the sound source alarm sound,
(Corresponding to claim 9). In this case, it is preferable to let the driver hear the alarm sound clearly while making the volume of the reference sound as low as possible and to accurately recognize the distance to the alarm object.

  ADVANTAGE OF THE INVENTION According to this invention, the distance to an alarm target object can be correctly recognized with respect to a driver | operator using a sound.

  In FIG. 1 showing an automobile 1 as a vehicle, 2 is a driver's seat, 3 is a passenger seat, 4 is a rear seat, 5 is a handle, and 6 is a front window glass. Speakers 7A, 7B, 7C or 7D are arranged in the four corners of the vehicle interior. That is, it has a speaker 7A disposed on the front right, a speaker 7B disposed on the front left, a speaker 7C disposed on the rear right, and a speaker 7D disposed on the rear left. . In the following description, when it is not necessary to distinguish the speakers 7A to 7D, only the speaker 7 will be described.

  A camera 10 is provided in the vicinity of the front window glass 6 in the passenger compartment. The camera 10 serves as an imaging unit, and performs imaging over a wide left and right range in front of the automobile 1. Although not shown in FIG. 1, a plurality of other cameras corresponding to the camera 10 are provided so that the entire periphery of the automobile 1 can be photographed. In addition, microphones 11 </ b> A to 11 </ b> D are attached at four corners of the vehicle body of the automobile 1. The microphones 11A to 11D collect road environment sounds, as will be described later.

  FIG. 2 shows a controller (control unit) U configured using a computer installed in the automobile 1. The controller U controls each speaker 7 and receives outputs from the camera 10 and the microphone 11 described above.

  The controller U includes the following processing units 31 to 37 and storage units 38 and 39 (having a processing function). First, the processing unit 31 extracts a vehicle, a two-wheeled vehicle, and a pedestrian as dangerous objects from the image data captured by the camera 10. The processing unit 31 may extract a dangerous object by checking the degree of coincidence with image data of a vehicle, a two-wheeled vehicle, or a pedestrian stored in advance, and in particular, when extracting a vehicle or a two-wheeled vehicle, road-to-vehicle communication is performed. It is also possible to extract a dangerous object using the position and speed of the other vehicle (two-wheeled vehicle) obtained by the above.

  The processing unit 32 calculates (determines) the degree of risk for the automobile 1 (hourly predetermined space) for the dangerous object extracted by the processing unit 31. The risk level is calculated as follows, for example. First, the distance to the dangerous object and the relative speed are detected (in the embodiment, the distance and the relative speed are detected based on the change in the image taken by the camera 10, but the distance detection sensor and the relative speed are detected. A detection sensor may be used separately). Then, the time until the collision with the dangerous object is calculated from the distance and the relative speed. The shorter the time until the collision, the higher the risk. The processing unit 33 calculates the azimuth and distance of the dangerous object that is determined to have the highest degree of risk among the dangerous objects that have been determined to have a risk level equal to or higher than a predetermined value by the processing unit 32.

  The storage unit 38 stores an alarm sound for distinguishing a vehicle, a two-wheeled vehicle, and a pedestrian as dangerous objects. For example, the sound of the alarm horn “Puppu” is stored for the vehicle, the sound of the doorbell “Chillin, Chillin” is stored for the two-wheeled vehicle, and the sound of the horn “click” is stored for the pedestrian. Yes. In the processing unit 34, the type of alarm sound corresponding to the type of the dangerous object (being a vehicle, a two-wheeled vehicle or a pedestrian) for which the direction and distance are calculated in the processing unit 33 is selected, and the distance to the dangerous object The volume is set according to (the volume increases as the distance to the dangerous object is closer).

