JP2010231337A - Lane departure alarm for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a driver pay attention to a risk object, when the departure of a vehicle is predicted and the risk object in the periphery of the vehicle is detected, in the lane departure alarm of a vehicle which generates an alarm sound when the departure of the vehicle from the lane is predicted. <P>SOLUTION: The lane departure alarm A includes; a departure possibility estimation part 19c for predicting the departure of the vehicle V from a lane L; a dummy sound generation/output part 19d for, when the departure of the vehicle V is predicted by the departure possibility estimation part 19c, generating a departure dummy sound; and a risk object detection part 19b for detecting the risk object in the periphery of the vehicle V. When the departure of the vehicle V is predicted by the departure possibility estimation part 19c, and the risk object is detected by the risk object detection part 19b, the dummy sound generation output part 19d generates a departure risk object dummy sound one of characteristics and generating forms of which is at least different from that of the departure dummy sound. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle lane departure warning device for generating a warning sound when a departure from a vehicle lane is predicted.

2. Description of the Related Art Conventionally, a vehicle lane departure warning device for generating a warning sound when a departure from a vehicle lane is predicted is known. For example, in Patent Document 1, a virtual white line is set in an area where a white line is not detected, and an alarm sound is generated when a deviation of the vehicle from a lane divided by the white line and the virtual white line is predicted. It is like that.
JP 2007-8281 A

  By the way, when there is a dangerous object such as an oncoming vehicle or a pedestrian around the vehicle, the occupant needs to pay attention to the dangerous object. However, in Patent Document 1, there is a deviation from the lane of the vehicle. Even if such a dangerous object is present, the same alarm sound as that when there is no dangerous object is generated, and there is a possibility that the occupant may not pay attention to the dangerous object. In particular, when the warning sound is generated from the direction in which the vehicle is predicted to deviate from the lane, the occupant tends to watch the direction, and there is a possibility that the occupant may not pay attention to the dangerous object.

  The present invention has been made in view of such points, and an object of the present invention is to provide a vehicle lane departure warning device for generating a warning sound when a departure from a vehicle lane is predicted. When a deviation is predicted and a dangerous object around the vehicle is detected, attention is also paid to the dangerous object.

  According to a first aspect of the present invention, there is provided a departure prediction means for predicting a departure from a lane of a vehicle, an alarm control means for generating a first warning sound when a departure from the vehicle is predicted by the departure prediction means, A dangerous object detection means for detecting a surrounding dangerous object, wherein the alarm control means predicts a deviation of the vehicle by the deviation prediction means and detects the dangerous object by the dangerous object detection means. In this case, the vehicle lane departure warning device is configured to generate a second warning sound that differs from the first warning sound in at least one of characteristics and generation modes.

  As a result, when a deviation of the vehicle is predicted by the deviation prediction means and a dangerous object is detected by the dangerous object detection means, the alarm control means generates when the deviation prediction means predicts the vehicle departure. Since the second warning sound that is different from at least one of the characteristics and generation modes of the first warning sound is generated, the occupant's attention can be directed to the dangerous object.

  The alarm sound characteristics include a continuous characteristic of the alarm sound (that is, whether it is a continuous sound or an intermittent sound), a frequency characteristic, a sound quality characteristic, and the like. The alarm sound generation mode includes an alarm sound generation position and the like.

  According to a second aspect of the present invention, in the first aspect of the present invention, a visual line detection unit that detects the line of sight of an occupant is further provided, and the alarm control unit is detected by the visual line detection unit after the second alarm sound is generated. When the occupant's line of sight faces the dangerous object, the generation of the second warning sound is stopped.

  Thus, after the second alarm sound is generated, when the occupant's line of sight detected by the line-of-sight detection unit faces the dangerous object, the alarm control unit stops the generation of the second alarm sound. After giving the passenger's attention, the second alarm sound can be prevented from being generated unnecessarily, and the passenger can be prevented from feeling annoyed.

  According to a third aspect, in the first aspect, the second alarm sound is different from the first alarm sound in at least one of continuous characteristics, frequency characteristics, sound quality characteristics, and generation positions. Is.

  As a result, the second alarm sound is different from the first alarm sound in at least one of the continuous characteristic, frequency characteristic, sound quality characteristic, and generation position, so that the occupant's attention can be reliably directed to the dangerous object. it can.

  In a fourth aspect based on the first aspect, the alarm control means has a low possibility of vehicle deviation predicted by the deviation prediction means, and the dangerous object detection means detects the dangerous object. When there is not, it is configured to generate the first alarm sound, the possibility of vehicle departure predicted by the departure predicting means is low, and no dangerous object is detected by the dangerous object detecting means. It is further characterized by further comprising reaction detection means for detecting the occupant's reaction to the first alarm sound generated by the alarm control means.

  As a result, when the possibility of vehicle departure predicted by the departure predicting means is low and no dangerous object is detected by the dangerous object detecting means, the alarm control means generates the first warning sound. It is possible to learn that there is a relationship between the vehicle departure and the first warning sound, and the reaction time from when the first warning sound is generated until the passenger reacts can be shortened.

  In a fifth aspect based on the fourth aspect, the alarm control means is configured such that when the occupant's reaction detected by the reaction detection means is dull, and then the deviation of the vehicle is predicted by the deviation prediction means, In addition to or instead of generating the first alarm sound, at least one of an alarm appealing to the occupant's vision and a steering torque assist assisting a steering torque of the steering wheel is performed. It is a feature.

  Thereby, when the response of the occupant detected by the reaction detection means is dull, and then when the departure of the vehicle is predicted by the departure prediction means, in addition to or instead of generating the first warning sound by the alarm control means. Thus, at least one of a warning appealing to the occupant's vision and a steering torque assist for assisting the steering torque of the steering wheel is performed, so that the occupant's attention to the sound can be directed toward the departure of the vehicle.

