JP2021054133A - Notification device - Google Patents

Notification device Download PDF

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JP2021054133A
JP2021054133A JP2019176676A JP2019176676A JP2021054133A JP 2021054133 A JP2021054133 A JP 2021054133A JP 2019176676 A JP2019176676 A JP 2019176676A JP 2019176676 A JP2019176676 A JP 2019176676A JP 2021054133 A JP2021054133 A JP 2021054133A
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vehicle
threshold value
inter
speed
determination threshold
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JP7172935B2 (en
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明 今西
Akira Imanishi
明 今西
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Isuzu Motors Ltd
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Isuzu Motors Ltd
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Priority to JP2019176676A priority Critical patent/JP7172935B2/en
Priority to CN202080067476.0A priority patent/CN114450209B/en
Priority to PCT/JP2020/035784 priority patent/WO2021060272A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

To provide a notification device capable of restraining an alarm from being erroneously output.SOLUTION: A notification device comprises: an identification part 421 for identifying a relative vehicle speed that is a speed of a driver's own vehicle 100 relative to a speed of a leading vehicle, and an inter-vehicular distance from the driver's own vehicle 100 to the leading vehicle; and a notification part 423 that notifies a user that the driver's own vehicle 100 gets closer to the leading vehicle, on condition that a state, in which the inter-vehicular distance is a determination threshold or below and in which the relative vehicle speed is a predetermined value or above in a predetermined period before the inter-vehicular distance becomes the determination threshold or below, continues.SELECTED DRAWING: Figure 2

Description

本発明は、自車両が先行車両に接近していることをユーザに通知する通知装置に関する。 The present invention relates to a notification device that notifies a user that its own vehicle is approaching a preceding vehicle.

自車両が先行車両の間近である場合に、ユーザに警報を出力することが知られている（例えば、特許文献１を参照）。特許文献１には、先行車両から自車両までの車間距離や、先行車両に対する自車両の相対車速を用いて警報を出力するか否かを決定することが記載されている。 It is known that an alarm is output to a user when the own vehicle is close to the preceding vehicle (see, for example, Patent Document 1). Patent Document 1 describes that it is determined whether or not to output an alarm by using the inter-vehicle distance from the preceding vehicle to the own vehicle and the relative vehicle speed of the own vehicle with respect to the preceding vehicle.

特開２００４−６７０８５号公報Japanese Unexamined Patent Publication No. 2004-67085

特許文献１に記載の発明では、居眠り等の運転者の異常に起因して車間距離が短くなった場合と、自車両が先行車両の後方を追走している状態において運転者が比較的短い車間距離を維持しようとしている場合とを識別できないという問題があった。このため、特許文献１に記載の発明では、自車両が先行車両と接触する危険性はないにもかかわらず、警報が誤って出力されてしまうことがあった。 In the invention described in Patent Document 1, the driver is relatively short when the inter-vehicle distance is shortened due to a driver's abnormality such as falling asleep and when the own vehicle is chasing behind the preceding vehicle. There was a problem that it could not be distinguished from the case of trying to maintain the inter-vehicle distance. Therefore, in the invention described in Patent Document 1, an alarm may be erroneously output even though there is no danger that the own vehicle comes into contact with the preceding vehicle.

そこで、本発明はこれらの点に鑑みてなされたものであり、警報が誤って出力されることを抑制することができる通知装置を提供することを目的とする。 Therefore, the present invention has been made in view of these points, and an object of the present invention is to provide a notification device capable of suppressing an erroneous output of an alarm.

本発明の第１の態様の通知装置は、先行車両の速度に対する自車両の速度である相対車速、及び当該自車両から当該先行車両までの車間距離を特定する特定部と、前記車間距離が判定閾値以下であり、且つ、前記車間距離が当該判定閾値以下になる前の所定期間において前記相対車速が所定値以上である状態が継続していたことを条件として、前記自車両が前記先行車両に接近していることをユーザに通知する通知部と、を備える。 The notification device according to the first aspect of the present invention determines the relative vehicle speed, which is the speed of the own vehicle with respect to the speed of the preceding vehicle, the specific unit that specifies the inter-vehicle distance from the own vehicle to the preceding vehicle, and the inter-vehicle distance. The own vehicle becomes the preceding vehicle on condition that the relative vehicle speed continues to be equal to or higher than the predetermined value in a predetermined period before the inter-vehicle distance becomes equal to or lower than the threshold value. It is provided with a notification unit for notifying the user that the vehicle is approaching.

