JP2013068428A - Sound source detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sound source detection device that reduces the effect of noise sound.SOLUTION: The sound source detection device 1A mounted on a moving body (a vehicle, for example) to detect a sound source (traveling sound of other vehicles, for example) on the basis of the sound collected by a sound collector, includes operation state control means 13A that controls an operation state of a noise source device equipped in the moving body (for example, to stop/start the noise source device, to change the stop condition and/or the start condition of the noise source device, or to change the operation state so as to change a frequency band of the sound generated by the noise source device).

Description

  The present invention relates to a sound source detection apparatus that is mounted on a moving body and detects a sound source to be detected based on sound collected by a sound collector.

  In the sound source detection device, surrounding sounds are collected by a plurality of sound collectors, and the moving direction of the sound source (particularly, the running sound of the vehicle) is detected based on the difference in the arrival time of the sound to each sound collector. . In the device described in Patent Document 1, correction is performed by removing frequency components of a low frequency band and a high frequency band from an electric signal output from a plurality of microphones (sound collectors) arranged at predetermined intervals using a band pass filter. The power is converted into an electric signal, and the power of a predetermined frequency band in which the characteristics of the running sound of the vehicle appear is calculated from the corrected electric signal. When the power level is higher than the predetermined value, it is determined that there is an approaching vehicle and the corrected electric An unnecessary noise component is removed from the signal and converted into a noise suppression signal, a cross-correlation between noise suppression signals of a plurality of microphones is calculated, and an approaching direction of an approaching vehicle is calculated from an arrival time difference at which the correlation is maximum.

Japanese Utility Model Publication No. 5-92767

  In the case of a sound source detection device mounted on a vehicle, in addition to the traveling sound of another vehicle approaching, sound generated by equipment provided in the host vehicle (for example, engine sound, engine fan cooling sound, etc.) is collected. If the frequency band of each sound generated in this vehicle overlaps with the frequency band of the traveling sound of the other vehicle, it becomes a noise sound with respect to the traveling sound of the other vehicle, and the recognition accuracy of the traveling sound of the other vehicle to be detected decreases. To do.

  Therefore, an object of the present invention is to provide a sound source detection device that suppresses the influence of noise sound.

  A sound source detection device according to the present invention is a sound source detection device that is mounted on a moving body and detects a sound source to be detected based on sound collected by a sound collector, when the sound source detection device is activated. Further, the present invention is characterized by comprising an operation state control means for controlling the operation state of the noise sound source device provided in the moving body.

  This sound source detection device is mounted on a moving body (for example, a vehicle) and based on sound collected by a sound collector provided on the moving body, a sound source to be detected around the moving body (for example, traveling sound of another vehicle). ) Is detected. Since this sound source detection device is mounted on a moving body, when sound is generated from the equipment provided on the moving body, the sound is also collected by the sound collector, and the sound becomes a noise sound for sound source detection. There is. Therefore, in the sound source detection device, when sound source detection is performed, the operation state control means controls the operation state of the noise source device in the moving body (for example, the source device is stopped / restarted, the source device is Change the operating state so that the frequency band of the generated sound changes). As described above, the sound source detection device can suppress the influence of the noise sound by controlling the operation state of the noise sound generation source device in the moving body when the sound source is detected, and can detect the sound source to be detected around the moving body. Detection accuracy is improved.

  In the sound source detection device of the present invention, the operation state control means stops the noise source device when the sound source detection device is activated. As described above, in the sound source detection device, when sound source detection is performed, the noise sound generating device in the moving body is stopped, so that the noise sound from the noise sound generating device in the moving body is not generated.

  In the sound source detection device of the present invention, the operation state control means changes the stop condition and / or the start condition of the noise source device when the sound source detection device is activated. As the change of the stop condition, for example, it is changed to a condition that makes it easier for the noise source generating device to stop than the normal stop condition. As the change of the start condition, for example, the start condition is changed to a condition that makes it difficult to start the noise source generation device than the normal start condition. As described above, in the sound source detection device, when the sound source detection is performed, the noise sound source device in the moving body is stopped more than usual by changing the stop condition and the start condition of the noise sound source device in the moving body. This makes it easier to suppress noise generation.

  The sound source detection device of the present invention may be configured to include reliability changing means for reducing the reliability of sound source detection in the sound source detection device based on the operating state of the device that generates the noise sound.

  In this sound source detection device, the reliability of the sound source detection is set to be higher than usual by the reliability changing means based on the operating state of the noise sound source device (for example, when the noise sound source device is operating). Reduce. When a sound source to be detected around the moving body is detected in the sound source detection device mounted on the moving body, driving assistance or the like is performed on the moving body using the direction and distance of the sound source. In driving assistance in such a moving body, if the reliability of sound source detection is lowered, the detection accuracy of sound source detection may be reduced due to noise sound, so countermeasures such as weakening driving assistance than usual are taken. it can. Thus, in the sound source detection device, the reliability of the sound source detection can be reduced based on the operating state of the noise sound source device, so that the influence of noise sound generated in the moving body can be suppressed, and the reliability of the entire system is improved. Will improve.

  In the sound source detection device of the present invention, the operation state control means may be configured to control the operation state of the device that generates the noise sound based on the moving body information when the sound source detection device has been operated in the past.

  In this sound source detection device, it is possible to estimate whether the sound source detection device is operated based on moving body information (for example, the position of the moving body) at the time of past operation of the sound source detection device. In advance, the operating state of the noise source device is controlled. As described above, in the sound source detection device, the operation of the sound source detection device can be estimated at an early stage by using the moving body information at the time of the past operation of the sound source detection device, and the operation state of the device that generates the noise sound in advance Can be controlled.

