JP2012064080A - Detection device for vehicle obstacle or the like - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically change/set a threshold of a distance up to an obstacle or the like in a detection device for an obstacle or the like based on environmental or moving information on a vehicle and/or driver unique information.SOLUTION: A threshold K of a distance L between a vehicle 1 and a wall surface 7 (an obstacle or the like) detected by ultrasonic sensors 3, 4 and 6 (distance detection means) is set to a plurality of stages, and a threshold group S1 is set. The threshold group S1 is made initial setting (normal setting). Based on environmental or moving information 15 and/or driver unique information 16, any one of threshold groups S2-S8 in which at least one of thresholds K1-K4 constituting the threshold group S1 is changed is selected and called, and a new threshold group S is set.

Description

  The present invention is a vehicle obstacle that is mounted on a vehicle and detects the presence of an obstacle or the like by detecting a distance to an obstacle or a boundary (hereinafter referred to as an obstacle or the like) on the movement of the vehicle. The present invention relates to an equal detection device. An apparatus for detecting the distance from the vehicle to an obstacle or the like is called “clearance sonar” or the like.

  In the present specification, an obstacle detection device using an ultrasonic sensor will be described. As shown in FIG. 1, ultrasonic sensors are embedded in the central part and both corner parts of the bumpers before and after the vehicle. When the driver turns on the operation switch of the obstacle detection device and the traveling speed of the vehicle at this time is low (about 10 km / h or less), ultrasonic waves are transmitted from each ultrasonic sensor. When this ultrasonic wave hits an obstacle and receives the ultrasonic wave reflected and returned, the distance from the vehicle to the obstacle is detected. When this distance becomes shorter than the distance threshold value stored in advance in the storage means of the vehicle, the notification means (for example, a buzzer or a display) sounds a warning sound or displays that effect.

  In the conventional obstacle detection device, the distance threshold value (that is, the distance value that makes the buzzer sound different) is constant, and it is difficult if not impossible to change them. For example, Patent Document 1 describes that the driver can manually change the distance threshold at a timing that matches his / her sense, but this method is troublesome.

JP 2005-225333 A

  In view of the above-described problems, the present invention is configured such that the threshold of the distance to an obstacle or the like in the obstacle detection device is automatically changed / set based on the vehicle environment or movement information and / or driver-specific information. The challenge is to do.

The present invention for solving the above problems is as follows.
A vehicle obstacle detection device that is mounted on a vehicle and detects an obstacle or a boundary (hereinafter referred to as an obstacle) on movement of the vehicle,
Distance detecting means for detecting a distance from the vehicle to the obstacle, etc .;
Threshold storage means for storing a threshold of one or more distances for notifying the driver about the distance to the obstacle, etc .;
An environment or movement information acquisition means for acquiring information about the environment or movement situation around the vehicle;
Driver specific information acquisition means for acquiring the specific information of the driver of the vehicle;
Based on the environment or movement information and / or the driver-specific information, the threshold stored in the threshold storage means is automatically changed or the threshold set automatically is stored in the threshold storage means or Setting means;
An approach degree judging means for judging whether or not the distance detected by the distance detecting means has reached a threshold value stored in the threshold value storing means;
Informing means for informing when the approach degree judging means judges that the detected distance has reached the threshold value;
It is characterized by providing.

  The obstacle detection device (for example, ultrasonic sensor device) according to the present invention is configured as described above, and the distance detection means detects the distance between the vehicle and the obstacle. Then, the threshold value of the distance stored in the threshold value storage means is called based on the degree of approach of the vehicle to the obstacle at that time. This threshold value is automatically changed or set by the threshold automatic change or setting means based on the environment or movement information and / or driver-specific information, so that the optimum threshold value for the driver is called. For this reason, it becomes difficult for the driver to feel discomfort and stress. In addition, an effect of “hospitality” that the obstacle detection device operates in the form that the driver desires most (or seems to desire) is achieved.

A plurality of thresholds for the distance, and the thresholds are configured as a set,
The threshold automatic change or setting means changes all or only a part of the threshold corresponding to the degree of approach of the vehicle to the obstacle or the like based on the environment or movement information and / or the driver specific information.