前記通知部は、前記車間距離が前記判定閾値以下になる前の所定期間において前記相対車速が所定値以上である状態が継続していない場合に、前記車間距離が前記判定閾値より短い最小閾値以下になるまで、前記自車両が前記先行車両に接近していることをユーザに通知しなくてもよい。 The notification unit is below the minimum threshold value at which the inter-vehicle distance is shorter than the determination threshold value when the state in which the relative vehicle speed is equal to or higher than the predetermined value does not continue in a predetermined period before the inter-vehicle distance becomes equal to or less than the determination threshold value. It is not necessary to notify the user that the own vehicle is approaching the preceding vehicle until

前記通知部は、前記相対車速の時間当たりの増加が基準値以上である場合に、前記車間距離が前記判定閾値よりも長い予備閾値以下となることを条件として、前記自車両が前記先行車両に接近していることをユーザに通知してもよい。前記通知装置は、前記自車両が基準速度で走行している場合の前記判定閾値である基準閾値に前記自車両の速度に基づく係数を乗じることにより、前記判定閾値を算出する算出部をさらに備えてもよい。 When the increase in the relative vehicle speed per hour is equal to or greater than the reference value, the notification unit causes the own vehicle to become the preceding vehicle on condition that the inter-vehicle distance is equal to or less than a preliminary threshold value longer than the determination threshold value. The user may be notified that they are approaching. The notification device further includes a calculation unit that calculates the determination threshold value by multiplying the reference threshold value, which is the determination threshold value when the own vehicle is traveling at the reference speed, by a coefficient based on the speed of the own vehicle. You may.

本発明によれば、警報が誤って出力されることを抑制することができるという効果を奏する。 According to the present invention, it is possible to suppress the erroneous output of an alarm.

実施形態の通知装置を搭載した自車両の一例を示す図である。It is a figure which shows an example of the own vehicle equipped with the notification device of an embodiment. 自車両の構成を示す図である。It is a figure which shows the structure of own vehicle. 通知部が先行車両の接近をユーザに通知するか否かを判定する方法を説明するための図である。It is a figure for demonstrating the method of determining whether or not the notification unit notifies a user of the approach of the preceding vehicle. 先行車両に自車両が接近していることを通知装置がユーザに通知する処理手順を示すフローチャートである。It is a flowchart which shows the processing procedure which the notification device notifies a user that the own vehicle is approaching a preceding vehicle. 第２の実施形態の自車両の構成を示す図である。It is a figure which shows the structure of the own vehicle of 2nd Embodiment. 相対車速と、自車両が先行車両に接近していることを運転者に通知する必要がある車間距離（図中では、通知距離）との関係の調査結果を示す図である。It is a figure which shows the investigation result of the relationship between the relative vehicle speed, and the inter-vehicle distance (notification distance in the figure) which needs to notify a driver that the own vehicle is approaching a preceding vehicle. 図６の調査結果と、算出部が算出した判定閾値とを比較した図である。It is a figure which compared the investigation result of FIG. 6 with the determination threshold value calculated by the calculation unit.

＜第１の実施形態＞
［通知装置の概要］
図１は、実施形態の通知装置を搭載した自車両１００の一例を示す図である。通知装置は、自車両１００が先行車両２００に接近していることをユーザに通知する。まず、通知装置は、自車両１００と先行車両２００との車間距離Ｄを特定する。また、通知装置は、先行車両２００の速度に対する自車両１００の相対車速を特定する。 <First Embodiment>
[Overview of notification device]
FIG. 1 is a diagram showing an example of the own vehicle 100 equipped with the notification device of the embodiment. The notification device notifies the user that the own vehicle 100 is approaching the preceding vehicle 200. First, the notification device identifies the inter-vehicle distance D between the own vehicle 100 and the preceding vehicle 200. Further, the notification device specifies the relative vehicle speed of the own vehicle 100 with respect to the speed of the preceding vehicle 200.

通知装置は、特定した車間距離Ｄが予め定められた判定閾値以下であるか否かを判定する。詳細については後述するが、通知装置は、車間距離Ｄが判定閾値以下であると判定した場合に、車間距離Ｄが判定閾値以下になる前の所定期間における相対車速が所定の要件を満たしていたか否かを判定する。 The notification device determines whether or not the specified inter-vehicle distance D is equal to or less than a predetermined determination threshold value. Although the details will be described later, when the notification device determines that the inter-vehicle distance D is equal to or less than the determination threshold value, does the relative vehicle speed in the predetermined period before the inter-vehicle distance D becomes equal to or less than the determination threshold value satisfy the predetermined requirement? Judge whether or not.

通知装置は、相対車速が所定の要件を満たしていることを条件として、自車両１００が先行車両２００に接近していることをユーザに通知する。このような構成により、通知装置４は、自車両１００が先行車両２００に接触する危険性が十分に低いにもかかわらず、自車両１００が先行車両２００に接近していることの通知が誤って出力されることを抑制することができる。 The notification device notifies the user that the own vehicle 100 is approaching the preceding vehicle 200, provided that the relative vehicle speed satisfies a predetermined requirement. With such a configuration, the notification device 4 erroneously notifies that the own vehicle 100 is approaching the preceding vehicle 200 even though the risk that the own vehicle 100 comes into contact with the preceding vehicle 200 is sufficiently low. It is possible to suppress the output.