  The sound source detection device of the present invention includes a position acquisition unit that acquires the position of the moving body, and a storage unit that stores the position of the moving body when the sound source detection device is activated, and the operation state control unit includes: Based on the current position of the moving body acquired by the position acquisition means and the position stored in the storage means, the operation state of the device that is the source of the noise sound is controlled.

  In this sound source detection device, the position of the moving body is acquired by the position acquisition means, and when sound source detection is performed, the position of the moving body at that time is associated and stored in the storage means. In the sound source detection apparatus, each time the position of the moving body is acquired by the position acquisition means, the current position of the moving body by the operation state control means and each position where the sound source has been detected in the past stored in the storage means When the operation of the sound source detection device is estimated based on the position, the operation state of the device that generates the noise sound is controlled in advance. As described above, the sound source detection device can estimate with high accuracy whether or not the current position is the operating position of the sound source detection device by recording the past sound source detection in association with the position at that time.

  The sound source detection apparatus of the present invention includes a date acquisition means for acquiring the date and time, and the storage means stores the date and time when the sound source detection apparatus is operated in association with each other, and the operation state control means is acquired by the date acquisition means. Based on the current date and time of the moving body and the date and time stored in the storage means, the operating state of the device that generates the noise sound is controlled.

  In this sound source detection device, the date and time is acquired by the date and time acquisition means, and when the sound source is detected, the date and time are associated with the position of the moving body and stored in the storage means. In the sound source detection device, every time the date and time acquisition unit acquires the date and time, the operation state control unit performs sound source detection at the date and time (day of the week, time, etc.) and the position stored in the storage unit in addition to the position. When the operation of the sound source detection device is estimated based on the date and time in addition to the position, the operation state of the device that generates the noise sound is controlled in advance. In this way, the sound source detection device estimates with high accuracy whether or not the current date and time is the operation date and time of both sound source detection devices by recording the past sound source detection and the position at that time in association with the date and time. it can.

  According to the present invention, when the sound source is detected, the influence of the noise sound can be suppressed by controlling the operation state of the noise sound source device in the moving body, and the detection accuracy of the sound source to be detected around the moving body can be reduced. improves.

1 is a configuration diagram of a system according to a first embodiment. It is an example of the threshold value used for engine restart determination, (a) is a threshold value with respect to an accelerator opening, and (b) is a threshold value with respect to the remaining battery charge. It is a flowchart which shows the flow of operation | movement in the system which concerns on 1st Embodiment. It is a block diagram of the system which concerns on 2nd Embodiment. It is a flowchart which shows the flow of operation | movement in the system which concerns on 2nd Embodiment. It is a block diagram of the system which concerns on 3rd Embodiment. It is a flowchart which shows the flow of operation | movement in the system which concerns on 3rd Embodiment.

  Hereinafter, embodiments of a sound source detection device according to the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  In the present embodiment, the sound source detection device according to the present invention is changed from an approaching vehicle detection device mounted on a vehicle, a driving support device, and a noise source device related device (noise source device control device, noise source device state acquisition device). Applies to systems that In the system according to the present embodiment, another vehicle approaching the host vehicle is detected based on the sound collected by the sound collector (microphone) in the approaching vehicle detection device (that is, traveling of other vehicles around the host vehicle). Sound (sound source) is detected), and driving assistance is performed using information on approaching vehicles in the driving assistance device. In particular, the system according to the present embodiment is a system for suppressing the influence of noise sound generated from the noise source device in the host vehicle, and controls the noise source device or the operating state of the noise source device. Change the driving assistance mode according to the situation. In this embodiment, there are three forms. The first embodiment is a form in which the noise source device is stopped in order to suppress the influence of the noise sound, and the second embodiment is a noise source device. This is a mode in which driving assistance is weakened when driving, and the third embodiment is a mode in which a noise source device is stopped when a situation in which approaching vehicle detection is activated is estimated from past data.

  The traveling sound of the vehicle is mainly road noise (friction sound between the tire surface and the road surface) and pattern noise (air vortex (compression / release) in the tire groove). In addition, there are engine sounds and wind noises. The range of the frequency component of the running sound of the vehicle may be measured in advance through experiments or the like.

  As a main noise source device in a vehicle, there is a cooling fan that sends air to a radiator mounted to cool the engine and the engine. The sound generated from the engine and the sound generated from the cooling fan are noise sounds relative to the traveling sound of other vehicles. In particular, the sound generated from the cooling fan is close to the frequency band of the running sound of the vehicle, and has a great influence on approaching vehicle detection.

  The system according to the first embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a configuration diagram of a system according to the first embodiment. FIG. 2 is an example of a threshold value used for engine restart determination, where (a) is a threshold value for the accelerator opening, and (b) is a threshold value for the remaining battery charge.

  The system according to the first embodiment is mounted on a hybrid vehicle and includes an approaching vehicle detection device 1A, a driving support device 2A, and a noise source device control device 3. In the system according to the first embodiment, when the approaching vehicle detection (running sound recognition) is necessary (when the approaching vehicle detection is activated), the noise source device N1,. ) Is stopped, the restart condition of the noise source devices N1,... Is changed to delay the restart more than usual. In the first embodiment, engine stop / restart, which is one of noise source devices, will be described in detail.

  In the case of a hybrid vehicle that uses both an engine and a motor, the vehicle can run only with the motor, and the engine can be easily stopped / restarted. Therefore, in the case of a hybrid vehicle, it is possible to stop the engine and the cooling fan or to set the operation mode different from the normal setting when the approaching vehicle detection is necessary.

