JP4648171B2 - Vehicle door contact avoidance support device - Google Patents

Description

  The present invention relates to a support device that notifies when a door of a vehicle is opened so that the door does not come into contact with another vehicle or a wall.

  Japanese Laid-Open Patent Publication No. 2003-104055 is a technology that supports a door opening operation using a distance sensor (for example, an ultrasonic sensor) attached to a vehicle body so that the door does not come into contact with an obstacle when the vehicle door is opened. It has been known. This technology uses a distance sensor to calculate the door opening limit angle by measuring the distance to an obstacle such as an adjacent vehicle or wall on the side of the host vehicle, and to detect the door opening angle in real time. The door opening angle does not reach the opening limit angle.

In addition, in order to prevent the driver from contacting each corner of the vehicle body with obstacles, the sensor (corner sensor) installed at each corner measures the distance to the obstacle and notifies the driver of the approach to the obstacle. Is widely known. In addition, as shown in FIG. 11, these corner sensors measure the distance between the obstacle located diagonally outward from the corner and the corner of the vehicle.
JP 2003-104055 A

  Conventionally known corner sensors measure the distance between each corner and the obstacles that exist diagonally outside each corner, so the vehicle side near the door is necessary to support the door opening operation. The other obstacle cannot be detected. For this reason, in order to detect the distance between the obstacle on the side of the vehicle body near the door and the vehicle body, the technique disclosed in Japanese Patent Laid-Open No. 2003-104055 provides a distance sensor separately from the corner sensor as shown in FIG. ing.

  Therefore, this invention provides the vehicle door contact avoidance assistance apparatus which can assist opening operation of a door using a corner sensor.

The invention according to claim 1 is provided at each of the front and rear corners of the vehicle body, detects at least obstacles facing each of the corners when the vehicle is parked, and A plurality of sensors (11) for outputting the distance from the corner portion and the direction from the corner portion with respect to the obstacle, and calculating the coordinate value of the obstacle in a predetermined coordinate system from the distance and the direction. A position calculation unit, a storage unit for storing the coordinate value of the obstacle as a history, and a region including an area necessary for opening the door of the vehicle body in the predetermined coordinate system, or the region An estimation unit (17) for estimating whether or not the door opening and closing is safe based on the area setting unit (16) stored in advance, the history, and the area; and the estimation unit (17). Estimation of Based on results, the a notifying means whether opening of the door is safe to notify the occupant (18), the area setting unit (16), the maximum angle when opened the door to a maximum A rectangular area formed by the short side and the long side, with the shortest distance between the end of the door and the vehicle body as the short side and the door length of the door in the closed state as the long side The estimation unit (17) estimates that the door opening / closing is not safe when the coordinate value stored in the storage unit is included in the region.

The sensor (11) detects the distance and direction of an obstacle existing outside the front and rear surface portion of the vehicle or outside the side surface portion of the vehicle. And a position calculating part calculates the coordinate value of an obstruction based on the distance and direction of an obstruction which the sensor (11) detected. Then, the storage unit adds the coordinate value of the obstacle to the history. The region setting unit (16) calculates a region including an area necessary for opening the door. The estimation unit (17) estimates the relationship between the vehicle and the obstacle from this area and the history stored in the storage unit, and further estimates whether the opening / closing of the door is dangerous. The notification means (18) notifies the occupant whether or not opening and closing the door is dangerous. Thereby, when a passenger | crew opens a door, it can prevent making a door contact an obstruction. Sensors (11) are provided at each corner of the vehicle. For this reason, the sensor (11) is also used as a corner sensor for notifying the approach of an obstacle based on the distance from the detected obstacle. The estimation unit (17) uses a rectangular area calculated by the area setting unit (16) as a method of estimating whether it is safe even if the door is opened to the maximum. The short side of the quadrangle is the shortest distance between the end of the door and the vehicle body when the door is fully opened, and the long side is the door length of the door when the door is closed. Furthermore, the estimation unit (17) estimates that it is safe to open the door fully open when the coordinate value of the obstacle stored in the storage unit is not included in the rectangular area.