  In a sixth aspect based on the fifth aspect, the alarm control means sequentially turns on the plurality of light emitting elements arranged in parallel in the vehicle width direction on the dashboard in the direction in which the steering wheel should be steered. Is configured to cause a warning to appeal to the occupant's vision.

  As a result, the warning control means sequentially turns on the plurality of light emitting elements arranged in parallel in the vehicle width direction on the dashboard in the direction in which the steering wheel should be steered, so that the occupant can steer the steering wheel in the direction in which the steering wheel should be steered. Can be made.

  In a seventh aspect based on the first aspect, the alarm control means has a low possibility of vehicle deviation predicted by the deviation prediction means and the risk object detected by the danger object detection means. When the degree of danger is low, the second alarm sound is generated, the danger target of the vehicle predicted by the deviation prediction means is low and detected by the danger object detection means The apparatus further comprises reaction detection means for detecting a response of the occupant to the second alarm sound generated by the alarm control means when the danger level of the object is low. The alarm control means is detected by the reaction detection means. And at least one of the characteristics and the generation mode of the second warning sound is optimized based on the occupant's reaction, and thereafter, the deviation prediction means predicts a vehicle departure and When dangerous object is detected by the serial dangerous object detecting means, it is characterized in that it is configured to generate a second alarm sound that the optimization.

  As a result, when the possibility of vehicle departure predicted by the departure predicting means is low and the danger level of the dangerous object detected by the dangerous object detecting means is low, the alarm control means generates the second alarm sound. Therefore, it is possible to let the occupant learn that there is a relationship between the vehicle departure and the dangerous object and the second alarm sound, and shorten the reaction time from when the second alarm sound is generated until the occupant reacts. Can do.

  In addition, the alarm control means optimizes at least one of the characteristics and generation modes of the second alarm sound based on the passenger response detected by the reaction detection means, and then predicts the vehicle departure by the departure prediction means. When the dangerous object is detected by the dangerous object detection means, the optimized second alarm sound is generated, so that the second alarm sound suitable for the passenger's reaction characteristic can be generated.

  An eighth invention according to the first invention further comprises steering detection means for detecting steering of the steering wheel, and the alarm control means is configured to detect the steering when the steering detection means detects steering. The alarm sound is generated to such an extent that an occupant cannot perceive it.

  Thus, when steering is detected by the steering detection means, the warning control means generates the first warning sound to the extent that the occupant cannot perceive, so that the steering and the first warning sound are related. It can be imprinted on the occupant's consciousness, and the reaction time from when the first warning sound is generated until the occupant steers can be shortened.

  According to the present invention, when a deviation of the vehicle is predicted by the deviation prediction means and a dangerous object is detected by the dangerous object detection means, the departure of the vehicle is predicted by the deviation prediction means by the alarm control means. Since the second alarm sound having at least one of the characteristics and the generation manner is different from the first alarm sound to be generated, the occupant's attention can be directed to the dangerous object.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a vehicle (own vehicle) V equipped with a lane departure warning device A according to an embodiment of the present invention. The vehicle V includes an external camera 1 that is a stereo camera that images the front of the vehicle V, a vehicle speed sensor 3 that detects the vehicle speed of the vehicle V (only shown in FIG. 2), and a steering angle sensor that detects the steering angle of the steering wheel 5. 7 (steering detection means), an indoor camera 9 (line-of-sight detection means) that images the interior of the vehicle V, and first to fourth vehicles disposed on the right front, left front, right rear, and left rear of the vehicle V, respectively. Speakers 11a to 11d, a plurality of LEDs 15 disposed on the dashboard 13,... (Light emitting elements), a steering torque motor 17 disposed on a steering device (not shown), the speakers 11 and the LEDs 15, A control unit 19 (only FIG. 2 is shown) for controlling the torque motor 17 is provided. When the vehicle V predicts that the vehicle V will depart from the currently traveling lane L, the speaker 11 sounds, the LED 15 lights up, or the steering torque motor 17 operates to suppress the departure. It has come to be.

  The external camera 1 is attached to the center in the vehicle width direction at the front of the vehicle V, and is a lane marking S in front of the vehicle V (for example, the center line, the boundary between the lane and the lane, the roadway and the sidewalk A boundary line), a dangerous object in front of the vehicle V (for example, an oncoming vehicle W, a pedestrian P, a curve C of the travel lane L, etc. that are currently traveling in the adjacent lane M adjacent to the travel lane L). It is like that. The captured image information of the external camera 1 is input to the image acquisition unit 19 a of the control unit 19.

  The vehicle speed information of the vehicle speed sensor 3 is input to the departure possibility estimation unit 19 c of the control unit 19. The steering angle information of the steering angle sensor 7 is input to the departure possibility estimation unit 19c, the learning control unit 19e, the effect detection unit 19f, and the imprint control unit 19g of the control unit 19.

  The indoor camera 9 is attached to the center of the vehicle V room in the vehicle width direction, and detects the line of sight by imaging the driver (occupant). The captured image information of the indoor camera 9 is input to the onomatopoeia generation output unit 19d, the learning control unit 19e, and the effect detection unit 19f of the control unit 19.

  The first to fourth speakers 11a to 11d are attached to the right end of the dashboard 13, the left end of the dashboard 13, the right side of the rear seat 21, and the left side of the rear seat 21, respectively. For example, rumble strip sounds, horn sounds, artificial sounds such as artificial sounds, etc.) are generated. The direction in which the alarm sound of the first and second speakers 11a, 11b is generated is the rear of the vehicle V, while the direction of the alarm sound of the third and fourth speakers 11c, 11d is the front of the vehicle V.

