JP2011189916A - Alarm device for vehicle, and the vehicle using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that warning sounds generated from a motor-driven travelling vehicle 60 impairs quietness therearound. <P>SOLUTION: This alarm device generates a great volume of warning sound in an area of a frontward predetermined range Wset and predetermined distance Dset 01 in Step S108 when recognizing a frontward object (person) 10 via a radar 20 mounted on a vehicle 60. In other areas, it generates a medium volume of warning sound in Step S110 when a relative speed Vrtarget of the object (person) 10 to the vehicle 60 during going farther away therefrom with its back thereto is higher than a vehicle speed Vsp, and it generates a small volume of warning sound in Step S112 when the relative speed Vrtarget of the object (person) 10 to the vehicle 60 during coming closer thereto is lower than the vehicle speed Vsp. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an alarm device for a vehicle that generates an alarm sound and a vehicle using the alarm device.

  In recent years, hybrid vehicles and electric vehicles have been widely used as environmentally friendly vehicles. However, when these vehicles are driven by motors, it is as high as driving a pedestrian by the engine sound of a conventional engine-driven vehicle. There is a problem that it is difficult for a pedestrian to notice the approach of the vehicle because no loud driving sound is generated.

  Therefore, there has been proposed an alarm device that generates an alarm from a vehicle to a pedestrian when the vehicle approaches (Patent Documents 1 and 2).

  In the technique of Patent Document 1, a warning sound is generated in a region including a front object, and the type of the warning sound is selected according to the type of the target object.

  When the object is a person, a warning sound is generated weaker than other objects (step S102 in FIG. 4).

  When the horn SW is off, a warning sound is generated when the warning condition is satisfied (FIG. 4, step S110).

  Moreover, the technique of patent document 2 memorize | stores the judgment whether it is turning to the vehicle according to the relative speed with the front object, or is approaching as 1 data of the data table of the detection information storage part 106 (paragraph [ [0068] [0071]).

  When a warning sound that matches the data table of the detection information storage unit 106 is generated by comparison with the result of the detection means (103) of the situation in which the vehicle is traveling, a pedestrian ahead notices the vehicle. Stops the warning sound (FIG. 13, step S1305), and generates a warning sound when not noticed (FIG. 13, step S1304).

  However, in Patent Document 1, a warning sound of the same volume is generated in a region including the object, although the warning sound is strong or weak depending on the object, and a pedestrian crosses the front of the vehicle or the vehicle The same warning sound is generated even when walking with the back to the vehicle or when walking toward the vehicle.

  On the other hand, in Patent Document 2, although it is determined whether a pedestrian is walking with his back to the vehicle or toward the vehicle, the specific sound volume generation of the warning sound is described as a result. Has not been.

JP 2008-273251 A JP 2005-219715 A

  In the technique of Patent Document 1, since a pedestrian continues to generate a warning sound of the same volume regardless of whether the vehicle is aware of the vehicle within a predetermined region, the quietness that is one characteristic of hybrid vehicles and electric vehicles is achieved. You will lose.

  Moreover, although the technique of patent document 2 detects the walking condition of a pedestrian, since there is no specific description regarding the volume of a warning sound, quietness cannot be evaluated.

  An object of the present invention is to provide a warning device for a vehicle capable of prompting a warning to an object in front of the vehicle while improving the quietness of the surrounding environment.

  The vehicle alarm device according to the present invention includes an output processing means for calculating a relative speed between an object in front of the vehicle detected by the detection device and the vehicle, and a first when the calculated relative speed is smaller than the speed of the host vehicle. And a warning generating means for outputting a signal for generating a second warning sound that is smaller than the first warning sound.

  It is possible to provide a vehicle warning device capable of prompting a warning to an object in front of the vehicle while improving the quietness of the surrounding environment.