The invention according to claim 2 is provided at each of the front and rear corners of the vehicle body, detects at least obstacles facing each of the corners during the parking operation of the vehicle, and A plurality of sensors (11) for outputting the distance from the corner portion and the direction from the corner portion with respect to the obstacle, and calculating the coordinate value of the obstacle in a predetermined coordinate system from the distance and the direction. A position calculation unit, a storage unit for storing the coordinate value of the obstacle as a history, and a region including an area necessary for opening the door of the vehicle body in the predetermined coordinate system, or the region An estimation unit (17) for estimating whether or not the door opening and closing is safe based on the area setting unit (16) stored in advance, the history, and the area; and the estimation unit (17). Estimation of Based on results, and notification means (18) for notifying whether the opening of the door is safe for the occupant, and a door opening angle detecting means (81) for detecting the opening angle of the door, the area The setting unit (16) calculates a fan-shaped region through which the door passes when the door is opened, using the door length of the door when the door is closed as a radius, and the estimation unit (17) The coordinate value stored in the storage unit is calculated as the maximum open angle that is not included in the sector area, and when the open angle is larger than the openable angle, It is estimated that opening and closing of the door is not safe.

The sensor (11) detects the distance and direction of an obstacle existing outside the front and rear surface portion of the vehicle or outside the side surface portion of the vehicle. And a position calculating part calculates the coordinate value of an obstruction based on the distance and direction of an obstruction which the sensor (11) detected. Then, the storage unit adds the coordinate value of the obstacle to the history. The region setting unit (16) calculates a region including an area necessary for opening the door. The estimation unit (17) estimates the relationship between the vehicle and the obstacle from this area and the history stored in the storage unit, and further estimates whether the opening / closing of the door is dangerous. The notification means (18) notifies the occupant whether or not opening and closing the door is dangerous. Thereby, when a passenger | crew opens a door, it can prevent making a door contact an obstruction. Sensors (11) are provided at each corner of the vehicle. For this reason, the sensor (11) is also used as a corner sensor for notifying the approach of an obstacle based on the distance from the detected obstacle. The door opening angle detection means (81) detects the opening angle of the door.

  The area setting unit (16) calculates a sector area through which the door passes when the door is opened. The radius of the fan-shaped region is the door length, and the central angle is the angle formed by the door in the closed state and the door in the opened state. Then, the estimation unit (17) calculates the maximum center angle (openable angle) when the coordinate value of the obstacle stored in the storage unit is not included in the sector area. Further, if the opening angle is equal to or smaller than the opening possible angle, it is estimated that it is safe to open the door.

The invention according to claim 3 is characterized in that the notification means (18) divides the relationship between the opening angle and the opening possible angle for each predetermined range and changes the notification content for each predetermined range. And

  The relationship between the opening angle and the opening possible angle is divided into predetermined ranges, and the notification means (18) notifies the notification content set for each predetermined range.

According to a fourth aspect of the present invention, the notification means (18) changes the notification content in proportion to a difference between the opening angle and the openable angle or a ratio of the open angle to the openable angle. It is characterized by making it.

  The notification means (18) changes the notification content in proportion to the difference between the open angle and the openable angle or the ratio of the open angle to the openable angle.

The invention according to claim 5 is provided at each of the front and rear corners of the vehicle body, detects at least obstacles facing each of the corners when the vehicle is parked, and A plurality of sensors (11) for outputting the distance from the corner portion and the direction from the corner portion with respect to the obstacle, and calculating the coordinate value of the obstacle in a predetermined coordinate system from the distance and the direction. A position calculation unit, a storage unit for storing the coordinate value of the obstacle as a history, and a region including an area necessary for opening the door of the vehicle body in the predetermined coordinate system, or the region An estimation unit (17) for estimating whether or not the door opening and closing is safe based on the area setting unit (16) stored in advance, the history, and the area; and the estimation unit (17). Estimation of Based on results, and informing means for informing whether the opening of the door is safe for the occupant (18), said door calculates the angle when opened to the maximum, full open angle calculation outputting the fully open angle and a section, the area setting unit (16), a door length of the door in a state in which the door is closed a radius calculates the sector region in which the door passes when opening the door, The estimation unit (17) calculates, as the openable angle, the maximum central angle that the coordinate value stored in the storage unit is not included in the sector area, and the openable angle is greater than the fully open angle. Is smaller, it is estimated that the opening and closing of the door is not safe.

