JP2013159295A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support device achieving driving support capable of enhancing safety during backward traveling when moving out of a parking place in a parking lot by backward traveling.SOLUTION: When backward traveling for backing out of a parking place is started, a driving support device detects other vehicle approaching an own vehicle from behind by a left rear search radar device or a right rear search radar device. Further, the driving support device detects a width of an open space from a rear end of the own vehicle to an obstacle behind the own vehicle, and determines whether or not the other vehicle approaching the own vehicle can pass through the open space of the detected width. The driving support device informs a driver of the own vehicle that the other vehicle approaches from behind of the own vehicle and a determination result as to whether or not the other vehicle approaching the own vehicle can pass through the open space to the obstacle behind the own vehicle, and achieves reliable driving support when moving out of the parking place by backward traveling.

Description

  The present invention relates to a driving support device that performs driving support for ensuring safety with another vehicle when a vehicle is taken out from a parking spot of a parking lot.

In recent years, many vehicles equipped with an obstacle detection sensor for detecting obstacles around the vehicle, particularly behind the vehicle, have come to be seen. As an obstacle detection sensor for detecting an obstacle behind the vehicle, an imaging camera or a radar device is installed at the rear of the vehicle, and in the case of the imaging camera, an obstacle behind the vehicle is photographed. In this case, the reflected wave that is reflected by the obstacle when the radio wave is irradiated to the rear of the vehicle is detected.
There is a driving assistance device that performs driving assistance during backward running using an image behind the vehicle imaged by such an obstacle detection sensor. In this driving support device, when the vehicle is parked after moving forward and the operation of reversing from the parked state is performed, a wide-angle image with a wide horizontal angle of view behind the vehicle captured by the camera is displayed on the display, When the operation is not performed, a narrow-angle image with a narrow horizontal angle of view behind the vehicle is displayed on the display to assist driving during reverse travel (see Patent Document 1).

JP 2005-112267 A

  However, in such a driving assistance device, the driver himself / herself determines whether to stop the vehicle traveling backward or to continue traveling backward by simply providing the driver with an image behind the vehicle. Therefore, there is a problem that driving support at the time of reverse driving is uncertain, for example, the driving support effect varies depending on individual differences among drivers.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a driving support device that realizes driving support capable of enhancing safety during reverse traveling when leaving a parking place by reverse traveling. And

  The invention according to claim 1 is a driving support device that assists when a vehicle parked forward in a parking spot of a parking lot leaves the parking spot, and an approaching vehicle approaching from the rear of the vehicle is provided. An approaching vehicle detection means for detecting, an empty space width detection means for detecting the width of an empty space between the vehicle and an obstacle behind the vehicle, and an approaching vehicle detected by the approaching vehicle detection means As a result of determination as to whether or not the approaching vehicle can pass through the empty space by the passability determination means that determines whether or not the empty space of the width detected by the space width detection means can pass. And an informing means for informing the corresponding alarm.

  According to invention of Claim 1, it is a driving assistance apparatus which assists when the vehicle parked forward in the parking location which a parking lot has leaves from the said parking location, Comprising: The approach vehicle approached from the back of the said vehicle Is detected by the approaching vehicle detection means, the width of the empty space between the vehicle and the obstacle behind the vehicle is detected by the empty space width detection means, and the approaching vehicle detected by the approaching vehicle detection means is It is determined by the passability determination means whether or not the empty space of the width detected by the empty space width detection means can be passed, and the determination result of whether or not the approaching vehicle can pass through the empty space by the passability determination means Because it is configured to notify the alarm according to the notification means, driving assistance that can improve the safety at the time of reverse traveling when leaving the parking place by traveling backward is provided. There is an effect capable of providing a driving support device to which the current is.

  According to the second aspect of the present invention, an approach for detecting an approaching vehicle approaching the left rear and right rear of the vehicle based on the reflected wave of the radar wave emitted from the radar device to the left rear and right rear of the vehicle. Since the vehicle detecting means is provided, the driving support capable of improving the safety at the time of reverse traveling when the vehicle approaches the vehicle from the parking place to the left rear and the right rear approaching from the parking place is realized. There is an effect that a driving support device can be provided.

  According to the third aspect of the present invention, the width of the empty space between the vehicle and the obstacle behind the vehicle is detected based on the reflected wave of the radar wave emitted from the radar device to the obstacle behind the vehicle. Since it is configured to include an empty space width detecting means for driving, a driving support that can improve safety during reverse running when an approaching vehicle exits from a parking place by reverse running according to an alarm as to whether or not the vehicle can pass through the empty space. There is an effect that it is possible to provide a driving support device that achieves the above.

