JP4706740B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support apparatus.

  In the vehicle, it is preferable for safety to notify the driver of the presence of dangerous objects in the vicinity. As a kind of such notification, when there is a dangerous object such as another vehicle or a pedestrian, that is, a target object to be alarmed, the output (sound generation) from the speaker is used in the direction where the alarm target object exists. It has been proposed that a sound image is localized (a sound field is formed so that sound can be heard from a direction in which an alarm target exists).

As technologies related to sound image localization, there are Patent Documents 1 to 3. Patent Document 1 discloses a technology for localizing a sound image in a desired direction by using outputs of a plurality of speakers. Patent Document 2 discloses a technique for outputting a sound image from a speaker located at a position close to an alarm target and performing sound image localization. The techniques of Patent Document 1 and Patent Document 2 use an audio speaker mounted on a vehicle. However, in Patent Document 3, a sound image is localized using an auxiliary speaker in addition to an audio speaker. It is disclosed.
JP-A-5-126948 JP 2001-1851 A JP 2007-31208 A

  By the way, although a plurality of audio speakers are mounted on the vehicle, they are not arranged based on the driver's head. For this reason, even if sound image localization is performed in a desired direction, it is difficult to match the localized sound image position with the desired direction. In particular, audio speakers are arranged so that the generated sound waves are reflected once on the interior and window glass before reaching the driver due to restrictions on vehicle mounting. Depending on the route and at different frequencies, and with frequency attenuation and reverberation, the sound that is out of correlation for each speaker reaches the driver. That is, in sound image localization using an audio speaker, even if an auxiliary speaker is used separately, the sound image localization position is obscured inevitably, and it is practically difficult to clearly notify the direction of the alarm object. In particular, the human sense of localization is an extremely sensitive sensation that is influenced not only by time and level but also by the effects of reverberation, visual perception and memory, and is output from each speaker of multiple audio speakers. No matter how much signal data is processed (corrected), the result of the signal processing cannot be clearly recognized by humans, and as a result, the localized sound image localization position is only felt ambiguous.

  The present invention has been made in view of the circumstances as described above, and an object of the present invention is to provide a vehicle driving support device that allows a driver to clearly recognize a sound image localization direction that is a direction to be notified. It is to provide.

In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in claim 1 in the claims,
A pair of left and right speakers arranged in a left-right symmetrical position of the driver's head and a pair of front and rear speakers arranged in a front-rear symmetrical position in plan view, with the head in the driver's front view as a reference,
Direction detection means for detecting the direction of the alarm object around the host vehicle;
Speaker control means for controlling outputs from the plurality of speakers so that a sound image is localized in the direction of the alarm object detected by the direction detection means;
Head direction detecting means for detecting the orientation of the driver's head;
Rotating means for rotating the plurality of speakers around the vertical axis around the driver's head while maintaining the mutual positional relationship of the plurality of speakers;
The speaker control means controls the rotating means so that the front speaker among the plurality of speakers is positioned on the front side of the driver's head detected by the head direction detecting means. Change the rotation position of the speaker
It is like that.
According to the above-described solution technique, since a plurality of speakers are arranged so as to be symmetrical in the left-right direction and the front-rear symmetry in the plan view with reference to the head of the driver looking forward, without performing complicated signal processing, The sound image can be localized so that the driver can accurately recognize the sound image in the direction to be notified.
In addition, when the driver's head orientation is changed, the position of the driver's ear is also changed, but a plurality of speakers are changed in accordance with the change of the driver's ear position. The sound image can be localized with high accuracy in a desired direction without performing any signal processing.

A preferred mode based on the above solution is as described in claim 2 and the following claims. That is,
It further comprises gaze direction detection means for detecting the gaze direction of the driver,
The speaker control means controls the output from the plurality of speakers when the driver's line-of-sight direction detected by the line-of-sight detection means is different from the direction of the alarm object detected by the direction detection means. Then, after the sound image is localized in the direction of the driver's line of sight, the sound image localization position is moved so that the sound image is gradually localized in the direction of the alarm object.
(Claim 2). In this case, the localization position of the sound image is gradually moved from the driver's line-of-sight direction to the alarm object direction, so that the driver's line-of-sight direction can be reliably guided to the alarm object direction. In particular, since the sound image localization is not suddenly different from the direction of the line of sight, the driver can naturally guide the line of sight toward the direction of the alarm object without feeling abrupt.

