JP2020160876A - Approach warning device of vehicle - Google Patents

Abstract

To pursue safety of a vehicle.SOLUTION: An approach warning device 20 for a vehicle 1 for informing a driver capable of operating the vehicle 1 of an approaching object, including: a stimulation output device 25 capable of outputting tactile stimulation by an ultrasonic field by switching a section giving stimulation toward the driver boarding on the vehicle 1; and a stimulation control unit 43 for controlling an output of tactile stimulation by the ultrasonic field from the stimulation output device 25 toward the driver. When there is an approaching object that may approach the vehicle 1, the stimulation control unit 43 switches a site for providing tactile stimulation by the stimulus output device 25 according to a position or direction of the approaching object.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle proximity warning system.

In a car, it may collide with other cars moving around it.
For this reason, it is conceivable that the automobile predicts a collision with an obstacle in front of the vehicle, and when the collision is predicted, the seat is vibrated or an alarm sound is sounded as in Patent Document 1. ing.

Japanese Unexamined Patent Publication No. 2017-065357

However, when a warning sound is uniformly sounded or the seat is vibrated due to a collision with an obstacle, a occupant such as a driver does not know from which direction the impact is input to the automobile. In this case, the occupant such as a driver needs to search for an approaching obstacle due to an alarm sound or vibration of the seat, and if a collision occurs during that time, it may not be possible to take the best response to the collision. The sex increases.

In this way, vehicles such as automobiles are required to pursue safety.

The vehicle approach warning device according to the present invention is a vehicle approach notification device that notifies a driver who can operate the vehicle of an approaching object, and gives a stimulus to the driver who is in the vehicle. It has a stimulus output device capable of outputting a tactile stimulus by an ultrasonic field by switching a site, and a stimulus control unit that controls the output of a tactile stimulus by an ultrasonic field from the stimulus output device to a driver. When there is an approaching object that may approach the vehicle, the stimulus control unit switches the portion to which the tactile stimulus is given by the stimulus output device according to the position or direction of the approaching object.

Preferably, a projection device capable of outputting an image by switching the position or range of projecting an image toward the driver in the vehicle and an alarm image output from the projection device toward the driver are displayed. The image control unit has an image control unit to generate, and when there is an approaching object that may approach the vehicle, the stimulus output unit provides a tactile stimulus to a position or range for projecting an alarm image. It is good to switch to the vicinity of the part to give.

Preferably, the projection device projects an alarm image in the vicinity above the portion where the tactile stimulus is given by the stimulus output unit.

Preferably, it has a driver determination unit that individually determines the positions of a plurality of parts that give tactile stimuli to the driver in the vehicle, and the stimulus output unit is the direction of an approaching object from the vehicle. It is preferable to select at least a site close to the reference direction from a plurality of detection sites as a site to give a tactile stimulus.

Preferably, the driver determination unit individually determines the position of the right hand and the position of the left hand of the driver in the vehicle, and the stimulus output unit determines the direction of the approaching object from the vehicle to the vehicle. If it is in the range closer to the right side of the vehicle, select the right hand as the part to give the tactile stimulus, and if the direction of the approaching object from the vehicle is in the range closer to the left side of the vehicle, select the left hand as the part to give the tactile stimulus. , And good.

Preferably, the stimulus output section selects the right hand and the left hand as the stimulating parts when the direction of the approaching object is in the front range of the vehicle or in the rear range of the vehicle. It is good.

Preferably, an acquisition unit that acquires peripheral information and own vehicle information of the vehicle, and a determination unit that determines an approaching object that may approach the vehicle based on the acquired peripheral information and own vehicle information. It is good to have.

Preferably, the determination unit determines an approaching object that may approach the vehicle before the collision of the approaching object with the vehicle is predicted or detected, and the stimulus control unit determines the approaching object that may approach the vehicle. It is preferable to output the tactile stimulus by the ultrasonic field from the stimulus output device to the driver based on the determination of the approaching object by the determination unit.

In the present invention, the vehicle is provided with a stimulus output device capable of outputting a tactile stimulus by an ultrasonic field by switching a portion to be stimulated toward a driver riding in the vehicle. Then, the stimulus control unit that controls the output of the tactile stimulus by the ultrasonic field from the stimulus output device to the driver determines the part that gives the tactile stimulus by the stimulus output device when there is an approaching object that may approach the vehicle. , Switch according to the position or direction of the approaching object. As a result, when there is an approaching object that may approach the vehicle, the driver is given a tactile stimulus to a portion corresponding to the position or direction of the approaching object. The direct alarm by this tactile stimulus allows the driver to recognize the alarm of the proximity warning system without missing it.
On the other hand, if, for example, the alarm is notified simply by the display of the display device provided in the vehicle, the driver may miss the display. Further, when the alarm sound is simply output to the vehicle, the driver can only recognize that there is an approaching object approaching the vehicle by the alarm sound.
In the present invention, the portion that directly gives the tactile stimulus to the driver is switched according to the position or direction of the approaching object. This allows the driver to see an approaching object approaching the vehicle without looking around, for example, by looking in the direction of the part to which the tactile stimulus is given. By directly applying a tactile stimulus to a part corresponding to the position or direction of an approaching object, the driver can easily recognize that there is an approaching object approaching the vehicle and the approaching direction, and the stimulus alerts the driver. Immediately afterwards, it is possible to directly recognize an approaching object.