  The plurality of LEDs 15 are arranged in parallel in the vehicle width direction on the driver's seat 23 side on the upper surface of the dashboard 13, and light emitted from the LEDs 15 is reflected by a front window glass (not shown). Thus, a warning appealing to the driver's vision is performed. The steering torque motor 17 performs steering torque assist that assists the steering torque of the steering wheel 5.

  As shown in FIG. 2, the control unit 19 includes an image acquisition unit 19a that acquires a captured image of the external camera 1, and a dangerous object detection unit 19b that detects a dangerous object around the vehicle V (dangerous object detection). Means), a deviation possibility estimation unit 19c (deviation prediction means) for predicting the possibility of deviation of the vehicle V from the travel lane L, and the deviation possibility estimation unit 19c may cause deviation of the vehicle V from the travel lane L. A predicted sound generation / output unit 19d that generates a pseudo sound on the speaker 11 when predicted, and a learning control unit 19e that causes the driver to learn by controlling the pseudo sound generation / output unit 19d to generate the pseudo sound on the speaker 11; It is assumed that steering of the steering wheel 5 is detected by the effect detection unit 19f (reaction detection means) for detecting the effect of learning by the driver by the learning control unit 19e and the steering angle sensor 7. In addition, imprint control that imprints on the driver's consciousness that there is a relationship between steering and imitation sound by controlling the imitation sound generation output unit 19d so that the speaker 11 can generate imitation sound to such an extent that the driver cannot perceive it. 19g, and these are connected so as to be able to communicate with each other. The onomatopoeia generation output unit 19d, the learning control unit 19e, the effect detection unit 19f, and the imprint control unit 19g constitute an alarm control unit.

  The acquired image of the image acquisition unit 19a is input to the dangerous object detection unit 19b and the departure possibility estimation unit 19c. The dangerous object detection unit 19b performs image processing on the acquired image of the image acquisition unit 19a, detects a dangerous object in front of the vehicle V (around the vehicle V), and determines the risk level of the dangerous object. It is supposed to be. Specifically, for example, when the distance from the vehicle V to the object is equal to or less than a predetermined distance, the dangerous object detection unit 19b determines that the object is a dangerous object, and the distance is relative. When the distance is near, the risk level of the dangerous object is relatively high, and when the distance is relatively long, the risk level is determined to be relatively low.

  The departure possibility estimation unit 19c performs image processing on the acquired image of the image acquisition unit 19a, detects the lane marking S in front of the vehicle V, and determines the traveling lane L based on the lane marking S. It comes to detect. The departure possibility estimation unit 19c then determines the possibility that the vehicle V deviates from the traveling lane L based on the lane marking S, the traveling lane L, the vehicle speed information of the vehicle speed sensor 3, and the rudder angle information of the rudder angle sensor 7. Estimated. Specifically, for example, based on the lane marking line S, the traveling lane L, the vehicle speed, and the rudder angle, the side surface of the vehicle V in the direction in which the vehicle V is inclined with respect to the traveling lane L after one second, and the lane in that direction The distance from the lane marking S is calculated, and the possibility that the vehicle V deviates from the traveling lane L is estimated based on this calculated value.

  The onomatopoeia generation output unit 19d estimates that there is no possibility of departure of the vehicle V by the departure possibility estimation unit 19c and the danger object detection unit 19b determines that the danger level of the danger object is relatively high. In order to direct the driver's attention to the dangerous object, a dangerous sound for the dangerous object (hereinafter referred to as a dangerous object) is generated based on the type of the dangerous object, and the dangerous object is generated by the dangerous object. The speaker 11 is output in the direction that exists with respect to the vehicle V. Specifically, if it is determined that a bicycle (dangerous object) is present in the right front of the vehicle V, for example, a bicycle bell sound (dangerous material onomatopoeia) is used, and the volume of the first speaker 11a is the second speaker. It is generated so as to be louder than the volume of 11b, and the pseudo sound is output to the first and second speakers 11a and 11b. Further, when it is determined that the pedestrian P (dangerous object) is present in the right front of the vehicle V, for example, the first speaker 11a has a volume of the pseudo sound (dangerous object pseudo sound) such as a person screaming or walking sound. The volume is generated to be larger than the volume of the two speakers 11b, and the pseudo sound is output to the first and second speakers 11a and 11b. As described above, the volume of the first speaker 11a on the right front side of the vehicle V is larger than the volume of the second speaker 11b on the left front side of the vehicle V. This is to inform that it exists in the right front.

  Further, the onomatopoeia generation output unit 19d estimates that the possibility of departure of the vehicle V is relatively high by the departure possibility estimation unit 19c, and the dangerous object detection unit 19b detects no dangerous object or When it is determined that the degree of danger is relatively low, in order to direct the driver's attention toward the departure of the vehicle V, a pseudo sound for departure (hereinafter, referred to as a “separation pseudo sound”, the first warning sound) is generated, and the pseudo sound is generated. Is output to the speaker 11 in the direction in which the vehicle V is estimated to deviate from the travel lane L. Specifically, as shown in FIG. 3A, when it is estimated that the vehicle V deviates from the travel lane L to the right of the vehicle V, for example, as shown in FIG. Are generated so that the volume of the first speaker 11a is larger than the volume of the second speaker 11b, and the continuous sound is generated by the first and second speakers 11a. , 11b. As described above, the volume of the first speaker 11a on the right front side of the vehicle V is larger than the volume of the second speaker 11b on the left front side of the vehicle V. This is to inform that it is presumed to be likely (hereinafter the same).