  The engine stop / restart in the hybrid vehicle will be described. In the hybrid control, it is more energy efficient to travel with a motor at a low vehicle speed range or at the start of the vehicle. Therefore, there is a case where engine stop / restart is determined according to the speed and the accelerator opening. Generally, when the vehicle is stopped or just before stopping and the vehicle speed is low, the engine is stopped and the vehicle shifts to running only by the motor. If the accelerator is depressed to start or increase the vehicle speed after the engine stops, the motor alone continues to run when the accelerator is depressed (accelerator opening is small), and the accelerator depression is large (accelerator opening is When it becomes larger, restart the engine. In the first embodiment, the engine is stopped under the normal stop condition of the hybrid control.

  The approaching vehicle detection device 1A will be described. The approaching vehicle detection device 1A collects ambient sounds while the vehicle is traveling, detects a vehicle approaching (vehicle traveling sound) based on the collected sound data, and uses the approaching vehicle detection information as a driving support device. Provide to 2A. In particular, in the approaching vehicle detection device 1A, when it is determined that approaching vehicle detection is necessary (when approaching vehicle detection is activated), the threshold value of the engine restart condition is changed when the engine is stopped. The approaching vehicle detection device 1A includes a sound collecting device 10A and an ECU [Electronic Control Unit] 11A.

  The sound collector 10A has one or more sound collectors. For example, the one or more sound collectors are arranged side by side in the vehicle width direction (left-right direction) at the front end of the vehicle (in the case of one, they are arranged at the center of the front end of the vehicle). The sound collector is an acoustoelectric converter that collects ambient sounds outside the vehicle and converts the collected sounds into electrical signals. In the sound collector 10A, sound is collected by the sound collector, and the collected sound data is transmitted to the ECU 11A.

  The ECU 11A is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the approaching vehicle detection device 1A. The ECU 11A includes an approaching vehicle detection unit 12A and an approaching vehicle detection device operation state changing unit 13A. The ECU 11A receives sound data (electrical signal) collected by the sound collector from the sound collector 10A. In the ECU 11A, as a preprocessing for the sound data, an analog electric signal is converted into a digital electric signal for each sound data, and a predetermined frequency band (a frequency band of the running sound of the vehicle is sufficiently included) from the electric signal. High frequency band lower than the band and low frequency band lower). In the first embodiment, the approaching vehicle detection device operation state changing unit 13A corresponds to the operation state control means described in the claims.

  The approaching vehicle detection unit 12A detects a vehicle approaching the host vehicle based on the sound data of the pre-collected sound collector in a situation where approaching vehicle detection is necessary, and if there is an approaching vehicle, Calculate the direction and distance of the approaching vehicle. As a detection method, a conventional method is applied, for example, a CSP [Cross power Spectrum Phase analysis] method. In the CSP method, the sound collecting device 10A has a plurality of sound collectors and constitutes one or more sound collector pairs, and the frequency domain for each sound data collected by the sound collector pairs. The cross-correlation value (CSP coefficient) is obtained by performing matching in the case where the vehicle (running sound of the vehicle as a sound source) is determined to be present if the cross-correlation value is equal to or greater than the threshold value, and if the vehicle is present, The direction and distance of the vehicle are obtained from the arrival time difference at which the correlation value is maximized.

  In the approaching vehicle detection device operation state changing unit 13A, information on the operation state of the noise source device N1,... From the noise source device control device 3 (for example, the engine is stopped / driving, the cooling fan is stopped / driving) ). Further, the approaching vehicle detection device operation state changing unit 13A determines whether or not the approaching vehicle detection is necessary. As this determination method, for example, determination is made based on map data based on whether the host vehicle is approaching an intersection without a traffic signal (particularly an intersection with poor visibility) or whether the host vehicle speed has decreased and the vehicle has stopped. To do.

The approaching vehicle detection device operation state changing unit 13A changes the engine restart condition when it is determined that the engine is stopped by the hybrid control and the approaching vehicle detection is necessary. The engine restart condition includes a threshold for the accelerator opening. As shown in FIG. 2A, in the normal hybrid control, the restart condition of the accelerator opening is a threshold value _TA1 . The approaching vehicle detection device operation state changing unit 13A changes the threshold value T _A2 to be higher than the normal threshold value T _A1 . This threshold value _TA2 is set in advance by experiments or the like. The value of the threshold value _TA2 is set so as not to give a sense of incongruity due to the acceleration of the vehicle operated by the driver. The engine restart condition includes a threshold for the remaining battery charge. As shown in FIG. 2B, in the normal hybrid control, the restart condition of the remaining battery charge is a threshold value T _B1 . The approaching vehicle detection device operation state changing unit 13A changes the threshold value T _B2 to be lower than the normal threshold value T _B1 . This threshold value _TB2 is set in advance by experiments or the like. The threshold value _TB2 is set to such an extent that the remaining battery charge is not insufficient during vehicle travel. In the approaching vehicle detection device operation state changing unit 13A, both the threshold for the accelerator opening and the threshold for the remaining battery charge may be changed, or only one of them may be changed. Actually, the restart is determined by referring not only to the accelerator opening and the remaining battery charge but also to other information such as the vehicle speed.

  In the approaching vehicle detection device operation state changing unit 13A, when the threshold value is changed, the restart of the engine is determined based on the changed threshold value. Then, the approaching vehicle detection device operation state changing unit 13A transmits a command to restart the engine to the noise source device control device 3 when the engine satisfies the restart condition. Instead of determining whether the approaching vehicle detection device operating state changing unit 13A restarts the engine, the threshold value after the change is transmitted to the noise source device control device 3, and the noise source device control device 3 determines whether to restart the engine. May be.

  The determination by changing the threshold value is made until a predetermined time after it is first determined that the approaching vehicle detection is necessary, and the normal threshold value is restored after the predetermined time. As this fixed time, a time required for detecting an approaching vehicle is obtained by experiment or the like, and a time longer than the required time is set. Or, when the approaching vehicle detection is activated and the approaching vehicle is detected and driving assistance is performed, if a certain condition is satisfied (for example, after a certain period of time, the vehicle speed is a predetermined vehicle speed or more and the steering operation is a predetermined angle or more), Return to threshold.