  Specifically, the threshold automatic change or setting means automatically changes and sets the threshold by performing an operation of multiplying the distance threshold by a predetermined coefficient.

  The threshold automatic change or setting means may automatically change / set the threshold by selecting a predetermined one from a plurality of preset distance thresholds.

Then, a plurality of threshold sets composed of the threshold sets are preset,
The threshold automatic change or setting means may automatically change / set the threshold by selecting one of the plurality of threshold sets.

  The environmental information can be acquired by brightness detection means and rainfall condition detection means mounted on the vehicle. As the brightness detection means, for example, there are a light switch on / off, a brightness sensor, and the like. Examples of the rain condition detection means include a wiper switch on / off and a rain sensor. The movement information can be acquired from a driving history by a navigation device mounted on the vehicle.

  The driver-specific information includes the driver's sex, age, visual acuity, and driver's license acquisition year, and the driver inputs such information using, for example, a touch panel of a navigation device.

1 is a plan view of a vehicle 1. It is a figure which shows the threshold value K1-K4 of the ultrasonic sensor apparatus 100, the distance display of a display, and the buzzer's sound. 1 is a block diagram of an ultrasonic sensor device 100. FIG.

  Hereinafter, embodiments of the present invention will be described in detail. FIG. 1 is a plan view of the vehicle 1, FIG. 2 is a diagram showing threshold values K1 to K4 of the ultrasonic sensor device 100, display distance display, and buzzer sound, and FIG. 3 is a block diagram of the ultrasonic sensor device 100.

  An ultrasonic sensor device 100 (an obstacle detection device) according to the present embodiment will be described. As shown in FIG. 1, two ultrasonic sensors 3 are attached to a central portion of a rear bumper 2 of the vehicle 1 at a predetermined interval, and ultrasonic sensors 4 are attached to both corner portions. Ultrasonic sensors 6 are attached to both corners of the front bumper 5 of the vehicle 1. Each of the ultrasonic sensors 3, 4, 6 is attached so that their front end surfaces (microphone surfaces) (not shown) are flush with the outer surfaces of the bumpers 2, 5. Since the functions of the ultrasonic sensors 3, 4, and 6 are the same except for the detection distance, the ultrasonic sensor 3 attached to the central portion of the rear bumper 2 will be described in this specification.

  The maximum detection distance Lmax of the ultrasonic sensor 3 is about 150 cm from the outer surface of the rear bumper 2 (microphone surface of the ultrasonic sensor 3), and the minimum detection distance Lmin is the outer surface of the rear bumper 2 (ultrasonic sensor). 3 microphone face) and about 10 cm. That is, this ultrasonic sensor 3 can be used to detect an obstacle or the like existing between 10 and 150 cm from the outer surface of the rear bumper 2.

  Consider the case where the vehicle 1 is moving backward toward an obstacle or the like (wall surface 7) as shown in FIG. In FIG. 2, the uppermost column indicates a situation in which the vehicle 1 is moving backward, the lower column indicates a corresponding threshold value K, and the lower column indicates a display (not shown) in a display (not shown) mounted on the vehicle 1. Hereinafter, this display is referred to as “distance display”), and the bottom column indicates the buzzer sound. In the ultrasonic sensor device 100 of the present embodiment, a threshold value K for the distance L is set as follows. In other words, the threshold value K of the distance L is set in four stages such that the first threshold value K1 = 100 cm, the second threshold value K2 = 50 cm, the third threshold value K3 = 37.5 cm, and the fourth threshold value K4 = 25 cm. When the vehicle 1 moves backward and the distance L (degree of approach) from the outer surface of the rear bumper 2 of the vehicle 1 to the wall surface 7 becomes about 150 cm (maximum detection distance Lmax) or less, the ultrasonic sensor 3 starts detection. However, at this time, the distance display is not displayed on the display, and the buzzer does not emit a warning sound.

