JP3553438B2 - Vehicle periphery monitoring device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle periphery monitoring device that monitors a vehicle traveling around a host vehicle, that is, a vehicle traveling in front of or behind a traveling lane or an adjacent lane or an obstacle.
[0002]
[Prior art]
Obstacles or vehicles in front of or behind the vehicle, such as a distance measurement device using ultrasonic waves or a distance measurement device using electromagnetic waves mounted on the vehicle, or a distance measurement device using image sensors and image processing. Many techniques have been disclosed for monitoring devices. As disclosed in, for example, Japanese Patent Publication No. 55-15337 and Japanese Utility Model Publication No. 1-12221, these technologies emit ultrasonic waves or electromagnetic waves forward, backward, or sideward to obstruct obstacles. In addition to detecting the reflected wave, the obstacle and the traveling vehicle are detected, and the distance to the obstacle and the traveling vehicle is measured.
[0003]
The technology disclosed in Japanese Patent Publication No. Hei 8-27187, Patent No. 2887039, and the like uses a stereoscopic camera using an image sensor and image processing to improve the position in front of the lane in which the vehicle is traveling. It detects a traveling vehicle or an obstacle behind it, measures its distance, and detects the position of the obstacle to determine whether or not it can be an obstacle to the traveling of the own vehicle. As for the optical distance measuring device using such an image sensor, a number of other techniques are disclosed, for example, Japanese Patent Publication No. 63-38085.
[0004]
[Problems to be solved by the invention]
Using a vehicle periphery monitoring device, such as an obstacle detection device or a distance measurement device as disclosed in the related art, detects a forward vehicle, a rear vehicle, or a vehicle existing on the side of the own vehicle. In some cases, depending on the surrounding environment of the vehicle, reliable detection cannot be performed, and it may not be possible to predict danger. For example, in a state where sunlight shines from the front of the vehicle, the function of confirming the obstacle in front of the vehicle by the optical vehicle periphery monitoring device cannot sufficiently be exhibited, and the wind noise during high speed running and raindrops in rainy weather This impairs the measurement accuracy of the ultrasonic distance measuring device. Further, in an ultrasonic or electromagnetic wave type vehicle periphery monitoring device, interference with ultrasonic waves or electromagnetic waves emitted from a vehicle periphery monitoring device mounted on another vehicle traveling around may occur. However, there is a problem that the obstacle detection function is hindered.
[0005]
The present invention has been made in order to solve such a problem, and it is possible to avoid an influence of a surrounding environment of a vehicle and interference with a surrounding monitoring device of another vehicle, and to surely provide a periphery of the own vehicle. It is an object of the present invention to obtain a vehicle periphery monitoring device capable of monitoring.
[0006]
[Means for Solving the Problems]
A vehicle surroundings monitoring device according to the present invention comprises: a first optical monitoring means having a monitoring area in front of a vehicle; a first radar type monitoring apparatus having a monitoring area overlapping with a monitoring area of the first optical monitoring means. Means, a second optical monitoring means having a monitoring area in the rear of the vehicle, a second radar monitoring means having a monitoring area overlapping the monitoring area of the second optical monitoring means, Third and fourth optical monitoring means to be the monitoring area, third and fourth radar monitoring means having a monitoring area overlapping the monitoring area of the third and fourth optical monitoring means, each of these It comprises a control means for controlling the monitoring means, the first radar-type monitoring means, the second radar-type monitoring means, and the third and fourth radar-type monitoring means are each configured by a different distance detection means of the detection method , Control means detects surrounding environment of vehicle Selects either of the optical monitoring means and the radar surveillance means overlapping of the monitoring area based on the detection result, those configured to stop other operations.
[0007]
Also, control with control means for selecting a monitoring region in response to environmental conditions, Ru der those configured to stop the operation of the monitoring means with a monitoring area that is not selected.
[0008]
Furthermore, the selection by the control means is configured to be performed by voice input of the driver.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
1 to 5 are explanatory diagrams of a vehicle periphery monitoring device according to a first embodiment of the present invention. FIG. 1 is an explanatory diagram showing a configuration, FIG. 2 is a block diagram of a control device, and FIGS. Is an explanatory diagram for explaining the operation, and FIG. 5 is a flowchart for explaining the operation of the control device. In FIG. 1, reference numeral 1 denotes a vehicle on which a vehicle periphery monitoring device according to the present invention is mounted, 2 denotes a first radar type monitoring device mounted on a front part of the vehicle 1 and monitoring a front monitoring area 3 using, for example, electromagnetic waves, Reference numeral 4 denotes a first optical monitoring device which is mounted in the front part of the cabin of the vehicle 1 and uses a stereoscopic camera or the like for monitoring a monitoring region 5 in front of the vehicle, and the monitoring region 5 overlaps the monitoring region 3. It is configured. Reference numeral 6 denotes a second radar-type monitoring device that is mounted on the rear of the vehicle 1 and monitors a rear monitoring area 7 using, for example, a laser. Reference numeral 8 is mounted on the rear of the cabin of the vehicle 1 and monitors the rear monitoring area 9. This is a second optical monitoring device using a stereoscopic camera or the like, and the monitoring area 9 is configured to overlap the monitoring area 7.