It is a block diagram which shows an example of the alarm device of the vehicle which concerns on this invention. It is a figure which shows the processing flow of Example 1 of the alarm device of the vehicle which concerns on this invention. It is a figure which shows the processing flow of the pedestrian recognition process of Example 1 of this invention. It is a figure explaining the positional relationship of a vehicle and a target object, and the generation | occurrence | production state of a warning sound. It is a figure explaining the positional relationship of a vehicle and a target object, and the generation | occurrence | production state of a warning sound. It is a figure explaining the positional relationship of a vehicle and a target object, and the generation | occurrence | production state of a warning sound. It is a figure explaining the positional relationship of a vehicle and a target object, and the generation | occurrence | production state of a warning sound. It is a figure explaining the positional relationship between the vehicle of Example 2 of the vehicle alarm device which concerns on this invention, and a target object, and the generation | occurrence | production state of a warning sound. It is a figure explaining the positional relationship between the vehicle of Example 3 of the vehicle alarm device which concerns on this invention, and a target object, and the generation | occurrence | production state of a warning sound. It is a figure which shows the processing flow of Example 4 of the alarm device of the vehicle which concerns on this invention. It is a combination figure of the alarm sound in Example 4 of the alarm device for vehicles concerning the present invention. It is a figure explaining the positional relationship between the vehicle of Example 4 of this invention and a target object, and the generation | occurrence | production state of a warning sound.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram showing a first embodiment of a vehicle 60 including a vehicle alarm device 100.

  An object in front of the host vehicle (pedestrian 10 in this embodiment) is detected by transmission / reception of the in-vehicle radar 20 serving as a detection device and input to the radar processing unit 30 serving as output processing means. Information for the person 10, for example, the calculated distance Dtarget to the object, the relative speed Vrtarget with the pedestrian 10, the coordinates of the object, the angle at which the radar is irradiated, and the like are calculated. The calculated information is input to warning sound generating means for generating a signal for generating a warning sound, specifically, a warning sound selection unit 40. The warning sound selection unit 40 generates a warning sound from the distance Dtarget and the relative speed Vrtarget. A sound and a sound quality are selected, and a signal for generating a warning sound is input to a warning sound generating unit 50 which is a warning sound generating device to generate a warning sound.

  The vehicle 60 includes a vehicle-mounted radar 20 that is a detection device, a radar processing unit 30 that is an output processing unit, a warning sound selection unit 40 that is a warning generation unit, a warning sound generation unit 50 that is a warning sound generation device, and a headlamp that is lit. A headlamp processing unit 70 as a means and a headlamp 80 as a headlamp device are mounted. Here, the radar processing unit 30 that is an output processing unit, the warning sound selection unit 40 that is a warning generation unit, and the headlamp processing unit 70 that is a headlamp lighting unit are referred to as a warning device 100.

  The radar processing unit 30 and the warning sound selection unit 40 are independently or integrated to perform warning sound generation processing by digital processing such as a microcomputer.

  FIG. 2 is a flowchart showing a warning sound generation process (step 100) of the vehicle alarm device shown in FIG. 1, and the processing content will be described below. The object 10 is a pedestrian (person).

  Step S200 is processing of the radar processing unit 30 as output processing means, and calculates the distance Dtarget and the relative speed Vrtarget.

  Step S300 is a process for recognizing the pedestrian 10 ahead, and is a process for setting and resetting the target flag with reference to FIG.

  In FIG. 3, the recognition of the pedestrian 10 detected by the detection device such as the in-vehicle radar 20 is determined in step S301, and the target flag is cleared in step S302 if the NO determination is not made.

  In the YES determination for recognizing the pedestrian 10, the continuous recognition time ttarget in which the recognition is in a continuous state is measured in step S303, compared with the set time ttargetset in step S304, and when the ttarget> ttargetset is NO, the target flag is cleared, YES In the determination, the recognition of the pedestrian 10 is confirmed with the target flag as a set.

  That is, the process of FIG. 3 is a process for eliminating a target (bird or animal) or malfunction detected instantaneously by the in-vehicle radar and determining a target in front of the vehicle 60.

  In step S101 of FIG. 2, the target flag that has confirmed the pedestrian 10 in the process of FIG. 3 is determined, and the target flag that does not recognize the pedestrian 10 is cleared (NO determination). No warning sound signal is output from 40 or a warning sound is not generated.

  In the target flag set (YES determination) in which the pedestrian 10 is recognized, the distance Dtarget to the pedestrian 10 is calculated in step S103, and the relative speed Vrtarget between the object Starget and the traveling vehicle is calculated in step S104.