  When the distance L from the vehicle 1 to the wall surface 7 reaches the first threshold value K1 (100 cm), a distance display is displayed on the display. In this distance display, the emission waves of the vehicle 1 and the ultrasonic sensor 3 are displayed on the display as an illustration. That is, an illustration 8 of the vehicle 1, an illustration 9 of the ultrasonic sensor 3, and a plurality of (in this case, three) marks 10 that display the ultrasonic waves emitted from the ultrasonic sensor 3 are lit on the display. The At the same time, the buzzer emits an intermittent sound with a long cycle of “Peepy”.

  When the distance L from the vehicle 1 to the wall surface 7 reaches the second threshold value K2 (50 cm), the number of marks 10 displayed on the display decreases by one (becomes two), and the buzzer has a cycle of “beep”. A short intermittent sound is emitted. Further, when the vehicle 1 approaches the wall surface 7 and the distance L to the wall surface 7 reaches the second threshold value K3 (37.5 cm), the mark 10 displayed on the display is further decreased by one (becomes one). , The buzzer emits an intermittent sound with a shorter period of “beep”. When the distance L from the vehicle 1 to the wall surface 7 reaches the fourth threshold value K4 (25 cm), the mark 10 displayed on the display is not displayed, and the illustration 9 of the ultrasonic sensor 3 is flashed and displayed. The buzzer emits a continuous sound “Peep”. Thus, in the ultrasonic sensor device 100 of the present embodiment, when the detected distance L reaches the threshold values K1 to K4 set in a plurality of stages (four stages in the present embodiment), the distance of the display is displayed. The driver is alerted by changing the display and changing the sound generated by the buzzer.

  The configuration of the ultrasonic sensor device 100 of the present embodiment will be described with reference to FIG. The distance calculation unit 11 receives a reflected wave transmitted from the ultrasonic sensors 3, 4, 6, hitting an obstacle or the like (for example, the wall surface 7) and reflected back, and the distance between the vehicle 1 and the obstacle etc. L is detected. The distance L detected by the distance calculation unit 11 is input to the determination unit 12 and compared with the threshold value K at each stage. That is, the detected distance L is compared with the threshold value K of each step (in other words, whether the detected distance L has reached the threshold value K of each step), and the buzzer is selected according to the comparison result. 13 is sounded.

  The threshold value K is stored in the memory 14 and is called from the memory 14. The initial setting of the threshold value K is, for example, that the maximum detection distance Lmax of the ultrasonic sensor 3 is about 150 cm and the minimum detection distance Lmin is 10 cm. The detection distance L between them is divided into a plurality of stages (four stages in the case of this embodiment), the first threshold value K1 (maximum value) is set to 100 cm, and the fourth threshold value K4 (minimum value) is set to 25 cm. Then, the second threshold value K2 is 50 cm, which is half the first threshold value K1, and the third threshold value K3 is 37.5 cm, which is half the sum of the second threshold value K2 and the fourth threshold value K4. A combination of the threshold values K1 to K4 is referred to as a threshold set S.

  The configuration described above is the same as that of a conventional ultrasonic sensor device. In addition to the above-described configuration, the ultrasonic sensor device 100 according to the present embodiment includes information about the environment or movement status around the vehicle 1 (hereinafter referred to as environment or movement information 15) and driver's specific information (hereinafter referred to as “environment or movement information 15”). A preparation state instructing unit 17, a setting change instructing unit 18, and a setting changing unit 19 for automatically changing and setting the threshold set S stored in the memory 14 based on the driver specific information 16). Is provided. Hereinafter, these will be described.

  The preparation state instructing unit 17 is operated by a signal input based on the environment or movement information 15 and the driver specific information 16 and instructs the setting change instructing unit 18 to change the threshold set S. The “preparation state” refers to a state immediately before the threshold values K1 to K4 in the threshold set S are changed.

  The setting change instruction unit 18 has a function of receiving a signal from the preparation state instruction unit 16 and outputting a signal indicating that the threshold values K1 to K4 in the threshold set S stored in the memory 14 are changed.

  The setting change unit 19 has a function of actually changing the threshold values K1 to K4 in the threshold set S stored in the memory 14 in response to a signal from the setting change instruction unit 18. Then, the changed threshold values K1 to K4 are input to the memory 14 as the final threshold set S.