[0010]
10 is attached to the left side mirror 11 of the vehicle 1, a third optical monitoring device using a stereoscopic camera or the like that monitors the left monitoring area 12, 13 is attached to the right side mirror 14 of the vehicle 1, A fourth optical monitoring device 16 and 17 using a stereoscopic camera or the like for monitoring the monitoring area 15 on the right side, and a third radar using, for example, ultrasonic waves arranged in the front-rear direction on the left side surface of the vehicle 1 The monitoring devices 18 and 19 are arranged in the front-rear direction on the right side of the vehicle 1, and are the same as the third radar monitoring devices 16 and 17, for example, a fourth radar monitoring device using an ultrasonic wave. , The third radar-type monitoring devices 16 and 17 have a monitoring area overlapping with the monitoring area 12 of the third optical-type monitoring device 10, and the fourth radar-type monitoring devices 18 and 19 have a fourth optical-type monitoring device. Monitoring area 1 of device 13 Have duplicate monitoring area and.
[0011]
Reference numeral 20 denotes a control device which controls each of the radar type monitoring device and each optical type monitoring device and switches the monitoring device according to conditions. As shown in FIG. 2, an environment detecting means 21 and an environmental condition inputting means are provided. 22, monitoring area designating means 23, and selection switching means 24 for switching each monitoring device based on the input from each of these means. The environment detecting means 21 detects the surrounding environment of the vehicle 1, for example, the driving lane, the illuminance of the road surface, the running speed, the state of rainfall, and the like by using various monitoring devices and sensors (not shown), and outputs the same to the selection switching means 24. The environmental condition input means 22 inputs environmental conditions that cannot be detected by the environmental detection means 21, such as traffic congestion, snowfall and snowfall, and direct sunlight, by a driver's switch operation or voice and operates the selection switching means 24. Output the contents. The monitoring area designating means 23 is for the driver to input a monitoring area that the driver wants to pay attention to by a switch operation or a voice. Switches and selects the operation of the type monitoring device.
[0012]
FIG. 3 shows a state in which vehicles 1 and 25 equipped with such a vehicle periphery monitoring device are running back and forth, for example, on a highway. In this state, the environment detecting means 21 detects that the vehicle is traveling on the highway from the vehicle speed or the like, and the selection switching means 24 to which this is input uses ultrasonic waves whose detection accuracy is reduced by exhaust sound or wind noise. The operation of the third radar type monitoring devices 16 and 17 and the fourth radar type monitoring devices 18 and 19 is stopped, and the monitoring of both sides of the vehicle is performed by the third optical monitoring device 10 and the fourth optical monitoring device. 13 is performed. The following vehicle 25 is confirmed by the preceding vehicle 1 with both the second radar type monitoring device 6 and the second optical monitoring device 8 using laser, and the following vehicle 25 is confirmed by the electromagnetic wave The detection is performed by both the first radar type monitoring device 2 and the first optical type monitoring device 4 using, and the detection accuracy and reliability are enhanced by the redundant monitoring. At this time, since the laser is used for confirming the rear of the preceding vehicle 1 and the electromagnetic wave is used for confirming the forward of the following vehicle 25, mutual interference does not occur, and each can be reliably monitored.
[0013]
When direct sunlight is incident from the front or the rear while the vehicle is traveling, and the detection accuracy of the optical monitoring device is reduced, the driver selects the environmental condition input means 22 by a switch or by voice operation. The switching means 24 stops the operation of the optical monitoring device, and the stopped monitoring region is monitored by the radar monitoring device having the overlapping monitoring region, thereby preventing erroneous detection. This switching may be configured such that the amount of incident light to each optical monitoring device is detected in addition to the driver's operation using a switch or voice, and the environment detecting unit 21 detects this and operates the selection switching unit 24. .
[0014]
When the driver wants to shift the traveling lane of the vehicle 1 to the right lane, if the driver operates the monitoring area specifying means 23 so as to focus on monitoring on the right side, the selection switching means 24 is switched to the left lane. The operation of the third optical monitoring device 10 and the third radar monitoring devices 16 and 17 is stopped or the display is reduced, and the fourth optical monitoring device 13 and the fourth radar monitoring device on the right side are stopped. The outputs of the devices 18 and 19 are easily checked, and the visibility in the direction of interest is improved. Further, as shown in FIG. 4, when the vehicle 1 is traveling on the rightmost lane of the expressway, the environment detecting means 21 outputs the intermittent lane marking by the output of the first optical monitoring device 4. 26 and the continuous line 27, it is detected that the vehicle 1 is traveling in the rightmost lane, and the selection switching means 24 provides the fourth optical monitoring device 13 and the fourth radar monitoring device 18 for monitoring the right side. , 19 are stopped, and reporting of unnecessary information such as a median strip and a guardrail is eliminated.