  In step S105, by comparing and determining whether the distance Dtarget from the host vehicle to the target pedestrian is smaller than the predetermined set distance Dset01 or larger than the predetermined set distance Dset02, in NO determination, a warning sound is generated in step S102. Does not occur.

  In the YES determination in step S105 where the distance Dtarget is between the set distance Dset01 and the set distance Dset02 (within the set distance Dset01), a determination of 0 of the relative speed Vrtarget is processed in step S106, and no warning sound is generated in step S102 in the NO determination. .

  That is, when the relative speed Vrtarget is 0, the possibility that the vehicle 60 approaches the pedestrian 10 is low, and it is assumed that the vehicle 60 is traveling at a certain distance interval to the pedestrian 10, and the reason for the generation of the warning sound It is because it does not become.

  If the relative speed Vrtarget is other than 0 in step S106, the determination is NO and step S107 is processed.

  Here, within the set distance Dset01 (between the set distance Dset01 and the set distance Dset02), the first region within the detectable range of the in-vehicle radar 20 as the detection device, and the vehicle traveling in the first region And a second region within a predetermined range Wset from the center of the direction.

  In step 107, if the pedestrian 10 runs in the predetermined range Wset (a range longer than the width of the vehicle 60) centering on the traveling direction of the vehicle 60, there is a possibility of a collision if the vehicle is running as it is. A loud sound (third warning sound) is generated.

  The predetermined range Wset is, for example, from the irradiation angle of the in-vehicle radar 20 with the point of the set distance Dset01 as the axis around the vehicle 60 as the Y coordinate and the point of the predetermined range Wset as the X axis as the horizontal axis of the vehicle 60 (X , Y) can be obtained by calculating the coordinates.

  Except for the predetermined range Wset in step 107, the determination is NO, and the comparison determination between the relative speed Vrtarget and the vehicle speed Vsp is processed in steps S109 and S111.

  In step S109, if the relative speed Vrtarget is equal to the vehicle speed Vsp, that is, if the pedestrian 10 is stopped, a YES determination is made, and a warning sound volume (first warning sound) is generated in step S110.

  When the pedestrian 10 is a person, the next operation is unknown from the stopped state, and the warning sound is being volumed as an alert.

  In NO determination in step 109, the magnitude relationship between the relative speed Vrtarget and the vehicle speed Vsp is determined in step S111.

  If the relative speed Vrtarget is smaller than the vehicle speed Vsp (YES determination), a warning sound volume (first warning sound) is generated in step S110.

  That is, when the pedestrian 10 is walking with his back to the vehicle 60, the vehicle cannot be visually recognized, so the alert sound volume is set to alert.

  If the relative speed Vrtarget is greater than the vehicle speed Vsp (NO determination), a low volume of the warning sound (second warning sound) is generated in step S112.

  That is, when the pedestrian 10 is walking toward the vehicle 60, the vehicle 60 can be visually recognized, so that the volume of the warning sound is reduced as a warning.

  Note that the volume relationship between the first, second, and third warning sounds is second warning sound <first warning sound <third warning sound.

  4 to 7 are diagrams showing the generation status of the warning sound in the processing flow of FIG. 2 and the positional relationship between the object (person) 10 within the irradiation angle of the vehicle 60 and the in-vehicle radar 20, and the warning shown in an arc shape. The sound indicates that the thicker the volume, the louder the sound.

  FIG. 4 shows a case where the distance Dtarget from the vehicle 60 to the pedestrian 10 is within the forward set distance Dset01, and the pedestrian 10 walks within the predetermined range Wset. In step S107 of FIG. This shows a situation where a loud sound is generated.

  FIG. 5 shows a case where the distance Dtarget from the vehicle 60 to the pedestrian 10 is smaller than the forward set distance Dset01 and larger than Dset02 (in the case of the distance 0 at the front end of the vehicle in FIG. 4), and the pedestrian 10 stops outside the predetermined range Wset. FIG. 2 shows a situation in which YES is determined in step S109 in FIG. 2, and a warning sound volume is generated in step S110.

  FIG. 6 shows a case where the distance Dtarget from the vehicle 60 to the pedestrian 10 is smaller than the forward set distance Dset01 and larger than Dset02 (in the case of 0 at the front end of the vehicle in FIG. 4), and the pedestrian 10 is outside the predetermined range Wset. FIG. 2 shows a situation in which YES is determined in step S111 in FIG. 2 and a warning sound volume is generated in step S110.