The sensor (11) detects the distance and direction of an obstacle existing outside the front and rear surface portion of the vehicle or outside the side surface portion of the vehicle. And a position calculating part calculates the coordinate value of an obstruction based on the distance and direction of an obstruction which the sensor (11) detected. Then, the storage unit adds the coordinate value of the obstacle to the history. The region setting unit (16) calculates a region including an area necessary for opening the door. The estimation unit (17) estimates the relationship between the vehicle and the obstacle from this area and the history stored in the storage unit, and further estimates whether the opening / closing of the door is dangerous. The notification means (18) notifies the occupant whether or not opening and closing the door is dangerous. Thereby, when a passenger | crew opens a door, it can prevent making a door contact an obstruction. Sensors (11) are provided at each corner of the vehicle. For this reason, the sensor (11) is also used as a corner sensor for notifying the approach of an obstacle based on the distance from the detected obstacle. The fully open angle calculation unit calculates the angle when the door is opened to the maximum as the fully open angle. Then, the area setting unit (16) calculates a fan-shaped area through which the door passes when opening the door. The radius of the fan-shaped region is the door length, and the central angle is the angle formed by the door in the closed state and the door in the opened state. Then, the estimation unit (17) calculates the maximum center angle (openable angle) in which the coordinate value of the obstacle stored in the storage unit is not included in the sector area. Further, when the openable angle is smaller than the fully open angle, the estimating unit (17) estimates that the door is in contact with the obstacle when the door is fully opened.

The invention according to claim 6 is characterized in that the notifying means (18) divides the relationship between the fully open angle and the openable angle for each predetermined range, and changes the notification content for each predetermined range. And

  The relationship between the fully open angle and the openable angle is divided for each predetermined range, and the notification means (18) notifies the notification content set for each predetermined range.

According to a seventh aspect of the present invention, the notification means (18) changes the notification content in proportion to a difference between the fully open angle and the openable angle or a ratio of the openable angle to the fully open angle. It is characterized by making it.

  The notification means (18) changes the notification content in proportion to the difference between the fully open angle and the openable angle or the ratio of the fully open angle to the openable angle.

The invention described in claim 8 is characterized in that the notification means (18) performs notification by visual, auditory or force sense.

  Visual and / or auditory alerts can be made before the door is opened.

  The notification related to the force sense generates a reaction force in a direction opposite to the door opening direction before the door contacts the obstacle. For this reason, even if a passenger | crew does not notice the alerting | reporting regarding vision or hearing, it can prevent that a door contacts an obstruction by reaction force.

The invention according to claim 9 is characterized in that the notifying means (18) is a stopper that does not make the opening angle of the door more than the opening possible angle.

The notification means (18) functions as a stopper so that the door does not open more than the openable angle. Thereby, it can prevent that a door opens more than an openable angle and contacts an obstruction.
According to a tenth aspect of the present invention, the sensor (11) sends a transmission signal to a plurality of elements (31a to d) arranged in an array and each element (31a to d) arranged in the array. Reflected by obstacles existing around the vehicle by transmission means for inputting and transmitting transmission waves having a predetermined directivity toward the vehicle periphery, and the elements (31a to 31d) arranged in the array Receiving means for receiving the reflected wave and determining whether or not there is a reflected wave, and the sensor (11) determines that the receiving means has received the reflected wave of the transmission wave transmitted by the transmitting means The distance to the obstacle is calculated based on the difference between the time when the reflected wave is received and the time when the transmitting means transmits the transmitted wave, and the reflected wave received by each element (31a-d) is calculated. Based on the phase difference, calculate the direction of the obstacle. The features.
Thereby, the sensor (11) can detect the distance and direction to the obstacle. And a position calculating part calculates the coordinate value of the obstruction in a predetermined coordinate system using the distance and direction to an obstruction.

  Hereinafter, the best mode for carrying out the present invention will be described using Example 1 and Example 2.

[Example 1]
A first embodiment will be described with reference to FIGS.

  FIG. 1 is a block diagram illustrating an example of a vehicle door contact avoidance support device. The vehicle door contact avoidance assistance device includes an ultrasonic sensor group (11), a vehicle speed sensor (12), a steering angle sensor (13), a contact determination ECU (14), and a notification means (18).

  The ultrasonic sensor group (11) is composed of a total of four ultrasonic sensors provided at the four corners of the vehicle (21) as shown in FIG. The details of the ultrasonic sensors will be described later with reference to FIGS. 3 and 4. These ultrasonic sensors are obliquely inclined from the corners of the vehicle (21) to the outside of the vehicle, that is, outside the side surface of the vehicle (21). On the other hand, it has a fan-shaped detection area directed outward from the front or rear surface of the vehicle (21). Each ultrasonic sensor outputs the distance and direction to the detection point of the detected obstacle. Each ultrasonic sensor can detect a plurality of detection points at a time as described later with reference to FIG. For this reason, when there are a plurality of detection points in the entire detection range, the distance and direction of the plurality of detection points are input from the four ultrasonic sensors to the contact determination ECU (14).