［車両の構成］
図２は、自車両１００の構成を示す図である。自車両１００は、距離センサ１、車速センサ２、スピーカ３及び通知装置４を備える。通知装置４は、例えば、コンピュータにより自車両１００の各部を電子的に制御するＥＣＵ（Electronic Control Unit）により実現される。通知装置４は、記憶部４１及び制御部４２を備える。 [Vehicle configuration]
FIG. 2 is a diagram showing the configuration of the own vehicle 100. The own vehicle 100 includes a distance sensor 1, a vehicle speed sensor 2, a speaker 3, and a notification device 4. The notification device 4 is realized by, for example, an ECU (Electronic Control Unit) that electronically controls each part of the own vehicle 100 by a computer. The notification device 4 includes a storage unit 41 and a control unit 42.

距離センサ１は、先行車両２００から自車両１００までの車間距離Ｄを測定する。例えば、距離センサ１は、光源からのレーザ光が先行車両２００において反射されて受光部において受光されるまでの時間を測定することにより、車間距離Ｄを測定する。 The distance sensor 1 measures the inter-vehicle distance D from the preceding vehicle 200 to the own vehicle 100. For example, the distance sensor 1 measures the inter-vehicle distance D by measuring the time until the laser beam from the light source is reflected by the preceding vehicle 200 and received by the light receiving unit.

車速センサ２は、自車両１００が走行する速度（自車速度ともいう）を測定する。例えば、車速センサ２は、車軸の回転数に基づいて、車速を測定する。スピーカ３は、電気信号を音に変換する。 The vehicle speed sensor 2 measures the speed at which the own vehicle 100 travels (also referred to as the own vehicle speed). For example, the vehicle speed sensor 2 measures the vehicle speed based on the number of rotations of the axle. The speaker 3 converts an electric signal into sound.

記憶部４１は、例えば、ＲＯＭ（Read Only Memory）及びＲＡＭ（Random Access Memory）等の記憶媒体を有する。記憶部４１は、制御部４２を機能させるための各種プログラムや各種データを記憶する。 The storage unit 41 has, for example, a storage medium such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 41 stores various programs and various data for operating the control unit 42.

制御部４２は、記憶部４１に記憶されたプログラムを実行することにより、特定部４２１、カウンタ４２２及び通知部４２３として機能する。特定部４２１は、距離センサ１が測定した車間距離Ｄを特定する。特定部４２１は、先行車両２００の速度に対する自車両１００の相対車速を特定する。例えば、特定部４２１は、車間距離Ｄの単位時間当りの変化を求めることにより、相対車速を特定する。カウンタ４２２は、時刻を計測する。カウンタ４２２は、計測した時刻を通知部４２３へ常時出力しているものとする。 The control unit 42 functions as a specific unit 421, a counter 422, and a notification unit 423 by executing the program stored in the storage unit 41. The identification unit 421 specifies the inter-vehicle distance D measured by the distance sensor 1. The identification unit 421 specifies the relative vehicle speed of the own vehicle 100 with respect to the speed of the preceding vehicle 200. For example, the specific unit 421 specifies the relative vehicle speed by obtaining the change in the inter-vehicle distance D per unit time. The counter 422 measures the time. It is assumed that the counter 422 constantly outputs the measured time to the notification unit 423.

［先行車両へ接近していることの通知］
通知部４２３は、以下の（１）及び（２）の要件を満たすことを条件として、自車両１００が先行車両２００に接近していることをユーザに通知する。
（１）特定部４２１が特定した車間距離Ｄが予め定められた判定閾値以下であること。
（２）車間距離Ｄが判定閾値以下になる前の所定期間において相対車速が所定値以上である状態が継続していたこと。 [Notification of approaching the preceding vehicle]
The notification unit 423 notifies the user that the own vehicle 100 is approaching the preceding vehicle 200, provided that the following requirements (1) and (2) are satisfied.
(1) The inter-vehicle distance D specified by the specific unit 421 is equal to or less than a predetermined determination threshold value.
(2) The state in which the relative vehicle speed was equal to or higher than the predetermined value continued in the predetermined period before the inter-vehicle distance D became equal to or lower than the determination threshold value.

通知部４２３は、特定部４２１が特定した相対車速が所定値以上であるか否かを常に監視している。所定値は、例えば時速数ｋｍである。通知部４２３は、特定部４２１が特定した相対車速が所定値以上である状態が開始した時点においてカウンタ４２２が計測した開始時刻を予め取得しておく。 The notification unit 423 constantly monitors whether or not the relative vehicle speed specified by the specific unit 421 is equal to or higher than a predetermined value. The predetermined value is, for example, several km / h. The notification unit 423 acquires in advance the start time measured by the counter 422 at the time when the state in which the relative vehicle speed specified by the specific unit 421 is equal to or higher than a predetermined value starts.