  FIG. 7 shows a case where the distance Dtarget from the vehicle 60 to the pedestrian 10 is smaller than the forward set distance Dset01 and larger than Dset02 (in the case of 0 at the front end of the vehicle 60 in FIG. 4), and the pedestrian 10 is outside the predetermined range Wset. This is a case where the user is walking toward 60, in which NO is determined in step S111 of FIG. 2 and a low volume of the warning sound is generated in step S112.

  If the distance 0 of the front end of the vehicle is set to the set distance Dset02, a warning sound is not generated even when the pedestrian 10 walks on the side of the vehicle 60. Therefore, the set distance Dset02 = 0 in order to continue to call attention. Then, the warning sound can be continuously generated for a predetermined time that is at least as much as the length of the vehicle.

  In the description of FIG. 2 to FIG. 3, only one set Dset01 is set for the predetermined range Wset and the forward set distance centering on the traveling direction. It can also be changed.

  Furthermore, although the above description is a case where the set distance Dset01 set forward is fixed, the time for approaching the pedestrian 10 differs depending on the traveling speed Vsp of the vehicle 60, so that the time for generating a warning sound is lengthened and quietness is achieved. Deterioration, the time for generating a warning sound is shortened, and there may be a case where the pedestrian 10 cannot be sufficiently alerted.

  Therefore, instead of the set distance Dset01, a time TTC until reaching the pedestrian 10 is calculated from the distance to the pedestrian 10 and the traveling speed Vsp of the vehicle 60, and the warning sound is generated within the preset time TTCset. And the generation time of the warning sound can be made constant regardless of the traveling speed Vsp.

  Further, without calculating the time TTC until reaching the pedestrian 10, the set distance Dset01 = TTCset × Vsp is set from the preset set time TTCset, and the higher the travel speed Vsp, the farther the set distance Dset01 is. It is also possible to set the set distance Dset01 closer as the speed is slower and to change the set distance Dset01 according to the traveling speed Vsp.

  According to the first embodiment, when crossing an area of the predetermined range Wset that is set in front of the vehicle 60, the object (person) 10 is alerted with a loud sound of the warning sound, and outside the predetermined range Wset. Then, when the object (person) 10 is walking toward the vehicle 60, the object (person) 10 is walking toward the vehicle 60 while the object (person) 10 is walking toward the vehicle 60. It is possible to call attention with a low volume of the warning sound, and to call attention to an object (person) with improved quietness around the vehicle 60 by changing the volume of the warning sound.

  By the way, in above-mentioned Example 1, although alerting of the pedestrian 10 was urged by generation | occurrence | production of a warning sound, when alerting the pedestrian 10 who is hearing-impaired and further alerting to a general pedestrian The use of headlamps is effective.

  Therefore, as a modification of the first embodiment, in FIG. 1, the output of the radar processing unit 30 as the output processing unit is input to the headlamp processing unit 70 as the headlamp lighting unit, and the headlamp is turned on. The headlamp 80, which is a headlamp device, is controlled.

  From FIG. 4 to FIG. 7 showing the positional relationship between the vehicle 60 and the pedestrian 10, in the case of FIG. 4 and FIG. 7 where the pedestrian 10 can visually recognize the vehicle, the headlamp process is not executed. In FIGS. 5 and 6 in which the vehicle 10 does not visually recognize the vehicle, the headlamp 80 is caused to blink by the headlamp processing unit 70 at the same time as the volume of the alarm sound is generated.

  The combination of the generation of the alarm sound volume and the lighting of the headlamp is not limited to this. Based on the relationship between the distance to the object and the relative speed, and on the environment information in front of the host vehicle, the alarm sound generation and the headlamp lighting may be used together, or only one of them may be used.

  In this modified example, when there is an oncoming vehicle, there is a possibility that the vehicle 60 is received as a transmission signal.

  Therefore, when the on-vehicle radar 20 is a millimeter wave radar, the oncoming vehicle is detected from the reflectivity. When the on-vehicle radar 20 is a laser radar, the oncoming vehicle is distinguished from the pedestrian by detecting from the left and right reflector results. It is not blinking.

