JP2021043831A - Alarm output device - Google Patents

Abstract

To provide an alarm output device that can suppress an annoying feeling of an obstacle alarm.SOLUTION: An alarm output device is comprised of: an ultrasonic sensor 2 that detects an obstacle around a vehicle 1; a notification unit 3 that notifies a driver of the vehicle 1 of various information; and a control unit 4 that notifies a presence of the obstacle at a first volume when the ultrasonic sensor 2 detects the obstacle around the vehicle 1, if the vehicle 1 has stopped within a predetermined period in the past, and after that, when the vehicle 1 starts to move, the control unit continues to notify the presence of the obstacle at a second volume, which is louder than the first volume.SELECTED DRAWING: Figure 1

Description

The present invention relates to an alarm output device.

Patent Document 1 describes a method of warning according to an area where an obstacle exists in an alarm output device that outputs an alarm that notifies an occupant of the presence of an obstacle behind the vehicle when the shift position is in the R range. Is described to change.

There is also an alarm output device that detects an obstacle existing around the vehicle during traveling including a stop such as waiting for a traffic light and outputs an alarm.

Japanese Unexamined Patent Publication No. 2018-106429

When an obstacle warning is output while driving, if a motorcycle or the like approaches while the vehicle is stopped such as waiting for a traffic light and is detected as an obstacle, the warning continues to be output, causing the occupant to feel annoyed.

Therefore, an object of the present invention is to provide an alarm output device capable of suppressing an obstacle alarm from being annoying.

In order to solve the above problems, the present invention has been detected by an external environment acquisition unit that detects obstacles around the vehicle, a notification unit that notifies the driver of the vehicle of various information, and the external environment acquisition unit. An alarm output device including a control unit that notifies the driver of the presence of an obstacle by the notification unit, and the control unit is a past when the vehicle outside environment acquisition unit detects an obstacle. The notification mode of the notification unit is changed based on the operating state of the own vehicle within a predetermined period.

As described above, according to the present invention, it is possible to suppress the annoying feeling of an obstacle alarm.

FIG. 1 is a block diagram of an alarm output device according to an embodiment of the present invention. FIG. 2 is a flowchart showing a procedure of notification control processing of the alarm output device according to the embodiment of the present invention. FIG. 3 is a diagram showing a change in the notification mode when a motorcycle approaches a place where the vehicle of the alarm output device according to the embodiment of the present invention is stopped and stops, and FIG. 3A is a diagram showing a change in the notification mode. A state in which the vehicle is stopped and the motorcycle is not detected, FIG. 3 (b) shows a state in which the motorcycle is detected, and FIG. 3 (c) shows a state in which the vehicle starts moving and the distance to the motorcycle is shortened. It is a figure which shows. FIG. 4 is a diagram showing a change in the notification mode when a vehicle approaches a place where the motorcycle of the alarm output device according to the embodiment of the present invention is stopped and the vehicle is stopped, and FIG. 4A is a diagram showing a change in the notification mode. A state in which the vehicle approaches a stopped motorcycle and the motorcycle is detected, FIG. 4 (b) shows a state in which the vehicle is stopped while the motorcycle is detected, and FIG. 4 (c) shows a state in which the vehicle starts moving and is a motorcycle. It is a figure which shows the state which the distance is shortened.

The alarm output device according to the embodiment of the present invention includes an external environment acquisition unit that detects obstacles around the own vehicle, a notification unit that notifies the driver of the own vehicle of various information, and an external environment acquisition unit. It is an alarm output device including a control unit that notifies the driver of the presence of an obstacle detected by the vehicle, and the control unit is a predetermined value in the past when the vehicle outside environment acquisition unit detects an obstacle. It is configured to change the notification mode of the notification unit based on the operating state of the own vehicle within the period.

As a result, the alarm output device according to the embodiment of the present invention can suppress the annoying feeling of an obstacle alarm.

Hereinafter, the alarm output device according to the embodiment of the present invention will be described in detail with reference to the drawings.

In FIG. 1, a vehicle 1 equipped with an alarm output device according to an embodiment of the present invention includes an ultrasonic sensor 2 as an external environment acquisition unit, a notification unit 3, and a control unit 4. To.

The ultrasonic sensors 2 are provided at four locations, for example, the front left and right and the rear left and right of the vehicle 1, transmit ultrasonic waves, and based on the reflected waves of the ultrasonic waves, obstacles existing around the vehicle 1. Is detected. The ultrasonic sensor 2 outputs, for example, information on the presence / absence of an obstacle, its position, and its speed to the control unit 4.