  When it is determined that the cooling fan is stopped and the approaching vehicle detection is necessary, the restart condition of the cooling fan may be changed. In the case of a cooling fan, for example, restart is determined based on the engine temperature, and the threshold value is changed to a threshold value higher than the normal threshold value. In addition, when it is determined that the approaching vehicle detection is necessary, when the cooling fan cannot be stopped, the frequency band component affecting the approaching vehicle detection is reduced or the frequency band different from the frequency band affecting the approaching vehicle detection. The rotational speed of the cooling fan may be adjusted so that

  In ECU11A, approaching vehicle information is produced | generated based on the detection result in approaching vehicle detection part 12A, and approaching vehicle information is transmitted to 2 A of driving assistance apparatuses. The approaching vehicle information includes, for example, the presence / absence of an approaching vehicle, and information on a direction and a distance when an approaching vehicle exists.

  The driving support device 2A is a device that includes various sensors, an ECU, and the like, and supports various driving operations for the driver. In particular, when the driving support device 2A receives approaching vehicle information from the approaching vehicle detection device 1A, the driving support device 2A performs driving support regarding the approaching vehicle. For example, when there is a vehicle approaching the host vehicle, the possibility of a collision of the approaching vehicle to the host vehicle is determined. When it is determined that there is a collision, the driver is alerted, When the possibility of a collision increases, vehicle control such as automatic braking is performed. Such determination of the possibility of collision and driving assistance are more effective at intersections without traffic lights.

  The noise source device control device 3 is a device that acquires the operation status of the noise source devices N1,... And controls the noise source devices N1,..., For example, a hybrid ECU that performs hybrid control on an engine and a motor It is. In the noise source device control device 3, the operation state information of the noise source devices N1,... (For example, the engine is stopped / driving, the cooling fan is stopped / driving) to the ECU 11A of the approaching vehicle detection device 1A. Middle). Further, when receiving a command from the ECU 11A of the approaching vehicle detection device 1A, the noise source device control device 3 controls the noise source devices N1,... According to the command (for example, in response to a restart command for the engine). Restart the engine, change the threshold in response to the engine restart condition threshold change command).

  With reference to FIG.1 and FIG.2, the operation | movement in the system which concerns on 1st Embodiment is demonstrated along the flowchart of FIG. FIG. 3 is a flowchart showing the flow of processing in the system according to the first embodiment. Here, only the operation for suppressing the influence of the noise source device on the approaching vehicle detection will be described. Assuming that the engine is stopped in the hybrid ECU (noise source device control device 3), the engine stop condition is satisfied before the intersection in the hybrid control. doing.

  The ECU 11A of the approaching vehicle detection device 1A determines whether or not the approaching vehicle detection is necessary (S10). When it is determined in S10 that the approaching vehicle detection is necessary (when the approaching vehicle detection unit 12A is activated), the ECU 11A changes the engine restart threshold value to the second threshold value that makes restarting more difficult than usual. Then, the restart of the engine is determined based on the second threshold (S11). In this case, normally, even in a state where the engine is restarted, the engine is not restarted and the traveling of only the motor is continued. As a result, no noise sound is generated from the own vehicle with respect to the recognition of the traveling sound of the approaching other vehicle, and the traveling sound of the other vehicle can be recognized with high accuracy. On the other hand, when it is determined in S10 that the approaching vehicle detection is unnecessary, the ECU 11A maintains the normal first threshold value as the engine restart threshold value, and determines the engine restart based on the first threshold value ( S12). In this case, the engine is restarted as usual.

  According to the system according to the first embodiment, in the situation where the approaching vehicle detection is necessary, the influence of the noise sound can be suppressed by changing the threshold value of the restart condition of the noise source device. The traveling sound can be recognized with high accuracy, and the detection accuracy of the approaching vehicle is improved.

  A system according to the second embodiment will be described with reference to FIG. FIG. 4 is a configuration diagram of a system according to the second embodiment.

  The system according to the second embodiment is mounted on an engine vehicle and includes an approaching vehicle detection device 1B, a driving support device 2B, and a noise source device state acquisition device 4. In the system according to the second embodiment, when the noise source devices N1,... Are driving, the reliability of the approaching vehicle detection is lowered and the driving support is weakened than usual. In the second embodiment, the case of an engine and a cooling fan as noise source devices will be described in detail.

  In the case of a vehicle that runs only with an engine, the engine cannot be stopped like a hybrid vehicle. In addition, since the engine is always driven, there are few situations where the engine temperature rises and the cooling fan can be stopped. Therefore, when detecting an approaching vehicle while the engine or cooling fan is operating, the recognition accuracy of the traveling sound of other vehicles may be affected by the noise generated in the host vehicle. The reliability of information on approaching vehicles is also low. Therefore, in the second embodiment, when driving support is performed using such information, the driving support is weaker than usual.

  The approaching vehicle detection device 1B will be described. The approaching vehicle detection device 1B collects surrounding sounds while the vehicle is running, detects a vehicle approaching based on the collected sound data, and provides the approaching vehicle detection information to the driving support device 2B. In particular, in the approaching vehicle detection device 1B, when the engine and / or the cooling fan is driven, the reliability is reset by setting an upper limit value for the reliability of the approaching vehicle detection according to the combination of the driving. The approaching vehicle detection device 1B includes a sound collection device 10B and an ECU 11B. Note that the sound collecting device 10B is the same device as the sound collecting device 10A according to the first embodiment, and a description thereof will be omitted.