  Methods for changing the threshold values K1 to K4 include a method of multiplying the threshold values K1 to K4 by a preset coefficient and a method of replacing at least one threshold value K1 to K4 with another threshold value K1 to K4 prepared in advance. Yes, either method may be adopted.

  Next, the environment or movement information 15 will be described. In the ultrasonic sensor device 100 of the present embodiment, the environmental information of the environment or movement information 15 is poorer in visibility of the driver than during normal time (daytime in fine weather), for example, at night or during rainfall. Or information indicating that the road surface is slippery during snowfall or in cold regions. Among the environmental information, being at night is assumed to be nighttime when the small lamp switch and headlamp switch (both not shown) of the vehicle 1 are turned on / off and the current time is acquired (for example, after 18:00). ), And can be obtained by a brightness sensor (not shown) mounted on the vehicle 1. Further, the rain information is turned on / off of a wiper switch (not shown) of the vehicle 1, weather information received by a navigation device (not shown) mounted on the vehicle 1, and mounted on the vehicle 1. It can be acquired by a rain sensor (not shown). In addition, the snowfall information, like the rain information, is turned on / off of a wiper switch and a heater switch (not shown) of the vehicle 1, weather information received by a navigation device mounted on the vehicle 1, and mounted on the vehicle 1. It can be obtained by a snow sensor (not shown), an outside air temperature sensor (not shown) or the like. Further, fog information can be acquired based on on / off of a fog lamp (not shown) or weather information of a navigation device mounted on the vehicle 1.

  The movement information in the environment or movement information 15 refers to information on the driving state by the driver. For example, in a state where the driver's attention may be distracted after driving for a long time (acquisition is possible based on driving history information of the navigation device), or in a range where the ultrasonic sensor device 100 operates. This means information indicating a state in which the braking distance is long because the vehicle is moving backward at a relatively high speed (can be acquired by the backward speed information).

  The driver-specific information 16 is determined by, for example, the driver's gender, age, eyesight, driving license acquisition period, and the like, and indicates the degree of skill of the driver. As the driver-specific information 16, each driver can use his / her gender, age, visual acuity, driving license acquisition period, etc., for example, a touch display mounted on the vehicle 1 (for example, a display of a navigation device). .) Is input to the memory 14 and stored. Further, the driver's skill may be divided into four levels, for example, A, B, C, and D, and the driver may select and input his / her level. Each driver and driver-specific information 16 corresponding to the driver are linked by a face recognition device and a fingerprint authentication device (both not shown) mounted on the vehicle 1. The driver seated in the driver's seat is specified by the face recognition device or the fingerprint authentication device, and the driver's driver specific information 16 is called from the memory 14 accordingly.

  Here, if the visibility is worse than normal (daytime in fine weather), such as at night or during rain, or if the road surface is slippery, such as during snow, the driver will drive with caution. It is considered a thing. For this reason, it is preferable that the threshold values K1 to K4 are larger than the normal threshold values K1 to K4. In addition, when the driver's skill is low (for example, a person with a short driving license acquisition period is estimated to have low skill), the threshold values K1 to K4 are normal threshold values K1. It is preferable that it is larger than ~ K4. On the contrary, when a person with high skill drives, it is preferable that the thresholds K1 to K4 are smaller than the normal thresholds K1 to K4, and for example, the detected distance L is the first threshold. Even when K1 is reached, there is a case where the driver is not stressed by not making a warning sound.