The vehicle external environment acquisition unit is not limited to the ultrasonic sensor 2, but may be one that detects obstacles by transmitting and receiving laser light, millimeter waves, etc., and detects obstacles from an image captured by the camera. It may be something like.

The notification unit 3 is composed of, for example, a monitor device, a speaker, a lamp, a meter, a buzzer, and the like, and notifies the driver of various information through visual and auditory senses.

The control unit 4 is composed of a computer unit including a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an input port, and an output port. ..

The ROM of the computer unit stores various control constants, various maps, and the like, as well as a program for causing the computer unit to function as the control unit 4. That is, when the CPU executes the program stored in the ROM, the computer unit functions as the control unit 4.

In addition to the ultrasonic sensor 2 described above, the input port of the control unit 4 has various sensors such as a sensor off switch 101, an accelerator opening sensor 102, a vehicle speed sensor 103, a brake sensor 104, a steering angle sensor 105, and a shift position sensor 106. Classes and switches are connected.

The sensor off switch 101 is a switch that turns off the detection of obstacles around the vehicle 1 by the ultrasonic sensor 2. When the sensor off switch 101 is turned on, the ultrasonic sensor 2 does not detect obstacles around the vehicle 1. When the sensor off switch 101 is turned off, the ultrasonic sensor 2 detects obstacles around the vehicle 1.

The accelerator opening sensor 102 detects the accelerator opening, which is the opening of an accelerator pedal (not shown) operated by the driver. The vehicle speed sensor 103 detects the speed of the vehicle 1. The brake sensor 104 detects the amount of depression of a brake pedal (not shown). The steering angle sensor 105 detects the steering angle of a steering wheel (not shown).

The shift position sensor 106 detects a shift position selected by the driver's operation of a shift lever (not shown). The shift position is, for example, P (parking) range, R (reverse) range, D (drive) range, L (low) range, N (neutral) range, B (brake) range, or M (manual) range. Is selected.

The control unit 4 determines whether the vehicle 1 is in a traveling mode (a state other than parking) or a parking start mode (a state in which the vehicle is parked or is about to start). The control unit 4 determines whether the vehicle is in the traveling mode or the parking start mode from vehicle information such as the shift position, vehicle speed, steering angle of the steering wheel, brake pedal depression amount, accelerator opening, and parking brake operation state. .. The control unit 4 determines, for example, that the traveling mode is set when the shift position is any one of the D range, the R range, the L range, the M range, and the B range. The control unit 4 determines, for example, that the parking start mode is set when the shift position is in the P range or the N range.

In the present embodiment, when the sensor off switch 101 is turned off and an obstacle is detected around the vehicle 1 by the ultrasonic sensor 2, the control unit 4 notifies the notification unit 3.

The control unit 4 changes the mode of notification by the notification unit 3 according to the driving state of the vehicle 1. For example, when an obstacle is detected around the vehicle 1, the control unit 4 changes the mode of notification by the notification unit 3 according to the driving state of the vehicle 1 within a predetermined period in the past.

For example, when the vehicle 1 is stopped within a predetermined period in the past and an obstacle is detected in the vicinity of the vehicle 1, the control unit 4 notifies the vehicle 1 at the first volume.

The control unit 4 starts moving when, for example, the vehicle 1 has been stopped within a predetermined period in the past, an obstacle is detected around the vehicle 1 and the notification is performed at the first volume. In this case, the notification is performed by the second volume, which is louder than the first volume. Whether or not the vehicle 1 has started to move is detected by, for example, the brake sensor 104 releasing the foot from the brake pedal to turn off the brake, or increasing the vehicle speed.

For example, when the vehicle 1 is traveling forward within a predetermined period in the past and an obstacle is detected, the control unit 4 notifies the vehicle 1 at the second volume, and when the vehicle 1 stops thereafter, the first volume is used. Make a notification. After that, when it is detected that the vehicle 1 has started to move, the second volume is used for notification.

For example, when the vehicle 1 is stopped and the notification is performed at the first volume, the control unit 4 notifies the vehicle 1 by the second volume when the vehicle 1 starts to move and the distance to the obstacle becomes short. To do.