FIG. 1 is an explanatory diagram of an automobile to which the proximity alarm device according to the embodiment of the present invention is applied. FIG. 2 is an explanatory diagram of a control system including a proximity alarm device provided in the automobile of FIG. FIG. 3 is a diagram illustrating an example of arrangement of the components of the proximity alarm device of FIG. 2 in the vehicle interior. FIG. 4 is a flowchart of approach warning processing by the warning ECU of FIG. FIG. 5 is an explanatory diagram of an example of a determination table for the stimulation output position. FIG. 6 is an explanatory diagram of an example of an alarm output state by the proximity alarm device. FIG. 7 is an explanatory diagram of a series of processes before collision detection of the automobile of FIG. 1, including the process of the proximity alarm device of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram of an automobile 1 to which the proximity alarm device 20 according to the embodiment of the present invention is applied.
The automobile 1 in FIG. 1 is an example of a vehicle. The automobile 1 has a passenger compartment 2. A seat 3 on which an occupant such as a driver sits is arranged in the passenger compartment 2.

By the way, the automobile 1 travels on the ground by the driver's driving or the automatic driving. In addition to this, there are other automobiles 52 and pedestrians on the ground, for example, a pedestrian crosses in front of the traveling automobile 1. The vehicle 1 may collide with a pedestrian moving around the vehicle, another vehicle 52, or the like. For this reason, the automobile 1 is equipped with a driving support or automatic driving function for avoiding a collision, and is provided with an occupant protection capability for protecting an occupant from an impact caused by a collision.
Further, in the automobile 1, for example, it is considered that a collision with an obstacle in front is predicted, and when the collision is predicted, the seat 3 is vibrated or an alarm sound is sounded. However, even if the warning sound is sounded uniformly or the seat 3 is vibrated due to the collision with the obstacle, the occupant such as the driver does not know from which direction the obstacle collides with the automobile 1. .. In this case, the occupant such as the driver needs to search for an obstacle approaching the automobile 1 by himself / herself after the alarm sound and the vibration of the seat 3. If a collision actually occurs in the meantime, the occupant may not be able to prepare for the best response to the collision.
As described above, the automobile 1 such as the automobile 1 is required to pursue further safety.

FIG. 2 is an explanatory diagram of a control system 10 including a proximity alarm device 20 provided in the automobile 1 of FIG.
The control system 10 of FIG. 2 has, as a plurality of control devices, a communication device 11, a detection control device 12, a driving support device 13, a braking control device 14, a steering control device 15, a drive control device 16, a driving operation control device 17, and proximity. It has an alarm device 20. These plurality of control devices are connected by a network 19 provided in the automobile 1 and exchange data with each other. In the automobile 1, for example, a communication method such as CAN (Control Area Network) or LIN (Local Area Network) is adopted for in-vehicle communication by the network 19.

The communication device 11 communicates with the ADAS server device 51, for example, through a cellular base station (not shown) or an ADAS communication device for an intelligent transportation system. The ADAS server device 51 may transmit the position information, mapping data, and the like of another automobile 52 traveling around the automobile 1 to the communication device 11. In addition, the communication device 11 may communicate with, for example, another automobile 52. The other automobile 52 may transmit the position information of the own vehicle or the like to the communication device 11 by V2V (vehicle-to-vehicle) communication. The communication device 11 outputs the received communication data to the network 19.

The driving operation control device 17 controls the operation of the operating member operated by the driver to drive the automobile 1, and outputs the operating data of the operating member to the network 19. The operating members include, for example, a steering wheel 31, a brake pedal, an accelerator pedal, and a shift lever shown in FIG. The driver operates these operating members while seated on the seat 3. The drive control device 16, the steering control device 15, and the braking control device 14 acquire manual operation data from the network 19 and control the traveling of the automobile 1.

The detection control device 12 controls the operation of various detection members provided in the automobile 1 and outputs the detection data of the detection members to the network 19. In FIG. 2, as a detection member, as shown in FIG. 1, a front stereo camera 32 that images the front of the automobile 1, a rear stereo camera 33 that images the rear of the automobile 1, and a rider that scans an object around the automobile 1 ( LiDer) 34, a G sensor 35 that detects the acceleration of the automobile 1, a speed sensor 36 that detects the speed of the automobile 1, and an attitude sensor 37 that detects the inclination of the automobile 1 in the yaw direction and the like are shown.

The driving support device 13 supports the operation of the driver for driving the automobile 1. The driving support device 13 determines, for example, another vehicle 52 approaching the own vehicle from the image captured by the front stereo camera 32, and determines the possibility of a collision with the other vehicle 52. Then, when a collision is predicted, the driving support device 13 outputs the support operation data to the network 19 so as to avoid the collision. The drive control device 16, the steering control device 15, and the braking control device 14 acquire support operation data from the network 19 and control the traveling of the automobile 1. As a result, there is a high possibility that the collision between the automobile 1 and the other automobile 52 can be avoided. Further, the driving support device 13 determines a collision with another automobile 52 or the like from the detection acceleration of the G sensor 35, and outputs the collision detection data to the network 19. The occupant protection device (not shown) applies tension to a seatbelt (not shown) or deploys an airbag to protect the driver or occupant seated on the seat 3. The detection control device 12 may execute the determination of the possibility of a collision with the other automobile 52 and the detection of the collision with the other automobile 52.