  The vehicle speed sensor (12) outputs the moving speed of the host vehicle to the contact determination ECU (14), and the steering angle sensor (13) outputs the steering angle of the host vehicle to the contact determination ECU (14). .

  The contact determination ECU (14) includes a position calculation storage unit (15), a region setting unit (16), and an estimation unit (17). The position calculation storage unit (15) calculates the position of the host vehicle as a coordinate value of the world coordinate system from the moving speed output by the vehicle speed sensor (12) and the steering angle detected by the steering angle sensor (13). Furthermore, the position calculation storage unit (15) uses the coordinate value of the vehicle position and the azimuth and distance of each detection point detected by the ultrasonic sensor group (11) to store the position information of the obstacle in the world coordinate system. The coordinate value is calculated and stored. The position calculation storage unit (15) can simultaneously store a plurality of obstacle position information. Hereinafter, the stored position information of the obstacle is referred to as an obstacle map.

  The area setting unit (16) calculates an area that passes when the notification target door is opened based on an arithmetic method described later with reference to FIG.

  The estimation unit (17) uses the region calculated by the region setting unit (16) and the obstacle map to estimate whether the door contacts the obstacle when the door is fully opened. When it is estimated that contact is made, a notification command is output to the notification means (18).

  The notification means (18) is a speaker installed in the vehicle, and when a notification command is received from the contact determination ECU (14), it notifies the occupant by voice.

  The structure of the ultrasonic sensor will be described with reference to FIGS. 3 and 4. The ultrasonic sensor is mounted at each corner of the vehicle, detects a relative position between the obstacle and the host vehicle by transmitting a pulse wave and receiving a reflected wave from the obstacle. As shown in FIG. 3, the structure is a two-dimensional array of transmission / reception shared elements (31 a to 31 d). Furthermore, as shown in FIG. 4, the relative position is detected three-dimensionally by detecting the azimuth from the phase difference between the received signals received by each element (31a-d) and the distance using the transmission / reception time difference. Is possible. For this reason, this ultrasonic sensor can also be used as a corner sensor that gives a warning when the four corners of the host vehicle approach an obstacle.

  An obstacle detection process by the ultrasonic sensor group (11) will be described with reference to FIGS. 5 (a) to 5 (d) show that the own vehicle (21) is shown in a scene where other vehicles (51) are parked on both sides of a space (shaded area in the figure) where one vehicle can be parked. It represents the flow of parking in the back space. The own vehicle (21) is indicated by a solid line, and the other vehicle (51) is indicated by a dotted line. And four areas which spread in fan shape from the four corners of the own vehicle (21) are detection areas of the ultrasonic sensor group (11).

  FIG. 5A shows a state in which the rear portion of the host vehicle (21) is aligned with the front portion of the other vehicle (51), that is, immediately after parking is started. At this time, the ultrasonic sensors provided on both sides of the rear portion of the host vehicle (21) detect the distance and direction of the other vehicle (51) on both sides with the host vehicle side corner. The position calculation storage unit (15) calculates the position of the host vehicle (21) using the moving speed and the steering angle of the host vehicle (21). Further, the position calculation storage unit (15) determines the position of the own vehicle (21) and the distance between the other vehicle (51) on both sides detected by the ultrasonic sensor group (11) and the corner on the own vehicle (21) side. The coordinate value of the world coordinate system representing the position of the corner of the other vehicle (51) is calculated using the direction and the direction, and is stored by reflecting it in the obstacle map.

  FIG. 5B shows a state in which several seconds have elapsed from FIG. At this time, the rear portion of the host vehicle (21) is retreated to the vicinity of the driver's seat of the other vehicle (51). And while the own vehicle (21) retreats from the state of FIG. 5 (a) to the state of FIG. 5 (b), the ultrasonic sensor of the rear part of the own vehicle (21) is the side part of the other vehicle (51) on both sides. Detect the distance and direction. And a position calculation memory | storage part (15) calculates the coordinate value of an obstruction, ie, another vehicle (51) side, based on the distance and direction which the ultrasonic sensor of the rear part of the own vehicle (21) detected. And a position calculation memory | storage part (15) adds this coordinate value to an obstacle map in the state of Fig.5 (a), and updates an obstacle map.

