JP2011106860A - Alarm device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an alarm device for a vehicle capable of surely avoiding contact of the vehicle with a human being. <P>SOLUTION: The alarm device 10 for the vehicle includes a speaker 12, a receiving part 13, an object detection part 15, and an output control part 16. The speaker 12 can output an ultrasonic wave and an audible sound wave to the outside of the vehicle 1. The receiving part 13 receives a reflected wave of the ultrasonic wave output with the speaker 12. The object detection part 15 detects an object being in a predetermined range around the vehicle on the basis of the reflected wave received by the receiving part 13. When the object detection part 15 detects the object, the output control part 16 allows the speaker 12 to output the audible sound wave. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an alarm device for a vehicle that notifies an alarm sound to pedestrians around the vehicle.

  Japanese Patent Application Laid-Open No. 2007-57527 describes an obstacle detection system for a vehicle. The vehicle obstacle detection system includes a transmission unit that transmits an ultrasonic signal toward the outside of the vehicle, and a plurality of ultrasonic signals that are reflected from the surface of an object existing at a position away from the vehicle at different positions. And receiving means for specifying the position of the object on the basis of each time when the ultrasonic signal is received by each receiving means after being transmitted by the transmitting means. If the distance to the object is within a certain range, the presence of the object is notified to the driver by a buzzer or a warning display at the driver's seat.

JP 2007-57527 A

  However, in the vehicle obstacle detection system disclosed in Japanese Patent Application Laid-Open No. 2007-57527, for example, when a person outside the vehicle is within a certain range, the presence of the object is indicated to the driver of the vehicle by a buzzer or the like. Even if the notification is made, if the person gets closer to the vehicle without noticing the vehicle, the driver may not be able to avoid contact and the vehicle body and the person may come into contact with each other.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicular alarm device capable of reliably avoiding contact between a vehicle and a human.

  In order to achieve the above object, the vehicle alarm device of the present invention includes a sound wave output means, a reception means, an object detection means, and an output control means. The sound wave output means can output ultrasonic waves and audible sound waves to the outside of the vehicle. The receiving unit receives the reflected ultrasonic wave output from the sound wave output unit. The object detection means detects an object in a predetermined range around the vehicle based on the reflected wave received by the reception means. The output control means outputs an audible sound wave from the sound wave output means when the object detection means detects the object.

  The sound wave output means may be, for example, a speaker that can oscillate audible sound waves and ultrasonic waves, and a plurality of ultrasonic wave oscillation devices that can oscillate ultrasonic waves are provided, and predetermined ultrasonic waves modulated from the ultrasonic wave oscillation devices are provided. It may be a parametric speaker that outputs an audible sound wave by oscillating.

  In the above configuration, when a person is present in a predetermined range around the vehicle, the object detection unit detects this and outputs an audible sound wave from the sound wave output unit to the outside of the vehicle. Therefore, a person outside the vehicle can recognize the presence of the vehicle by listening to the audible sound wave and can avoid contact with the vehicle. As a result, even if the vehicle travels with low noise, such as an electric vehicle, it is possible for a person approaching the vehicle to a predetermined range to reliably recognize the presence of the vehicle.

  Also, the sound wave output means shares the means for outputting an ultrasonic wave for detecting an object and the means for outputting an audible sound wave to notify a person outside the vehicle that there is a risk of contact with the vehicle. Therefore, the enlargement of the apparatus can be suppressed. Further, an increase in cost can be suppressed.

  Further, since the ultrasonic wave for detecting the object and the audible sound wave for notification are output by the sound wave output means, the ultrasonic wave and the audible sound wave can be output in the same direction from the same position of the vehicle. Therefore, for example, if the relative speed of the object with respect to the vehicle can be ignored, an audible sound wave is output by the same sound wave output means as the sound wave output means that outputs the ultrasonic wave for detecting the object. An audible sound wave can be output toward the detected object.

  Further, when no object is present in the predetermined range, no audible sound wave is output, so that noise to the surroundings of the vehicle can be suppressed. Here, for example, when the vehicle is in a state of turning right or left or in a back state, the vehicle is in such a state regardless of whether an object is present at a position that may come into contact with the vehicle when the vehicle moves. In the case of notifying the voice indicating the noise, noise damage to residents around the vehicle increases. In this regard, by providing the vehicle alarm device, the audible sound wave is output only when an object exists in a predetermined range around the vehicle when the vehicle is turning left or right or in a back state. By not outputting an audible sound wave when an object is not present in a predetermined range, noise damage to residents around the vehicle can be suppressed.

  The receiving unit may receive the reflected waves at two points separated from each other, and the object detecting unit estimates the position of the object within a predetermined range based on the time when the receiving unit receives the reflected waves at the two points. May be.