  The storage unit 39 stores sound data for creating a reference sound. As the sound data, tire sound during traveling and various road environmental sounds (various ambient sounds generally generated when traveling on a road) are used. The processing unit 35 selects an appropriate sound from the sound data stored in the storage unit 39 in accordance with the output of the processing unit 33 and creates a reference sound. As will be described later, the microphones 11A to 11D are provided at the four corners of the vehicle body of the automobile 1 (own vehicle), and the road environmental sound collected by the microphones 11A to 11D is used as new sound data or as the current sound data. Is stored in the storage unit 39 as sound data that best represents the road environment.

  The processing unit 36 calculates output amounts (volumes) from the speakers 7A to 7D in accordance with the processing results from the processing units 34 and 35. How to set the output amount from each of the speakers 7A to 7D will be described later. The processing unit 37 outputs sounds from the speakers 7A to 7D so that the output amount set by the processing unit 36 is obtained (there may be output from only some speakers).

  FIG. 3 shows a case where a two-wheeled vehicle A1 as a dangerous object serving as an alarm target exists in front of the automobile 1 (own vehicle). In order to make the driver recognize the presence of the two-wheeled vehicle A1, an alarm sound So indicating that the two-wheeled vehicle is a motorcycle (for example, a sound of a bell of a chilin or chilin) is output from the speaker 7A that is closest to the two-wheeled vehicle A1. The volume of the warning sound So is increased as the distance to the two-wheeled vehicle A1 is shorter (the direction in which the two-wheeled vehicle A1 is located is indicated by the warning sound So).

  In FIG. 3, the reference sound Sd is created based on the tire sounds B1 to B4 of the four tires 8A to 8D of the automobile 1, for example. The distance between the driver and each of the tires 8A to 8D is indicated by L1 to L4. The smaller the distances L1 to L4, the smaller the sound volume from the nearby speakers. That is, since the tire 8A (distance L1) is closest to the driver, the volume of the speaker 7A closest to the tire 8A is maximized, and the tire 8B (distance L2) is second closest to the driver, so that it is close to the tire 8B. The volume of the speaker 7B located at the second position is increased second, and the tire 8C (distance L3) is third closest to the driver, so the volume of the speaker 7C closest to the tire 8C is increased third, and the tire 8D (distance Since L4) is farthest from the driver, the volume of the speaker 7D closest to the tire 8D is minimized.

  As the reference sound Sd, there are four types of SdA to SdD created based on the tire sounds (running sounds) B1 to B4 from the speakers 7A to 7D. The driver can recognize the difference (shift) between the reference sounds SdA to SdD and the alarm sound So, and can intuitively and accurately recognize the distance to the two-wheeled vehicle A1. In this case, the volume of the warning sound Sd is larger than the volume of the reference sound Sd (SdA to SdD) so as not to miss the warning sound So and so that the driver does not pay much attention to the reference sound Sd. To be. Of course, the volume of the warning sound So is increased as the distance to the two-wheeled vehicle A1 is shorter, but the distance based on the volume of the warning sound So is grasped only by the warning sound So by comparison with the reference sound Sd. Compared to, the driver can recognize much more accurately.

  Specific control examples for performing the control as shown in FIG. 3 are shown in the flowcharts of FIGS. Hereinafter, this flowchart will be described. In the following description, Q indicates a step. First, in Q1 of FIG. 7, an image (image data) taken by the camera 10 and sound collection data by the microphone 11 are read. Next, in Q2, a dangerous object is extracted from the image data. Thereafter, in Q3, it is determined whether or not a dangerous object exists. If the determination in Q3 is NO, the process returns to Q1.

  If the determination in Q3 is YES, the danger level of the dangerous object is calculated in Q4. Next, in Q5, the direction and distance of the dangerous object with the highest degree of danger are calculated. Thereafter, in Q6, the sound type of the alarm sound So (information providing sound) corresponding to the type of the dangerous object to be alarmed, the volume corresponding to the distance to the dangerous object, and the direction of the dangerous object are set. Next, at Q7, the reference sound Sd is set as described later. Thereafter, in Q8, output control of the alarm sound So and the reference sound Sd is performed.