通知部４２３は、特定部４２１が特定した車間距離Ｄが予め定められた判定閾値以下であるか否かを判定する。通知部４２３は、車間距離Ｄが判定閾値以下であると判定した場合には、（１）の要件を満たすと判定し、車間距離Ｄが判定閾値以下になる前の所定期間において相対車速が所定値以上である状態が継続していたか否かを判定する。所定期間は、例えば自車両１００の運転者が一時的に速度を変化させる場合の時間の平均値よりも長い時間である。具体的には、通知部４２３は、車間距離Ｄが判定閾値以下になる所定期間以上前の開始時刻を取得しており、且つ、相対車速が所定値以上である状態が継続している場合に、（２）の要件を満たすと判定する。 The notification unit 423 determines whether or not the inter-vehicle distance D specified by the specific unit 421 is equal to or less than a predetermined determination threshold value. When the notification unit 423 determines that the inter-vehicle distance D is equal to or less than the determination threshold value, it determines that the requirement (1) is satisfied, and the relative vehicle speed is predetermined in a predetermined period before the inter-vehicle distance D becomes equal to or less than the determination threshold value. It is determined whether or not the state of being equal to or higher than the value has continued. The predetermined period is, for example, a time longer than the average value of the time when the driver of the own vehicle 100 temporarily changes the speed. Specifically, the notification unit 423 has acquired the start time before the predetermined period in which the inter-vehicle distance D becomes equal to or less than the determination threshold value, and the relative vehicle speed continues to be equal to or greater than the predetermined value. , It is determined that the requirement of (2) is satisfied.

通知部４２３は、例えば、スピーカ３により警報音を出力することにより、自車両１００が先行車両２００に接近していることをユーザに通知する。通知部４２３は、自車両１００が先行車両２００に接近していることを示すメッセージをスピーカ３により音声出力してもよい。通知部４２３は、（１）及び（２）の少なくとも一方が満たされない場合には、自車両１００が先行車両２００に接近していることをユーザに通知しない。 The notification unit 423 notifies the user that the own vehicle 100 is approaching the preceding vehicle 200, for example, by outputting an alarm sound from the speaker 3. The notification unit 423 may output a message indicating that the own vehicle 100 is approaching the preceding vehicle 200 by the speaker 3. If at least one of (1) and (2) is not satisfied, the notification unit 423 does not notify the user that the own vehicle 100 is approaching the preceding vehicle 200.

図３は、通知部４２３が先行車両２００の接近をユーザに通知するか否かを判定する方法を説明するための図である。図３（ａ）の横軸は、時間を示し、縦軸は、車間距離Ｄを示す。図３（ａ）の横方向に延びる破線は、判定閾値を示す。図３（ａ）において曲線の傾きは相対車速に相当する。相対車速が所定値以上である状態が開始した開始時刻Ｓが示されている。図３（ａ）の例では、車間距離Ｄは、徐々に減少して判定閾値以下になるので、（１）の要件を満たす。ただし、相対車速が所定値以上である状態が開始した開始時刻Ｓは、所定期間Ｔ以上前ではないものとする。この場合、通知部４２３は、（２）の要件を満たさないと判定し、自車両１００が先行車両２００に接近していることをユーザに通知しない。 FIG. 3 is a diagram for explaining a method of determining whether or not the notification unit 423 notifies the user of the approach of the preceding vehicle 200. The horizontal axis of FIG. 3A shows time, and the vertical axis shows the inter-vehicle distance D. The broken line extending in the horizontal direction in FIG. 3A indicates the determination threshold value. In FIG. 3A, the slope of the curve corresponds to the relative vehicle speed. The start time S at which the state in which the relative vehicle speed is equal to or higher than a predetermined value starts is shown. In the example of FIG. 3A, the inter-vehicle distance D gradually decreases to be equal to or less than the determination threshold value, and thus satisfies the requirement of (1). However, it is assumed that the start time S at which the state in which the relative vehicle speed is equal to or higher than the predetermined value starts is not before the predetermined period T or more. In this case, the notification unit 423 determines that the requirement (2) is not satisfied, and does not notify the user that the own vehicle 100 is approaching the preceding vehicle 200.

図３（ｂ）は、自車両１００が先行車両２００に接近していることを通知部４２３がユーザに通知する場合の例を示す。図３（ｂ）の横軸は、時間を示し、縦軸は、車間距離Ｄを示す。図３（ｂ）の例では、車間距離Ｄは、図３（ａ）と比べて急激に低下して判定閾値以下になる。また、相対車速が所定値以上である状態が開始した開始時刻Ｓは、所定期間Ｔ以上前であるものとする。この場合、通知部４２３は、（１）及び（２）の両方の要件を満たすと判定し、自車両１００が先行車両２００に接近していることをユーザに通知する。 FIG. 3B shows an example in which the notification unit 423 notifies the user that the own vehicle 100 is approaching the preceding vehicle 200. The horizontal axis of FIG. 3B shows time, and the vertical axis shows the inter-vehicle distance D. In the example of FIG. 3B, the inter-vehicle distance D sharply decreases as compared with FIG. 3A and becomes equal to or less than the determination threshold value. Further, it is assumed that the start time S at which the state in which the relative vehicle speed is equal to or higher than the predetermined value starts is before the predetermined period T or more. In this case, the notification unit 423 determines that the requirements of both (1) and (2) are satisfied, and notifies the user that the own vehicle 100 is approaching the preceding vehicle 200.