The proximity alarm device 20 notifies the driver operating the automobile 1 of the approach of an approaching object.
The proximity alarm device 20 includes an in-vehicle communication unit 21, a timer 22, a 3D image projection device 23, a driver detection device 24, a stimulus output device 25, a sound output device 26, a memory 27, and an alarm ECU 28 to which these are connected.

The memory 27 is, for example, a non-volatile memory. The memory 27 records a program for proximity warning and data. The program may execute processing by AI (Artificial Intelligence). The program may include a learning program for AI processing. The data includes three-dimensional model data of an image projected at the time of proximity warning operation, various determination tables 29, and the like. The three-dimensional model data is video data for non-contact operation, and has, for example, a plurality of polygon data constituting the surface of the model.

The alarm ECU 28 may be, for example, a microcomputer such as a central processing unit, an ASIC, or a DSP. The alarm ECU 28 reads a program for proximity warning from the memory 27 and executes it. As a result, the alarm ECU 28 is realized with the control unit of the proximity alarm device 20. The control unit of the proximity alarm device 20 controls the overall operation of the proximity alarm device 20, and realizes various functions for the proximity alarm in the proximity alarm device 20. For example, in the alarm ECU 28, a video control unit 41, a driver determination unit 42, a stimulus control unit 43, and a sound control unit 44 are realized as various functions for proximity warning.

The in-vehicle communication unit 21 is connected to the network 19. The in-vehicle communication unit 21 transmits and receives information (data) to and from other control devices such as the communication device 11 and the detection control device 12 through the network 19. For example, the in-vehicle communication unit 21 acquires the position information of another automobile 52 or the like from the communication device 11. The in-vehicle communication unit 21 acquires, for example, an image captured by the front stereo camera 32 and an image captured by the rear stereo camera 33 from the detection control device 12.

The timer 22 measures the elapsed time or the time.

The image control unit 41 generates data of the projected image for proximity warning. The image control unit 41 acquires three-dimensional model data from the memory 27 or the in-vehicle communication unit 21. The video control unit 41 generates a three-dimensional model from the acquired three-dimensional model data. The image control unit 41 determines the projection position and orientation of the three-dimensional model in the passenger compartment 2 as seen from the occupant, and generates image data for projection from the three-dimensional model (three-dimensional model). The image control unit 41 outputs the image data for projection to the 3D image projection device 23. The image control unit 41 may generate a two-dimensional model (plane model) from the two-dimensional model data to generate image data for projection. The image control unit 41 generates an alarm image output from the 3D image projection device 23 to the driver.

The 3D image projection device 23 projects a 3D (three-dimensional) image or a 2D (two-dimensional) image into the space created by the passenger compartment 2 of the automobile 1. The 3D image projection device 23 may project an image into a hollow space about the vehicle interior 2 by, for example, a hologram method or a mirror method. As a result, a three-dimensional image is projected on the projected position of the vehicle interior 2 so that the driver can visually recognize the three-dimensional model. The 3D image projection device 23 can output an image by switching the position or range of projecting the image toward the driver in the automobile 1.

The driver detection device 24 detects a predetermined operation part of the driver. The driver detection device 24 may be, for example, a driver stereo camera 63 in which two image pickup elements are arranged side by side. In this case, the driver detection device 24 detects the driver seated on the seat 3 in the vehicle interior 2 from the images of the two image sensors.

The driver determination unit 42 acquires detection information such as an image of the driver stereo camera 63 from the driver detection device 24, and determines the position of a predetermined portion of the driver in the space of the vehicle interior 2 based on the detection information. The driver determination unit 42 may determine the position and movement of a predetermined portion of the driver. The driver determination unit 42 acquires the pixel position including the characteristics of the occupant's fingertip from the image by, for example, AI processing, and generates the position information of the fingertip by the triangulation method on the image of the driver stereo camera 63. The driver determination unit 42 may generate information such as the movement of the fingertip, for example, the movement direction, the movement speed, the acceleration of movement, and the like from the imaging results at different times. For example, the driver determination unit 42 may determine the position and movement of a predetermined portion of the driver with reference to the projection position of the image, and determine the operation of the driver with respect to the image projected in the space of the vehicle interior 2. The driver determination unit 42 outputs these determined determination information to each unit of the alarm ECU 28. The driver determination unit 42 outputs the operation information to the video control unit 41, the stimulus control unit 43, and the sound control unit 44.