  The ECU 11B is an electronic control unit including a CPU, a ROM, a RAM, and the like, and comprehensively controls the approaching vehicle detection device 1B. The ECU 11B includes an approaching vehicle detection unit 12B and a recognition reliability setting unit 14B. The ECU 11B receives sound data (electrical signal) collected by the sound collector from the sound collector 10B. The ECU 11B performs the same process as the ECU 11A according to the first embodiment as a pre-process for the sound data. In the second embodiment, the recognition reliability setting unit 14B corresponds to the reliability changing means described in the claims.

  The approaching vehicle detection unit 12B performs the same processing as the approaching vehicle detection unit 12A according to the first embodiment. Furthermore, the approaching vehicle detection unit 12B sets (calculates) the reliability of recognition of traveling sound of other vehicles (detection of approaching vehicles). For example, in the case of the CSP method, the reliability is set according to the cross-correlation value, and is set to a value from 0 to 1.0.

  The recognition reliability setting unit 14B receives information on the operating states of the noise source devices N1,... (The engine is stopped / driving and the cooling fan is stopped / driving) from the noise source device state acquisition device 4. . Then, the recognition reliability setting unit 14B determines whether only the engine is being driven, the cooling fan is being driven (the engine is stopped or being driven), and the engine and the cooling fan are being stopped based on the information on the operation state. When both the engine and the cooling fan are stopped, the recognition reliability setting unit 14B uses the reliability set by the approaching vehicle detection unit 12B as it is as the final reliability. When only the engine is being driven, the recognition reliability setting unit 14B does not drive the fan when the reliability set by the approaching vehicle detection unit 12B exceeds the fan non-drive upper limit reliability based on the fan non-drive upper limit reliability. The upper limit reliability is set as the final reliability. When the cooling fan is being driven, the recognition reliability setting unit 14B is driving the fan when the reliability set by the approaching vehicle detection unit 12B exceeds the fan driving upper limit reliability based on the fan driving upper limit reliability. The upper limit reliability is set as the final reliability. Each upper limit reliability is set in advance by an experiment or the like.

  An example of a method for setting the upper limit reliability will be described. First, in a state where the environment can be controlled as in a test course, noise source devices such as an engine and a cooling fan are stopped, and the performance of recognizing the running sound of the vehicle is measured. At this time, the reliability when not affected by the noise sound of the noise source device is also calculated. Next, a noise source device such as an engine or a cooling fan is driven alone or in combination, and the performance of recognizing the running sound of the vehicle is measured in exactly the same situation except for that. At this time, the reliability is also calculated for each driven noise source device or for each combination. As a result, it can be observed that the reliability varies depending on the operating state of the noise source device (stopped / driving). Usually, the reliability when the noise source device is not driven is higher than the reliability when the noise source device is driven. Under the control environment, the measurement is repeated a plurality of times under each of the above conditions, and the reliability under each of the above conditions is calculated a plurality of times. And the average value of the reliability when all the noise source devices are stopped, the average value of the reliability when each noise source device is driving alone and when the noise source devices of each combination are driving Ask for. The upper limit reliability is set based on the average value of the reliability. Incidentally, since the influence degree of the cooling fan is often larger than the influence degree of the engine, it is preferable to set the upper reliability during fan driving to be lower than the upper reliability during fan non-drive.

  For example, when the average value of the reliability during driving of the cooling fan is 0.5, the upper reliability during fan driving is set to 0.5. Even when the approaching vehicle detection unit 12B calculates the reliability as 0.8 while the cooling fan is being driven during actual vehicle travel, the reliability may be temporarily high due to any factor. Conceivable. Therefore, when the cooling fan is being driven, the reliability is finally set to 0.5 based on the fan driving upper limit reliability of 0.5.

  In the prior measurement, the measurement may be performed at a plurality of sound pressure levels, and a plurality of reliability levels may be calculated according to the sound pressure level at each step. In the case of actual vehicle running sound recognition, when an approaching vehicle is present in the vicinity, the sound pressure level of the sound collected by the sound collector is large, and the reliability at that time is generally high. On the other hand, when the approaching vehicle is in the distance, the sound pressure level of the sound collected by the sound collector is small, and the reliability at that time is generally low. Therefore, since the sound pressure level and the reliability change in relation to each other, the upper limit reliability may be changed according to the sound pressure level.

  The ECU 11B generates approaching vehicle information based on the detection result of the approaching vehicle detection unit 12B and the reliability setting result of the recognition reliability setting unit 14B, and transmits the approaching vehicle information to the driving support device 2B. The approaching vehicle information includes, for example, the reliability in addition to the presence / absence of an approaching vehicle and the direction and distance information when an approaching vehicle is present.

  The driving support device 2B is a device that includes various sensors, ECUs, and the like, and supports various driving operations for the driver. The driving support device 2B includes a driving support mode determination unit 20B and a driving support unit 21B.

  When the approaching vehicle information is received from the approaching vehicle detection device 1B, the driving support mode determination unit 20B determines the mode of driving support according to the reliability when an approaching vehicle exists based on the approaching vehicle information. For example, in the case of the collision prevention device described in the driving support device 2A of the first embodiment, when the reliability is high, the vehicle control such as automatic braking is determined according to the strong alert and the situation. On the other hand, when the reliability is low, it is determined that the attention is weak. For example, an alerting method with different strengths is set in advance according to the magnitude of the reliability, and the alerting method is changed according to the magnitude of the reliability. Further, vehicle control is performed only when the reliability is a certain value or more.

  In the driving support unit 21B, when the driving support mode determination unit 20B determines the driving support mode, the driving support is performed according to the determined mode. For example, in the case of alerting, an image signal of the display is transmitted according to the content of alerting, or an audio signal is transmitted to the audio output device. In the case of automatic braking, a brake control signal is transmitted to the brake actuator.

  The noise source device state acquisition device 4 is a device that acquires the operation status of the noise source devices N1,..., For example, an engine ECU that performs engine control on the engine. In the noise source equipment state acquisition device 4, the ECU 11B of the approaching vehicle detection device 1B is informed of the operating state of the noise source equipment N1,... (For example, the engine is stopped / driving, the cooling fan is stopped / Sending).