  On the other hand, the onomatopoeia generation output unit 19d estimates that the possibility of departure of the vehicle V is relatively high by the departure possibility estimation unit 19c and the danger level of the dangerous object is relatively high by the danger object detection unit 19b. When the determination is made, the driver's attention is directed to both the departure of the vehicle V and the dangerous object. Therefore, the above-described departure pseudo sound is different from the above-described departure pseudo sound, and the pseudo sound for the departure / dangerous object (hereinafter referred to as a departure dangerous object). The speaker 11 is configured to output a second alarm sound). Specifically, as shown in FIG. 4A, after it is estimated that the vehicle V deviates from the driving lane L to the right of the vehicle V, the oncoming vehicle W or the pedestrian P (in FIG. 4A) When it is determined that the oncoming vehicle W is present at the right front of the vehicle V, for example, as shown in FIG. Are generated so that the volume of the first speaker 11a is higher than the volume of the second speaker 11b, and the continuous sound is output to the first and second speakers 11a and 11b. When it is determined that the oncoming vehicle W or the pedestrian P is present in the right front of the vehicle V, the intermittent waveform of the rumble strips sound having a rectangular waveform (that is, the departure characteristic differs from the above-mentioned departure sound) Dangerous material imitation) 1st speaker 1 Volume of a is generated to be greater than the volume of the second speaker 11b, thereby outputting the intermittent sounds first and second speaker 11a, a 11b.

  Further, as shown in FIG. 5A, after it is estimated that the vehicle V deviates from the travel lane L to the right side of the vehicle V, a pedestrian P (dangerous object) is further present on the right front side of the vehicle V. When the determination is made, for example, as shown in FIGS. 5B and 5C, first, the continuous sound (deviation pseudo sound) of the rumble strip sound having a rectangular waveform is converted to the volume of the first speaker 11a. The volume is generated to be larger than the volume of the second speaker 11b, and the continuous sound is output to the first and second speakers 11a and 11b. Thereafter, it is determined that the pedestrian P is present on the right front side of the vehicle V. When the waveform is rectangular and the frequency characteristics are different from the above-mentioned departure onomatopoeia (in this example, there are more high frequency components than the onset departure onomatopoeia), Volume of the first speaker 11a It generated to be greater than the volume of the second speaker 11b, and outputs the continuous sound first and second speaker 11a, a 11b.

  Further, as shown in FIG. 6A, after it is estimated that the vehicle V deviates from the travel lane L to the left of the vehicle V, it is further determined that a right curve C (dangerous object) exists in front of the vehicle V. When, for example, as shown in FIG. 6B, first, the waveform of the waveform is rectangular, the continuous sound of the rumble strip sound (deviation imitation sound), the volume of the second speaker 11b is the volume of the first speaker 11a. And the continuous sound is output to the first and second speakers 11a and 11b, and when it is determined that the right curve C exists ahead of the vehicle V, the waveform is triangular. The rumble strips sound (deviation dangerous substance onomatopoeia) is generated, and the sound is output to the speaker 11 so that the output position differs from that of the departure onomatopoeia. In this example, the first speaker 11a, the third speaker 11c, the fourth speaker 11d, and the second speaker 11b are output in this order (that is, the steering wheel 5 is output in the order of the speakers 11 in the direction to be steered). As described above, the volume of the second speaker 11b on the left front side of the vehicle V is larger than the volume of the first speaker 11a on the right front side of the vehicle V. This is to inform that it is presumed to be likely (hereinafter the same).

  Furthermore, as shown in FIG. 7A, after it is estimated that the vehicle V deviates from the travel lane L to the left of the vehicle V, it is further determined that the right curve C (dangerous object) exists in front of the vehicle V. When, for example, as shown in FIG. 7 (b), first, the waveform of the rumble strip sound is a continuous waveform (deviation pseudo sound) having a rectangular waveform, and the volume of the second speaker 11b is that of the first speaker 11a. When it is determined that the right curve C exists ahead of the vehicle V, the rumble strips are generated so as to be larger than the volume and output the continuous sound to the first and second speakers 11a and 11b. The volume of the first and second speakers 11a and 11b is gradually increased and the volume of the third and fourth speakers 11c and 11d is gradually decreased in the same cycle (that is, the sound is reproduced with the same cycle). Force position as if to move from the front of the vehicle V behind) so produced have to output the sound to the first to fourth speakers 11 a to 11 d. That is, the volume distribution of each speaker 11 is changed.

  Further, the onomatopoeia generation output unit 19d is configured to output a dangerous object after the departure dangerous substance imitation sound (that is, it is estimated that the possibility of departure of the vehicle V is relatively high by the departure possibility estimation unit 19c and the dangerous object detection unit 19b When it is determined that the danger level of the object is relatively high), when the driver's line of sight detected by the indoor camera 9 faces the dangerous object, the output of the deviating dangerous substance pseudo sound is stopped. .

  The learning control unit 19e determines that the possibility of departure of the vehicle V is relatively low by the departure possibility estimation unit 19c and when the danger object detection unit 19b does not detect the danger object, In order to learn that there is a relationship between the deviation and the above-described deviation onomatopoeia, the onomatopoeia generation / output unit 19d is controlled to output the onset onomatopoeia to the speaker 11. It should be noted that the specific method for outputting the learning departure onomatopoeia is the same as the above-described specific method for outputting the warning departure onomatopoeia.

  Further, the learning control unit 19e determines that the possibility of departure of the vehicle V is relatively low by the departure possibility estimation unit 19c and determines that the danger level of the dangerous object is relatively low by the danger object detection unit 19b. When this is done, in order for the driver to learn that there is a relationship between the deviation of the vehicle V and the dangerous object and the above-mentioned deviating dangerous substance pseudo sound, the pseudo sound generating / outputting unit 19d is provided to output the deviating dangerous substance pseudo sound to the speaker 11. It comes to control. It should be noted that the specific method for outputting the deviating dangerous substance imitation sound for learning is the same as the above-described specific method for outputting the deviating dangerous substance imitation sound for warning.