［通知するタイミングの遅延］
また、通知部４２３は、車間距離Ｄが判定閾値以下になる前の所定期間Ｔにおいて相対車速が所定値以上である状態が継続していない場合に、自車両１００が先行車両２００に接近していることをユーザに通知するタイミングを遅らせてもよい。例えば、通知部４２３は、所定期間Ｔにおいて相対車速が所定値以上の状態が継続していない場合に、車間距離Ｄが最小閾値以下になるまで、先行車両２００の接近をユーザに通知しなくてもよい。最小閾値は、判定閾値より小さな値であり、一例としては、自車両１００が先行車両２００を追走している場合に通常想定される車間距離Ｄの下限値よりも小さな値である。通知部４２３は、車間距離Ｄが最小閾値以下になった場合には、所定期間Ｔにおいて相対車速が所定値以上の状態が継続しているか否かにかかわらず、自車両１００が先行車両２００に接近していることをユーザに通知してもよい。 [Delayed notification timing]
Further, the notification unit 423 approaches the own vehicle 100 to the preceding vehicle 200 when the relative vehicle speed is not continuously equal to or higher than the predetermined value in the predetermined period T before the inter-vehicle distance D becomes equal to or less than the determination threshold value. The timing of notifying the user that the user is present may be delayed. For example, the notification unit 423 does not notify the user of the approach of the preceding vehicle 200 until the inter-vehicle distance D becomes equal to or less than the minimum threshold value when the relative vehicle speed does not continue to be equal to or higher than the predetermined value in the predetermined period T. May be good. The minimum threshold value is a value smaller than the determination threshold value, and as an example, it is a value smaller than the lower limit value of the inter-vehicle distance D normally assumed when the own vehicle 100 is following the preceding vehicle 200. When the inter-vehicle distance D becomes equal to or less than the minimum threshold value, the notification unit 423 causes the own vehicle 100 to become the preceding vehicle 200 regardless of whether or not the relative vehicle speed continues to be equal to or higher than the predetermined value in the predetermined period T. The user may be notified that they are approaching.

［加速度を用いた判定］
先行車両２００からみて自車両１００が加速している状態では、先行車両２００からみて自車両１００が減速している状態に比べて、先行車両２００に自車両１００が接触する危険度が高くなる。そこで、通知部４２３は、相対車速の時間当たりの増加が基準値以上である場合に、相対車速の時間当たりの増加が基準値未満である場合よりも早いタイミングで、自車両１００が先行車両２００に接近していることをユーザに通知してもよい。通知部４２３は、例えば、車間距離Ｄが判定閾値より長い距離に相当する予備閾値以下となることを条件として、自車両１００が先行車両２００に接近していることをユーザに通知してもよい。例えば、予備閾値は、判定閾値の１．５倍〜２倍である。基準値は、例えば、相対車速に基づいて定められる。 [Judgment using acceleration]
When the own vehicle 100 is accelerating from the viewpoint of the preceding vehicle 200, the risk of the own vehicle 100 coming into contact with the preceding vehicle 200 is higher than when the own vehicle 100 is decelerating from the viewpoint of the preceding vehicle 200. Therefore, when the increase in the relative vehicle speed per hour is equal to or greater than the reference value, the notification unit 423 sets the own vehicle 100 to the preceding vehicle 200 at a timing earlier than when the increase in the relative vehicle speed per hour is less than the reference value. You may notify the user that you are approaching. The notification unit 423 may notify the user that the own vehicle 100 is approaching the preceding vehicle 200, for example, on condition that the inter-vehicle distance D is equal to or less than the preliminary threshold value corresponding to a distance longer than the determination threshold value. .. For example, the preliminary threshold is 1.5 to 2 times the determination threshold. The reference value is determined based on, for example, the relative vehicle speed.

［先行車両への接近の通知の処理手順］
図４は、先行車両２００に自車両１００が接近していることを通知装置４がユーザに通知する処理手順を示すフローチャートである。この処理手順は、例えば、自車両１００の前方に先行車両２００が走行しているときに開始する。 [Procedure for processing notification of approach to preceding vehicle]
FIG. 4 is a flowchart showing a processing procedure in which the notification device 4 notifies the user that the own vehicle 100 is approaching the preceding vehicle 200. This processing procedure starts, for example, when the preceding vehicle 200 is traveling in front of the own vehicle 100.