  For this reason, as shown in Table 1, in accordance with each case corresponding to the environment or movement information 15 or the driver-specific information 16, a combination (threshold set S) of a plurality of types of threshold values K1 to K4 is stored in the memory 14. Let me. For example, the threshold set S1 when the first threshold K1 is 100 cm, the second threshold K2 is 50 cm, the third threshold K3 is 37.5 cm, and the fourth threshold K4 is 25 cm is S1 (100, 50, 37.5, 25). It describes as follows. Then, the threshold set S1 at this time is defined as a normal threshold set S1 (initial setting). At night or during rain (when snowing), the driver increases the threshold values K1 to K4 and sets the threshold set S2 (130, 65, 50, 35) in order to perform careful driving. At night or during rain (snow), the default threshold set S1 (100, 50, 37.5, 25) is automatically changed to the threshold set S2 (130, 65, 50, 35). Further, the threshold set S3 (120, 60, 45, 30) is a case where visibility is not as good as usual, such as in the evening, but is not as bad as at night or during rain (snowfall). The threshold values K1 to K4 are slightly larger than the threshold value set S1, and the threshold values K1 to K4 are slightly smaller than the threshold value set S2.

  The threshold sets S4 to S6 indicate combinations of threshold values K1 to K4 based on the driver specific information 16. That is, the threshold set S4 (110, 55, 42.5, 30) is, for example, a case of a beginner (a person with low driving skill), and the threshold set S5 (90, 45, 32.5, 20) is, for example, This is the case for advanced users (people with high driving skills). Furthermore, for those who have a high driving skill and think that notification when the distance L is large is unnecessary, such as the threshold set S6 (−, 50, 37.5, 25), the thresholds K1 to K4 are set. This is a case where the combination is customized ("-" in the combination indicates that threshold values K1 to K4 are not set).

  As described above, the ultrasonic sensor device 100 according to the present embodiment sets the threshold values K1 to K4, and depends on the brightness, the weather (environment or movement information 15), and / or the skill of the driver (driver specific information 16). A combination of optimum threshold values K1 to K4 in the state is selected and automatically called.

  The above is a case where threshold groups S2 to S6 having different threshold values K1 to K4 are prepared in advance for the default threshold group S1 and called from the memory 14 as necessary. However, a new threshold set S7 (110, 55, 41.2, 27.5) is obtained by multiplying the thresholds K1 to K4 constituting the threshold set S1 by a predetermined coefficient α (in this case, α = 1.1). It may be set. Note that a new threshold set is obtained by not multiplying all the threshold values K1 to K4 by the coefficient α, but by multiplying at least one threshold value K1 to K4 by the coefficient α (for example, only the threshold value K2 is multiplied by the coefficient α = 1.1). S8 (100, 55, 37.5, 25) may be set.

  The operation of the ultrasonic sensor device 100 of the present embodiment will be described. When the driver gets on the vehicle 1, the driver is identified by a face recognition device, a fingerprint authentication device or the like mounted on the vehicle 1, and the driver is identified from a plurality of driver specific information 16 stored in the memory 14. The optimum combination of threshold values K1 to K4 (threshold set S) is selected. For example, the threshold set S4 is selected if the driver at this time is a beginner, and the threshold set S5 is selected if the driver is an advanced person. If the driver is an intermediate person (a person other than a beginner or an advanced person), or the driver-specific information 16 is not stored in the memory 14, and it is difficult to specify the driver. The default threshold set S1 is selected. Since the selection changing unit 19 of the ultrasonic sensor device 100 automatically performs these selections, it is not necessary for the driver to perform any operation. The ultrasonic sensor device 100 operates based on the threshold set S selected based on the driver specific information 16. It is possible to manually select the default threshold set S1 even when an advanced player is selected.

  When the driver turns on the small lamp of the vehicle 1 during traveling, the setting changing unit 19 of the ultrasonic sensor device 100 calls the evening threshold set S3. Thereby, the combination of the threshold values K1 to K4 based on the driver specific information 16 is changed to the combination of the threshold values K1 to K4 based on the environment or the movement information 15. Since this change is automatically performed by the setting changing unit 19 of the ultrasonic sensor device 100, it is not necessary for the driver to perform any operation. The ultrasonic sensor device 100 operates based on the threshold set S selected based on the environment or movement information 15. In other words, the ultrasonic sensor device 100 according to the present embodiment selects the environment or movement information 15 with priority over the driver specific information 16. However, when the environment or movement information 15 is selected by being superimposed on the driver-specific information 16 as described above, a new threshold set S that is an average value of the respective threshold values K1 to K4 is set. Also good.