  The effect detection unit 19f causes the speaker 11 to output when it is estimated that the possibility of departure of the vehicle V is relatively low by the departure possibility estimation unit 19c and no dangerous object is detected by the dangerous object detection unit 19b. A driver's reaction to the above-mentioned departure onomatopoeia is detected. Specifically, for example, when the possibility of departure of the vehicle V is estimated to be relatively low by the departure possibility estimation unit 19c and the danger object is not detected by the danger object detection unit 19b, a departure pseudo sound is output to the speaker 11. The steering response time from when the output is made until the driver steers the steering wheel 5 is measured in order to avoid the deviation.

  Then, when the detected response of the driver is relatively dull (in this example, when the steering response time is equal to or longer than a predetermined time), the effect detection unit 19f then uses the departure possibility estimation unit 19c to detect the vehicle V. When it is estimated that the possibility of departure is relatively high and the dangerous object detection unit 19b does not detect the dangerous object, or when it is determined that the danger level of the dangerous object is relatively low, the pseudo sound generation output unit 19d In addition to or instead of outputting the departure pseudo sound to the speaker 11, the LEDs 15 are sequentially turned on in the direction in which the steering wheel 5 should be steered, or the steering torque motor 17 is operated when the steering wheel 5 is steered. Yes. FIG. 8 is generated when light emitted from the LED 15 is reflected by the windshield when the LED 15 is sequentially turned on in the direction in which the steering wheel 5 should be steered (right direction in the example in the figure). The reflected light is shown.

  Further, the effect detection unit 19f determines that the possibility of departure of the vehicle V is relatively low by the departure possibility estimation unit 19c, and determines that the danger level of the dangerous object is relatively low by the danger object detection unit 19b. The driver's reaction to the above-mentioned deviant pseudo sound output to the speaker 11 when detected is detected. Specifically, for example, the possibility of departure of the vehicle V is estimated to be relatively low by the departure possibility estimation unit 19c, and the danger level of the dangerous object is determined to be relatively low by the danger object detection unit 19b. When the driver 11 outputs the pseudo-sound on the speaker 11, the forward visual reaction time until the driver's line of sight detected by the indoor camera 9 faces the dangerous object is measured.

  When the detected response of the driver is relatively dull (in this example, when the forward visual reaction time is equal to or longer than a predetermined time), the effect detection unit 19f responds to the driver's response (in this example, the front Based on the visual reaction time), at least one of the characteristics and the generation mode of the deviating dangerous substance pseudo sound is optimized (for example, the output timing of the deviating dangerous substance pseudo sound is advanced), and then the deviation possibility estimating unit 19c uses the vehicle. When it is estimated that the possibility of departure of V is relatively high and the dangerous object detection unit 19b determines that the danger of the dangerous object is relatively high, the optimized departure dangerous object pseudo sound is transmitted to the speaker 11. In order to output, the onomatopoeia generation output unit 19d is controlled.

  When the rudder angle of the steering wheel 5 is detected by the rudder angle sensor 7, the imprinting control unit 19g causes the departure pseudo sound to be transmitted to the speaker 11 for a short time (about 50 milliseconds in this example) due to a subliminal effect. In order to output, the onomatopoeia generation output unit 19d is controlled.

  Hereinafter, the lane departure warning control of the control unit 19 will be described with reference to the flowchart of FIG.

  First, in step S1, image information of the cameras 1 and 9 and detection information of the sensors 3 and 7 are input. In the subsequent step S2, the possibility that the vehicle V deviates from the travel lane L is predicted based on the image information of the external camera 1, the vehicle speed information of the vehicle speed sensor 3, and the steering angle information of the steering angle sensor 7. In the subsequent step S3, a dangerous object ahead of the vehicle V is detected based on the image information of the external camera 1. In a succeeding step S4, it is determined whether or not there is a possibility that the vehicle V deviates from the traveling lane L. If the determination result in step S4 is YES and there is no possibility of departure, the process proceeds to step S5. If the determination result is NO and there is a possibility of departure, the process proceeds to step S9.

  In step S5, it is determined whether there is a dangerous object and the degree of danger is high. If the determination result in step S5 is YES and there is a dangerous object and the risk level is high, the process proceeds to step S6. If the determination result is NO and there is no risk object or the risk level is low, the process proceeds to step S7. .

  In step S6, the dangerous sound mimic sound corresponding to the type of the dangerous object and its direction is output to the speaker 11. Specifically, when a bicycle is present in the right front of the vehicle V, for example, a pseudo sound of a bicycle bell sound is output to the first and second speakers 11a and 11b. Further, when the pedestrian P is present on the right front side of the vehicle V, for example, the first and second speakers 11a and 11b are caused to output pseudo sounds such as a person's screaming sound and a walking sound.

  In a succeeding step S7, it is determined based on the steering angle information of the steering angle sensor 7 whether or not the steering wheel 5 has been steered. If the determination result in step S7 is YES and steering is performed, the process proceeds to step S8. If the determination result is NO and steering is not performed, the process returns to the start. In step S8, the departure onomatopoeia for the subliminal effect is output to the speaker 11 for a short time, and then the process returns to the start.

  In step S9, it is determined whether or not the possibility that the vehicle V departs from the travel lane L is low. If the determination result in step S9 is YES and the possibility of departure is low, the process proceeds to step S10. If the determination result is NO and the possibility of departure is high, the process proceeds to step S25.

  In step S10, it is determined whether there is a dangerous object and the degree of danger is high. If the determination result in step S10 is YES and there is a dangerous object and the risk level is high, the process proceeds to step S11. If the determination result is NO and there is no risk object or the risk level is low, the process proceeds to step S12. .