  In the above configuration, for example, when an ultrasonic wave is reflected by one object, the reflected waves of the ultrasonic wave are received at two points separated from each other, and by detecting respective distances from the two points to one object, The position where the object exists can be estimated. Specifically, for example, when the point at which the receiving unit receives the reflected wave is set to two points separated in the horizontal direction, the position where the object exists in the horizontal direction can be estimated.

  Further, since the object detection means estimates the position of the object, the predetermined range can be set in detail in advance.

  Further, the sound wave output means may be capable of selectively outputting an audible sound wave to two different areas outside the vehicle, and the output control means may be configured according to the position of the object estimated by the object detection means, The region where the sound wave output means outputs the audible sound wave may be set to one of the two regions.

  In order to selectively output audible sound waves to two different areas, for example, two sound wave output means capable of outputting audible sound waves to different areas may be provided, and audible toward the two different areas. One sound wave output means capable of setting the position and angle at which sound waves are output may be provided.

  In the above configuration, when an object is present within a predetermined range, an audible sound wave is output to one of two regions that differ depending on the estimated position of the object. For example, an audible sound wave may be output to a region including a position where an object is estimated to exist. Specifically, the predetermined range is set to two ranges, and two regions where the sound wave output unit outputs audible sound waves are respectively set to regions including one range and the other range of the predetermined range. Thereby, for example, when the relative speed of the object with respect to the vehicle can be ignored, an audible sound wave can be reliably notified toward the detected object.

  Therefore, since an audible sound wave propagates to an object as a direct wave instead of a reflected wave with respect to an object existing in a predetermined range, when a human exists in the predetermined range, the human can hear a clear audible sound wave. It is possible to recognize early that the audible sound wave notification is for the user.

  Even when an object is present within a predetermined range, an audible sound wave is output to one of the two regions, so that the volume of the other region where no audible sound wave is output can be suppressed. Therefore, it is possible to suppress noise damage to a person who is not likely to come into contact with the vehicle.

  According to the present invention, it is possible to reliably avoid contact between a vehicle and a human.

It is a schematic diagram which shows the vehicle provided with the alarm device for vehicles which concerns on 1st Embodiment. It is a schematic diagram which shows the alarm device for vehicles of FIG. It is a block block diagram which shows the alarm device for vehicles of FIG. It is a flowchart which shows the process which the alarm device for vehicles of FIG. 1 performs. It is a schematic diagram which shows the vehicle provided with the alarm device for vehicles which concerns on 2nd Embodiment. It is a schematic diagram which shows the sound wave input / output unit of the alarm device for vehicles of FIG. It is a block block diagram which shows the alarm device for vehicles of FIG. It is a schematic diagram which shows the example of the process which the alarm device for vehicles of FIG. 5 performs. It is a schematic diagram which shows the example of the process which the alarm device for vehicles of FIG. 5 performs. It is a schematic diagram which shows the example of the process which the alarm device for vehicles of FIG. 5 performs. It is a flowchart which shows the process which the alarm device for vehicles of FIG. 5 performs. It is a schematic diagram which shows the modification of the alarm device for vehicles of 2nd Embodiment.

  A first embodiment of the present invention will be described below with reference to FIGS.

  FIG. 1 is a schematic diagram showing a vehicle equipped with a vehicle alarm device according to the present embodiment, FIG. 2 is a schematic diagram showing the vehicle alarm device of FIG. 1, and FIG. 3 is a vehicle alarm device of FIG. FIG. 4 is a flowchart showing processing executed by the vehicle alarm device of FIG.

  As shown in FIGS. 1 and 2, the vehicle alarm device 10 according to the first embodiment of the present invention includes a sound wave input / output unit 11 and a controller 14 and is mounted on the vehicle 1.

  As shown in FIGS. 2 and 3, the sound wave input / output unit 11 includes a speaker 12 and a receiving unit 13 and is provided on the vehicle body of the vehicle 1.

  The speaker 12 is a speaker (for example, a ribbon tweeter) that constitutes sound wave output means and can oscillate a wide band frequency including an audible sound wave band and an ultrasonic wave band, and transmits a wide band sound wave including an ultrasonic wave and an audible sound wave to a vehicle. 1 can be output to the outside. In the present embodiment, the speaker 12 is directed to the front of the vehicle 1 and fixed to the front portion of the vehicle body. The speaker 12 can output ultrasonic waves and audible sound waves simultaneously. In the present embodiment, when the vehicle 1 is powered on, the speaker 12 outputs 60 kHz ultrasonic waves at a first predetermined time interval (for example, 200 msec).

  The receiving unit 13 constitutes a receiving unit and receives the reflected ultrasonic wave output from the speaker 12.

