JP2019111857A - vehicle - Google Patents

Abstract

To provide a vehicle that can prevent a false alarm with tire detection of an own vehicle while reducing cost.SOLUTION: A vehicle includes: radar means 1 for detecting a lateral side of a vehicle; alarming means 4 for outputting an alarm based on the information from the radar means 1; steering angle detection means 2 for detecting a steering angle θ of the vehicle; and filter means 5 for filtering an alarm object to which the alarming means 4 issues an alarm when the steering angle detection means 2 detects an angle θs that is equal to or more than a certain angle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle, and more particularly to a vehicle capable of performing side monitoring of the vehicle.

  Driver assist technology that can ensure safety by recognizing obstacles such as parallel running vehicles and bicycles on the side of the vehicle at the time of lane change and turning of the vehicle by monitoring the side of the vehicle with a radar. It has been developed (see Patent Document 1).

JP 2001-315601 A

  Depending on the mounting position and angle of the radar in the vehicle, the radar may detect the tire of the host vehicle turning at the time of lane change, vehicle turning or the like, and may give a false alarm. Adjust the irradiation range of the radar by changing the type of bracket to which the radar is attached or using a bracket that can change the attachment position and angle of the radar so that the radar does not detect the tires of the host vehicle It is possible to do. However, preparing various brackets corresponding to vehicle specifications has the problem of increasing cost.

  The present invention has been made to solve at least a part of such a problem, and an object of the present invention is to reduce the cost while preventing a false alarm due to tire detection of the host vehicle. It is to provide.

  The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following aspects or application examples.

  The vehicle according to this application example includes radar means for detecting the side of the vehicle, steering angle detection means for detecting the steering angle of the vehicle, alarm means for outputting an alarm based on information of the radar means, and steering angle detection And a filter means for filtering an alarm object to be warned by the alarm means when the means detects an angle greater than or equal to a predetermined value. As a result, not a mechanical change such as a change of a bracket for mounting a radar, but a change of software such as addition of filter processing can reduce costs and prevent an erroneous alarm due to tire detection of the host vehicle.

It is a system configuration figure of the vehicles concerning one embodiment of the present invention. It is a top view of a vehicle showing the position of a radar installation and the irradiation range of a radar. It is a flowchart of filter control.

  Hereinafter, a vehicle according to an embodiment of the present invention will be described based on the drawings.

  FIG. 1 is a system configuration diagram of a vehicle according to an embodiment of the present invention. The vehicle is equipped with a radar device (radar means) 1, a steering angle sensor (steering angle detection means) 2, a direction indication switch 3, an alarm display device (alarm means) 4, a travel control unit 5, and the like. The radar device 1 includes, for example, a millimeter wave radar, a laser radar, a camera, and the like, and detects an object such as another vehicle around the host vehicle.

  FIG. 2 is a top view of the vehicle showing the position of the radar device 1 and the irradiation range R (shaded area in FIG. 2) of the radar. The radar device 1 of the present embodiment is attached, for example, in the vicinity of a fuel tank (not shown) on the left front side of a vehicle with a right handle. When turning left or changing the left lane while the vehicle is traveling, the radar device 1 prevents the vehicle 1 from contacting the parallel running vehicle or bicycle traveling on the left side of the own vehicle which is difficult to see. By detecting an obstacle, a so-called side guard assist function is realized. The irradiation range R is formed in the longitudinal direction of the vehicle as shown in FIG. 2 and is also formed in the vertical direction of the vehicle (not shown).

  The steering angle sensor 2 detects a steering angle θ of the vehicle. Direction indicator switch 3 detects the presence or absence of an operation of a direction indicator (not shown). The alarm display device 4 causes the driver to call out various voices, marks on a meter panel, or a display device provided on a passenger side pillar or the like. The traveling control unit 5 is configured by an ECU (Electronic Control Unit), and controls the entire automatic driving apparatus 1. For example, a computer including a central processing unit (CPU) and a random access memory (RAM) is mainly used. It is configured.

  The traveling control unit 5 is electrically connected to the driving unit 6, the braking unit 7, and the steering unit 8 of the vehicle, and controls these units 6 to 8 to control the behavior and traveling of the vehicle. The drive unit 6 is a part that drives the vehicle to travel, and is, for example, an engine, an electric motor, or both in the case of a hybrid vehicle.

  The braking unit 7 is a portion that brakes the vehicle, and includes, for example, a mechanical brake that generates a braking force by friction, an exhaust brake that generates a braking force other than friction, a retarder, a regenerative brake, and the like. The steering unit 8 is a part that steers the vehicle, and is, for example, a steering.

  Then, in the vehicle according to the present embodiment, when the steering angle sensor 2 detects a steering angle θ equal to or more than a predetermined value, the alarm display device 4 applies a filter to the alarm target to make a false alarm Is executed by the traveling control unit 5 (filter means).

  Hereinafter, filter control performed by the traveling control unit 5 will be described with reference to the flowchart of FIG. 3. When this control is started, it is first determined in step S1 whether or not the steering angle θ detected by the steering angle sensor 2 becomes equal to or greater than a predetermined set angle θs. When the determination result is Yes and θ ≧ θs is satisfied, the process proceeds to step S2, and when the determination result is No and θ ≧ θs is not satisfied, the process proceeds to step S3. The angle θs is set to, for example, 0 °, which determines whether the left front tire 9 of the vehicle is in a turning state or a state such as a lane change or the like as shown in FIG.