The stimulus output device 25 may be any device that can give a tactile sensation to the operating portion of the occupant by, for example, an electric signal. As a device that gives a tactile sensation to non-contact, for example, there is a device that gives a tactile sensation to the skin of the operation site by generating an ultrasonic field and giving a fluctuation of the ultrasonic field or the field to the operation site of the occupant. The stimulus output device 25 may be, for example, an element array in which a plurality of ultrasonic elements 65 are arranged on a plane separated under the hand. By selectively outputting ultrasonic waves from the plurality of ultrasonic elements 65, it is possible to give a tactile sensation as if touching an object to a local part such as a fingertip of the occupant's hand. The stimulus output device 25 can output a tactile stimulus by an ultrasonic field by switching a portion to give a stimulus to the driver in the automobile 1.

The stimulus control unit 43 outputs an electric signal to the stimulus output device 25, and selectively outputs ultrasonic waves corresponding to the operation from the plurality of ultrasonic elements 65. As a result, the stimulus control unit 43 can generate an ultrasonic field in the vehicle interior 2. The stimulus control unit 43 locally gives an ultrasonic field or a fluctuation of the field to a predetermined part of the driver determined by the driver determination unit 42. When a person puts his / her hand in the ultrasonic field, for example, the skin on the surface of the hand can sense the ultrasonic field. As a result, the stimulus control unit 43 can output a tactile stimulus by the ultrasonic field to a predetermined portion of the driver in the space of the vehicle interior 2. The stimulus control unit 43 controls the output of the tactile stimulus by the ultrasonic field from the stimulus output device 25 toward the driver.
In addition to this, for example, the stimulus control unit 43 may have an element array in which a plurality of pressure output elements are arranged. In this case, the stimulus control unit 43 can apply pressure to the human skin by individually controlling the operation of the plurality of pressure output elements. As a result, the occupant can get a feel at a predetermined portion.

The sound output device 26 may be, for example, a speaker driven by a sound signal.

The sound control unit 44 outputs a sound signal to the sound output device 26, and outputs, for example, an alarm sound from the sound output device 26. The sound control unit 44 selects and acquires the voice data recorded in the memory 27, and outputs the sound signal generated from the voice data to the speaker as the sound output device 26. As a result, the occupant can hear the alarm sound.

FIG. 3 is a diagram illustrating an example of arrangement of the components of the proximity alarm device 20 of FIG. 2 in the vehicle interior 2. FIG. 3 also shows a driver that operates by holding the steering wheel 31 with both hands.
The proximity alarm device 20 is provided in the passenger compartment 2 of the automobile 1.
FIG. 3 is a schematic explanatory view of a specific combination example of the 3D image projection device 23, the driver detection device 24, and the stimulus output device 25 of FIG.
In FIG. 3, a display screen 61 and a half mirror 62 are shown as the 3D image projection device 23. A driver stereo camera 63 is shown as the driver detection device 24. A device array is shown as the stimulus output device 25.

The stimulus output device 25 has a hollow square frame 64. An element array in which a plurality of ultrasonic elements 65 are arranged is provided on each of the four surfaces of the square frame body 64. By operating the element arrays on the top, bottom, left, and right surfaces of the square frame body 64, an ultrasonic field acts on the hand placed in the square frame body 64 as shown in the figure. As a result, the person can obtain the tactile sensation that the hand is being touched.

The half mirror 62 is provided on the opposite side of the person with respect to the hollow square frame 64 of the stimulation output device 25. The half mirror 62 may be provided at an angle of 45 degrees with respect to the axis of the square frame body 64. A display screen 61 for displaying a three-dimensional image (stereoscopic image) or a two-dimensional image (planar image) is arranged below the half mirror 62. As a result, a person can visually recognize a three-dimensional image (stereoscopic image) or a two-dimensional image (planar image) inside the hollow square frame 64 of the stimulus output device 25.

The driver stereo camera 63 may be provided, for example, on the rear side of the half mirror 62. Here, the rear side of the half mirror 62 means the front side of the automobile 1. The two image pickup elements of the driver stereo camera 63 may be provided at positions of interest with respect to the axial center of the square frame body 64. As a result, the driver stereo camera 63 can image a hand or the like entering the hollow square frame 64 of the stimulus output device 25. Hereinafter, if necessary, the direction along the axis of the square frame 64 is referred to as the Z direction, and the directions perpendicular to the Z direction are referred to as the Y direction and the X direction. Further, normally, the Z direction is the direction along the front-rear direction of the automobile 1.

It should be noted that the components of the proximity alarm device 20 of FIG. 2 do not need to be arranged in one place as shown in FIG.

For example, when the hollow square frame 64 of the stimulus output device 25 is arranged in front of the occupant, the occupant may interfere with the operation when operating the steering wheel 31 or the like. The hollow square frame body 64 may be provided in a square frame shape along the inner peripheral surface of the vehicle interior 2. In this case, it is not necessary to provide a structure such as a square frame 64 in front of the seat 3 on which the occupant sits. Further, the hollow quadrangular frame body 64 does not necessarily have to have a regular quadrangular frame shape. Further, the plurality of element arrays of the stimulation output device 25 may be arranged directly on the inner surface of the vehicle interior 2 as a whole.