  As shown in FIGS. 2 and 3, the controller 14 includes an object detection unit 15 and an output control unit 16 and is provided in the vehicle 1.

  The object detection unit 15 constitutes an object detection unit, and detects an object (indicated by 4 in FIG. 1) in a predetermined range around the vehicle 1 based on the reflected wave received by the reception unit 13. The predetermined range is a range set in advance around the vehicle 1. In the present embodiment, it is a range in front of the vehicle 1, and the time from when the speaker 12 outputs an ultrasonic wave until the ultrasonic wave is reflected by the object and the reception unit 13 receives the reflected wave is the second time. The range of the position of the object that is equal to or less than a predetermined time (for example, 50 msec) is set as the predetermined range. Therefore, in the present embodiment, the object detection unit 15 determines whether or not the reception unit 13 has received the reflected wave within the second predetermined time after the speaker 12 outputs the ultrasonic wave. The object detection unit 15 recognizes that an object exists in a predetermined range outside the vehicle 1 when the reception unit 13 receives the reflected wave within a second predetermined time after the speaker 12 outputs the ultrasonic wave. . The object detection unit 15 also has an object in a predetermined range outside the vehicle 1 when the reception unit 13 does not receive a reflected wave within a second predetermined time after the speaker 12 outputs an ultrasonic wave. Recognize not. In this way, the object detection unit 15 detects an object in a predetermined range outside the vehicle 1.

  The output control unit 16 constitutes an output control unit and controls the output of the speaker 12. In the present embodiment, the output control unit 16 outputs an ultrasonic wave of 60 kHz from the speaker 12 at a first predetermined time interval when the vehicle 1 is powered on. The output control unit 16 causes the speaker 12 to output an audible sound wave when the object detection unit 15 detects an object existing in a predetermined range outside the vehicle 1. In the present embodiment, the output control unit 16 outputs a 1 kHz warning sound as an audible sound wave for 2 seconds from the speaker 12 in a state of outputting an ultrasonic wave while continuing to output the ultrasonic wave. That is, an audible sound wave and an ultrasonic wave are output simultaneously.

  Here, the output control unit 16 outputs a first predetermined time, which is a time interval for outputting the ultrasonic waves from the speaker 12, and a second predetermined time set in the object detection unit 15 to detect an object in a predetermined range. The time has a relationship that the first predetermined time is equal to or longer than the second predetermined time.

  Hereinafter, processing executed by the controller 14 of the present embodiment will be described with reference to the flowchart shown in FIG. This process starts when the vehicle 1 is turned on and is executed every first predetermined time (for example, every 200 msec).

  First, the output control unit 16 outputs an ultrasonic wave from the speaker 12 (step S1), and proceeds to step S2. Next, in step S2, the object detection unit 15 determines whether or not a second predetermined time has elapsed since the ultrasonic wave was output from the speaker 12, and when the second predetermined time has not elapsed ( (Step S2: NO) The determination of Step S2 is repeatedly executed, and when the second predetermined time has elapsed (Step S2: YES), the process proceeds to Step S3. In step S3, the object detection unit 15 determines whether or not the reception unit 13 has received the reflected wave. When the reception unit 13 has not received the reflected wave (step S3: NO), the process ends. And when the receiving part 13 is receiving the reflected wave (step S3: YES), it transfers to step S4. In step S <b> 4, the output control unit 16 outputs an audible sound wave from the speaker 12.

  Next, a modification of this embodiment will be described.

  In this embodiment, one speaker 12 is provided. However, the present invention is not limited to this, and two or more speakers 12 may be provided. When a plurality of speakers 12 are provided, the speakers 12 are spaced apart. For example, they are spaced apart in the horizontal direction. Moreover, when outputting an ultrasonic wave from each speaker 12, you may output an ultrasonic wave from which each (for example, a frequency and a waveform) differs.

  In this embodiment, one receiving unit 13 is provided. However, the present invention is not limited to this, and two or more receiving units 13 may be provided.

  In this embodiment, the speaker 12 and the receiving unit 13 are provided as a sound wave input / output unit 11 as a pair on the vehicle body. However, the present invention is not limited to this. A plurality of portions 13 may be provided on the vehicle body.

  Moreover, in this embodiment, when outputting the audible sound wave from the speaker 12, the ultrasonic wave is output simultaneously. However, the present invention is not limited to this, and the structure may be such that the output of the ultrasonic wave is stopped when outputting the audible sound wave.