In the case of an idling stop vehicle, the timing of detecting the start of movement of the vehicle 1 may be the timing of detecting the complete explosion of the internal combustion engine or the timing of starting the rotation of the input shaft of the transmission. By doing so, the driver can suitably recognize the notification sound even when the internal combustion engine is started.

Further, in the case of a hybrid vehicle, it is preferable to detect the start of movement of the vehicle 1 at the same time as the start because the vehicle starts using the motor.

It is preferable to change the mode of notification in this way when the vehicle 1 is in the traveling mode. In the parking start mode, it is not necessary to change the mode of notification. If the vehicle 1 does not move, such as when the shift position is in the P range or when the parking brake is on and the shift position is in the N range, the notification mode may be changed.

When a plurality of obstacles are detected around the vehicle 1, the control unit 4 changes the notification method according to the position and distance of the obstacles to notify the vehicle. For example, when the shift position is in the D range, the control unit 4 notifies the obstacle that is closest to the vehicle 1 and the obstacle that is closest to the vehicle 1. The control unit 4 changes, for example, how to sound the notification sound and the frequency of the notification sound according to the position and distance of the nearest obstacle and the second closest obstacle.

The control unit 4 changes the number of notifications of the notification sound according to, for example, the position of an obstacle. For example, when the obstacle is on the driver's seat side, the control unit 4 makes a notification sound once, and when the obstacle is in the center of the driver's seat and the passenger seat, the control unit 4 makes a notification sound twice. If it is on the passenger seat side, the notification sound is sounded three times.

The control unit 4 is changed to a notification sound that is easy for the driver to recognize, for example, depending on the position of the obstacle, the volume of the notification sound is increased as the obstacle is located farther from the driver's seat. May be good.

The control unit 4 changes the notification interval of the notification sound according to, for example, the distance of the obstacle. For example, when the distance to the obstacle is a long distance, the control unit 4 increases the interval for sounding the notification sound, and when the distance to the obstacle is a medium distance, the interval for sounding the notification sound is longer than when the distance is long. If it is shortened and the distance to the obstacle becomes short, the notification sound will continue to sound for a predetermined time. The volume of the notification sound may be increased as the distance from the obstacle becomes shorter.

For example, when the control unit 4 has buzzers installed in the front and rear of the vehicle interior of the vehicle 1 as the notification unit 3, when an obstacle is detected in the front and rear of the vehicle 1, the front and rear buzzers have different frequencies. Make the notification with and increase the volume of the buzzer that is closer to the obstacle.

For example, when the control unit 4 has buzzers installed in the front and rear of the vehicle interior of the vehicle 1 as the notification unit 3, the front and rear buzzers are changed by changing the frequency of the notification sound in the front and rear, or by using different buzzers. Make the difference easy to understand.

For example, when the control unit 4 has buzzers installed in the front and rear of the vehicle interior of the vehicle 1 as the notification unit 3, when the vehicle 1 is traveling forward, the priority of the front buzzer is raised and the volume of the front buzzer is increased. May be increased and the volume of the rear buzzer may be decreased.

For example, when the control unit 4 has buzzers installed in the front and rear of the vehicle interior of the vehicle 1 as the notification unit 3, the volume of the rear buzzer may be increased when the shift position is in the R range.

The notification control process by the alarm output device according to the present embodiment configured as described above will be described with reference to FIG. The notification control process described below is started when the control unit 4 starts operation, and is executed at preset time intervals.

In step S1, the control unit 4 determines whether or not the vehicle speed of the vehicle 1 is lower than the predetermined speed. If it is determined that the vehicle speed is not lower than the predetermined speed, the control unit 4 repeats the process of step S1.

If it is determined that the vehicle speed is lower than the predetermined speed, in step S2, the control unit 4 determines whether or not the vehicle 1 is in the traveling mode. When it is determined that the vehicle 1 is not in the traveling mode, the control unit 4 returns the process to step S1 and repeats the process from step S1.

When it is determined that the vehicle 1 is in the traveling mode, in step S3, the control unit 4 determines whether or not an obstacle is detected in the vicinity of the vehicle 1 by the ultrasonic sensor 2. When it is determined that an obstacle has been detected, in step S4, the control unit 4 causes the notification unit 3 to notify at a second volume, and proceeds to the process in step S5.

If it is determined that no obstacle has been detected, in step S5, the control unit 4 determines whether or not the own vehicle has stopped. When it is determined that the own vehicle is not stopped, the control unit 4 returns the process to step S3 and repeats the process from step S3.