  In step S11, similar to step S6, the pseudo sound corresponding to the type of dangerous object and its presence direction is output to the speaker 11, and then the process proceeds to step S7.

  In step S12, it is determined whether there is a dangerous object and the degree of danger is low. If the determination result in step S10 is YES and there is a dangerous object and the degree of risk is low, the process proceeds to step S13. If the determination result is NO and there is no dangerous object, the process proceeds to step S19.

  In step S13, learning that causes the driver to learn the departure of the vehicle V and the relationship between the danger object and the departure dangerous substance onomatopoeia by causing the speaker 11 to output the departure danger onomatopoeia (see steps S14 to S17 below). ) Is already performed a plurality of times. If the determination result in step S13 is NO and learning has been performed once or has not been performed, the process proceeds to step S14. If the determination result is YES and learning has been performed a plurality of times, the process proceeds to step S18.

  In step S <b> 14, the departure dangerous substance pseudo sound for learning is output to the speaker 11. Specifically, this is the same as step S28 below.

  In subsequent step S15, based on the image information of the indoor camera 9, the forward visual reaction time until the driver's line of sight faces the dangerous object after the speaker 11 outputs the deviating dangerous object pseudo sound in step S14 is measured. . In subsequent step S16, it is determined whether or not the forward visual reaction time is equal to or longer than a predetermined time. If the determination result in step S16 is YES and the time is equal to or longer than the predetermined time, the process proceeds to step S17. If the determination result is NO and less than the predetermined time, the process proceeds to step S7.

  In step S17, the output pattern of the alarming deviating dangerous substance simulated sound to be output to the speaker 11 in step S26 is changed. Specifically, for example, the output timing of the departure dangerous substance imitation sound is advanced. Then, it progresses to step S7.

  In step S18, after fixing the output pattern of the warning dangerous substance imitation sound output to the speaker 11 in step S26 to the output pattern that minimizes the forward visual reaction time, the process proceeds to step S7.

  In step S19, learning (see steps S20 to S23 below) has already been performed a plurality of times so that the driver 11 learns that there is a relationship between the departure of the vehicle V and the departure pseudo sound by causing the speaker 11 to output the departure pseudo sound. It is determined whether or not. If the determination result in step S19 is NO and learning has been performed once or has not been performed, the process proceeds to step S20. If the determination result is YES and learning has been performed a plurality of times, the process proceeds to step S24.

  In step S20, the departure pseudo sound for learning is output to the speaker 11. Specifically, this is the same as step S29 below.

  In the subsequent step S21, based on the steering angle information of the steering angle sensor 7, the steering reaction time from when the departure pseudo sound is output to the speaker 11 in step S20 until the driver steers the steering wheel 5 is measured. In a succeeding step S22, it is determined whether or not the steering reaction time is a predetermined time or more. If the determination result in step S22 is YES and the time is equal to or longer than the predetermined time, the process proceeds to step S23. If the determination result is NO and less than the predetermined time, the process proceeds to step S7.

  In step S23, addition or change is made to cause the speaker 11 to output a departure pseudo sound in the following step S29, and the LED 15 is turned on or the steering torque is assisted when the steering wheel 5 is steered. Instead of the above addition or change, the output timing of the deviant pseudo sound output to the speaker 11 in step S29 may be advanced. Then, it progresses to step S7.

  In step S24, the alarm method in step S29 is fixed to an alarm method that minimizes the steering reaction time, and then the process proceeds to step S7.

  In step S25, it is determined whether there is a dangerous object and the degree of danger is high. If the determination result in step S25 is YES and there is a dangerous object and the risk level is high, the process proceeds to step S26. If the determination result is NO and there is no risk target object or the risk level is low, the process proceeds to step S29. .

  In step S <b> 26, the alarm 11 is output to the speaker 11 as an alarming deviant danger material. Specifically, when it is estimated that the vehicle V deviates from the travel lane L to the right side of the vehicle V, and the oncoming vehicle W or the pedestrian P is present on the right front side of the vehicle V, for example, the rumble strip The first and second speakers 11a and 11b are caused to output an intermittent sound of a false sound. Moreover, when it is estimated that the vehicle V deviates from the driving lane L to the right side of the vehicle V, and the pedestrian P is present in the right front of the vehicle V, for example, there are more high frequency components than the departure pseudo sound. A continuous tone of a rumble strip sound is output to the first and second speakers 11a and 11b. Furthermore, when it is estimated that the vehicle V deviates from the driving lane L to the left of the vehicle V, and the right curve C exists in front of the vehicle V, the steering wheel 5 is steered by a pseudo sound of a rumble strip sound. The power is output in the order of the speaker 11 in the clockwise direction. Furthermore, when it is estimated that the vehicle V deviates from the driving lane L to the left of the vehicle V, and the right curve C is present in front of the vehicle V, for example, an imitation sound of a rumble strip sound is generated with the same period. Thus, the first to fourth speakers 11a to 11d are output so that the volume of the first and second speakers 11a and 11b is gradually increased and the volume of the third and fourth speakers 11c and 11d is gradually decreased. In addition, the output pattern of the departure dangerous substance imitation sound to be output to the speaker 11 in step S26 is optimized in step S17 or step S18.

  In step S27, based on the image information of the indoor camera 9, it is determined whether or not the driver has visually recognized the dangerous object. If the determination result in step S27 is YES and there is visual recognition, the process proceeds to step S28. If the determination result is NO and there is no visual recognition, the process proceeds to step S7 with the departure dangerous sound mimic sound being output to the speaker 11.