Basically, the half mirror 62 may be provided on the side opposite to the seating position of the driver with reference to the hollow square frame 64 of the stimulation output device 25. Further, if only for projecting an image into the hollow inside the square frame 64, a full reflection mirror may be used instead of the half mirror 62. Further, the display screen 61 itself may be arranged on the side opposite to the head of the occupant with reference to the hollow square frame 64 of the stimulus output device 25. In this case, the half mirror 62 or the full reflection mirror is unnecessary. Such a half mirror 62 or a full reflection mirror and a display screen 61 may be arranged on, for example, a toe board, a windshield 4, a roof, or the like.

The detection device such as the driver stereo camera 63 may be arranged in the room mirror 5 or the like. Further, the vehicle interior 2 may be imaged by an image sensor of an occupant monitoring device such as DMS. The detection device such as the driver stereo camera 63 may be any device as long as it can image a part to be detected such as a fingertip of the occupant. Further, regardless of the image, for example, the driver may be detected by laser scanning the vehicle interior 2.

FIG. 4 is a flowchart of approach alarm processing by the alarm ECU 28 of FIG.
When the driver is in the automobile 1, the alarm ECU 28 repeatedly executes the approach warning process of FIG. The alarm ECU 28 may periodically execute the approach alarm process of FIG. 4 every time the timer 22 measures the passage of a certain period of time, for example.

In step ST1, the alarm ECU 28 acquires peripheral information of the own vehicle and information on the own vehicle in order to determine the necessity of the alarm.

In step ST2, the alarm ECU 28 determines the presence or absence of an approaching object that may approach the own vehicle based on the acquired peripheral information and the own vehicle information. The alarm ECU 28 attempts to extract other moving objects such as other automobiles 52 and pedestrians from the acquired peripheral information, predicts the moving direction and moving speed of the extracted other moving objects from the latest position, and determines the moving direction and moving speed. Predict the movement direction and movement speed from the latest position of the own vehicle from the own vehicle information, determine whether or not other moving objects move toward the movement route of the own vehicle, and move toward the movement route of the own vehicle. Another moving object may be judged as an approaching object. Other moving objects include not only preceding vehicles, following vehicles, crossing vehicles, and crossing pedestrians, but also fixed obstacles that move relative to the moving vehicle such as roadside objects. Good. The alarm ECU 28 ends the process of FIG. 4 when there is no approaching object. If there is an approaching object, the alarm ECU 28 advances the process to step ST3.

In step ST3, the alarm ECU 28 acquires the remaining time before approaching by calculation. The alarm ECU 28 may predict the position where the approaching object reaches the movement path of the own vehicle, and calculate the time until the own vehicle reaches the position as the remaining time.

In step ST4, the alarm ECU 28 determines whether or not the remaining time before approaching is shorter than the time of a predetermined threshold value. The threshold time here may be longer than the time when a collision is predicted.

In step ST5, the alarm ECU 28 determines whether or not the stimulus for alarm is already being output from the stimulus output device 25. When the alarm stimulus is output, the alarm ECU 28 ends the process of FIG. When the alarm stimulus is not output, or when the stimulus for another purpose is output, the alarm ECU 28 advances the process to step ST6.

In step ST6, the alarm ECU 28 determines the position where the stimulus is output from the stimulus output device 25 as the driver determination unit 42. First, the alarm ECU 28 determines the position of the right hand and the position of the left hand from the predetermined parts of the driver, for example, the imaging positions of the right hand and the left hand in the stereo image captured by the driver detection device 24. In this case, the alarm ECU 28 individually determines the position of the driver's right hand and the position of the left hand. Next, the alarm ECU 28 determines in the stimulus output device 25, for example, the ultrasonic element 65 at a position where the stimulus can be output to the position of the driver's right hand as a position to output the stimulus. Further, the alarm ECU 28 may determine the ultrasonic element 65 at a position where the stimulus can be output to the position of the driver's left hand in the stimulus output device 25 as a position to output the stimulus.
When there is an approaching object that may approach the own vehicle, the alarm ECU 28 may switch the portion to which the tactile stimulus is given by the stimulus output device 25 according to the position or the approaching direction of the approaching object. For example, the alarm ECU 28 uses the stimulus output device 25 to tactile a portion of the right hand and the left hand as a plurality of detection regions of the driver, which is closer to the reference direction, with reference to the direction of an approaching object from the own vehicle. By selecting the site to give the stimulus, the site to give the tactile stimulus may be switched.

In step ST7, the alarm ECU 28 starts the output of the stimulus as the stimulus control unit 43. The alarm ECU 28 controls the stimulus output device 25 to output ultrasonic waves from the position of the stimulus output device 25 that outputs the determined stimulus. This gives the driver a tactile stimulus from the ultrasonic field in his right or left hand.