It further comprises gaze direction detection means for detecting the gaze direction of the driver,
When the driver's line-of-sight direction detected by the line-of-sight detection unit is different from the direction of the alarm target detected by the direction detection unit, a sound image is generated in the direction of the alarm target. While controlling the output from the plurality of speakers to be localized, the output from the speakers is stopped when the driver's line-of-sight direction and the orientation of the alarm object coincide.
(Corresponding to claim 3). In this case, when the driver's line-of-sight direction coincides with the alarm object direction, the driver has already recognized the alarm object, which is preferable in avoiding useless sound image localization. Become.

Each of the plurality of speakers is a non-directional flat speaker mounted on a vehicle roof (corresponding to claim 4 ). In this case, it is preferable to arrange a plurality of speakers near the driver's head and perform sound image localization with high accuracy. In addition, since the plurality of speakers are flat speakers, it is preferable for securing a driver's overhead space.

  According to the present invention, sound image localization can be performed accurately in the direction of the alarm object so that the driver can clearly recognize it.

In FIG. 1 showing an automobile 1 as a vehicle, 2 is a driver's seat, 3 is a passenger seat, 4 is a rear seat, 5 is a handle, and 6 is a front window glass. The head of the driver who sits in the driver's seat 2 is indicated by the symbol D, and a total of four speakers 7 are arranged near the upper portion of the head D. The four speakers 7 include a pair of left and right speakers 7L and 7R arranged symmetrically with respect to the head D and a pair of front and rear speaker speakers 7f and 7r arranged symmetrically with respect to the head D in plan view. It is composed of That is, the four speakers 7L, 7R, 7f, and 7r are dispersedly arranged at the apex positions of the rhombus shape with the head D in the state of facing forward. In the following description, when it is not necessary to distinguish the speakers 7L, 7R, 7f, and 7r, they are simply indicated by the sign “7”.

  Each speaker 7 is a flat speaker (planar speaker), and is disposed on the inner surface side of the roof 8 along the roof 8 as shown in FIG. In FIGS. 1 and 3 and subsequent drawings, the speaker 7 may be drawn in a dome shape. However, this is to clearly indicate the presence of the speaker, and is actually plate-shaped. . In FIG. 2, only the front and rear speakers 7f and 7r are shown, but the left and right speakers 7L and 7R are also arranged along the roof 8.

  When each speaker 7 is attached to the roof 8, for example, at least the sound generation surface of each speaker 7 is positioned below the roof trim material (not shown), and the sound from each speaker 7 is directly heard. Each speaker 7 may be disposed between the roof 8 and the roof trim material so that the sound from each speaker 7 passes through the trim material. (In this case, it is preferable to form a fine sound passage hole at a position corresponding to each speaker 7 in the roof trim material). Note that each speaker 7 may be fixed to the roof 8 (the inner surface thereof) or may be fixed to the roof trim material.

  A camera 10 and a sensor 11 are provided in the vicinity of the front window glass 6 in the passenger compartment. The camera 10 serves as an imaging unit, and performs imaging over a wide left and right range in front of the automobile 1. Although not shown in FIG. 1, a plurality of other cameras corresponding to the camera 10 are provided so that the entire periphery of the automobile 1 can be photographed. The sensor 11 is a line-of-sight sensor that detects the driver's line-of-sight direction, and detects the line-of-sight direction, for example, by detecting the position of the driver's pupil. For example, the sensor 11 is mounted on the rearview mirror so as to face the driver, but may be configured using a camera.

  FIG. 3 shows a controller (control unit) U configured using a computer installed in the automobile 1. The controller U controls each speaker 7 and receives outputs from the camera 10 and the sensor 11 described above.

  The controller U includes the following processing units 31 to 37 (having a processing function). However, since the processing units 36 and 37, the sensor 11 corresponding to the processing unit 36, and the actuator 38 corresponding to the processing unit 37 correspond to another embodiment described later, the processing units 31 to 35 will be described. .

  First, the processing unit 31 extracts a vehicle, a two-wheeled vehicle, and a pedestrian as dangerous objects from the image data captured by the camera 10. The processing unit 31 may extract a dangerous object by checking the degree of coincidence with image data of a vehicle, a two-wheeled vehicle, or a pedestrian stored in advance, and particularly when extracting a vehicle or a two-wheeled vehicle, road-to-vehicle communication is performed. It is also possible to extract a dangerous object using the position and speed of the other vehicle (two-wheeled vehicle) obtained by the above.

  The processing unit 32 calculates (determines) the degree of risk for the automobile 1 (hourly predetermined space) for the dangerous object extracted by the processing unit 31. The risk level is calculated as follows, for example. First, the distance to the dangerous object and the relative speed are detected (the distance and the relative speed may be detected based on the change in the image taken by the camera 10; May be used separately). Then, the time until the collision with the dangerous object is calculated from the distance and the relative speed. The shorter the time until the collision, the higher the risk.