  In this embodiment, the speaker 12 is provided as the sound wave output unit according to the present invention. However, the present invention is not limited to this, and for example, a parametric speaker may be provided as the sound wave output unit of the present invention. The parametric speaker has a plurality of ultrasonic oscillators and selectively outputs ultrasonic waves and audible sound waves. Specifically, the ultrasonic oscillation unit oscillates unmodulated ultrasonic waves to output ultrasonic waves, and a plurality of ultrasonic oscillation units oscillate ultrasonic waves with predetermined modulation and phase control. An audible sound wave is output. Thus, by using a parametric speaker instead of the speaker 12, an audible sound with high directivity can be output. In addition, when using a plurality of ultrasonic wave oscillating units simultaneously when outputting ultrasonic waves, the same ultrasonic wave (for example, frequency and waveform) may be oscillated in each ultrasonic wave oscillating unit. Different ultrasonic waves may be oscillated by the oscillating unit.

  In addition, when a plurality of speakers 12 (or a plurality of ultrasonic wave oscillating units) are provided to output ultrasonic waves having different waveforms, the receiving unit 13 selects any speaker 12 ( Alternatively, the object detection unit 15 may receive the reflected wave received by the reception unit 13 while distinguishing the speaker 12 (or the ultrasonic oscillation unit). Based on this, the position of the object may be obtained.

  In addition, when a plurality of speakers 12 (or a plurality of ultrasonic oscillators) are provided, any one of the plurality of speakers 12 (or the ultrasonic oscillators) is ultrasonicated at a first predetermined time interval. May be used as a speaker 12 (or an ultrasonic oscillator) that oscillates. In this case, the number of speakers 12 (or ultrasonic oscillators) that oscillate ultrasonic waves may be one, and the speaker 12 (or ultrasonic oscillator unit) that oscillates ultrasonic waves every first predetermined time interval. It may be changed.

  In the present embodiment, when the vehicle 1 is in a traveling state, an audible sound wave is always output from the speaker 12 when an object is present in a predetermined range outside the vehicle 1. When the vehicle is traveling slowly at a predetermined speed or less and an object is present in a predetermined range outside the vehicle 1, an audible sound wave may be output from the speaker 12. Here, when the vehicle 1 is in the slow traveling state, the noise generated from the vehicle 1 is small, and it is difficult for a person existing outside the vehicle 1 to notice the vehicle 1, but exists outside the vehicle 1 by outputting an audible sound wave. It is possible to make a human recognize the existence of the vehicle 1 with certainty.

  In this embodiment, when an object existing in a predetermined range outside the vehicle 1 is detected, an audible sound wave is output to the outside of the vehicle 1. At this time, an object is output in the predetermined range outside the vehicle 1. Information indicating that the vehicle is present may be notified to the driver's seat inside the vehicle 1.

  As described above, in this embodiment, when a human is present in a predetermined range around the vehicle 1, the object detection unit 15 detects this and outputs an audible sound wave from the speaker 12 to the outside of the vehicle 1. Therefore, a person outside the vehicle 1 can recognize the presence of the vehicle 1 by listening to the audible sound wave and avoid contact with the vehicle 1. Thereby, for example, even if the vehicle 1 is a vehicle that travels with low noise, such as an electric vehicle, a person approaching the vehicle 1 to a predetermined range can be surely recognized of the presence of the vehicle 1.

  In addition, the speaker 12 shares a means for outputting an ultrasonic wave for detecting an object and a means for outputting an audible sound wave to notify a person outside the vehicle 1 that there is a risk of contact with the vehicle 1. Therefore, the enlargement of the apparatus can be suppressed. Further, an increase in cost can be suppressed.

  Moreover, since the ultrasonic wave for detecting an object and the audible sound wave for notification are output by the speaker 12, the ultrasonic wave and the audible sound wave can be output from the same position of the vehicle 1 in the same direction. Therefore, for example, if the relative speed of the object with respect to the vehicle 1 can be ignored (for example, during slow driving), an audible sound wave can be easily output by outputting an audible sound wave through the speaker 12 that outputs an ultrasonic wave for detecting the object. An audible sound wave can be output toward an object that is reliably detected by the configuration.

  Further, when no object is present in the predetermined range, no audible sound wave is output, so that noise around the vehicle 1 can be suppressed.

  Next, the 2nd Embodiment of this invention is described based on FIGS.

  FIG. 5 is a schematic diagram showing a vehicle including the vehicle alarm device according to the present embodiment, FIG. 6 is a schematic diagram showing a sound wave input / output unit of the vehicle alarm device of FIG. 5, and FIG. FIG. 8 to FIG. 10 are schematic diagrams showing examples of processing executed by the vehicle alarm device of FIG. 5, and FIG. 11 shows the vehicle alarm device of FIG. 5. It is a flowchart which shows the process to perform, FIG. 12: is a schematic diagram which shows the modification of the alarm device for vehicles of this embodiment.