In step ST8, the alarm ECU 28, as the image control unit 41, starts projecting the alarm image to a position above the position where the stimulus is output and in the vicinity. The alarm ECU 28 generates video data for projection for an alarm. Further, the alarm ECU 28 controls the 3D image projection device 23 to project the generated alarm image to a position above and near the position where the stimulus is output. As a result, when there is an approaching object that may approach the own vehicle, the alarm ECU 28 switches the position or range for projecting the alarm image so as to correspond to the position or direction of the approaching object, and gives a tactile stimulus. It is possible to switch to the vicinity of the giving part. The position or range in which the 3D image projection device 23 projects the alarm image is switched according to the position where the stimulus is output.
By projecting the alarm image in the vicinity of the driver above the part that gives the tactile stimulus, the projected alarm image is not difficult to see. On the other hand, for example, if the projected alarm image is projected below the part that gives the tactile stimulus, the image will be projected behind the part that gives the tactile stimulus, and the driver The image cannot be seen.
Here, the warning image may be a 3D object of a yellow arrow used in a road sign or the like, or a 3D object of a danger mark. The 3D object of the arrow may point in the direction pointing to the approaching object, or in the direction from the approaching object to the vehicle. Further, the alarm image may be a still image, or may be an animated moving image in which the arrow moves along the direction of the approaching object.

FIG. 5 is an explanatory diagram of an example of the stimulation output position determination table 29.
The determination table 29 of FIG. 5 is recorded in the memory 27. For example, the alarm ECU 28 may read the determination table 29 of FIG. 5 from the memory 27 in step ST6, and determine to switch the position to output the stimulus according to the position of the approaching object or the approaching direction.

The determination table 29 of FIG. 5 shows a case where a right hand and a left hand holding the steering wheel 31 are set as a plurality of predetermined parts of the driver. The determination table 29 of FIG. 5 has four records corresponding to each of the front side, the right side, the left side, and the rear side as the position or direction of the approaching object with respect to the own vehicle. Each record has a value of the position or direction of an approaching object, a value of the output position of the stimulus, and a value of the projected position of the warning image. For example, the record on the "right side" in the second line from the top of FIG. 5 is "right side" as the value of the position or direction of the approaching object, "right hand" as the value of the output position of the stimulus, and the value of the projection position of the warning image. As "upper neighborhood on the right side".
For example, in step ST6, the alarm ECU 28 determines whether the position or approaching direction of the approaching object belongs to the front, back, left, or right range, selects a record of the determined direction from the determination table 29 of FIG. 5, and outputs the stimulus. Acquires the projected position of the position and the warning image.

As a result, the output position of the stimulus and the projection position of the warning image are switched according to the position of the approaching object or the approaching direction.
For example, when the direction of the approaching object is in the range closer to the right side of the own vehicle, the right hand is selected as the part to give the tactile stimulus.
When the direction of the approaching object is in the range toward the left side of the own vehicle, the left hand is selected as the part to give the tactile stimulus.
When the direction of the approaching object is in the front range or the rear range of the vehicle, the right hand and the left hand are selected as the stimulating parts.

In the driver, the part that gives the tactile stimulus and the part that is the reference for projecting the alarm image are not limited to the right hand or the left hand. The alarm ECU 28 may give tactile stimuli to the upper arms and thighs or project an alarm image in the vicinity of the upper arms and thighs based on a determination table 29 different from that of FIG. 5, for example. Further, the alarm ECU 28 identifies the line of sight of the driver immediately before the alarm based on the image of the driver stereo camera, gives a tactile stimulus to a portion of the driver near the line of sight, or projects an alarm image in the vicinity thereof. You may do it.

FIG. 6 is an explanatory diagram of an example of an alarm output state by the proximity alarm device 20.
FIG. 6 shows a front view of the driver looking at the steering wheel 31.

Then, in FIG. 6A, there is a pedestrian walking from the left side of the automobile 1 toward the automobile 1. In this case, the alarm ECU 28 gives a tactile stimulus to the left hand of the driver holding the steering wheel 31 by the process of FIG. Further, the alarm ECU 28 projects an alarm image of an arrow indicating that a pedestrian is approaching near the upper part of the driver's left hand. The driver who drives the automobile 1 knows that there is an approaching object by the tactile stimulus of the left hand holding the steering wheel 31, recognizes the direction of the approaching object by the warning image of the arrow, and a pedestrian as an approaching object through the windshield 4. Can be visually recognized. The driver can easily visually recognize a pedestrian approaching the vehicle by a short-time confirmation operation without significantly moving the line of sight paying attention to the front. Further, since the alarm image of the arrow is projected near the driver, the driver can easily visually recognize the image.

In FIG. 6B, there are other automobiles 52 approaching from the rear side of the automobile 1 toward the automobile 1. In this case, the alarm ECU 28 gives a tactile stimulus to the right and left hands of the driver holding the steering wheel 31 by the process of FIG. Further, the alarm ECU 28 projects an alarm image of an arrow indicating that the following vehicle is approaching in the vicinity of the upper part between the driver's right hand and the left hand. The driver driving the automobile 1 knows that there is an approaching object by the tactile stimulus of the right hand and the left hand holding the steering wheel 31, recognizes the direction of the approaching object by the warning image of the arrow, and approaches through the rearview mirror 5 or the door mirror 6. The following vehicle as an object can be visually recognized. The driver can easily visually recognize the following vehicle approaching the own vehicle by a short-time confirmation operation without significantly moving the line of sight paying attention to the front. Further, since the alarm image of the arrow is projected near the driver, the driver can easily visually recognize the image.