  According to the fourth aspect of the invention, an alarm output is instructed by the alarm instruction unit according to the determination result by the passage permission determination unit, and the alarm is output from the audio output unit according to the instruction of the alarm instruction unit by an audio announcement. Since it is configured to output, there is an effect that it is possible to provide a driving support device that realizes driving support that can improve the safety at the time of reverse traveling when leaving the parking place by the backward traveling by the alarm output by the voice announcement. .

It is a block diagram which shows the structure of the driving assistance apparatus of embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance device of embodiment of this invention. It is explanatory drawing which shows the obstruction detection sensor which detects the obstruction of the vehicle back in the driving assistance device of embodiment of this invention, and its obstruction detection area. It is explanatory drawing which shows the condition of the driving assistance when leaving by the backward running from the parking place in the driving assistance apparatus of embodiment of this invention. It is explanatory drawing which shows the condition of the driving assistance when leaving by the backward running from the parking place in the driving assistance apparatus of embodiment of this invention.

Hereinafter, a first embodiment of the present invention will be described.
FIG. 1 is a block diagram showing the configuration of the driving support apparatus of this embodiment.
This driving support device is mounted on a vehicle and has a left rear search radar device 1 having a function of searching for an obstacle on the left rear side of the vehicle, and a right rear side having a function of searching for an obstacle on the right rear side of the vehicle. If there is another vehicle approaching the vehicle when the vehicle is leaving the parking area of the parking lot using the exploration radar device 2 and the vehicle is moving backward, the safety between the other vehicle approaching the driver of the vehicle Provide driving assistance to ensure safety.
Specifically, in the state where the vehicle is moving forward and parked forward in the parking area, when backward running is started when leaving the parking area in the back, the other vehicle approaching the own vehicle from the rear of the own vehicle is searched for in the left rear direction. Detection is performed by the radar device 1 or the right rear exploration radar device 2, and the width of an empty space from the rear end of the own vehicle to an obstacle behind the own vehicle is detected.
Then, it is determined whether another vehicle approaching the own vehicle can pass through the empty space, and the empty space from the rear of the own vehicle to the obstacle behind the own vehicle is determined. The determination result of whether or not the other vehicle approaching the host vehicle can pass is notified to the driver of the host vehicle.
Thereby, the reliable driving assistance which raises the safety | security between the approaching other vehicles at the time of leaving from a parking location by reverse running is implement | achieved.

This driving support device includes a left rear exploration radar device 1, a right rear exploration radar device 2, a meter ECU 3, a speaker 4, a liquid crystal display 5, a navigation ECU 6, a liquid crystal display 7 for a navigation device, and a controller 8.
The left rear exploration radar device 1 and the right rear exploration radar device 2 detect other vehicles approaching the own vehicle from behind the own vehicle and, for example, other vehicles that travel behind the own vehicle when the own vehicle changes its course. It is possible to use a radar device for driving support such as informing the driver of the presence of the vehicle.
The left rear exploration radar device 1 is configured to detect, for example, the direction when the millimeter wave is irradiated to the left rear of the host vehicle and the presence / absence of another vehicle approaching the vehicle left rear from the reflected wave, the speed of the other vehicle approaching the vehicle left rear, It is possible to detect speed changes. Further, the distance L from the left rear end of the host vehicle to the obstacle behind the host vehicle can be measured.
The right rear exploration radar device 2 is configured to detect, for example, the direction when the millimeter wave is irradiated to the right rear of the host vehicle and the presence / absence of another vehicle approaching the vehicle right rear from the reflected wave, the speed of the other vehicle approaching the vehicle right rear, It is possible to detect speed changes. Further, the distance L from the right rear end of the host vehicle to the obstacle behind the host vehicle can be measured.

  FIG. 3 shows the left rear exploration radar device 1 and the right rear exploration radar device 2 installed in the rear bumper of the host vehicle 101, and the left rear exploration area 201 and the right rear exploration radar device 2 by the left rear exploration radar device 1. It is explanatory drawing which shows the right back search area.

The meter ECU 3 controls various instruments installed in the driver's seat and the display thereof, and the speaker 4 outputs the detection results by various sensors including the outside air temperature sensor and the display results by the various instruments through the speaker 4. Or a microcomputer that outputs an image to the liquid crystal display 5.
The speaker 4 aurally displays and outputs the detection results by the various sensors and the display results by various instruments in a voice or a specific tone.
The liquid crystal display 5 outputs display results from the various instruments as images on the liquid crystal display.