  With reference to FIG. 4, the operation of the system according to the second embodiment will be described along the flowchart of FIG. FIG. 5 is a flowchart showing a flow of processing in the system according to the second embodiment.

  Each sound collector of the sound collector 10B collects sounds outside the vehicle, converts the collected sounds into electrical signals, and transmits them to the ECU 11B. The ECU 11B receives the sound data of each sound collector and performs preprocessing on the plurality of sound data. The ECU 11B calculates a cross-correlation value using each pre-processed sound data, and when the cross-correlation value is equal to or greater than a threshold, it is determined that a vehicle (vehicle running sound) exists, and when the vehicle exists. Calculates the direction and distance of the vehicle from the arrival time difference that maximizes the cross-correlation value, and calculates the reliability based on the cross-correlation value.

  The noise source device state acquisition device 4 transmits the operating state of the engine and the operating state of the cooling fan to the ECU 11B. Then, the ECU 11B determines whether the engine is being driven and the cooling fan is being driven based on the received operating state (S20). When it is determined in S20 that both the engine and the cooling fan are stopped, the ECU 11B sets the reliability based on the cross-correlation value as it is. When it is determined in S20 that the cooling fan is being driven, the ECU 11B sets the reliability based on the upper limit reliability during fan driving for the reliability based on the cross-correlation value (S21). When it is determined in S20 that only the engine is being driven, the ECU 11B sets the reliability based on the fan non-driving upper limit reliability for the reliability based on the cross-correlation value (S22).

  Then, the ECU 11B transmits approaching vehicle information composed of detection information and reliability of approaching vehicles to the driving support device 2B (S23). When there is an approaching vehicle, the driving support device 2B determines a driving support mode according to the reliability, and performs driving support in the determined mode (S24).

  According to the system according to the second embodiment, when the noise source device is driven, the upper limit of the reliability is set to weaken the driving support more than usual, thereby suppressing the influence of the noise sound on the driving support. Yes (only minimum driving support), and the reliability of the entire system is improved. In addition, according to the system according to the second embodiment, by setting an upper limit of reliability according to a combination of driving of noise source devices, an optimal reliability can be obtained according to the driving noise source device. Can be set.

  A system according to the third embodiment will be described with reference to FIG. FIG. 6 is a configuration diagram of a system according to the third embodiment.

  The system according to the third embodiment is mounted on a hybrid vehicle and includes an approaching vehicle detection device 1C, a driving support device 2C, a noise source device control device 3, a position information acquisition device 5, and a date / time information acquisition device 6. In the system according to the third embodiment, the operation status of approaching vehicle detection of the own vehicle and the position information and date / time information at that time are recorded, and approaching vehicle detection (running sound recognition) based on the past data. If it is estimated that the approaching vehicle detection is activated, the operation state of the noise source device is controlled as in the first embodiment, or the driving assistance is performed as in the second embodiment. Change the mode.

  For example, in the case of a general passenger car, the same place is often passed on the same day of the week and time, and the operation status of approaching vehicle detection at the same place is recorded and accumulated. When a certain number of observations are accumulated, a place, date and time where approaching vehicle detection is frequently performed at a specific place and date, and a place and date when it is not detected are observed. By using such accumulated data, it is possible to estimate a place and date / time when an approaching vehicle needs to be detected. Here, it can be estimated that approaching vehicle detection is performed at the intersection before detecting that the host vehicle is approaching an intersection or the like without a traffic signal based on the map data.

  The position information acquisition device 5 will be described. The position information acquisition device 5 is a device that detects the current position of the host vehicle. The position information acquisition device 5 is, for example, a device that calculates the current position using GPS [Global Positioning System]. If the host vehicle is equipped with a navigation system, the current position information is acquired from the navigation system. Device. The position information acquisition device 5 acquires the current position of the host vehicle at regular intervals, and transmits the current position information to the ECU 11C and the like. In the third embodiment, the position information acquisition device 5 corresponds to the position acquisition means described in the claims.

  The date information acquisition device 6 will be described. The date and time information acquisition device 6 is a device that acquires date and time information such as the current time and day of the week. The date / time information acquisition device 6 transmits date / time information to the ECU 11C and the like at regular time intervals. In the third embodiment, the date and time information acquisition device 6 corresponds to the date and time acquisition means described in the claims.

  The approaching vehicle detection device 1C will be described. The approaching vehicle detection device 1C collects surrounding sounds while the vehicle is traveling, detects an approaching vehicle (vehicle traveling sound) based on the collected sound data, and detects the approaching vehicle detection information as a driving support device. Provide to 2C. In particular, in the approaching vehicle detection device 1C, the operation status of approaching vehicle detection, the position of the own vehicle, the date and time are stored in association with each other, and whether the approaching vehicle detection is activated at the current position or the current date and time based on the stored data. Is estimated. The approaching vehicle detection device 1C includes a sound collection device 10C and an ECU 11C. Note that the sound collecting device 10B is the same device as the sound collecting device 10A according to the first embodiment, and a description thereof will be omitted.

  The ECU 11C is an electronic control unit including a CPU, a ROM, a RAM, and the like, and comprehensively controls the approaching vehicle detection device 1C. The ECU 11C includes an approaching vehicle detection unit 12C, an approaching vehicle detection device operation state change unit 13C, and an approaching vehicle detection mode / driving support mode recording device 15C. The ECU 11C receives sound data (electrical signal) collected by the sound collector from the sound collector 10C. The ECU 11C performs the same process as the ECU 11A according to the first embodiment as a pre-process for the sound data. About the approaching vehicle detection part 12C, since the process similar to the approaching vehicle detection part 12A which concerns on 1st Embodiment is performed, description is abbreviate | omitted. In the third embodiment, the approaching vehicle detection device operation state changing unit 13C corresponds to the operation state control means described in the claims, and the approaching vehicle detection state / driving support state recording device 15C is claimed. This corresponds to the storage means described in the range.