  Details of the creation of the reference sound in Q7 are shown in FIG. In Q11 of FIG. 8, the reference sound data is called (calling of the reference sounds of the tires B1 to B4). Thereafter, in Q12, the volume of the reference sound is adjusted according to the difference in distance from the driver to each of the tires 8A to 8D (the tire sound closer to the driver increases the volume). In Q13, the volume of each reference sound is adjusted to be lower than the volume of the reference sound alarm sound (information providing sound) So.

  FIG. 4 shows a second embodiment of the present invention. In the present embodiment, the reference sound Sd is set to be in the same direction as the direction of the dangerous object A1. That is, in FIG. 4, since the dangerous object A1 is in the direction of the right front tire B1, in this case, the reference sound Sd is only the tire sound B1 of the right front tire 8A among the tire sounds B1 to B4.

  An example of control in the present embodiment is shown in the flowcharts of FIGS. 7 and 9, and details of steps shown in Q7 of FIG. 7 are shown in FIG. Since the flowchart of FIG. 7 is the same as that of the above-described embodiment (this is the same in the following third embodiment and the following), redundant description of FIG. 7 is omitted. In Q21 of FIG. 9, the data of each tire sound B1 to B4 is read (corresponding to Q11 of FIG. 8). Thereafter, in Q22, the volume of the reference sound is adjusted according to the distance from the driver to each of the tires 8A to 8D (corresponding to Q12 in FIG. 8). Thereafter, in Q23, the direction in which the dangerous object A1 exists is calculated. Next, in Q24, the volume of each speaker 7A to 7D is set so that the reference sound is in the same direction as the direction in which the dangerous object A1 exists. In the example of FIG. 4, since the dangerous object A1 exists in the direction of the tire 8A, the reference sound is output only from the speaker 7A closest to the tire 8A, but depending on the direction in which the dangerous object A1 exists, In some cases, it is output from two or more speakers. In Q25, the volume of the reference sound set in Q24 is adjusted to be lower than the volume of the alarm sound So (corresponding to Q13 in FIG. 8).

  FIG. 5 shows a third embodiment of the present invention. In the present embodiment, in the direction in which the dangerous object A1 exists, the sound of the object A2 that is further away from the dangerous object A1 is also used as the reference sound. As in the second embodiment, the direction of the dangerous object A1 is indicated by the first reference sound based on the tire sound and the second reference sound based on the object A2 existing in the distance. In the present embodiment, the first reference sound and the second reference sound are output with the time shifted. According to the present embodiment, the distance to the dangerous object A1 is set to 2 of the first reference sound based on the tire sound from the vicinity of the driver and the second reference sound based on the object A2 farther from the dangerous object A1. With this setting, the distance to the dangerous object A1 can be recognized more accurately based on the alarm sound. As the object A2, it is preferable to select the same object (vehicle, two-wheeled vehicle or pedestrian) as the type of the dangerous object to be alarmed, and the type of the reference sound also depends on the type of the object A2. It is preferable to set so as to be.

  7 and 10 are flowcharts showing a control example of the third embodiment, and details of Q7 in FIG. 7 are shown in FIG. In Q31 of FIG. 10, tire sound data as the first reference sound is called (corresponding to Q11 of FIG. 8). Next, in Q32, the volume of each speaker 7A to 7D is adjusted according to the distance from the driver to each tire (corresponding to Q12 in FIG. 8).

  After Q32, in Q33, the direction in which the dangerous object A1 exists is calculated. Thereafter, in Q34, the distance to the object A2 farther than the dangerous object A1 in the direction in which the dangerous object A1 exists is calculated. Thereafter, in Q35, a second reference sound corresponding to the distance to the object A2 is calculated. In Q36, the volume of each reference sound is adjusted to be lower than the volume of the alarm sound So.