  FIG. 8 shows a second embodiment of the alarm device for a vehicle, and is a diagram showing the positional relationship between the object (person) 10 within the irradiation angle of the vehicle 60 and the in-vehicle radar 20, and the vehicle 60 moves straight from the steering angle θs. This is a case where the course is changed, and the straight running is indicated by a dotted line, and the course change is indicated by a solid line at the steering angle θs.

  In FIG. 8, in the straight traveling, the object (person) 10 at the points P1 and P2 is not recognized and no warning sound is generated. However, when the course is changed at the steering angle θs, the object (person) 10 at the point P1 is within a predetermined range. The object (person) 10 at the point P2 is recognized within the irradiation angle of the in-vehicle radar.

  By the way, since the object (person) recognized by changing the course at the steering angle θs is suddenly positioned in front of the vehicle, the processing added to the first embodiment is performed in the second embodiment. .

  Therefore, the set distances set in front of the vehicle 60 are set as Dset03 and Dset04, and the set distance Dset03 recognized within the predetermined range Wset is shorter than the set distance Dset01 for straight traveling and is recognized within the irradiation angle of the in-vehicle radar. A set distance Dset04 is provided. That is, the first region and the second region described above are changed according to the steering angle θs by changing the course of the vehicle.

  The object (person) 10 at the point P1 within the set distance Dset03 after changing the course at the steering angle θs is alerted with a loud sound and the object (person) at the point P2 within the set distance Dset04. ) Is alerted with a medium or low warning sound volume.

  For the object (person) at the point P2, a medium or small warning sound is selected from the comparison between the relative speed Vrtarget and the vehicle speed Vsp in steps S109 and S111 in FIG.

  The steering angle θs is detected by a steering angle detection means such as a steering angle sensor.

  FIG. 8 shows an example in which the steering angle θs is shown as an example. However, the set distances Dset03 and Dset04 can be changed according to the value of the steering angle θs. When the value of the steering angle θs is large, the set distances Dset03 and Dset04 are shown. When the steering angle θs is small, the set distances Dset03 and Dset04 are increased.

  In FIG. 8, the set distances Dset03 and Dset04 are shown by two set values, but the present invention is not limited to this. The set distances Dset03 and Dset04 can be continuously varied according to a predetermined relationship with the value of the steering angle θs. Wset is not limited to one set value.

  In the second embodiment, when the vehicle 60 changes its course, the sound volume of the warning sound is appropriately generated as compared with the case where the vehicle travels straight and the object (person) is alerted, and the sound volume of the warning sound is also variable stepwise. This also has the effect of improving the quietness around the vehicle 60.

  FIG. 9 shows a third embodiment of the vehicle alarm device, and is a diagram showing a positional relationship between the vehicle 60, the white line 90 of the road marking, and the object (person) 10, and within the irradiation angle of the in-vehicle radar 20, the object ( A person) 10 is located on the side of the roadway from the white line 90 as shown at a point P3, and a case where the person 10 is located on the side of the road from the white line 90 as shown at point P4.

  Since there is a high possibility that the object (person) 10 crosses the roadway at the point P3 outside the predetermined range Wset, a warning sound having a volume larger than the volume of the warning sound described in FIGS. The object (person) 10 is set to the volume of the warning sound described in FIGS.

  In the third embodiment, the alert sound can be effectively increased by increasing the volume of the warning sound as compared with the case where there is an object on the sidewalk side with respect to the object (person) 10 on the roadway side from the white line 90. .

  FIG. 10 is a flowchart showing the fourth embodiment of the warning sound generation process (step 100). The same steps as those in FIG. 2 are denoted by the same reference numerals, and the description of the same steps is omitted.

  In FIG. 10, the volume of the warning sound for the target object (including those other than humans) 10 is within the predetermined range Wset in step S107 shown in FIG. 2, and the distance Dtarget in step S105 is less than the set distance Dset01 and the volume of the warning sound is high. As for the volume of the warning sound other than generating the warning sound, the volume of the warning sound is selected by a combination of the distance Dtarget to the object 10 and the relative speed Vrtarget in step S120.