  As shown in FIGS. 5 and 6, the vehicle alarm device 20 according to the second embodiment of the present invention includes a sound wave input / output unit and a controller, and is mounted on the vehicle 2. Further, the vehicle alarm device 20 includes a traveling state information detection unit 21.

  As shown in FIG. 7, the traveling state information detection unit 21 includes a vehicle speed sensor 22 and a steering angle sensor 23, and detects traveling state information of the vehicle 2. The vehicle speed sensor 22 detects the traveling speed of the vehicle 2. The steering angle sensor 23 detects the rotation direction and rotation angle of the steering wheel.

  As shown in FIGS. 6 and 7, the sound wave input / output unit 24 includes a speaker 25 and a receiving unit 26, and is provided on the vehicle body of the vehicle 2.

  The speaker 25 is a speaker (for example, a ribbon tweeter) that constitutes sound wave output means and can oscillate a wide band frequency including an audible sound wave band and an ultrasonic wave band, and transmits a wide band sound wave including an ultrasonic wave and an audible sound wave to a vehicle. 1 can be output to the outside. The speaker 25 can selectively output an audible sound wave to two different areas outside the vehicle 2. In the present embodiment, two speakers 25 are arranged on the left side of the vehicle body so as to be separated in the horizontal direction.

  The receiving unit 26 constitutes a receiving unit, and receives the reflected ultrasonic waves output from the speaker 25 at two points apart from each other. In the present embodiment, two receiving units 26 are arranged on the left side of the vehicle body so as to be separated in the horizontal direction.

  Further, in the present embodiment, as shown in FIG. 6, the two arranged speakers 25 are the first speakers 25, 31 and the second speakers 25, 32, respectively, and the two receiving units 26 are respectively arranged. Assuming that the first receivers 26 and 33 and the second receivers 26 and 34 are used, the distance from the first speakers 25 and 31 to the first receivers 26 and 33 and the first speakers 25 and 31 to The distance from the second receivers 26 and 34 and the distance from the second speakers 25 and 32 to the second receivers 26 and 34 are set to be equal.

  As shown in FIGS. 6 and 7, the controller 27 includes an object detection unit 28, an output control unit 29, and a storage unit 30, and is provided in the vehicle 2.

  The object detection unit 28 constitutes an object detection means, and determines the position of an object (indicated by 40 in FIG. 5) outside the vehicle 2 based on the time when the reception unit 26 receives the reflected waves at two points. presume. In the present embodiment, the predetermined range outside the vehicle 2 is set in advance to the left of the vehicle body (for example, a range of 2 m from the vehicle body to the left). In the present embodiment, the object detection unit 28 reflects the ultrasonic wave reflected on an object existing in a predetermined range outside the vehicle 2 after the speaker 25 outputs the ultrasonic wave, and the reception unit 26 receives the reflected wave. Based on the reflected wave received by the receiving unit 26 during a sufficiently long third predetermined time (for example, 200 msec), an object existing in the predetermined range is detected. In the object detection unit 28, when the reception unit 26 receives the reflected wave during the third predetermined time after the speaker 25 outputs the ultrasonic wave, the two reception units 26 receive the reflected wave respectively. Based on the time until reception, each distance from the two receiving units 26 to the object is calculated ignoring the relative speed of the object with respect to the vehicle 2, and based on the calculated distance, the object relative to the vehicle 2 is calculated. Calculate the position of the object ignoring the speed. Next, based on the traveling speed of the vehicle 2 detected by the vehicle speed sensor 22, an ultrasonic Doppler shift correction process is performed on the calculated object position to estimate the object position. Thereby, even when the relative speed of the object relative to the vehicle 2 cannot be ignored due to the movement of the vehicle 2, the horizontal relative position of the object relative to the vehicle 2 can be accurately estimated.

  Further, when the object detection unit 28 estimates the position of the object, the object detection unit 28 determines whether or not the object is included in a predetermined range outside the vehicle 2. If the object is not included in the predetermined range, the vehicle 2 is involved. The process is terminated by recognizing that there is no fearful object, and when the object is included in the predetermined range, it is recognized that there is an object with which the vehicle 2 may be involved.

  The output control unit 29 constitutes an output control unit and controls the output of the speaker 25. In the present embodiment, the output control unit 29 outputs an ultrasonic wave from the speaker 25 when the vehicle 2 is turning leftward. Specifically, the output control unit 29 is configured to output from the speaker 25 when the steering wheel is rotated leftward by a predetermined angle or more based on the rotation direction and the rotation angle of the steering wheel detected by the steering angle sensor 23. A 60 kHz ultrasonic wave is output at a fourth predetermined time interval. Further, in the output control unit 29, when the object detection unit 28 detects an object in a predetermined range outside the vehicle 2, the speaker 25 outputs an audible sound wave according to the position of the object estimated by the object detection unit 28. The region is set to one of the two regions, and an audible sound wave is output from the speaker 25. In this embodiment, the output control unit 29 selects one speaker 25 of the two speakers 25 that is close to the position of the object estimated by the object detection unit 28, and stores the “car is left "Sound to turn" is output as an audible sound wave.