まず、特定部４２１は、距離センサ１が測定した車間距離Ｄを特定する。特定部４２１は、特定した車間距離Ｄの単位時間当りの変化を求めることにより、相対車速を特定する（Ｓ１０１）。通知部４２３は、車間距離Ｄが判定閾値以下であるか否かを算出する（Ｓ１０２）。通知部４２３は、車間距離Ｄが判定閾値以下である場合（Ｓ１０２のＹＥＳ）、車間距離Ｄが判定閾値以下になる前の所定期間Ｔにおいて相対車速が所定値以上である状態が継続していたか否かを判定する（Ｓ１０３）。 First, the identification unit 421 specifies the inter-vehicle distance D measured by the distance sensor 1. The specifying unit 421 specifies the relative vehicle speed by obtaining the change in the specified inter-vehicle distance D per unit time (S101). The notification unit 423 calculates whether or not the inter-vehicle distance D is equal to or less than the determination threshold value (S102). When the inter-vehicle distance D is equal to or less than the determination threshold value (YES in S102), the notification unit 423 has continued the state in which the relative vehicle speed is equal to or more than the predetermined value in the predetermined period T before the inter-vehicle distance D becomes equal to or less than the determination threshold value. It is determined whether or not (S103).

通知部４２３は、車間距離Ｄが判定閾値以下になる前の所定期間Ｔにおいて相対車速が所定値以上である状態が継続していた場合に（Ｓ１０３のＹＥＳ）、自車両１００が先行車両２００に接近していることをユーザに通知し（Ｓ１０４）、処理を終了する。特定部４２１は、Ｓ１０２の判定において車間距離Ｄが判定閾値より大きい場合に（Ｓ１０２のＮＯ）、Ｓ１０１の処理に戻る。特定部４２１は、Ｓ１０３の判定において車間距離Ｄが判定閾値以下になる前の所定期間Ｔにおいて相対車速が所定値以上である状態が継続していない場合（Ｓ１０３のＮＯ）、Ｓ１０１の処理に戻る。 When the relative vehicle speed continues to be equal to or higher than the predetermined value in the predetermined period T before the inter-vehicle distance D becomes equal to or less than the determination threshold value (YES in S103), the notification unit 423 sets the own vehicle 100 to the preceding vehicle 200. The user is notified that the distance is approaching (S104), and the process ends. When the inter-vehicle distance D is larger than the determination threshold value in the determination of S102 (NO in S102), the specific unit 421 returns to the process of S101. The specific unit 421 returns to the process of S101 when the state in which the relative vehicle speed is not equal to or higher than the predetermined value in the predetermined period T before the inter-vehicle distance D becomes equal to or less than the determination threshold value in the determination of S103 does not continue (NO in S103). ..

［第１の実施形態の通知装置による効果］
通知部４２３は、車間距離Ｄと、車間距離Ｄが判定閾値以下になる前の所定期間Ｔにおける相対車速とに基づいて、自車両１００が先行車両２００に接近していることをユーザに通知する。このような構成により、通知部４２３は、自車両１００が先行車両２００を安全に追走している状態において車間距離Ｄが一時的に判定閾値以下になった場合に、自車両１００が先行車両２００に接近していることの通知をユーザへ誤って出力することを抑制することができる。 [Effect of the notification device of the first embodiment]
The notification unit 423 notifies the user that the own vehicle 100 is approaching the preceding vehicle 200 based on the inter-vehicle distance D and the relative vehicle speed in the predetermined period T before the inter-vehicle distance D becomes equal to or less than the determination threshold value. .. With such a configuration, the notification unit 423 causes the own vehicle 100 to be the preceding vehicle when the inter-vehicle distance D temporarily falls below the determination threshold while the own vehicle 100 is safely following the preceding vehicle 200. It is possible to suppress erroneous output of a notification that the vehicle is approaching 200 to the user.

＜第２の実施形態＞
第１の実施形態では、判定閾値が一定である場合の例について説明した。しかしながら、本発明はこれに限定されない。通知装置は、例えば、自車速度に基づいて、判定閾値を算出してもよい。 <Second embodiment>
In the first embodiment, an example in which the determination threshold value is constant has been described. However, the present invention is not limited to this. The notification device may calculate the determination threshold value based on, for example, the own vehicle speed.

図５は、第２の実施形態の自車両１００の構成を示す図である。図５の自車両１００は、図２と比較すると、算出部５００をさらに備える点が異なる。図２と同じブロックについては同じ符号を付して説明を省略する。算出部５００は、特定部４２１が特定した自車速度に基づいて、判定閾値を算出する。算出部５００は、例えば、予め調査された相対車速と運転者に通知する必要がある車間距離Ｄとの関係を用いて、自車速度に対応する判定閾値を算出する。 FIG. 5 is a diagram showing the configuration of the own vehicle 100 of the second embodiment. Compared with FIG. 2, the own vehicle 100 of FIG. 5 is different in that it further includes a calculation unit 500. The same blocks as those in FIG. 2 are designated by the same reference numerals and the description thereof will be omitted. The calculation unit 500 calculates the determination threshold value based on the own vehicle speed specified by the specific unit 421. The calculation unit 500 calculates a determination threshold value corresponding to the own vehicle speed by using, for example, the relationship between the relative vehicle speed investigated in advance and the inter-vehicle distance D that needs to be notified to the driver.