  In step S28, the output of the warning dangerous substance imitation sound is stopped. In the subsequent step S29, an alarm sound for departure is output to the speaker 11 or added or changed to turn on the LED 15 or assist the steering torque when the steering wheel 5 is steered. Specifically, when it is estimated that the vehicle V deviates from the driving lane L to the right of the vehicle V, for example, a continuous sound of a rumble strip sound is output to the first and second speakers 11, or this In addition to or in addition to the above, the LEDs 15 are sequentially lit in the left direction in which the steering wheel 5 should be steered, or the steering torque is assisted when the steering wheel 5 is steered. The alarm method in step S29 is set in step S23 or step S24.

  In the subsequent step S30, it is determined whether or not the possibility that the vehicle V deviates from the travel lane has become low or has disappeared due to the steering wheel 5 being steered. If the determination result in step S30 is YES and the possibility of departure is low or disappears, the process proceeds to step S31. On the other hand, if the determination result is NO and the possibility of departure remains high, the departure pseudo sound is output to the speaker 11. The process proceeds to step S7.

  In step S31, the output of the warning pseudo sound for warning is stopped, and then the process proceeds to step S7.

-Effect-
As described above, according to the present embodiment, when a departure from the vehicle V is predicted by the departure possibility estimation unit 19c and a dangerous object is detected by the dangerous object detection unit 19b, the onset can be made by the onomatopoeia generation output unit 19d. Since the departure estimation sound generated when the departure of the vehicle V is predicted by the sex estimation unit 19c is generated, the departure detection object sounds different in characteristics or generation manner may be generated, and thus the driver may be directed to the dangerous object. it can.

  In addition, when the driver's line of sight detected by the indoor camera 9 faces the dangerous object after the departure dangerous object imitation sound is generated, the generation of the departure dangerous object imitation sound is stopped by the dummy sound generation output unit 19d. After the driver's attention is directed to the object, it is possible to suppress unnecessary generation of the dangerous sound from the departure dangerous object, and to suppress the driver from feeling annoyance.

  Moreover, since the departure dangerous sound is different from the departure sound in a continuous characteristic, frequency characteristic, or generation position, the driver's attention can be surely directed to the dangerous object.

  Further, when the possibility of departure of the vehicle V predicted by the departure possibility estimation unit 19c is low and no dangerous object is detected by the dangerous object detection unit 19b, the onomatopoeia generation / output unit 19d generates departure onomatopoeia. Therefore, the driver can learn that there is a relationship between the departure of the vehicle V and the departure pseudo sound, and the reaction time from the generation of the departure pseudo sound until the driver reacts can be shortened.

  In addition, when the driver's reaction detected by the effect detection unit 19f is dull, and thereafter, when the departure possibility of the vehicle V is predicted by the departure possibility estimation unit 19c, in addition to or instead of generating a departure pseudo sound, Since the LED 15 is turned on or the steering torque motor 17 is operated by the effect detection unit 19f, it is possible to direct the driver's attention to the deviation of the vehicle V, which is unresponsive to sound.

  Further, the effect detection unit 19f causes the plurality of LEDs 15,... Arranged in parallel in the vehicle width direction on the upper surface of the dashboard 13 to be lit in order toward the direction in which the steering wheel 5 should be steered. 5 can be steered in the direction to be steered.

  Further, when the possibility of departure of the vehicle V predicted by the departure possibility estimation unit 19c is low and the danger level of the dangerous object detected by the dangerous object detection unit 19b is low, the dummy sound generation output unit 19d Since the dangerous material imitation sound is generated, the driver can learn that there is a relationship between the deviation of the vehicle V and the dangerous object and the deviation dangerous material imitation sound, and the driver reacts after generating the deviation dangerous material imitation sound. The reaction time until it can be shortened.

  Further, the onomatopoeia generation output unit 19d optimizes at least one of the characteristics and the generation mode of the departure dangerous substance onomatopois based on the driver's reaction detected by the effect detection unit 19f, and then the departure possibility estimation unit When the deviation of the vehicle V is predicted by 19c and the dangerous object is detected by the dangerous object detection unit 19b, the optimized deviation dangerous object pseudo sound is generated, so that the dangerous deviation object suitable for the driver's reaction characteristic is generated. An onomatopoeia can be generated.

  Further, when steering is detected by the rudder angle sensor 7, the onomatopoeia generation output unit 19 d generates an onset of deviant pseudo sound that the driver cannot perceive. It is possible to imprint on the driver's consciousness, and to shorten the reaction time from the generation of the departure pseudo sound until the driver steers.

(Other embodiments)
The departure dangerous material imitation sound is not limited to that in the above-described embodiment, and it is only necessary that at least one of the departure onomatopoeia and the characteristics and generation manner is different.

  In the above embodiment, when the steering reaction time is equal to or longer than the predetermined time, it is estimated that the possibility of departure of the vehicle V is relatively high by the departure possibility estimation unit 19c and the danger object detection unit 19b When the object is not detected, or when it is determined that the danger level of the dangerous object is relatively low, in addition to or instead of outputting the departure sound sound to the speaker 11, the LED 15 is turned on or the steering wheel 5 is steered. Although the steering torque motor 17 is sometimes operated, both the lighting of the LED 15 and the operation of the steering torque motor 17 may be performed.

  Furthermore, in the said embodiment, although the alarm which appeals to a driver | operator's vision by lighting LED15 is performed, you may perform the alarm which appeals to a driver | operator's vision not only by this but by projecting an image, for example. .

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is defined by the claims, and is not limited by the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, the lane departure warning device for a vehicle according to the present invention can also pay attention to a dangerous object when a vehicle deviation is predicted and a dangerous object around the vehicle is detected. It can be applied to necessary uses.