The navigation ECU 6 controls the navigation device, and outputs a detection result of vehicle information including the current position of the host vehicle, map information, posture information of the host vehicle, traveling information, etc. to the navigation device liquid crystal display 7. And has a function of transmitting and receiving vehicle information such as current position information, posture information, and travel information of the host vehicle detected by the navigation device to and from other ECUs.
The navigation device liquid crystal display 7 displays vehicle information such as current position information, posture information, and travel information of the host vehicle detected by the navigation device on a liquid crystal display screen.

The controller 8 is configured by a microcomputer that controls each part of the driving support device, and includes a vehicle detection unit 11, a space calculation unit 12, a passability determination unit 13, and an alarm instruction unit 14.
The vehicle detection unit 11 detects a reflected wave when a radio wave is emitted from the left rear exploration radar apparatus 1 to the left rear of the host vehicle, or a reflection when the radio wave is emitted from the right rear exploration radar apparatus 2 to the right rear of the host vehicle. A wave is detected and another vehicle approaching the rear of the host vehicle is detected.
The space calculation unit 12 calculates a distance L from the rear end of the host vehicle to an obstacle behind the host vehicle.
The pass / fail determination unit 13 approaches the rear space of the host vehicle from the rear end of the host vehicle having a distance L calculated by the space calculation unit 12 to the obstacle behind the host vehicle, and approaches the rear portion of the host vehicle detected by the vehicle detection unit 11. It is determined whether or not other vehicles to be able to pass through. For other vehicles approaching to the rear of the host vehicle in this case, for example, 1.7 meters is set as a reference value as a general vehicle width.
In response to the determination result of the pass / fail determination unit 13, the alarm instruction unit 14 indicates that the approaching vehicle passes through the space behind the host vehicle when the determination result of the pass / fail determination unit 13 can pass. A voice announcement instruction “Please stop” is output to the meter ECU 3, or when the determination result of the pass / fail determination unit 13 is not passable, a voice saying “the approaching vehicle cannot pass the space behind the host vehicle” Announcement instruction is output to meter ECU 3.
Note that the left rear exploration radar device 1, the right rear exploration radar device 2, and the controller 8 can be configured integrally.

Next, the operation will be described.
FIG. 2 is a flowchart showing the operation of the driving support apparatus of this embodiment. Hereinafter, the operation of the driving support apparatus will be described with reference to this flowchart.
The driving support program showing the operation of the driving support apparatus shown in the flowchart of FIG. 2 is stored in the memory of the microcomputer constituting the controller 8, and is repeatedly executed in a state where the accessory power is turned on and the vehicle can run. The In this driving support program, first, it is determined whether or not the host vehicle has started reverse travel (step S1).
Whether or not the backward running has been started is determined from the position of the shift lever (selector lever). That is, it is performed by detecting that the position of the shift lever is in the reverse position. Alternatively, the start of reverse traveling is determined based on the determination condition that the position of the shift lever, the brake pedal is in the non-operating state, and the accelerator pedal is in the operating state.
As a result, when it is determined that the backward running is not started, the driving support program is skipped.
On the other hand, when it is determined that the backward running is started, another vehicle approaching the left rear of the host vehicle is detected by the left rear exploration radar device 1 and approached right rear by the right rear exploration radar device 2. The other vehicle is detected, and the presence / absence of the other vehicle approaching the vehicle from the left rear and right rear of the own vehicle is determined from the detection results of the left rear exploration radar device 1 and the right rear exploration radar device 2 (step S2) .

FIG. 4 is an explanatory diagram illustrating an example of a driving assistance situation when leaving a parking place in reverse travel.
In the example shown in FIG. 4, a situation is shown in which the other vehicle 102 is approaching from the left rear of the host vehicle 101 when the host vehicle 101 starts to move backward from the parking location where the host vehicle 101 is parked forward.

In the situation shown in FIG. 4, while the host vehicle 101 is traveling backward, the rear part of the host vehicle is swung leftward or rightward by the steering operation of the driver, but from the left rear side by the left rear exploration radar device 1 of the host vehicle 101. The other vehicle 102 approaching the host vehicle 101 is detected.
As a result, if it is determined that there is another vehicle approaching to the left rear or right rear of the own vehicle, the example shown in FIG. 4 indicates that there is another vehicle approaching the host vehicle from the left rear or right rear. The warning instruction unit 14 of the controller 8 transmits a voice announcement output instruction “There is another vehicle approaching the host vehicle from behind” to the meter ECU 3 to output from the speaker 4 to notify the driver of the host vehicle (step S3). .