  FIG. 5 (c) shows a state several seconds after FIG. 5 (b). At this time, the host vehicle (21) has moved back to the vicinity of the rear seat of the other vehicle (51). During this time, the position calculation storage unit (15) further updates the obstacle map from the state of FIG. 5 (b) based on the distance and direction from the obstacle detected by the ultrasonic sensor group (11).

  FIG.5 (d) is the state which the own vehicle (21) entered into the parking space completely, and stopped.

  The other vehicle (11) detected by the ultrasonic sensor group (11) between FIGS. 5 (a) to 5 (c) is displayed on the obstacle map through the flow from FIG. 5 (a) to FIG. 5 (d). 51) corner and side coordinate values are stored.

  The region calculation method calculated by the region setting unit (16) and the safe angle calculation method performed by the estimation unit (17) will be described with reference to FIG. These calculations are performed to estimate the contact between the door and the obstacle.

  Hereinafter, the calculation method of the door passage area performed by the area setting unit (16) will be described. FIG. 6 is an enlarged view of a portion of a frame A in FIG. Here, the length of the door is L, and the upper limit angle that can be opened structurally is the full opening angle θmax. At this time, the door passage area when the door of the host vehicle (21) is opened is an area having a circle radius L and a center angle of the circle being the rotation center of the door, the center angle being equal to or less than the full opening angle θmax. . The area setting unit (16) calculates this passing area.

  Hereinafter, the calculation method of the safe angle by the estimation unit (17) and the determination method of whether or not the door opening is safe will be described. The maximum door opening angle at which the door does not come into contact with the coordinate value stored in the obstacle map and existing in the above-described passing area is defined as a possible angle θlim. Then, an angle obtained by subtracting a margin angle considering the detection error of the ultrasonic sensor group (11) from the possible angle θlim is defined as a safety angle θsafe. When these angles are used, when it is estimated that the safety angle θsafe and the fully open angle θmax are equal, it can be determined that the obstacle is not contacted even if the door is fully opened. Further, when it is estimated that the safety angle θsafe is smaller than the full opening angle θmax, it can be determined that the door contacts an obstacle between θmax and θsafe.

  The door contact determination process performed by the contact determination ECU (14) will be described using the flowchart of FIG.

  The process from step S71 to step S75 is a process executed by the position calculation storage unit (15). First, in step S71, a pulse wave is transmitted to the ultrasonic sensor group (11) and a reflected wave is received. In step S72 following step S71, branch determination is performed on the condition that the reflected wave in step S71 includes information on the obstacle. If the reflected wave contains obstacle information, that is, if an obstacle is detected, the process proceeds to step S73. If no obstacle is detected, the process returns to step S70. In step S73 following step S72, the world coordinate system coordinate value of the host vehicle is calculated using the moving speed detected by the vehicle speed sensor (12) and the rudder angle detected by the rudder angle sensor (13). In step S74 following step S73, obstacle position information (distance and angle) is calculated from the reflected wave obtained in step S71. Then, the world coordinate system coordinate value of the obstacle is calculated using the position information of the obstacle and the world coordinate system coordinate value of the host vehicle calculated in step S73. In step S75 following step S74, the world coordinate system coordinate values of the obstacle calculated in the previous step S74 are added to the obstacle map. In step S76 following step S75, the safety angle θsafe described above is calculated using FIG. In step S77 following step S76, the safety angle θsafe and the full opening angle θmax are compared and determined, and branching is performed based on the determination result. If it is determined that the safety angle θsafe is smaller than the door fully open angle θmax, the process proceeds to step S78. If it is determined that the safety angle θsafe is not smaller than the door fully open angle θmax, the process returns to step S71. In step S78, a branch determination is made on the condition that the door has been opened. If it is determined that the door is opened, the process proceeds to step S79. If it is determined that the door is not opened, the process returns to step S71. In step S79, a warning is given to the occupant by the notification means (18), and the process returns to step S71.

  The configuration of this embodiment uses an ultrasonic sensor that is also used as a corner sensor to detect an obstacle in the parking process, and warns the occupant if it is determined that the door touches the detected obstacle. Do. Thereby, it can avoid that the door of a vehicle contacts an obstruction.

[Example 2]
Example 2 will be described with reference to FIGS. 8 and 9. In the second embodiment, a door opening angle detection sensor (81) and a door motor (82) are added to the configuration of the first embodiment. Furthermore, the processing performed in the contact determination ECU (14) is partially different. In addition, about the structure equivalent to each above-mentioned Example, the code | symbol similar to each Example is attached | subjected, and description in this Example 2 is abbreviate | omitted.