1 is a schematic top view showing a vehicle equipped with a lane departure warning device according to an embodiment of the present invention. It is a block diagram which shows a lane departure warning apparatus. (A) is a schematic top view showing a situation when a deviation from the lane of the vehicle is predicted, and (b) is an alarm sound generated by the speaker when the deviation from the lane of the vehicle is predicted. It is a figure which shows a waveform. (A) is a schematic top view which shows a mode when the oncoming vehicle ahead of a vehicle is detected after the departure from the lane of a vehicle is estimated, (b) is the deviation from the lane of a vehicle being estimated. It is a figure which shows the waveform of the alarm sound which a speaker produces | generates when the oncoming vehicle ahead of a vehicle is detected after. (A) is a schematic top view which shows a mode when the pedestrian ahead of a vehicle is detected after the departure from the lane of a vehicle is estimated, (b) is the deviation from the lane of a vehicle being estimated. It is a figure which shows the waveform of the alarm sound which a speaker produces | generates when the pedestrian ahead of a vehicle is detected after, and (c) is an alarm sound which an speaker produces when the departure from the lane of a vehicle is estimated. FIG. 6 is a graph showing frequency characteristics of alarm sound generated by a speaker when a departure from a vehicle lane is predicted and a pedestrian in front of the vehicle is detected. (A) is a schematic top view which shows a mode when the curve ahead of a vehicle is detected after the departure from the vehicle lane is estimated, (b) is the departure from the vehicle lane predicted It is a figure which shows the waveform of the warning sound which a speaker produces | generates when the curve ahead of a vehicle is detected later. (A) is a schematic top view which shows a mode when the curve ahead of a vehicle is detected after the departure from the vehicle lane is estimated, (b) is the departure from the vehicle lane predicted It is a figure which shows the waveform of the warning sound which a speaker produces | generates when the curve ahead of a vehicle is detected later. It is the schematic which shows the reflected light produced | generated when the light which LED emitted is reflected by a front window glass. It is a flowchart figure which shows the lane departure warning control of a control unit.

A Lane departure warning device C Curve (dangerous object)
L Driving lane P Pedestrian (dangerous object)
V Vehicle W Oncoming vehicle (dangerous object)
1 External camera 7 Rudder angle sensor (steering detection means)
9 Indoor camera (Gaze detection means)
11 Speaker 13 Dashboard 15 LED (Light Emitting Element)
17 Steering torque motor 19 Control unit 19b Dangerous object detection unit (dangerous object detection means)
19c Deviation possibility estimation part (deviation prediction means)
19d Onomatopoeia generation output unit (alarm control means)
19e Learning control unit (alarm control means)
19f Effect detection unit (alarm control means, reaction detection unit)
19g Imprinting control unit (alarm control means)

Claims (8)

Deviation prediction means for predicting deviation from the lane of the vehicle;
Warning control means for generating a first warning sound when a deviation of the vehicle is predicted by the deviation prediction means;
A dangerous object detection means for detecting a dangerous object around the vehicle,
The alarm control means is characterized in that when the departure prediction of the vehicle is predicted by the departure prediction means and a dangerous object is detected by the dangerous object detection means, the first warning sound has at least one of characteristics and generation modes. A vehicle lane departure warning device, characterized in that it is configured to generate different second warning sounds. The vehicle lane departure warning device according to claim 1,
It further comprises a line-of-sight detection means for detecting the line of sight of the occupant,
The alarm control means is configured to stop the generation of the second alarm sound when the sight line of the occupant detected by the line-of-sight detection means faces the dangerous object after the second alarm sound is generated. A lane departure warning device for a vehicle. The vehicle lane departure warning device according to claim 1,
The vehicle lane departure warning device, wherein the second warning sound is different from the first warning sound in at least one of a continuous characteristic, a frequency characteristic, a sound quality characteristic, and a generation position. The vehicle lane departure warning device according to claim 1,
The alarm control means generates the first alarm sound when the possibility of vehicle departure predicted by the deviation prediction means is low and no dangerous object is detected by the dangerous object detection means. Configured,
The occupant with respect to the first warning sound generated by the warning control means when the possibility of vehicle departure predicted by the deviation prediction means is low and no dangerous object is detected by the dangerous object detection means A lane departure warning device for a vehicle, further comprising reaction detection means for detecting the above reaction. The vehicle lane departure warning device according to claim 4,
In addition to generating the first alarm sound, the alarm control means, when the response of the occupant detected by the reaction detection means is dull, and thereafter when the deviation of the vehicle is predicted by the deviation prediction means, or Instead, the vehicle lane departure warning device is configured to perform at least one of a warning appealing to the occupant's vision and a steering torque assist for assisting a steering torque of the steering wheel. The vehicle lane departure warning device according to claim 5,
The alarm control means is configured to cause a warning to appeal to the occupant's vision by sequentially lighting a plurality of light emitting elements arranged in parallel in the vehicle width direction on the dashboard in a direction in which the steering wheel should be steered. A lane departure warning device for a vehicle, comprising: The vehicle lane departure warning device according to claim 1,
The alarm control means generates the second alarm sound when the possibility of vehicle departure predicted by the deviation prediction means is low and the danger level of the dangerous object detected by the danger object detection means is low. Is configured to let
With respect to the second alarm sound generated by the alarm control means when the possibility of vehicle departure predicted by the deviation prediction means is low and the danger level of the dangerous object detected by the danger object detection means is low , Further comprising a reaction detection means for detecting the reaction of the occupant,
The warning control means optimizes at least one of the characteristics and generation modes of the second warning sound based on the occupant's reaction detected by the reaction detection means, and then the deviation prediction means The vehicle lane departure warning device is configured to generate the optimized second warning sound when a dangerous object is detected by the dangerous object detection means. The vehicle lane departure warning device according to claim 1,
A steering detection means for detecting steering wheel steering;
The warning control means is configured to generate the first warning sound to an extent that an occupant cannot perceive when steering is detected by the steering detection means. Alarm device.

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