When it is determined that the own vehicle has stopped, in step S6, the control unit 4 determines whether or not an obstacle is detected in the vicinity of the vehicle 1. When it is determined that an obstacle has been detected, in step S7, the control unit 4 notifies the notification by the notification unit 3 at a first volume lower than the second volume, and proceeds to step S9.

If it is determined that no obstacle has been detected, the control unit 4 ends the notification by the notification unit 3 in step S8, and proceeds to the process in step S9.

In step S9, the control unit 4 determines whether or not the own vehicle has started to move. When it is determined that the own vehicle has not started to move, the control unit 4 returns the process to step S6 and repeats the process from step S6.

When it is determined that the own vehicle has started to move, in step S10, the control unit 4 determines whether or not the distance to the obstacle has been shortened. When it is determined that the distance to the obstacle has become shorter, in step S11, the control unit 4 causes the notification unit 3 to notify the notification unit 3 at a second volume, and ends the process.

When it is determined that the distance to the obstacle is not shortened, in step S12, the control unit 4 ends the notification by the notification unit 3 and ends the process.

The operation by such notification control processing will be described with reference to FIGS. 3 and 4. FIG. 3 shows a case where the motorcycle 20 approaches and stops at a place where the vehicle 1 is stopped waiting for a traffic light or the like.

As shown in FIG. 3A, when the vehicle 1 is stopped and the motorcycle 20 is not detected by the ultrasonic sensor 2, the notification unit 3 does not perform the notification.

As shown in FIG. 3B, when the motorcycle 20 approaches the place where it is detected by the ultrasonic sensor 2, the vehicle 1 is stopped, so that the presence of an obstacle is notified at the first volume.

As shown in FIG. 3C, when it is determined that the vehicle 1 has started to move due to the brake off and it is determined that the distance to the motorcycle 20 which is an obstacle has become shorter, the second volume is louder than the first volume. The presence of an obstacle is notified by.

FIG. 4 shows a case where the vehicle 1 approaches and stops at a place where the motorcycle 20 is stopped waiting for a traffic light or the like.

As shown in FIG. 4A, when the vehicle 1 approaches the stopped motorcycle 20 and the motorcycle 20 is detected by the ultrasonic sensor 2, the vehicle 1 is running and an obstacle may exist. It is notified at the second volume.

As shown in FIG. 4B, when the vehicle 1 is stopped while the motorcycle 20 is detected by the ultrasonic sensor 2, the presence of an obstacle is notified at the first volume, which is lower than the second volume. ..

As shown in FIG. 4C, when it is determined that the vehicle 1 has started to move due to the brake off and it is determined that the distance to the motorcycle 20 which is an obstacle has become shorter, the second volume is louder than the first volume. The presence of an obstacle is notified by.

As described above, in the above-described embodiment, when an obstacle is detected around the vehicle 1, the mode of notification by the notification unit 3 is changed according to the driving state of the vehicle 1 within a predetermined period in the past.

As a result, since the driver's cognitive level is determined according to the driving state of the vehicle 1 in the past and the mode of notification is changed, it is possible to suppress the annoying feeling of the obstacle warning.

Further, since the notification mode is changed according to the driving state of the vehicle 1 within the past predetermined period, it is possible to suppress unnecessary notification and suppress the annoying feeling of the obstacle alarm.

In addition, when an obstacle is detected around the vehicle 1 while the vehicle 1 is stopped within a predetermined period in the past, the notification is performed at the first volume, and when the vehicle 1 starts to move, the first volume is used. The notification is performed by the loud second volume.

As a result, when an obstacle is detected around the vehicle 1 while the vehicle 1 is stopped, the notification is made at a low volume, and when the vehicle 1 starts moving, the notification volume is increased. For this reason, a hybrid vehicle or a vehicle equipped with an idling stop function has a small external noise such as road noise while the vehicle is stopped, so that the driver feels annoyed in the normal notification mode. By changing the notification mode at the timing of switching from the stopped state to the running state, it is possible to suppress the annoying feeling of the obstacle alarm and preferably notify the obstacles existing around the vehicle.

Further, when the vehicle 1 is traveling forward within a predetermined period in the past and an obstacle is detected, the notification is performed at the second volume, and when the vehicle 1 is stopped after that, the notification is performed at the first volume.