Then, the left rear search radar device 1 and the right rear search radar device 2 are parked in an obstacle behind the host vehicle 101 from the host vehicle 101, in the rear parking section across the parking lot in the example shown in FIG. The distance to the other vehicle 103, that is, the rear space width L of the host vehicle 101 is detected (step S4).
The distance from the own vehicle 101 to the obstacle behind the own vehicle 101, that is, the rear space width L of the own vehicle 101, is a rear obstacle after the radio wave is irradiated from the left rear exploration radar device 1 to the left rear of the own vehicle. The time required to detect the reflected wave reflected by the object and the direction in which the radio wave is emitted, or the radio wave is emitted from the right rear exploration radar device 2 to the right rear of the vehicle, and then reflected by the obstacle behind. It is calculated from the time required to detect the reflected wave and the direction in which the radio wave is emitted.

The other vehicle 102 determined as the vehicle approaching the host vehicle 101 in step S2 with respect to the distance from the host vehicle 101 calculated in step S4 to the obstacle behind the host vehicle 101 and the rear space width L of the host vehicle 101. It is determined whether or not can pass through (step S5).
Whether or not the other vehicle 102 can pass through the distance from the host vehicle 101 to the obstacle behind the host vehicle 101 and the rear space width L of the host vehicle 101 can be determined as follows.
That is, with respect to the reference value “1.7 meters” set as the vehicle width of the other vehicle determined as the vehicle approaching the own vehicle 101 in step S2, the distance from the own vehicle 101 to the obstacle behind the own vehicle 101 is It is determined whether the distance, the rear space width L of the host vehicle 101 has a margin distance α, that is, whether the rear space width L of the host vehicle 101 exceeds 1.7 + α meters.
If the rear space width L of the host vehicle 101 exceeds 1.7 + α meters, the other vehicle 102 can pass.

  As a result, when it is determined that the distance from the host vehicle 101 to the obstacle behind the host vehicle 101 and the rear space width of the host vehicle 101 can be passed, the other vehicle detected in step S2 approaches the host vehicle. Depending on the direction, that is, the left rear or right rear of the host vehicle, for example, “other vehicles approaching from the left rear of the host vehicle can pass through the space behind the host vehicle” or “other vehicles approaching from the right rear of the host vehicle are The warning instruction unit 14 of the controller 8 transmits a voice announcement output instruction saying “I can pass the rear space” to the meter ECU 3 and outputs it from the speaker 4 to notify the driver of the host vehicle (step S6).

On the other hand, when it is determined that the distance from the own vehicle 101 to the obstacle behind the own vehicle 101 and the rear space width of the own vehicle 101 cannot pass the other vehicle 102, the other vehicle detected in step S2 approaches the own vehicle. Depending on the direction, that is, the left rear or right rear of the host vehicle, for example, “Other vehicles approaching from the left rear of the host vehicle cannot pass the space behind the host vehicle” or “Other vehicles approaching from the right rear of the host vehicle are rear of the host vehicle. The warning instruction unit 14 of the controller 8 transmits a voice announcement output instruction “cannot pass through space” to the meter ECU 3 and outputs it from the speaker 4 to notify the driver of the host vehicle (step S7).
The processing from step S2 to step S6 or step S7 is repeated each time another vehicle approaches the rear of the host vehicle 101 while the host vehicle 101 is traveling backward from the parking location for delivery.

FIG. 5 is an explanatory diagram illustrating an example of a driving assistance situation when leaving a parking place in reverse travel.
In the example shown in FIG. 5, a situation is shown in which another vehicle approaches from the left rear of the host vehicle when the vehicle travels backward for leaving the parking place.
In the state where the host vehicle 101 is parked forward at the parking location (the host vehicle 101 ′ shown by the broken line in FIG. 5), the rear space width L of the host vehicle 101 ′ is equal to the parked host vehicle 101 ′ and the host vehicle. This is the distance from the other vehicle 103 in the parking section located just behind 101 ′, and the error from the actual rear space width is small.
However, when the driver of the host vehicle 101 operates the steering wheel and swings the rear part of the host vehicle 101 to the left and exits to the position indicated by the solid line in FIG. 'Is the distance between the host vehicle 101 and the other vehicle 104 in the parking section located on the left rear side of the host vehicle 101, and an error from the actual rear space width increases.
Therefore, in order to suppress this error and calculate an accurate rear space width, the steering operation angle θ from the forward parked state, that is, the turning angle associated with the backward traveling of the host vehicle 101, and the rear space calculated at this time An accurate rear space width in which an error is suppressed by L ′ · cos θ can be calculated from the width L ′.