  FIG. 8 is a block diagram illustrating an example of a vehicle door contact avoidance support device. 1, the output of the door opening angle detection sensor (81) is input to the contact determination ECU (14). The output of the contact determination ECU (14) is input to the door motor (82).

  This door motor (82) is provided in a hinge at the center of rotation of the door and generates torque in the door opening / closing direction. Thereby, for example, an operation such as automatic opening and closing can be performed like an automatic door of a taxi. The door opening angle detection sensor (81) detects and outputs the current door opening angle θ.

  The processing of the contact determination ECU (14) will be described using the flowchart of FIG. 9 and a part of the flowchart of FIG.

  Step S91 in FIG. 9 following step S78 in FIG. 7 acquires the opening angle θ from the door opening angle detection sensor (81). In step S92 following step S91, branch determination is performed on the condition that the value obtained by dividing the opening angle θ by the safety angle θsafe is 1 or more. If it is determined that θ / θsafe is 1 or more, the process proceeds to step S94. If it is determined that θ / θsafe is not 1 or more, the process proceeds to step S94. In step S93, torque is generated in the door motor (82) so that the door does not open beyond the current θ. Note that step S93 is performed when θ / θsafe is 1 or more, that is, when the door is in contact with an obstacle or just before contact.

  In step S94 following step S92 or step S93, branch determination is performed on condition that θ / θsafe is greater than 0.75. If it is determined that θ / θsafe is greater than 0.75, the process proceeds to step S95. If it is determined that θ / θsafe is not greater than 0.75, the process proceeds to step S96. In step S95, reaction torque is generated by the door motor (82) in the direction opposite to the direction in which the occupant opens the door.

  In step S96 following step S94 or step S95, a branch determination is made on the condition that θ / θsafe is greater than 0.5. If it is determined that θ / θsafe is greater than 0.5, the process proceeds to step S97. If it is determined that θ / θsafe is not greater than 0.5, the process returns to step S71 of FIG. In step S97, a warning is given to the occupant by the notification means (18), and then the process returns to step S71.

  In the case where there is a high possibility that the door will come into contact with an obstacle, in addition to the warning notification of the first embodiment, this configuration uses the door motor (82) to generate a reaction force against the force of the occupant attempting to open the door. A force sense is presented. For this reason, compared with the effect of Example 1, it is preventing the passenger | crew more reliably making a door contact an obstruction.

[Other Examples]
There are two types of notification to the passenger described above: reaction force generation by the door motor (82), and voice warning by a speaker installed in the vehicle. However, the content of the notification is not limited to the two types described above. For example, a dedicated warning light may be provided on the instrument panel, and this warning light may be turned on when it is determined that the door contacts an obstacle when the door is fully opened.

  In each of the above-described embodiments, the position calculation storage unit (15) stores the position information of the obstacle as an obstacle map expressed by world coordinate system coordinate values. However, the position information of the obstacle does not have to be stored by the world coordinate system coordinate values. The world coordinate system is a coordinate system in which the center and orientation of the coordinate system are set at a certain point, and the center and orientation of the coordinate system are invariable. As an example of the world coordinates, a so-called GPS coordinate value may be used, and a place where the ignition key of the vehicle is turned on may be used as the center value of the coordinate system.

  Further, for example, it is assumed that the obstacle map is expressed by a relative coordinate system in which the position and traveling direction of the host vehicle are set with the center and orientation of the coordinate system. However, since the relative coordinate system and the world coordinate system can be converted, it is possible to obtain the same effects as those of the above-described embodiments.

  In each of the embodiments described above, the sensor used to detect an obstacle is the ultrasonic sensor shown in FIG. However, the sensor to be used is not limited to this. The position calculation storage unit (15) needs the distance to the obstacle and the direction of the obstacle in order to calculate the coordinate value of the obstacle. Therefore, the sensor to be used only needs to be able to detect the distance to the obstacle and the direction of the obstacle. For example, the present invention can also be implemented using a radio wave radar or a laser radar using a digital beam forming method.

  In each of the above-described embodiments, the notification is performed when there is a risk that the door may come into contact with an obstacle. However, the occupant can understand that the door is likely to come into contact if the notification means performs different operations when there is a risk that the door will come into contact with an obstacle and when there is no danger that the door will come into contact. For example, if there is no danger of contact with the door, a buzzer may be sounded, and if there is a danger of contact, nothing may be done or a warning may be given by voice.