  The approaching vehicle detection mode / driving support mode recording device 15C is configured in a predetermined area of the storage device of the ECU 11C. The approaching vehicle detection mode / driving support mode recording device 15C is acquired by the operating status and position information acquisition device 5 of the approaching vehicle detection unit 12C every time the approaching vehicle detection unit 12C is actuated (each time an approaching vehicle is detected). The current position information of the own vehicle and the date / time information acquired by the date / time information acquisition device 6 are recorded in association with each other. Furthermore, the mode of driving support performed by the driving support device 2C may be recorded in association with each other.

  The approaching vehicle detection device operation state changing unit 13C refers to the data recorded in the approaching vehicle detection mode / driving support mode recording device 15C, and the approaching vehicle detection is activated in the past at the current position acquired by the position information acquisition device 5. (Generally corresponds to traffic volume and poor visibility at the place). When the current position is a place where approaching vehicle detection has been activated in the past, the approaching vehicle detection device operation state changing unit 13C estimates that approaching vehicle detection is activated. Alternatively, in addition to the location, the approaching vehicle detection device operation state changing unit 13C refers to the data recorded in the approaching vehicle detection mode / driving support mode recording device 15C, and at the current position where approaching vehicle detection has been activated in the past. Then, it is determined whether or not the day and time acquired by the date and time information acquisition device 6 are the day and time when the approaching vehicle detection was activated in the past. When the current position is a place where approaching vehicle detection has been activated in the past and the day of the week or time is the day of the week or time when approaching vehicle detection is activated, the approaching vehicle detection device operation state changing unit 13C estimates that approaching vehicle detection is activated. . Here, the degree (necessity) of detecting approaching vehicles may be set according to the number of data in which data of the same place, the same day of the week, and time is stored. Note that the time may be determined with a certain range.

  When it is estimated that the approaching vehicle detection is activated, the approaching vehicle detection device operation state changing unit 13C receives information on the operation states of the noise source devices N1,... (Engine, cooling fan, etc.) from the noise source device control device 3. To do. Then, the approaching vehicle detection device operation state changing unit 13C determines whether or not the noise source device N1,... Is in an operation state that can be stopped. 3 transmits a stop command for the noise source devices N1,. Here, as in the approaching vehicle detection device operation state changing unit 13A according to the first embodiment, the threshold value of the restart condition when the noise source devices N1,. May be changed. The noise source devices N1,... Are stopped until a certain time from when the approaching vehicle detection is first estimated to be activated, and after a certain time, the noise source devices N1,. Send a restart command. Alternatively, the approaching vehicle detection is activated to detect the approaching vehicle, and when a certain condition is satisfied after driving support is performed, a restart command for the noise source device N1,.

  In the operation situation where the noise source devices N1,... Cannot be stopped, the approaching vehicle detection device operation state changing unit 13C sets the upper limit reliability as in the recognition reliability setting unit 14B according to the second embodiment. Then, the reliability of approaching vehicle detection is set based on the upper limit reliability. As a result, the driving assistance is weaker than usual as in the second embodiment.

  As described above, when the necessity level of approaching vehicle detection is set, the control mode and the reliability setting mode (driving support mode) are changed for the noise source devices N1,. It may be.

  In the initial stage where data is not stored in the approaching vehicle detection mode / driving support mode recording device 15C, the necessity of detecting approaching vehicles is determined by the method described in the first embodiment, etc. An intersection with a poor view or an intersection with a lot of traffic is registered, and the determination is made based on the registered data.

  In addition, data that is stored in the approaching vehicle detection mode / driving support mode recording device 15C from any vehicle via the network is collected at the center, and approaching vehicle detection is activated in a large number of vehicles for each vehicle at the center. Information on the location and date / time (day of the week, time) may be provided. When configured in this way, it is possible to determine that it is necessary to detect the approaching vehicle even if it is the first vehicle (or even a rarely passing vehicle) where the approaching vehicle detection frequently operates in an arbitrary vehicle, improving the system effect. it can. Further, it is not necessary to secure a storage area in the system.

  The driving support device 2C is composed of various sensors, ECUs, and the like, and is a device that supports various driving operations for the driver. The driving support device 2C includes a driving support mode determination unit 20C and a driving support unit 21C. The driving support device 2C performs the same processing as the driving support device 2A according to the first embodiment or the driving support device 2B according to the second embodiment.

  With reference to FIG. 6, the operation of the system according to the third embodiment will be described along the flowchart of FIG. FIG. 7 is a flowchart showing the flow of processing in the system according to the third embodiment. Here, only the operation (stopping the engine or the like) for suppressing the influence of the noise source device on the approaching vehicle detection will be described.

  The position information acquisition device 5 acquires the current position of the host vehicle at regular time intervals and transmits the information to the ECU 11C and the like (S30). The date and time information acquisition device 6 acquires the current date and time at regular time intervals and transmits the information to the ECU 11C and the like. (S31). When an approaching vehicle is detected by the approaching vehicle detection unit 12C of the ECU 11C, the ECU 11C informs the approaching vehicle detection mode / driving support mode recording device 15C of the operation status of the approaching vehicle detection unit 12C, the current position information of the host vehicle, and the current Record the date and time information in association with each other.