[0015]
The control device 20 starts operation when the engine key is turned on, and when the operation is started, as shown in FIG. 5, in step 1, the environment detecting means 21 sends an image, vehicle speed, etc. from each monitoring device and various sensors (not shown) to the environment detecting means 21. Is input, and the information is processed and input to the selection switching means 24. In step 2, the driver's operation status and the like are detected and input from the environmental condition input means 22. In step 3, the driver's instruction status is detected and input from the monitoring area specifying means 23. In step 4, the selection switching means 24 determines the priority order of the driver's instructions and the like. In step 5, the operation of each monitoring device is controlled in accordance with this priority order and a pre-programmed procedure. Repeated every hour. In step 6, information is transmitted from the results of steps 4 and 5 to assist the driving operation, and the monitoring operation is stopped by turning off the engine key.
[0016]
The vehicle periphery monitoring device according to the first embodiment of the present invention has the above-described configuration and operation. For example, the first radar-type monitoring device 2 uses electromagnetic waves, and the second radar-type monitoring device 6 The third radar-type monitoring devices 16 and 17 and the fourth radar-type monitoring devices 18 and 19 use ultrasonic waves. However, these use interference between the radar-type monitoring devices, particularly, It is intended to avoid interference with the preceding and following vehicles, and if these are satisfied, it is not limited which radar type monitoring device is used with which detection method. It is also possible to use electromagnetic waves or ultrasonic waves in the device, and to have different frequency bands so as not to interfere with each other. Further, the environment detecting means 21 can obtain not only information from sensors mounted on the vehicle but also information from road-vehicle communication from an information transmitter provided on the road.
[0017]
【The invention's effect】
As described above, according to the vehicle periphery monitoring device of the present invention, different detection means are used for each of the radar-type monitoring devices for forward monitoring, rearward monitoring, and side monitoring. Interference between vehicle monitoring devices and monitoring devices such as preceding and following vehicles can be avoided, enabling highly reliable peripheral monitoring.In addition, optical monitoring and radar monitoring can be performed in the same direction. , High reliability and high detection accuracy can be obtained . Moreover, the environment around the vehicle, since to allow selection switching to any of the monitoring device of the multiple monitoring, Ru can be even with a change in the surrounding environment reliably monitored.
In addition, the area to be monitored can be monitored intensively, and conditions that cannot be detected by sensors or monitoring devices can be operated at the driver's discretion, so that reliable surrounding monitoring is possible. Thus, an excellent vehicle periphery monitoring device can be obtained.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a configuration of a vehicle periphery monitoring device according to a first embodiment of the present invention.
FIG. 2 is a block diagram of a control device used for the vehicle periphery monitoring device according to the first embodiment of the present invention.
FIG. 3 is an explanatory diagram illustrating an operation of the vehicle periphery monitoring device according to the first embodiment of the present invention.
FIG. 4 is an explanatory diagram illustrating an operation of the vehicle periphery monitoring device according to the first embodiment of the present invention.
FIG. 5 is a flowchart illustrating an operation of the vehicle periphery monitoring device according to the first embodiment of the present invention.
[Explanation of symbols]
1 vehicle, 2nd radar type monitoring device, 3, 5, 7, 9 monitoring area,
4 first optical monitoring device, 6 second radar monitoring device,
8 second optical monitoring device, 10 third optical monitoring device,
11, 14 side mirror, 12, 15 monitoring area,
13 fourth optical monitoring device, 16, 17 third radar monitoring device,
18, 19 Fourth radar type monitoring device, 20 control device,
21 environment detection means, 22 environment condition input means, 23 monitoring area designation means,
24 sensor selection switching means, 25 following vehicle.

Claims (3)

First optical monitoring means having a monitoring area in front of the vehicle, first radar monitoring means having a monitoring area overlapping the monitoring area of the first optical monitoring means, and a monitoring area being behind the vehicle. Second optical monitoring means, second radar monitoring means having a monitoring area overlapping the monitoring area of the second optical monitoring means, and third and fourth monitoring areas on both sides of the vehicle, respectively. Optical monitoring means, the third and fourth radar monitoring means having a monitoring area overlapping the monitoring area of the third and fourth optical monitoring means, comprising a control means for controlling each of these monitoring means, The first radar-type monitoring means, the second radar-type monitoring means, and the third and fourth radar-type monitoring means are respectively constituted by distance detection means having different detection methods, and the control means is configured to control the surrounding environment of the vehicle. And based on this detection result Either select a vehicle periphery monitoring apparatus characterized by being configured to stop other operations of overlapping optical monitoring means and the radar surveillance means monitoring area. Together with the control means selects a monitoring area in response to environmental conditions, the vehicle surroundings monitoring apparatus according to claim 1, characterized in that it is configured to stop the operation of the monitoring means with a monitoring area that is not selected. Selecting by the control means, the vehicle surroundings monitoring apparatus according to claim 1 or claim 2, characterized in that is performed by voice input by the driver.

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