  11 is a diagram showing the processing contents of step S120, and FIG. 12 is a diagram showing the positional relationship between the vehicle 60 and objects (including those other than humans) within the irradiation angle of the in-vehicle radar in the processing flow of FIG. Are denoted by the same reference numerals.

  In FIG. 11, the items in the horizontal column (NO1 to 6) are the relative speed Vrtarget, the vehicle speed Vsp, the comparison formula of the relative speed Vrtarget and the set relative speed (VDel1 and VDel2), and the item in the vertical column is the distance Dtarget and the set distance ( Dset11, Dset12, Dset13, and Dset02), and the volume of the warning sound is determined by the combination of the horizontal and vertical columns.

  NO1 is a case where the object 10 is another vehicle and the relative speed Vrtarget with the vehicle 60 is 0, that is, the vehicle travels at a constant distance, and no warning sound is generated regardless of the distance Dtarget.

  NO2 is a case where the object 10 is a pedestrian and walks in a direction away from the vehicle 60 and the relative speed Vrtarget is smaller than the vehicle speed Vsp, and is set closest to the vehicle 60 as shown in FIG. A warning sound is generated within the distance Dset13. Otherwise, no warning sound is generated.

  NO3 is a case where the object 10 is stopped by a pedestrian and the relative speed Vrtarget and the vehicle speed Vsp are equal, and a warning sound is generated within the set distance Dset13 closest to the vehicle 60 as shown in FIG. Otherwise, no warning sound is generated.

  NO4 is a case where the object 10 is a pedestrian and walks in a direction approaching the vehicle 60, and the relative speed Vrtarget is smaller than the vehicle speed Vsp and the set value VDel1, and the closest set distance from the vehicle 60 as shown in FIG. A warning sound is generated within Dset13. The set value VDel1 is a value that assumes the walking speed of the pedestrian. Otherwise, no warning sound is generated.

  NO3 corresponds to YES determination in step S109, NO4 corresponds to NO determination in step S111, and the set distance Dset13 shown in FIG. 12 corresponds to the set distance Dset01.

  NO5 is a case where the object 10 walks in a direction approaching the vehicle 60 by bicycle and the relative speed Vrtarget is larger than the vehicle speed Vsp + set value VDel1 and smaller than the vehicle speed Vsp + set value VDel2, as shown in FIG. The vehicle generates a low warning sound within the range from the set distance Dset12 to the set distance Dset13 and generates a warning sound within the set distance Dset13. The set value VDel2 is a value that assumes the traveling speed of the bicycle. Otherwise, no warning sound is generated.

  In NO5, since the vehicle 60 is approached at a speed faster than that of a pedestrian, a warning sound is generated earlier.

  NO6 is a case where the object 10 walks in a direction approaching the vehicle 60 by a motorcycle and the relative speed Vrtarget is higher than the vehicle speed Vsp + set value Vdel2, and the vehicle 60 is set from the set distance Dset11 as shown in FIG. A low warning sound is generated within the range of the distance Dset12, a high warning sound is generated within the set distance Dset13 during the warning sound within the range of the set distance Dset13 to the set distance Dset13. The set value VDel2 or more is a value that assumes the running speed of the motorcycle. When the distance Dtarget is larger than the set distance Dset11 and when the distance Dtarget is smaller than the set distance Dset12, no warning sound is generated.

  In NO6, since the vehicle 60 approaches the vehicle 60 at a speed faster than that of the bicycle, a warning sound is generated earlier.

  In FIG. 11, NO2 is established for a bicycle or a motorcycle that leaves the vehicle 60 earlier than a pedestrian, so that a warning sound is generated within the range of the set distance Dset13.

  The combination of FIG. 11 is not limited to this, and the generation of a warning sound and the volume level can be changed according to the relative speed Vrtarget and the distance to the object 10.

  In the fourth embodiment, the target object 10 can be specified by the relative speed Vrtarget with the target object 10, and the volume of the warning sound is determined by the combination with the front distance. At the same time, since the volume of the warning sound can be varied, there is an effect of improving the quietness around the vehicle 60.

  The present invention is an alarm device for a vehicle having the purpose of improving the quietness around the vehicle. When the object (person) 10 notices the approach of the vehicle 60, the volume of the alarm sound is reduced and the alarm sound is reduced. Other variations that do not occur are also included.