FIG. 7 is an explanatory diagram of a series of processes before the collision detection of the automobile 1 of FIG. 1, including the process of the proximity alarm device 20 of FIG.
In FIG. 7, time flows from left to right.
In FIG. 7, the approaching object approaches the automobile 1 and collides with the automobile 1.

In this case, in the automobile 1, first, the proximity alarm device 20 predicts that an approaching object is approaching the automobile 1, and outputs a tactile stimulus and an alarm image.
Next, the driving support device 13 predicts the possibility of a collision, outputs a warning sound and a warning display, and starts braking control (automatic emergency braking, AEB) for avoiding the collision. After that, when the G sensor 35 detects a collision, the occupant protection control by the seat belt or the airbag is executed.
In this way, the proximity warning device 20 determines an approaching object that may approach the own vehicle before the collision of the approaching object with the own vehicle is predicted or detected, and approaches based on the determination. Before a collision of an object is predicted or detected, a tactile stimulus can be output to the driver and an alarm image can be projected. As a result, an occupant such as a driver can recognize and become aware of an approaching object that may collide at an early stage. The driver can start the braking operation by himself at an early stage when he can afford it.
In addition, at the timing when braking control for avoiding a collision is started based on the prediction of the possibility of a collision after that, even if the warning induces tension in preparation for the collision, the possibility of a collision may occur before that. By recognizing the above, the driver can perform an operation for avoiding a collision or preparing for a collision with a margin.

As described above, in the present embodiment, the automobile 1 is a stimulus output device 25 capable of outputting the tactile stimulus by the ultrasonic field by switching the portion to which the tactile stimulus is given to the driver in the automobile 1. , Are provided. Then, the alarm ECU 28 that controls the output of the tactile stimulus by the ultrasonic field from the stimulus output device 25 toward the driver gives the tactile stimulus by the stimulus output device 25 when there is an approaching object that may approach the own vehicle. The part is switched according to the position or direction of the approaching object. As a result, when there is an approaching object that may approach the own vehicle, the driver is given a tactile stimulus to a portion corresponding to the position or direction of the approaching object. The direct alarm by this tactile stimulus allows the driver to recognize the alarm of the proximity alarm device 20 without missing it.
On the other hand, if, for example, an alarm is notified to the display screen of a display device fixedly provided in the own vehicle, the driver may miss the display. It is unlikely that the driver will gaze at a display device that always has a constant display while driving. Further, when the alarm sound is simply output, the driver can only recognize that there is an approaching object approaching the own vehicle by the alarm sound.
In the present embodiment, the portion that directly gives the tactile stimulus to the driver is switched according to the position or direction of the approaching object. As a result, the driver can visually recognize an approaching object approaching the own vehicle without looking around by looking at the direction of the portion to which the tactile stimulus is given, for example. By directly applying a tactile stimulus to a part corresponding to the position or direction of an approaching object, the driver can easily recognize that there is an approaching object approaching the vehicle and the approaching direction, and an alarm by the stimulus. Immediately after, it is possible to directly recognize an approaching object.

In the present embodiment, the automobile 1 is further provided with a 3D image projection device 23 capable of outputting an image by switching the position or range of projecting an image toward the driver on board. Then, the alarm ECU 28 that generates an alarm image output from the 3D image projection device 23 to the driver sets the position or range for projecting the alarm image when there is an approaching object that may approach the own vehicle. Switch to correspond to the position or direction of the approaching object, and switch to the vicinity of the site where the tactile stimulus is given. As a result, when there is an approaching object that may approach the vehicle, the driver is given a tactile stimulus to the part corresponding to the position or direction of the approaching object, and the vicinity of the part to which the tactile stimulus is given. The image of the alarm is displayed. By superimposing the alarm image on the part to which the contact stimulus is applied, the driver can easily recognize the direction of the approaching object and pay attention to it. The driver can recognize the image of the alarm by visually recognizing the part to which the tactile stimulus is given. After recognizing the image of the alarm, the driver can directly recognize the approaching object by simply moving the line of sight out of the direction of the part to which the tactile stimulus is given, for example.

In the present embodiment, the positions of a plurality of parts that give tactile stimuli to the driver in the automobile 1 are individually determined. Then, the alarm ECU 28 selects at least a portion close to the reference direction from the plurality of detection portions as a portion to give a tactile stimulus, based on the direction of the approaching object from the own vehicle. As a result, the alarm ECU 28 can easily and surely switch the portion to which the tactile stimulus is given, and appropriately give the tactile stimulus to the position of the switched portion. For example, the alarm ECU 28 individually determines the position of the right hand and the position of the left hand of the driver in the automobile 1. In this case, when the direction of the approaching object from the own vehicle is in the range closer to the right side of the own vehicle, the alarm ECU 28 selects the right hand as the portion to give the tactile stimulus and outputs the tactile stimulus toward the position of the right hand. be able to. Further, when the direction of the approaching object from the own vehicle is in the range closer to the left side of the automobile 1, the left hand can be selected as the stimulating portion and the tactile stimulus can be output toward the position of the left hand.
In particular, the driver's right and left hands usually hold the steering wheel 31 provided in front of the driver. In this case, the driver can easily visually recognize an approaching object approaching from the front of the own vehicle without moving the head while visually recognizing the alarm displayed on the upper side of the hand, for example. The driver minimizes the movement and time from visually recognizing the alarm image to visually recognizing the approaching object, and can visually recognize the approaching object earlier. A driver looking forward from before the alarm can easily and instantly see the alarm display and an approaching object simply by moving his / her line of sight.
Further, when the direction of the approaching object is in the range on the front side of the own vehicle or in the range on the rear side of the own vehicle, the alarm ECU 28 selects the right hand and the left hand as the stimulating portion. In this case, the driver can grasp the direction in which the approaching object is approaching in detail by dividing it into front, back, left, and right before visually recognizing it, depending on the combination of the presence or absence of stimulation of the right hand and the presence or absence of stimulation of the left hand.