  In step S2, at the time of lane change or vehicle turning, etc., the radar device 1 emits a filter process for obstacles not to be warned so as not to falsely warn that the front left tire 9 of the vehicle is an obstacle. After having done, it moves to step S3. Specifically, the unwarning area Z (the shaded area in FIG. 2) is formed in the area where the left front tire 9 of the irradiation range R of the radar irradiated by the radar device 1 interferes.

  In the non-warning area Z, since the radar device 1 is partially filtered, that is, the filtering is performed, even if the left front tire 9 gets into the irradiation range R, an obstacle is not considered as a warning target. The non-warning area Z is a narrow area of about several centimeters from the side of the vehicle, and in the area excluding the non-warning area Z of the irradiation range R, the radar apparatus even when changing lanes or turning the vehicle Obstacle detection is performed at a normal detection angle according to 1.

  In step S3, it is determined whether the radar device 1 has detected an obstacle to be alerted. When the determination result is Yes and an obstacle to be alerted is detected, the process proceeds to step S4. Here, the state in which the obstacle to be the alarm target is detected refers to the case where the approach of the obstacle is recognized in the irradiation range when the vehicle goes straight on, the unwarning area of the irradiation range R when changing the lane of the vehicle or turning the vehicle. The case where the approach of the obstacle is recognized in the area excluding Z is included, that is, even when the obstacle is detected in the unwarning area Z of the irradiation range R at the time of lane change of the vehicle or at the time of vehicle turning, Since the filtering process is performed in step 2, it is not an alarm target.

  On the other hand, when the determination result is No and the obstacle targeted for the alarm is not detected, the process proceeds to step S5. Here, the state in which the obstacle to be the alarm target is not detected refers to the case where the approach of the obstacle is not recognized in the irradiation range R when the vehicle is straight, the warning of the irradiation range R at the time of lane change of the vehicle The case where the approach of the obstacle is not recognized in the area excluding the area Z, and the case where the left front tire 9 turns and interferes with the unwarning area Z at the time of lane change of the vehicle, turning of the vehicle, etc. are included. That is, when the front left tire 9 turns and interferes with the unwarning area Z when changing lanes of the vehicle or turning the vehicle, the front left tire is detected as an obstacle, but since the filter processing is performed in step 2, Not targeted.

  In step S4, the driver is warned of the approach of the obstacle by voice and mark display via the alarm display device 4, and the process proceeds to step S5.

  In step S5, it is determined whether to stop monitoring of an obstacle. Specifically, when the engine is stopped, the determination result becomes Yes and the present control is ended. On the other hand, when the vehicle travel is continued and the determination result is No, the process returns to step S1 and the present control is continuously executed.

  As described above, in the present embodiment, when the steering angle θ detected by the steering angle sensor 2 becomes equal to or greater than the set angle θs (0 °), filter control is performed to filter the alarm target to be alerted by the alert display device 4 . As a result, not the mechanical change such as the change of the bracket for radar attachment as in the prior art but the change of the software such as the addition of the filtering process reduces the cost of parts management etc. while erroneously detecting the tire of the own vehicle An alarm can be prevented.

  Further, in the filtering process, the unwarning area Z is provided only in the interference area of the left front tire 9 in the irradiation range R of the radar, and the left front tire 9 is selectively not detected. Thus, the irradiation range R can be formed at the wide angle detection angle except for the unwarning area Z. Accordingly, it is not necessary to reduce the detection angle of the irradiation range R in order to prevent a tire false alarm, so that the obstacle can be detected with high accuracy by the radar device 1 and the driver can And appropriate alerting can be performed to reduce the risk of contact accidents and the like.

  In addition, since the area change of the unwarning area Z and the change of the setting angle θs can be easily performed on the software according to the vehicle specification, a low-cost, highly versatile obstacle detection without the change of the bracket etc. Can be realized.

  This completes the description of the embodiments of the present invention, but the aspects of the present invention are not limited to this embodiment.

  For example, in the alerting performed in step S4 via the alarm display device 4, the warning level may be changed stepwise depending on the presence or absence of the signal of the direction indication switch 3. Specifically, when the approach of an obstacle is detected, normally, only the mark display is turned on. Then, when the turn signal indicator is operated and the signal of the turn signal switch 3 is input, it is determined that the lane change is about to be performed, and in addition to the mark display, a warning is also issued by voice. Also good.

  Moreover, various vehicles, such as a passenger car and a truck, can be assumed as vehicles explained by this embodiment.

1 Radar device (radar means)
2 Steering angle sensor (steering angle detection means)
4 Alarm display device (alarm means)
5 Traveling control unit (filter means)

Claims (1)

Radar means for detecting the side of the vehicle;
Warning means for outputting a warning based on the information of the radar means;
Steering angle detection means for detecting a steering angle of the vehicle;
A vehicle comprising: filter means for filtering an alarm object to be warned by the alarm means when the steering angle detection means detects an angle equal to or more than a predetermined value.

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