  As an example in which the object (person) 10 notices the approach of the vehicle 60, there is lighting of a headlamp 80 which is a vehicle headlamp device. Since the irradiation angle of the headlamp 80 is much wider than the irradiation angle of the in-vehicle radar 20, the approach of the vehicle 60 can be recognized before the in-vehicle radar 20 recognizes the object (person) 10. Do not generate warning sound when lit.

  In addition, even when the headlamp 80 of the vehicle 60 is turned on, when the object (person) 10 recognizes the predetermined range Wset as shown in FIG. 4, a warning sound is generated. It is also possible to call attention to the object (person 10).

  According to this example, quietness around the vehicle 60 can be significantly improved particularly at night.

  By the way, when the accelerator is depressed and accelerated while the vehicle 60 is traveling, the surrounding object (person) 10 is particularly exposed to danger.

  In the engine vehicle, the engine sound is increased by depressing the accelerator, and the surrounding object (person) 10 can be alerted without the driver being aware of it.

  Therefore, in the first embodiment, when the accelerator depression becomes larger than the current opening by a predetermined change, that is, when the throttle opening of the vehicle exceeds a predetermined increase, steps S108 and S110 in FIG. , It is possible to raise the alert with a large volume (the volume of the warning sound is larger than a preset volume) obtained by adding the volume of the warning sound in step S112 by a predetermined volume.

  In the above-described embodiments and modifications, the example in which the distance Dtarget to the object 10 and the relative velocity relative speed Vrtarget are detected by the in-vehicle radar 20 has been described. However, the detection device may be an in-vehicle camera instead of the in-vehicle radar 20.

  As an example, when the size of the acquired image when the target object 10 is stopped is estimated from the traveling speed of the vehicle 60 from the distance to the target object 10 and the acquired image with the in-vehicle camera, and the estimated image and the acquired image are equal Judgment of whether the object 10 is stopped or crossing the front, in the case of an acquired image that is small compared to the estimated image, a determination that the object 10 is turned away from the vehicle, an acquired image that is larger than the estimated image In this case, it can be replaced with the determination of steps S109 and S111 in FIG.

  Since the vehicle-mounted camera can determine the shape of the object 10, the person (pedestrian) can be recognized more accurately, so that more effective alerting can be performed.

  Further, by recognizing the magnitude relationship of the person (pedestrian) 10, it is possible to increase the volume of the warning sound and generate a large volume for the child pedestrian.

  Furthermore, the recognition of the white line 90 in the third embodiment can also be determined by the in-vehicle camera. Further, when the white line recognizes the pedestrian crossing sign or the stop line before the pedestrian crossing, the object on the pedestrian crossing is recognized. Can also be configured not to generate a warning sound. In this case, the signal color of the traffic signal in the vehicle traveling direction is further received and the warning sound is not generated with the blue signal, but the volume of the warning sound can be increased with the yellow and red signals to generate a large volume. In other words, the warning sound selection unit 40, which is a warning generation means, uses a road marking recognition means (such as an in-vehicle camera) that recognizes the road marking of the pedestrian crossing, and the pedestrian is allowed to cross the pedestrian crossing. If it is recognized that the pedestrian does not output a signal that generates a warning sound, is not permitted to cross, and a pedestrian is walking on a pedestrian crossing, the volume of the warning sound is greater than the set volume. It can also be output as a signal.

  In addition, in the vehicle 60 on which both the in-vehicle camera and the in-vehicle radar 20 are mounted, the characteristic detection values, judgments, and processing can be combined with ease and speed, which is more effective for the object 10. Can be alerted.

  The warning sound of the above-described embodiment includes a single sound, a melody sound, a pseudo engine sound, an intermittent sound, etc., a change in frequency instead of a volume, a time change in the above-mentioned warning sound, and the like.

  In the vehicle alarm device of the present invention, as a matter of course, the warning sound generation process is not executed when the vehicle 60 is stopped or below a predetermined set value, and a threshold is set in advance for the traveling speed of the vehicle 60. It is also possible to set the alarm sound generation process at a running speed that is equal to or higher than the threshold value.