In the present embodiment, the warning ECU 28 acquires the peripheral information of the own vehicle and the own vehicle information, and determines an approaching object that may approach the own vehicle based on the acquired peripheral information and the own vehicle information. Then, the alarm ECU 28 determines an approaching object that may approach the own vehicle before the collision of the approaching object with the own vehicle is predicted or detected. Further, the alarm ECU 28 can output a tactile stimulus by an ultrasonic field from the stimulus output device 25 to the driver before the collision of the approaching object is predicted or detected based on the determination of the approaching object. Thereby, the driver can grasp the approach of the approaching object before the collision of the approaching object is predicted or detected by the alarm of the tactile stimulus before the collision of the approaching object is predicted or detected. An occupant, such as a driver, who is aware of the approach of an approaching object can begin to respond to the collision of the approaching object before it is predicted or detected.

The above embodiments are examples of preferred embodiments of the present invention, but the present invention is not limited thereto, and various modifications or modifications can be made without departing from the gist of the invention. ..

1 ... Automobile (vehicle), 2 ... Vehicle interior, 11 ... Communication device, 12 ... Detection control device, 13 ... Driving support device, 20 ... Proximity alarm device, 21 ... In-vehicle communication unit, 22 ... Timer, 23 ... 3D image projection Device, 24 ... Driver detection device, 25 ... Stimulation output device, 26 ... Sound output device, 27 ... Memory, 28 ... Alarm ECU, 29 ... Judgment table, 41 ... Video control unit, 42 ... Driver judgment unit, 43 ... Stimulation control Unit, 44 ... Sound control unit, 61 ... Display screen, 62 ... Half mirror, 63 ... Stereo camera, 64 ... Square frame, 65 ... Ultrasonic element

Claims (8)

It is a vehicle approach notification device that notifies an approaching object to a driver who can operate the vehicle.
A stimulus output device capable of outputting tactile stimuli by an ultrasonic field by switching the stimulating part toward the driver in the vehicle.
A stimulus control unit that controls the output of tactile stimuli by the ultrasonic field from the stimulus output device to the driver,
Have,
When there is an approaching object that may approach the vehicle, the stimulus control unit switches a portion that gives a tactile stimulus by the stimulus output device according to the position or direction of the approaching object.
Vehicle proximity warning system.
A projection device capable of outputting an image by switching the position or range of projecting an image toward the driver in the vehicle.
It has an image control unit that generates an alarm image output from the projection device to the driver.
When there is an approaching object that may approach the vehicle, the image control unit switches the position or range for projecting the alarm image to the vicinity of the portion where the tactile stimulus is given by the stimulus output unit.
The vehicle proximity warning system according to claim 1.
The projection device projects an alarm image in the vicinity above the portion where the tactile stimulus is given by the stimulus output unit.
The vehicle proximity warning system according to claim 2.
It has a driver determination unit, which individually determines the positions of a plurality of parts that give tactile stimuli to the driver in the vehicle.
The stimulus output unit selects at least a portion close to the reference direction from a plurality of detection portions as a portion to give a tactile stimulus, based on the direction of an approaching object from the vehicle.
The vehicle proximity warning system according to any one of claims 1 to 3.
The driver determination unit individually determines the position of the right hand and the position of the left hand of the driver in the vehicle.
The stimulus output unit
When the direction of the approaching object from the vehicle is in the range closer to the right side of the vehicle, the right hand is selected as the part to give the tactile stimulus.
When the direction of the approaching object from the vehicle is in the range closer to the left side of the vehicle, the left hand is selected as the part to give the tactile stimulus.
The vehicle proximity warning system according to any one of claims 1 to 4.
The stimulus output unit
When the direction of the approaching object is in the front range of the vehicle, or in the rear range of the vehicle, the right and left hands are selected as the stimulating sites.
The vehicle proximity warning system according to claim 5.
An acquisition unit that acquires peripheral information and own vehicle information of the vehicle,
It has a determination unit for determining an approaching object that may approach the vehicle based on the acquired peripheral information and own vehicle information.
The vehicle proximity warning system according to any one of claims 1 to 6.
The determination unit determines an approaching object that may approach the vehicle before the collision of the approaching object with the vehicle is predicted or detected.
The stimulus control unit outputs a tactile stimulus by an ultrasonic field from the stimulus output device to the driver based on the determination of an approaching object by the determination unit.
The vehicle proximity warning system according to claim 7.

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