  Hereinafter, processing executed by the controller 27 of the present embodiment will be described with reference to FIGS. As shown in FIGS. 8 to 10, the ultrasonic waves output from the first speakers 25 and 31 are reflected by the object, and the reflected waves are reflected from the first receiving units 26 and 33 and the second receiving units 26 and 34. Received at. 8 and 9 show a state in which the relative speed of the object with respect to the vehicle 2 can be ignored.

  In the example shown in FIG. 8, the distance from the object 41 to the first receivers 26 and 33 and the distance from the object 41 to the second receivers 26 and 34 are equal, and the reflected wave is the first wave. The signals are simultaneously received by the receiving units 26 and 33 and the second receiving units 26 and 34. The object detection unit 28 detects the distance from the first reception unit 26, 33 to the object 41 and the distance from the second reception unit 26, 34 to the object 41 from the first speakers 25, 31. The calculation is performed based on respective times from when the first reception units 26 and 33 and the second reception units 26 and 34 receive the reflected wave after the output. Thereby, the object detection part 28 calculates that the object 41 exists in the position shown in FIG. In this case, since the object 41 is closer to the first speakers 25 and 31 than the second speakers 25 and 32, the output control unit 29 causes the first speakers 25 and 31 to output audible sound waves.

  Next, in the example shown in FIG. 9, since the distance from the object 42 to the second receivers 26 and 34 is longer than the distance from the object 42 to the first receivers 26 and 33, the reflected wave is After being received by the first receivers 26 and 33, they are received by the second receivers 26 and 34. The object detector 28 calculates the distance from the first receivers 26 and 33 to the object 42 and the distance from the second receivers 26 and 34 to the object 42, as shown in FIG. It is calculated that the object 42 exists at a position closer to the first receiving units 26 and 33 than to the second receiving units 26 and 34. Further, in this case, since the object 42 is closer to the first speakers 25 and 31 than the second speakers 25 and 32, the output control unit 29 causes the first speakers 25 and 31 to output audible sound waves.

  Next, FIG. 10 is an example for explaining the Doppler shift correction process. As shown by the solid line, the reflected wave reflected by the object 43 is received by the second receivers 26 and 34 and then the second wave is received. 1 reception unit 26, 33. The object detector 28 calculates the distance from the first receivers 26 and 33 to the object 43 and the distance from the second receivers 26 and 34 to the object 43, as shown by the solid line in FIG. Then, it is calculated that the object 43 is present at a position closer to the second receiving units 26 and 34 than to the first receiving units 26 and 33. Next, the object detection unit 28 executes a correction process of ultrasonic Doppler shift on the calculated position of the object 43 (shown by a solid line) based on the traveling speed of the vehicle 2 detected by the vehicle speed sensor 22. It is estimated that the object 43 exists at the position indicated by the broken line in FIG. As a result, the object 43 calculated at a position closer to the second speakers 25 and 32 than the first speakers 25 and 31 before executing the Doppler shift correction process is actually the second It is estimated that the first speaker 25, 31 is closer to the first speaker 25, 31 than the speaker 25, 32, and the output controller 29 causes the first speaker 25, 31 to output an audible sound wave.

  Hereinafter, processing executed by the controller 27 of the present embodiment will be described with reference to the flowchart shown in FIG. This process is executed every predetermined time (for example, every 200 msec) when the vehicle 2 is in the traveling state.