If an obstacle is detected and the vehicle 1 stops while the vehicle 1 is traveling forward, the driver is likely to recognize the obstacle and stop, so the volume is low (the level is low as a notification). Notification is performed using the first volume. Therefore, it is possible to suppress the annoying feeling of the obstacle alarm.

Further, when the vehicle 1 is stopped and the notification is performed at the first volume, if the vehicle 1 starts to move and the distance to the obstacle becomes short, the notification is performed at the second volume.

When the distance to the obstacle becomes short after the vehicle 1 starts to move, it is considered that the driver cannot recognize the obstacle by the notification by the first volume. Therefore, by changing the notification sound to the second volume, it is possible to prevent the driver from approaching the obstacle without noticing the obstacle.

Further, when a plurality of obstacles are detected around the vehicle 1, the volume of the notification sound is increased as the obstacles are located farther from the driver's seat according to the position of the obstacles.

Obstacles that are farther from the driver are more likely to be less recognizable by the driver. By changing the notification sound according to the distance between the driver and the obstacle so that the driver can recognize the obstacle that is difficult to recognize, the driver can recognize the obstacle.

In this embodiment, the case where the buzzer notification sound is changed is shown, but the present invention is not limited to this, and the display of the monitor device may be changed to the notification mode such as the buzzer sound, or the display of the monitor device may be changed to steering. Change to a notification mode such as assist. By changing to the notification mode in which the driver is intervened in this way, it is possible to appropriately deal with obstacles existing around the vehicle.

Further, although the case where the vehicle speed is used as the vehicle state is shown, the driver's starting intention and the recognition level of obstacles can be more grasped by adding the operation state of the brake pedal.

Further, although the vehicle 1 is notified at the first volume when the vehicle is stopped, the buzzer sound may be stopped, the sound may be gradually reduced, or the sounding interval may be lengthened.

In this embodiment, an example in which the control unit 4 performs various determinations and calculations based on various sensor information has been described, but the present invention is not limited to this, and the vehicle 1 is provided with a communication unit capable of communicating with an external device such as an external server. Various judgments and calculations are performed by the external device based on the detection information of various sensors transmitted from the communication unit, the judgment results and calculation results are received by the communication unit, and the received judgment results and calculation results are used. Various controls may be performed.

Although the embodiments of the present invention have been disclosed, it is clear that some skilled in the art can make changes without departing from the scope of the present invention. All such modifications and equivalents are intended to be included in the following claims.

1 Vehicle 2 Ultrasonic sensor (Environment acquisition department outside the vehicle)
3 Notification unit 4 Control unit 103 Vehicle speed sensor 104 Brake sensor 106 Shift position sensor

Claims (5)

The vehicle outside environment acquisition unit that detects obstacles around the vehicle and
A notification unit that notifies the driver of the own vehicle of various information,
An alarm output device including a control unit that notifies the driver of the presence of an obstacle detected by the external environment acquisition unit by the notification unit.
The control unit is an alarm output device that changes the notification mode of the notification unit based on the driving state of the own vehicle within a predetermined period in the past when the external environment acquisition unit detects an obstacle. When the external environment acquisition unit detects an obstacle, if the own vehicle has stopped within a predetermined period in the past, the control unit notifies the presence of the obstacle at the first volume, and then the control unit notifies the presence of the obstacle. The alarm output device according to claim 1, wherein when the own vehicle starts to move, the notification of the presence of an obstacle is continued at a second volume louder than the first volume. When the external environment acquisition unit detects an obstacle, the control unit makes an obstacle at the first volume when the own vehicle is traveling forward within a predetermined period in the past and then the own vehicle stops. The alarm output device according to claim 1, wherein when the presence of an object is notified and then the own vehicle starts to move, the notification of the presence of an obstacle is continued at a second volume louder than the first volume. The control unit notifies the presence of an obstacle at the first volume when the own vehicle is stopped, and then when the own vehicle starts to move, the distance to the obstacle becomes shorter. 2. The alarm output device according to claim 2 or 3, wherein the notification of the presence of the obstacle is continued at a volume of two. The vehicle outside environment acquisition unit that detects obstacles around the vehicle and
A notification unit that notifies the driver of the own vehicle of various information,
An alarm output device including a control unit that notifies the driver of the presence of an obstacle detected by the external environment acquisition unit by the notification unit.
The control unit is an alarm output device that, when a plurality of obstacles are detected in the vicinity of the own vehicle, notifies the obstacles detected at a position farther from the driver in a notification mode that is easier for the driver to recognize.

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