図６は、相対車速と、自車両１００が先行車両２００に接近していることを運転者に通知する必要がある車間距離Ｄ（図中では、通知距離）との関係の調査結果を示す図である。横軸には、相対車速を示し、縦軸には、通知距離を示す。この調査結果は、複数の運転者が、テストコースを走行中に自車両１００が先行車両２００に接近していることを通知することが必要であると感じた通知距離を回答するという手法により得られた。 FIG. 6 is a diagram showing the results of an investigation of the relationship between the relative vehicle speed and the inter-vehicle distance D (notification distance in the figure) that requires the driver to be notified that the own vehicle 100 is approaching the preceding vehicle 200. Is. The horizontal axis shows the relative vehicle speed, and the vertical axis shows the notification distance. This survey result is obtained by a method in which a plurality of drivers respond to a notification distance that they feel it is necessary to notify that the own vehicle 100 is approaching the preceding vehicle 200 while traveling on the test course. Was done.

図６の複数の直線は、自車速度がそれぞれ時速２０キロメートル、時速４０キロメートル、時速６０キロメートル及び時速９０キロメートルである場合の例を示す。図６に示すように、通知距離は、相対車速の増加にともなって増加する。 The plurality of straight lines in FIG. 6 show an example in which the vehicle speed is 20 km / h, 40 km / h, 60 km / h, and 90 km / h, respectively. As shown in FIG. 6, the notification distance increases as the relative vehicle speed increases.

自車速度が時速６０ｋｍで走行する自車両１００は、時速４０ｋｍで走行する自車両１００よりも長い通知距離が必要であった。したがって、相対車速が同じ場合、自車速度が高い方がより長い通知距離が必要であることが分かる。 The own vehicle 100 traveling at a speed of 60 km / h required a longer notification distance than the own vehicle 100 traveling at a speed of 40 km / h. Therefore, when the relative vehicle speeds are the same, it can be seen that the higher the vehicle speed, the longer the notification distance is required.

算出部５００は、以下の方法により、調査結果により示された通知距離の近似値を判定閾値として算出する。まず、算出部５００は、基準となる判定閾値（以下、基準閾値ともいう）を決定する。基準閾値は、例えば、調査結果において自車両１００が基準速度で走行している場合に対応する通知距離である。基準速度は、一例としては時速９０ｋｍである。基準閾値は、例えば、図６において最も小さい相対車速に対応する通知距離であるが、任意の相対車速に対応する通知距離であってもよい。算出部５００は、決定した基準閾値に自車両１００の速度に基づく係数を乗じることにより、判定閾値を算出する。 The calculation unit 500 calculates an approximate value of the notification distance indicated by the survey result as a determination threshold value by the following method. First, the calculation unit 500 determines a reference determination threshold value (hereinafter, also referred to as a reference threshold value). The reference threshold value is, for example, a notification distance corresponding to the case where the own vehicle 100 is traveling at the reference speed in the survey result. The reference speed is 90 km / h as an example. The reference threshold is, for example, the notification distance corresponding to the smallest relative vehicle speed in FIG. 6, but may be the notification distance corresponding to any relative vehicle speed. The calculation unit 500 calculates the determination threshold value by multiplying the determined reference threshold value by a coefficient based on the speed of the own vehicle 100.

算出部５００は、例えば、図６に示す調査結果との誤差が最小になるように係数を決定する。算出部５００は、自車速度が基準速度より大きい場合は、１より大きくなるように係数を決定する。また、算出部５００は、自車速度が基準速度と同じである場合は、係数を１とする。算出部５００は、自車速度が基準速度より小さい場合は、１より小さくなるように係数を決定する。 For example, the calculation unit 500 determines the coefficient so that the error from the survey result shown in FIG. 6 is minimized. When the own vehicle speed is higher than the reference speed, the calculation unit 500 determines the coefficient so that it is larger than 1. Further, the calculation unit 500 sets the coefficient to 1 when the own vehicle speed is the same as the reference speed. When the own vehicle speed is smaller than the reference speed, the calculation unit 500 determines the coefficient so as to be smaller than 1.

図７は、図６の調査結果と、算出部５００が算出した判定閾値とを比較した図である。実線は、算出部５００が算出した判定閾値を示し、破線は、図６の調査結果を示す。図７において判定閾値及び調査結果は、いずれも図６に示す最小の相対車速に対応するものである。図７に示すように、自車速度が大きくなるにつれて、算出部５００が算出する判定閾値も大きくなる。判定閾値は、調査結果を精度よく近似している。算出部５００は、算出した判定閾値を通知部４２３へ出力する。 FIG. 7 is a diagram comparing the survey result of FIG. 6 with the determination threshold value calculated by the calculation unit 500. The solid line shows the determination threshold value calculated by the calculation unit 500, and the broken line shows the survey result of FIG. In FIG. 7, the determination threshold value and the survey result both correspond to the minimum relative vehicle speed shown in FIG. As shown in FIG. 7, as the vehicle speed increases, the determination threshold value calculated by the calculation unit 500 also increases. The judgment threshold accurately approximates the survey results. The calculation unit 500 outputs the calculated determination threshold value to the notification unit 423.