  In the first embodiment described above, when the door is fully opened, if it is estimated that the door collides with an obstacle, a warning is notified, and the center of rotation of the door described with reference to FIG. The full opening angle θmax was calculated using the sector area. However, since the fully open angle θmax is a constant value, for example, as shown in FIG. 10, there are obstacle detection points in a rectangular area with the door length L and L · sin (θmax) as sides. A warning may be notified when doing so. The method of determining whether or not the detection point exists in the rectangular area can reduce the amount of calculation compared to the method of determining whether or not the detection point exists in the sector area as in the first embodiment. it can. Thus, the method for determining contact with an obstacle is not limited to the methods described above.

  In the first embodiment and the second embodiment described above, the ultrasonic sensor group (11) includes a fan-shaped detection region in an oblique direction outside the vehicle from each corner of the vehicle (21), and this detection region is fixed. However, the detection area of the ultrasonic sensor group (11) may not be fixed. For example, it is assumed that a motor that rotates in the vehicle horizontal direction is attached to the ultrasonic sensor group (11), and an encoder that measures the rotation angle of the motor is further attached. Then, the rotation angle of the motor detected by the encoder, that is, the direction of the detection region of the ultrasonic sensor group (11) is input to the position calculation storage unit (15). Thereby, the coordinate value of a detection point is computable like the above-mentioned each Example. Moreover, since the ultrasonic sensor group (11) having sharp directivity can be used by rotating the ultrasonic sensor group (11), the detection accuracy of the obstacle can be improved.

It is a block diagram of the vehicle door contact avoidance assistance device used in Example 1. It is a figure showing the detection range of the ultrasonic sensor group (11) used in Example 1. FIG. 1 is an external view of each ultrasonic sensor in Example 1. FIG. It is a principle figure for the ultrasonic sensor used in Example 1 to detect the relative position of a detection point. FIG. 5A is a diagram used in Example 1, FIG. 5A is a state at the start of garage storage, FIG. 5B is a state when several seconds have elapsed from FIG. 5A, and FIG. FIG. 5 (d) shows the situation when several seconds have elapsed from 5 (b) and FIG. 5 (d) shows the situation when the garage entry is completed. It is a figure showing the safe angle (theta) safe which can open the door used in Example 1 without making it contact with an obstruction. 3 is a flowchart showing an internal process of a contact determination ECU (14) used in the first embodiment. It is a block diagram of the vehicle door contact avoidance assistance device used in Example 2. It is a flowchart showing the internal process of contact determination ECU (14) used in Example 2. FIG. It is a figure which shows the area | region which determines the contact of the door and obstruction used in another Example. It is a figure showing the detection range of a general corner sensor. It is a figure showing a general corner sensor and the detection range of the distance sensor which measures the distance to an obstruction in order to calculate the opening limit angle of a door.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Ultrasonic sensor group 12 Vehicle speed sensor 13 Rudder angle sensor 14 Contact determination ECU
DESCRIPTION OF SYMBOLS 15 Position calculation memory | storage part 16 Area | region setting part 17 Estimation part 18 Notification means 21 Own vehicle 31a Element A
31b Element B
31c Element C
31d Element D
51 Other vehicle 81 Door opening angle detection sensor 82 Door motor

Claims (10)