  FIG. 6 shows a fourth embodiment of the present invention. In the present embodiment, the reference sound is generated based on road environment sound collected by the microphones 11 (11A to 11D) provided at the four corners of the vehicle body instead of the tire sound. The reference sound based on the road environment sound is created in the same manner as in the first embodiment shown in FIG. That is, the volume of the road environment sound collected by the microphones 11A to 11D is increased in the order closer to the driver. The warning sound So is localized in the direction in which the dangerous object A1 exists.

  7 and 11 are flowcharts showing a control example of the fourth embodiment, and details of Q7 in FIG. 7 are shown in FIG. In Q41 of FIG. 11, road environment sounds are collected from the microphones 11A to 11D. Next, in Q42, the sound volume of each speaker 7A to 7D is adjusted according to the distance between each microphone 11A to 11D and the driver (the road environment sound collected by the microphone closer to the driver is assigned to this microphone). The volume of the near speaker is increased). In Q43, the volume of the reference sound is adjusted to be lower than the volume of the alarm sound So.

  Although the embodiments have been described above, the present invention is not limited to the embodiments, and appropriate modifications can be made within the scope of the claims. Of course, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.

The simplified top view which shows an example of the vehicle to which this invention was applied. The block diagram which shows the example of a control system of this invention. Explanatory drawing which shows the 1st Embodiment of this invention. Explanatory drawing which shows the 2nd Embodiment of this invention. Explanatory drawing which shows the 3rd Embodiment of this invention. Explanatory drawing which shows the 4th Embodiment of this invention. The flowchart which shows the example of control of this invention and is common to each embodiment. The flowchart which shows the example of control in the 1st Embodiment of this invention. The flowchart which shows the example of control in the 2nd Embodiment of this invention. The flowchart which shows the example of control in the 3rd Embodiment of this invention. The flowchart which shows the example of control in the 4th Embodiment of this invention.

Explanation of symbols

U: Controller A1: Dangerous object (warning target)
A2: Object (distant object)
1: Car 2: Driver's seat 7A-7D: Speaker 8A-8D: Tire 10: Camera (dangerous object detection)
11A-11D: Microphone

Claims (9)

Distance detecting means for detecting the distance to the alarm target existing around the vehicle;
An alarm sound creating means for creating an alarm sound according to the distance to the alarm object detected by the distance detecting means;
A reference sound creating means for creating a reference sound for the driver to recognize as a sound from a predetermined distance;
A sound output means for outputting the warning sound created by the warning sound creating means and the reference sound created by the reference sound creating means simultaneously or at a timing shifted in time;
A vehicle driving support apparatus comprising: In claim 1,
The vehicle driving support apparatus, wherein the reference sound creating means creates the reference sound based on a sound from a sound source located between a driver and the alarm target. In claim 2,
The reference sound creating means creates a first reference sound based on a sound from a sound source between the driver and the alarm target object as the reference sound, and in the direction of the alarm target object and the alarm Create a second reference sound based on the sound from a sound source far from the object,
The sound output means outputs both the first reference sound and the second reference sound.
A vehicle driving support apparatus characterized by the above. In claim 3,
The vehicle driving support device, wherein the first reference sound and the second reference sound are output with a time shift. In claim 1,
The vehicle driving support apparatus according to claim 1, wherein the volume of the reference sound is changed based on at least one of the distance to the alarm object and the alarm sound. In claim 1,
The vehicle driving support device according to claim 1, wherein the reference sound includes azimuth information indicating a direction of the alarm target. In claim 1,
The vehicle driving support device according to claim 1, wherein the reference sound is created as a road environment sound stored in advance or a road environment sound collected by a microphone. In claim 7,
The vehicle driving support device according to claim 1, wherein the reference sound is a synthesized sound synthesized by combining the road environment sound with a predetermined reference sound. In any one of Claims 1 thru | or 8,
The volume of the reference sound is lower than the volume of the sound source alarm sound,
A vehicle driving support apparatus characterized by the above.

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