If it is determined in step S2 that there is no other vehicle approaching the left rear or right rear of the host vehicle, the notification process is terminated, and the notification by the voice announcement is terminated when the notification by the voice announcement has been performed until then. (Step S8), it is determined whether or not the backward traveling of the host vehicle traveling backward has been completed (Step S9).
It is determined from the position of the shift lever whether or not the host vehicle that is traveling backward has finished traveling backward. That is, it is performed by detecting that the shift lever is not in the reverse position.
If it is determined in step S9 that the host vehicle has finished moving backward, the driving support program is skipped.
On the other hand, if it is determined in step S9 that the host vehicle has not finished reverse travel, that is, if the shift lever is in the reverse position and it is determined that reverse travel has continued and reverse travel has not ended. Return to step S2. The other vehicle approaching the left rear of the host vehicle is detected by the left rear exploration radar device 1 and the other vehicle approaching the rear right side of the host vehicle by the right rear exploration radar device 2 is detected. Then, from the detection results of the left rear exploration radar device 1 and the right rear exploration radar device 2, it is determined again whether or not there is another vehicle approaching the left rear and right rear of the host vehicle that is traveling backward, and after step S3 The process or the processes of step S8 and step S9 are repeated.

As described above, according to this embodiment, when the host vehicle 101 leaves the parking lot in the parking lot in the reverse traveling, the shift lever (selector lever) is operated in the reverse direction. The backward traveling is started, and when the other vehicle 102 approaching the host vehicle 101 from the right rear or the left rear of the host vehicle 101 is detected by the left rear search radar device 1 or the right rear search radar device 2, the detection is performed. Further, the driver of the host vehicle 101 is notified by voice announcement that there is another vehicle 102 approaching the host vehicle 101 from the right rear or left rear direction, and the driver of the host vehicle 101 is alerted.
Furthermore, the rear space width between the own vehicle 101 and the obstacle behind the own vehicle when the approaching other vehicle 102 is detected is calculated, and whether or not the approaching other vehicle 102 can pass through the rear space is determined. If it is possible to pass, the driver of the own vehicle 101 is notified by voice announcement that the approaching other vehicle 102 can pass the space behind the own vehicle 101, and the driver of the own vehicle 101 is urged to ensure safety. .
If the vehicle cannot pass, the driver of the host vehicle 101 is notified by voice announcement that the other vehicle 102 approaching the space behind the host vehicle 101 cannot pass, and the driver of the host vehicle 101 is urged to ensure safety. Driving assistance for ensuring safety with other vehicles approaching when going out from the parked state by reverse running.
Therefore, it is possible to realize reliable driving support for ensuring safety between the approaching other vehicles when leaving the parking place by running backward.

DESCRIPTION OF SYMBOLS 1 ... Left back search radar apparatus (approaching vehicle detection means, empty space width detection means, radar apparatus), 2 ... Right rear search radar apparatus (approaching vehicle detection means, empty space width detection means, radar apparatus), 3 ... ... Meter ECU (notification means, alarm instruction means, voice output section), 4 ... Speaker (notification means, alarm instruction means, voice output section), 11 ... Vehicle detection section (approaching vehicle detection means) 12 ... Space calculation Parts (empty space width detection means), 13... Passability determination section (passage determination section), 14... Alarm instruction section (notification means, alarm instruction means, voice output section).

Claims (4)

A driving support device that provides support when a vehicle parked forward in a parking spot of a parking lot leaves the parking spot,
An approaching vehicle detection means for detecting an approaching vehicle approaching from the rear of the vehicle;
An empty space width detecting means for detecting a width of an empty space between the vehicle and an obstacle behind the vehicle;
A passability determination means for determining whether the approaching vehicle detected by the approaching vehicle detection means can pass through an empty space having a width detected by the empty space width detection means;
An informing means for informing an alarm according to a determination result as to whether or not the approaching vehicle can pass through the empty space by the passability determining means;
A driving support apparatus comprising:   The approaching vehicle detection means detects an approaching vehicle approaching to the left rear and right rear of the vehicle based on a reflected wave of a radar wave emitted from a radar device to the left rear and right rear of the vehicle. The driving support device according to claim 1.   The empty space width detecting means detects a width of an empty space between the vehicle and an obstacle behind the vehicle based on a reflected wave of a radar wave emitted from a radar device to the obstacle behind the vehicle. The driving support apparatus according to claim 1.   The notification means includes an alarm instruction means for instructing output of an alarm according to a determination result by the passage permission / inhibition determination means, and an audio output unit for outputting the alarm by an audio announcement according to an instruction of the alarm instruction means. The driving support device according to claim 1, wherein

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