Each of the front and rear corners of the vehicle body is provided at each corner, detects at least obstacles facing each corner during the parking operation of the vehicle, and the distance between the obstacle and the corner, and A plurality of sensors (11) for outputting a direction from the corner portion with respect to the obstacle;
From the distance and the direction, a position calculation unit that calculates the coordinate value of the obstacle in a predetermined coordinate system;
A storage unit for storing the coordinates of the obstacle as a history;
In the predetermined coordinate system, a region including an area necessary for opening the door of the vehicle body is calculated, or a region setting unit (16) that stores the region in advance,
An estimation unit (17) for estimating whether the opening and closing of the door is safe based on the history and the region;
Based on the estimation result of the estimation unit (17), it is provided with an informing means (18) for informing a passenger whether or not the opening of the door is safe,
The region setting section (16) has a shortest shortest distance between the end of the door at the maximum angle when the door is opened to the maximum and the vehicle body, and the door of the door when the door is closed. With the long side as the long side, the rectangular area formed by the short side and the long side is calculated,
The vehicle door contact avoidance support characterized in that the estimation unit (17) estimates that the opening and closing of the door is not safe when the coordinate value stored in the storage unit is included in the region. apparatus. Each of the front and rear corners of the vehicle body is provided at each corner, detects at least obstacles facing each corner during the parking operation of the vehicle, and the distance between the obstacle and the corner, and A plurality of sensors (11) for outputting a direction from the corner portion with respect to the obstacle;
From the distance and the direction, a position calculation unit that calculates the coordinate value of the obstacle in a predetermined coordinate system;
A storage unit for storing the coordinates of the obstacle as a history;
In the predetermined coordinate system, a region including an area necessary for opening the door of the vehicle body is calculated, or a region setting unit (16) that stores the region in advance,
An estimation unit (17) for estimating whether the opening and closing of the door is safe based on the history and the region;
Based on the estimation result of the estimation unit (17), a notification means (18) for notifying the passenger whether or not the opening of the door is safe;
And a door opening angle detecting means (81) for detecting the opening angle of the door,
The area setting unit (16) calculates a fan-shaped area through which the door passes when the door is opened, with the door length of the door in a closed state as a radius.
The estimation unit (17) calculates, as the releasable angle, a maximum central angle at which the coordinate value stored in the storage unit is not included in the sector area, and the open angle is set to the releasable angle. On the other hand, when it is large, it is estimated that the opening and closing of the door is not safe. The vehicle according to claim 2 , wherein the notification means (18) divides the relationship between the opening angle and the openable angle for each predetermined range, and changes the notification content for each predetermined range. Door contact avoidance support device. It said notification means (18), the difference between the opening angle and the openable angle or, in proportion to the ratio of the opening angle with respect to the openable angle, claim 2, characterized in that to change the notification content The vehicle door contact avoidance support device according to claim 1. Each of the front and rear corners of the vehicle body is provided at each corner, detects at least obstacles facing each corner during the parking operation of the vehicle, and the distance between the obstacle and the corner, and A plurality of sensors (11) for outputting a direction from the corner portion with respect to the obstacle;
From the distance and the direction, a position calculation unit that calculates the coordinate value of the obstacle in a predetermined coordinate system;
A storage unit for storing the coordinates of the obstacle as a history;
In the predetermined coordinate system, a region including an area necessary for opening the door of the vehicle body is calculated, or a region setting unit (16) that stores the region in advance,
An estimation unit (17) for estimating whether the opening and closing of the door is safe based on the history and the region;
Based on the estimation result of the estimation unit (17), a notification means (18) for notifying the passenger whether or not the opening of the door is safe;
Calculates the angle when opened to the maximum the door, and a full open angle calculation unit for outputting a full open angle,
The area setting unit (16) calculates a fan-shaped area through which the door passes when the door is opened, with the door length of the door in a closed state as a radius.
The estimation unit (17) calculates, as the openable angle, the maximum central angle that the coordinate value stored in the storage unit is not included in the sector area, and the openable angle is greater than the fully open angle. Vehicle door contact avoidance assisting device that estimates that the opening and closing of the door is not safe when the door is too small. 6. The vehicle according to claim 5 , wherein the notification means (18) divides the relationship between the fully open angle and the openable angle for each predetermined range, and changes the notification content for each predetermined range. Door contact avoidance support device. Said notification means (18), the difference between the full-open angle and the openable angle or, in proportion to the ratio of the openable angle relative to the full open angle, claim, characterized in that to change the notification content 5 The vehicle door contact avoidance support device according to claim 1. The vehicle door contact avoidance assistance device according to any one of claims 1 to 7, wherein the notification means (18) performs notification by visual sense, auditory sense, or force sense. The vehicle door contact avoidance assisting device according to any one of claims 2 to 7, wherein the notification means (18) is a stopper that does not make the opening angle of the door more than the openable angle. The sensor (11) includes a plurality of elements (31a-d) arranged in an array,
A transmission means for inputting a transmission signal to each of the elements (31a to 31d) arranged in the array and transmitting a transmission wave having a predetermined directivity toward the periphery of the vehicle;
Receiving means for receiving reflected waves reflected by obstacles existing around the vehicle at each of the elements (31a to 31d) arranged in the array and determining the presence or absence of the reflected waves ,
The sensor (11), when it is determined that the reception unit has received a reflected wave of the transmission wave transmitted by the transmission unit, the time when the reflection unit is received and the time when the transmission unit transmits the transmission wave The distance to the obstacle is calculated based on the difference between the two, and the direction of the obstacle is calculated based on the phase difference or time difference between the reflected waves received by the elements (31a to 31d). The vehicle door contact avoidance assistance device according to any one of claims 1 to 9 .

Images