  First, in step S11, the output control unit 29 determines whether or not the steering wheel is rotated leftward by a predetermined angle or more based on the rotation direction and the rotation angle of the steering wheel detected by the steering angle sensor 23. When the steering wheel has not been rotated to the left by a predetermined angle or more (step S11: NO), this process is terminated, and when the steering wheel has been rotated to the left by a predetermined angle or more (step S11: YES), step The process proceeds to S12, the ultrasonic wave is output from the speaker 25 (step S12), and the process proceeds to step S13. Next, in step S13, the object detection unit 28 determines whether or not a third predetermined time has elapsed since the ultrasonic wave was output from the speaker 25, and the third predetermined time has not elapsed. Sometimes (step S13: NO), the determination of step S13 is repeatedly executed, and when the third predetermined time has elapsed (step S13: YES), the process proceeds to step S14. In step S14, the object detection unit 28 determines whether or not the reception unit 26 has received the reflected wave. When the reception unit 26 has not received the reflected wave (step S14: NO), the process ends. When the receiving unit 26 receives the reflected wave (step S14: YES), the process proceeds to step S15. In step S15, the object detection unit 28 determines each of the two reception units 26 to the object based on the respective times from when the speaker 25 outputs ultrasonic waves until the two reception units 26 receive the reflected waves. Is calculated while ignoring the relative speed of the object with respect to the vehicle 2, and the process proceeds to step S16. In step S16, the object detection unit 28 calculates the position of the object ignoring the relative speed of the object with respect to the vehicle 2 based on the distance calculated in step S15, and proceeds to step S17. Next, in step S17, the object detection unit 28 performs ultrasonic Doppler shift correction processing on the position of the object calculated in step S16 based on the traveling speed of the vehicle 2 detected by the vehicle speed sensor 22. The position of the object is estimated and the process proceeds to step S18. In step S18, the object detection unit 28 determines whether or not the position of the object estimated in step S17 is included in a predetermined range outside the vehicle 2, and when the position of the object is not included in the predetermined range. (Step S18: NO) When it is recognized that there is no object that the vehicle 2 may be involved in and this process is terminated, and the position of the object is included in the predetermined range (Step S18: YES), the vehicle Recognizing that there is an object that 2 may be involved in, there is a transition to step S19. In step S19, the output control unit 29 selects the speaker 25 closer to the object from the two speakers 25, outputs an audible sound wave from the selected speaker 25 (step S20), and ends this process.

  Next, a modification of this embodiment will be described.

  In the present embodiment, two speakers 25 are provided. However, the present invention is not limited to this, and one or three or more speakers 25 may be provided.

  In the present embodiment, two receiving units 26 are provided. However, the present invention is not limited to this, and three or more receiving units 26 may be provided. FIG. 12 shows an example in which two speakers 25 are provided and three receivers 26 are provided. For example, 40 kHz ultrasonic waves and 80 kHz ultrasonic waves are output from the two speakers 25, respectively. The output frequencies of the plurality of ultrasonic waves can be identified from which of the ultrasonic waves output from the speakers 25 even if the ultrasonic waves output from the speakers 25 and the reflected waves have different frequencies due to Doppler shift. A frequency that is far away is set.

  In the present embodiment, the two speakers 25 are spaced apart from each other in the horizontal direction. However, the present invention is not limited to this, and the two speakers 25 may be spaced apart from each other in the vertical direction or spaced apart in the oblique direction. . For example, by arranging the two speakers 25 apart in the vertical direction, the output control unit 29 can selectively output audible sound waves from the speakers 25 to two different areas in the vertical direction outside the vehicle 2. it can.

  Further, in the present embodiment, the two receiving units 26 are disposed in the vehicle body 2 so as to be spaced apart in the horizontal direction, but the present invention is not limited thereto, and are disposed so as to be spaced apart in the vertical direction or spaced apart in the oblique direction. May be. For example, by arranging the two speakers 25 apart in the vertical direction, the object detection unit 28 can accurately calculate the vertical position of the object.

  In the present embodiment, in order to selectively output audible sound waves to a plurality of different areas outside the vehicle 2, one of the two speakers 25 fixed to the vehicle body is selectively used. However, the present invention is not limited to this, and a speaker capable of setting the position and angle at which an audible sound wave is output to a plurality of different areas outside the vehicle 2 may be provided. Specifically, for example, as a configuration in which the position for outputting an audible sound wave can be set for a plurality of regions, a rail extending in the front-rear direction is fixed to the side portion of the vehicle body, and moved horizontally along the rail. A possible speaker may be provided, and a drive unit and a drive control unit that move the speaker horizontally along the rail may be provided. In addition, as a configuration that enables setting the angle at which an audible sound wave is output to a plurality of regions, a speaker capable of setting the horizontal angle at which the audible sound wave is output is provided, and a drive unit and drive control for changing the angle of the speaker A part may be provided.

  Moreover, in this embodiment, although the speaker 25 and the receiving part 26 were arrange | positioned in the left side part of the vehicle body, you may arrange | position not only to this but in the other part of a vehicle body. For example, you may arrange | position to the right side part of a vehicle body, and may arrange | position to the rear part of a vehicle body. When the speaker 25 and the receiver 26 are arranged on the right side of the vehicle body, when the vehicle 2 turns to the right, the presence or absence of an object in a predetermined range on the right side outside the vehicle 2 is detected. 25 may be used to output a voice guidance such as “the car turns to the right”. Further, when the speaker 25 and the receiving unit 26 are arranged at the rear part of the vehicle body, when the vehicle 2 backs (when the gear is set to R), the presence / absence of an object in a predetermined range at the outer rear part of the vehicle 2 is detected. Then, when there is an object, the speaker 25 may output a voice for guiding “the car is backing”.