  The ECU 11C refers to the data recorded in the approaching vehicle detection state / driving support state recording device 15C and determines whether or not the current position is a position where an approaching vehicle has been detected in the past (and the current date and time detects an approaching vehicle in the past). (S32). When it is determined in S32 that the current position is a position where an approaching vehicle has been detected in the past (and the current date and time is the day of the week or time when an approaching vehicle was detected in the past), the ECU 11C can stop the engine and the cooling fan. In this case, a command to stop the engine and the cooling fan is transmitted to the noise source device control device 3 (S33). When the noise source device control device 3 receives the command, it stops the engine and the cooling fan (S33). As a result, no noise sound is generated from the own vehicle with respect to the recognition of the traveling sound of the approaching other vehicle, and the traveling sound of the other vehicle can be recognized with high accuracy.

  According to the system according to the third embodiment, by recording the approaching vehicle detection operation state and the position and date / time at that time in association with each other, The date and time can be estimated, and the approaching vehicle detection operation can be estimated with high accuracy at an early stage of approaching the intersection. As a result, when the approaching vehicle detection is activated, the noise source device is stopped in advance to suppress the influence of the noise sound, the traveling sound of the other vehicle can be recognized with high accuracy, and the detection accuracy of the approaching vehicle is improved. improves.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, the sound source detection device is mounted on a vehicle and applied to an approaching vehicle detection device that detects an approaching vehicle (vehicle running sound as a sound source), but may be a device that detects a sound source other than the vehicle, A sound source detection apparatus mounted on a moving body other than the vehicle may be used. In the present embodiment, the detected approaching vehicle information is applied to a device that provides the driving support device to the driving support device. However, other configurations may be used. For example, it may be incorporated in the driving support device as an approaching vehicle detection function, or the approaching vehicle detection device may have an alarm function or the like.

  In the present embodiment, the engine and the cooling fan are exemplified as noise source devices, but other devices may be noise sources. Further, the noise source device varies depending on the form of the vehicle and the devices equipped on the vehicle.

  Moreover, although applied to the hybrid vehicle in 1st Embodiment, it is applicable also to an engine vehicle, an electric vehicle, etc. For example, in the case of an engine vehicle, the engine cannot be stopped, but depending on the situation, the cooling fan can be stopped or the rotation frequency of the cooling fan can be changed to change the frequency band of the generated sound to reduce the effect of noise. Can be suppressed. The condition for stopping / restarting the cooling fan is determined by the engine temperature or the like, and the determination threshold is changed. Moreover, although applied to the engine vehicle in 2nd Embodiment, it is applicable also to an electric vehicle etc.

  Further, in the first embodiment, when the engine and the cooling fan are stopped in the hybrid control, the restart condition is changed to a threshold value that is harder to restart than usual, but approaching vehicle detection is activated. In such a case, the engine or the cooling fan may be stopped, or a threshold value that makes it easier to stop the engine or the cooling fan than usual may be changed.

  Further, in the first embodiment, the engine and the cooling fan are stopped in order to suppress the influence of the noise sound, but the operation state of the noise source device is changed so as to suppress the influence on the running sound of the vehicle. You may do it. For example, as described above, the rotational speed of the cooling fan is adjusted.

  In the second embodiment, the reliability is set with the upper limit reliability as the upper limit. However, other methods may be used as the reliability setting method, for example, for each noise source device (or noise source device). For each combination), the lowest level of reliability is determined in advance, and the lowest level of reliability is set for the driving noise source device (or for each combination of noise source devices).

  Further, when approaching vehicle detection according to the first embodiment is activated, a configuration for controlling the noise source device and when driving vehicle detection according to the second embodiment is activated, a mode of driving support is provided. It is good also as a form which combines the structure to change. For example, when the approaching vehicle detection is activated, when the noise source device cannot be stopped, the driving assistance is weakened by setting the reliability based on the upper limit reliability.

  1A, 1B, 1C ... approaching vehicle detection device, 2A, 2B, 2C ... driving support device, 3 ... noise source device control device, 4 ... noise source device state acquisition device, 5 ... position information acquisition device, 6 ... date information acquisition Device, 10A, 10B, 10C ... sound collector, 11A, 11B, 11C ... ECU, 12A, 12B, 12C ... approaching vehicle detection unit, 13A, 13C ... approaching vehicle detection device operation state change unit, 14B ... recognition reliability setting Part, 15C ... approaching vehicle detection mode / driving support mode recording unit, 20B, 20C ... driving support mode determining unit, 21B, 21C ... driving support unit.

Claims (7)

A sound source detection device that is mounted on a moving body and detects a sound source to be detected based on sound collected by a sound collector,
A sound source detection apparatus comprising: an operation state control unit that controls an operation state of a device that generates a noise sound included in the moving body when the sound source detection apparatus is operated.   The sound source detection device according to claim 1, wherein the operation state control unit stops the device that generates the noise sound when the sound source detection device is operated.   The sound source detection according to claim 2, wherein the operation state control means changes a stop condition and / or a start condition of a device that generates the noise sound when the sound source detection device is operated. apparatus.   The sound source detection device according to claim 1, further comprising: a reliability change unit that reduces reliability of sound source detection in the sound source detection device based on an operation state of a device that generates the noise sound.   2. The sound source according to claim 1, wherein the operation state control unit controls an operation state of a device that is a source of the noise sound based on moving body information when the sound source detection device has been operated in the past. Detection device. Position acquisition means for acquiring the position of the moving body;
Storage means for storing the position of the moving body when the sound source detection device is activated,
With
The operation state control means controls the operation state of the device that generates the noise sound based on the current position of the moving body acquired by the position acquisition means and the position stored in the storage means. The sound source detection device according to claim 5, wherein A date and time acquisition means for acquiring the date and time,
The storage means stores the date and time when the sound source detection device is activated in association with each other,
The operation state control means controls the operation state of the noise sound source device based on the current date and time of the moving object acquired by the date and time acquisition means and the date and time stored in the storage means. The sound source detection apparatus according to claim 6, wherein

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