  As described above, when the ultrasonic sensor device 100 according to the present embodiment identifies a driver, the ultrasonic sensor device 100 selects the optimum threshold set S for the driver based on the driver specific information 16 stored in the memory 14. Or call it with settings. When the visibility becomes poor, an optimum threshold set S in the environment is selected or set based on the environment or movement information 15 and called. If the driver is an advanced person (person with high driving skill), the combination for beginners is not called (if the driver is not specified, the default threshold set S1 is called). In addition, since the reverse does not occur, it becomes difficult for the driver to feel uncomfortable with the operation of the ultrasonic sensor device 100. As a result, the ultrasonic sensor device 100 is operated by the threshold set S that is optimal for the driver, and the ultrasonic sensor device 100 is operated in the form that the driver most desires (or seems to desire). "Hospitality" effect is produced.

  INDUSTRIAL APPLICABILITY The present invention can be used as an obstacle detection device in a vehicle, particularly as an obstacle detection device using an ultrasonic sensor.

100 Ultrasonic sensor device (obstacle detection device)
3, 4, 6 Ultrasonic sensor (distance detection means)
7 Wall surfaces (obstacles, etc.)
12 Judgment part (approach degree judging means)
13 Buzzer (notification means)
14 Memory (threshold storage means)
15 Environment or movement information 16 Driver specific information 19 Setting change part (threshold automatic change or setting means)
K, K1 to K4 Threshold L Distance S, S1 to S8 Threshold set α coefficient

Claims (8)

A vehicle obstacle detection device that is mounted on a vehicle and detects an obstacle or a boundary (hereinafter referred to as an obstacle) on movement of the vehicle,
Distance detecting means for detecting a distance from the vehicle to the obstacle, etc .;
Threshold storage means for storing a threshold of one or more distances for notifying the driver about the distance to the obstacle, etc .;
An environment or movement information acquisition means for acquiring information about the environment or movement situation around the vehicle;
Driver specific information acquisition means for acquiring the specific information of the driver of the vehicle;
Based on the environment or movement information and / or the driver-specific information, the threshold stored in the threshold storage means is automatically changed or the threshold set automatically is stored in the threshold storage means or Setting means;
An approach degree judging means for judging whether or not the distance detected by the distance detecting means has reached a threshold value stored in the threshold value storing means;
Informing means for informing when the approach degree judging means judges that the detected distance has reached the threshold value;
A vehicle obstacle detection device characterized by comprising: A plurality of thresholds for the distance, and the thresholds are configured as a set,
The threshold automatic change or setting means may change all or only a part of the threshold corresponding to the degree of approach of the vehicle to the obstacle or the like based on the environment or movement information and / or the driver specific information. The vehicle obstacle detection device according to claim 1, wherein the vehicle obstacle detection device is used.   3. The vehicle fault according to claim 1, wherein the threshold automatic change or setting unit automatically changes and sets the threshold by performing an operation of multiplying the threshold of the distance by a predetermined coefficient. Object detection device.   The threshold automatic change or setting means automatically changes / sets the threshold by selecting a predetermined threshold from a plurality of preset distance thresholds. Vehicle obstacle detection device. A plurality of threshold sets composed of the threshold sets are preset,
3. The vehicle obstacle detection device according to claim 2, wherein the threshold automatic change or setting means automatically changes / sets the threshold by selecting one of the plurality of threshold sets. . The vehicle is equipped with a brightness detection means for detecting the brightness around the vehicle, and a rainfall situation detection means for detecting a rainfall situation around the vehicle,
The vehicle obstacle according to any one of claims 1 to 5, wherein the information related to the environment around the vehicle is acquired by the brightness detection unit and / or the rain condition detection unit. Equal detection device.   The vehicle obstacle detection device according to any one of claims 1 to 6, wherein the driver specific information of the vehicle includes a gender, age, visual acuity, and driving license acquisition years of the driver.   The distance detection means detects a distance from the vehicle to the obstacle, etc., by transmitting a emitted wave toward the outside of the vehicle and receiving a reflected wave reflected by the obstacle. The vehicle obstacle detection device according to any one of claims 1 to 7.