  In the present embodiment, the speaker 25 is disposed as the sound wave output unit according to the present invention. However, the present invention is not limited to this, and for example, parametric speakers may be arranged in a phased array. In a parametric speaker arranged in a phased array in the horizontal direction, an audible sound wave is output to a predetermined region by a combination of ultrasonic wave oscillating units that oscillate ultrasonic waves. For example, a plurality of parametric speakers that output audible sound waves are arranged in a horizontal direction in different areas outside the vehicle 2. Also, rather than arranging a plurality of ultrasonic oscillators as a single parametric speaker set, a plurality of ultrasonic oscillators directed at a plurality of angles are fixed to the vehicle body and audible to any region outside the vehicle 2 Depending on whether sound waves are output, a combination of ultrasonic oscillators oriented at a required angle is appropriately selected, and a predetermined modulation and phase control is performed as a parametric speaker to output audible sound waves. Good. That is, a configuration may be employed in which one ultrasonic oscillator is commonly used for a plurality of parametric speakers that output audible sound waves toward different regions. As described above, by using a parametric speaker arranged in a phased array instead of the speaker, an audible sound with high directivity can be selectively output to one of a plurality of regions.

  As described above, in this embodiment, when an ultrasonic wave is reflected by one object, the reflected waves of the ultrasonic wave are received at two separated points, and each distance from the two points to one object is calculated. By detecting, the position where the object exists can be estimated. Specifically, since the point where the receiving unit 26 receives the reflected wave is set to two points separated in the horizontal direction, the position where the object exists in the horizontal direction can be estimated.

  Further, since the object detection unit 28 estimates the position of the object, the predetermined range can be set in detail in advance.

  In addition, when an object is present within a predetermined range, one speaker 25 that is close to the position estimated by the object detection unit 28 is selected from the two speakers 25 according to the estimated position of the object. Output audible sound waves. Thereby, an audible sound wave can be reliably notified toward the detected object.

  Therefore, since an audible sound wave propagates to an object as a direct wave instead of a reflected wave with respect to an object existing in a predetermined range, when a human exists in the predetermined range, the human can hear a clear audible sound wave. It is possible to recognize early that the audible sound wave notification is for the user.

  Even when an object is present within a predetermined range, an audible sound wave is output to one of the two regions, so that the volume of the other region where no audible sound wave is output can be suppressed. Therefore, it is possible to suppress noise damage to a person who is not likely to come into contact with the vehicle 2.

  Further, when no object is present in the predetermined range, no audible sound wave is output, so that noise around the vehicle 2 can be suppressed. That is, when the vehicle 2 is in a left turn state, a sound indicating that the vehicle 2 is in this state is notified regardless of whether an object exists at a position where the vehicle 2 may come into contact with the vehicle 2 when the vehicle 2 moves. In that case, noise damage to residents around the vehicle 2 increases. In this regard, by providing the vehicle alarm device 20 of the present embodiment, an audible sound wave is output only when an object exists in a predetermined range around the vehicle 2 when the vehicle 2 turns left. By not outputting an audible sound wave when there is no object in a predetermined range around the surroundings, noise damage to residents around the vehicle 2 can be suppressed.

  In addition, since the ultrasonic Doppler shift correction process is performed based on the traveling speed of the vehicle 2, the object exists even if the object moves relative to the vehicle 2 by moving the vehicle 2. An audible sound wave can be output from the speaker 25 optimal for the region.

  Moreover, the vehicle alarm device 20 of the second embodiment can obtain the same effect as the above-described effect of the vehicle alarm device 10 of the first embodiment.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the discussion and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

1, 2: Vehicle 10, 20: Vehicle alarm device 12, 25: Speaker (sound wave output means)
13, 26: Receiving unit (receiving means)
15, 28: Object detection unit (object detection means)
16, 29: Output control unit (output control means)

Claims (3)

Sound wave output means capable of outputting ultrasonic waves and audible sound waves to the outside of the vehicle;
Receiving means for receiving the reflected wave of the ultrasonic wave output by the sound wave output means;
Object detecting means for detecting an object within a predetermined range around the vehicle based on the reflected wave received by the receiving means;
An output control unit that outputs an audible sound wave from the sound wave output unit when the object detection unit detects an object. The vehicle alarm device according to claim 1,
The receiving means receives reflected waves at two points separated from each other,
The vehicle alarm device, wherein the object detection means estimates the position of the object in the predetermined range based on times when the reception means receives reflected waves at the two points. The vehicle alarm device according to claim 2,
The sound wave output means can selectively output an audible sound wave to two different areas outside the vehicle,
The output control means sets the area where the sound wave output means outputs an audible sound wave as one of the two areas according to the position of the object estimated by the object detection means. Alarm device.

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