DESCRIPTION OF SYMBOLS 10 Target object 20 In-vehicle radar 30 Radar processing part 40 Warning sound selection part 50 Warning sound generation part 60 Vehicle 70 Headlight processing part 80 Headlight 90 White line

Claims (18)

Output processing means for calculating a relative speed between an object in front of the vehicle detected by the detection device and the vehicle;
Warning generating means for outputting a signal for generating a first warning sound when the calculated relative speed is lower than the speed of the host vehicle, and generating a second warning sound lower than the first warning sound when the calculated relative speed is higher;
An alarm device for a vehicle. The vehicle alarm device according to claim 1,
The output processing means calculates a distance to the object,
The warning generation means is a vehicle warning device that outputs a signal for generating the first warning sound or the second warning sound when the distance is within a preset vehicle front distance. The vehicle alarm device according to claim 1,
The output processing means sets a first area and a second area in the first area within the vehicle front distance,
The warning generation means is configured such that when the object is in the second area, the third warning sound is larger than the first warning sound, and in the first area excluding the second area, the first warning is generated. An alarm device for a vehicle that outputs a sound or a signal for generating the second warning sound. The vehicle alarm device according to claim 3,
The first region is within a range detectable by the detection device;
The second area is an alarm device for a vehicle that is within a predetermined range from the center in the traveling direction of the vehicle. The vehicle alarm device according to claim 3,
The first area and the second area are vehicle warning devices that are changed according to a steering angle by a course change of the vehicle. The vehicle alarm device according to claim 1,
The volume of the first warning sound and the second warning sound is different on the sidewalk side and the roadway side from the white line where the position of the object indicates the lane, and the volume on the roadway side is set to be higher than the sidewalk side. Vehicle warning device. The vehicle alarm device according to claim 1,
The vehicle front distance is set in a plurality of ranges,
An alarm device for a vehicle, wherein the relative speed is divided into a plurality of ranges, and a warning sound is selected based on a combination of the position and movement of an object. The vehicle alarm device according to claim 1,
The first warning sound and the second warning sound are vehicle warning devices in which the warning sound is set to be larger than a preset volume when the throttle opening of the vehicle exceeds a predetermined increment. The vehicle alarm device according to claim 2,
The vehicle front distance is a vehicle warning device that is calculated based on a speed of the vehicle and a predetermined time set in advance. The vehicle alarm device according to claim 2,
The output processing means calculates a time until the object is reached from the speed of the vehicle,
The warning generation means is a vehicle warning device that outputs a signal for generating the first warning sound or the second warning sound within a predetermined time set in advance. The vehicle alarm device according to claim 1,
A vehicle alarm device comprising a headlamp lighting means for outputting a signal for lighting a headlamp based on the relative speed calculated by the output processing means and the speed of the host vehicle. The vehicle alarm device according to claim 11,
An alarm device for a vehicle, wherein the signal for turning on the headlamp is a signal for blinking. The vehicle alarm device according to claim 3,
Having road marking recognition means to recognize road markings on pedestrian crossings,
If the object is a pedestrian,
The warning generation means includes
When crossing is permitted by the road marking recognition means and it is recognized that a pedestrian is walking on a pedestrian crossing, a signal that generates a warning sound is not output,
An alarm device for a vehicle, which outputs a volume of the warning sound as a signal larger than a set volume when the road marking recognition means recognizes that crossing is not permitted and a pedestrian is walking on a pedestrian crossing. The vehicle alarm device according to claim 1,
A vehicle alarm device in which the volume of all warning sounds is set to 0 when the vehicle speed is equal to or lower than a predetermined set value. An alarm device for a vehicle according to claim 1;
A detection device for detecting an object in front of the vehicle;
A warning sound generating device for generating a warning sound based on a signal for generating the warning sound;
Vehicle with. The vehicle according to claim 15, wherein
The detection device is a vehicle that is a radar mounted on the vehicle. The vehicle according to claim 15, wherein
The detection device is a vehicle that is a camera mounted on the vehicle. The vehicle according to claim 15, wherein
The vehicle alarm device has a headlamp lighting unit that outputs a signal for lighting a headlamp based on the relative speed calculated by the output processing unit and the speed of the host vehicle,
A vehicle having a headlamp device that is lit based on a signal for lighting the headlamp output by the headlamp lighting means.

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