このような構成により、算出部５００は、精度よく調査結果を近似した判定閾値を算出することができる。また、算出部５００は、自車速度と相対車速との両方に基づいて、係数を定めてもよい。算出部５００は、基準閾値にこの係数を乗じることにより、判定閾値を算出してもよい。 With such a configuration, the calculation unit 500 can accurately calculate the determination threshold value that approximates the survey result. Further, the calculation unit 500 may determine the coefficient based on both the own vehicle speed and the relative vehicle speed. The calculation unit 500 may calculate the determination threshold value by multiplying the reference threshold value by this coefficient.

以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は上記実施の形態に記載の範囲には限定されず、その要旨の範囲内で種々の変形及び変更が可能である。例えば、装置の全部又は一部は、任意の単位で機能的又は物理的に分散・統合して構成することができる。また、複数の実施の形態の任意の組み合わせによって生じる新たな実施の形態も、本発明の実施の形態に含まれる。組み合わせによって生じる新たな実施の形態の効果は、もとの実施の形態の効果を併せ持つ。 Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes can be made within the scope of the gist thereof. is there. For example, all or a part of the device can be functionally or physically distributed / integrated in any unit. Also included in the embodiments of the present invention are new embodiments resulting from any combination of the plurality of embodiments. The effect of the new embodiment produced by the combination also has the effect of the original embodiment.

１ 距離センサ
２ 車速センサ
３ スピーカ
４ 通知装置
４１ 記憶部
４２ 制御部
１００ 自車両
４２１ 特定部
４２２ カウンタ
４２３ 通知部
５００ 算出部 1 Distance sensor 2 Vehicle speed sensor 3 Speaker 4 Notification device 41 Storage unit 42 Control unit 100 Own vehicle 421 Specific unit 422 Counter 423 Notification unit 500 Calculation unit

Claims (4)

先行車両の速度に対する自車両の速度である相対車速、及び当該自車両から当該先行車両までの車間距離を特定する特定部と、
前記車間距離が判定閾値以下であり、且つ、前記車間距離が当該判定閾値以下になる前の所定期間において前記相対車速が所定値以上である状態が継続していたことを条件として、前記自車両が前記先行車両に接近していることをユーザに通知する通知部と、
を備える通知装置。 A specific unit that specifies the relative vehicle speed, which is the speed of the own vehicle with respect to the speed of the preceding vehicle, and the inter-vehicle distance from the own vehicle to the preceding vehicle.
The own vehicle, provided that the inter-vehicle distance is equal to or less than the determination threshold value and the relative vehicle speed is continuously equal to or greater than the predetermined value in a predetermined period before the inter-vehicle distance becomes equal to or less than the determination threshold value. A notification unit that notifies the user that the vehicle is approaching the preceding vehicle,
Notification device including. 前記通知部は、前記車間距離が前記判定閾値以下になる前の所定期間において前記相対車速が所定値以上である状態が継続していない場合に、前記車間距離が前記判定閾値より短い最小閾値以下になるまで、前記自車両が前記先行車両に接近していることをユーザに通知しない、
請求項１に記載の通知装置。 The notification unit is below the minimum threshold value at which the inter-vehicle distance is shorter than the determination threshold value when the state in which the relative vehicle speed is equal to or higher than the predetermined value does not continue in a predetermined period before the inter-vehicle distance becomes equal to or less than the determination threshold value. Does not notify the user that the own vehicle is approaching the preceding vehicle until
The notification device according to claim 1. 前記通知部は、前記相対車速の時間当たりの増加が基準値以上である場合に、前記車間距離が前記判定閾値よりも長い予備閾値以下となることを条件として、前記自車両が前記先行車両に接近していることをユーザに通知する、
請求項１又は２に記載の通知装置。 When the increase in the relative vehicle speed per hour is equal to or greater than the reference value, the notification unit causes the own vehicle to become the preceding vehicle on condition that the inter-vehicle distance is equal to or less than a preliminary threshold value longer than the determination threshold value. Notify the user that they are approaching,
The notification device according to claim 1 or 2. 前記自車両が基準速度で走行している場合の前記判定閾値である基準閾値に前記自車両の速度に基づく係数を乗じることにより、前記判定閾値を算出する算出部をさらに備える、
請求項１から３のいずれか一項に記載の通知装置。 A calculation unit for calculating the determination threshold value is further provided by multiplying the reference threshold value, which is the determination threshold value when the own vehicle is traveling at the reference speed, by a coefficient based on the speed of the own vehicle.
The notification device according to any one of claims 1 to 3.
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