In the processing unit 33 , the direction of the dangerous object that has been determined to be the highest risk by the processing unit 32 is calculated. The processing units 34 and 35 control the plurality of speakers 7 to localize the sound image in the direction of the dangerous object calculated by the processing unit 33 .

The control of sound image localization in the processing units 34 and 35 will be described with reference to FIG. First, in FIG. 4, the front direction of the automobile 1 is shown as “1”, for example, and the direction that is diagonally forward right and close to the right side is shown as “2”. When a dangerous object (two-wheeled vehicle in FIG. 4), that is, an alarm target exists in the azimuth “1”, it is output from only the front speaker 7f so that the sound image is localized in the azimuth “1” in front. Further, when an alarm target is present in the direction “2”, the alarm is output from the front speaker 7f and the right speaker 7R. However, since the direction “2” is closer to the right side, it is output from the right speaker 7R. The output is made larger than the output from the front speaker 7f. Of course, when the alarm object is closer to the front side (frontward than 45 degrees to the right), the output of the front speaker 7f is made larger than the output of the right speaker 7R, and when it is exactly in the middle (at 45 degrees to the right), the front The output of the speaker 7f and the output of the right speaker 7R are the same. Note that speakers other than those described as being output are stopped (the same applies hereinafter).

  FIG. 4 is merely an example, and is output only from the rear speaker 7r when there is an alarm object immediately behind the automobile 1, and when there is an alarm object at the right rear, the rear speaker 7r and the right speaker 7R However, the higher the degree of positioning on the right side, the larger the output from the right speaker 7R than the output from the rear speaker 7r (or vice versa when the degree of positioning on the rear side is high). Similarly, when the alarm object is located on the left side, it is output only from the left speaker 7L, and when there is an alarm object behind the left, it is output from the left speaker 7L and the rear speaker 7r (the output ratio is the alarm object). It changes depending on whether the object is closer to the rear or the left side). When an alarm object is present in the left front, the alarm is output from the left speaker 7L and the front speaker 7f (the output ratio is changed depending on whether the alarm object is closer to the rear side or closer to the front side).

  Since the four speakers are disposed in the left-right symmetrical position and the front-rear symmetrical position with respect to the driver's head D in plan view, an alarm object exists only by adjusting the output from each speaker 7. Sound image localization can be accurately performed in a desired direction, and the driver can clearly recognize the direction of the localized sound image.

  FIG. 5 is a flowchart showing an example of control by the controller U described above, and this flowchart will be described below. In the following description, Q indicates a step. First, in Q1, an image (image data) captured by the camera 10 is read. Next, in Q2, a dangerous object is extracted from the image data. Thereafter, in Q3, it is determined whether or not a dangerous object exists. If the determination in Q3 is NO, the process returns to Q1.

If YES in Q3, the danger level of the dangerous object is referred to in Q4. Next, in Q5, the direction of the dangerous object having the highest degree of danger is calculated. Thereafter, in Q6, the output of each speaker 7 required for sound image localization in the direction calculated in Q5 is determined. Thereafter, in Q7, the output of the speaker 7 is executed as determined in Q6, and the sound image is localized.

  6 to 8 show a second embodiment of the present invention. In the present embodiment, in FIG. 3, the sensor 11 is used and the processing unit 36 is used. In this embodiment, when the driver's line-of-sight direction matches the direction in which the dangerous object (alarm target object) is present, it is assumed that the driver is sufficiently aware of the dangerous object, and the sound image localization is used. The warning is not performed. On the other hand, if the driver's line-of-sight direction does not match the direction in which the dangerous object (alarm target object) exists, it is likely that the driver has overlooked the dangerous object. To do. In this case, sound image localization may be performed immediately in the direction in which the dangerous object exists, but in the present embodiment, first, after sound image localization in the direction of the driver's line of sight, the sound image localization position is gradually moved in the direction in which the dangerous object exists. Finally, the sound image localization position is fixed in the direction in which the dangerous object exists.

  In FIG. 6, in the state where the driver's line-of-sight direction detected by the sensor 11 is the forward direction “1”, the direction in which the dangerous object (alarm target object) is present is “2” diagonally forward to the right. Has been. In this case, the sound image is first localized in the azimuth “1” (output only from the front speaker 7f as shown in FIG. 7). Thereafter, after a lapse of a short time (for example, 0.05 seconds to 0.2 seconds), the sound image is localized in the azimuth “1 ′” slightly closer to the azimuth “2” than the azimuth “1” (see FIG. 7). As shown, the output of the front speaker 7f is increased and the output of the right speaker 7R is decreased).

  Thereafter, after a lapse of a short time (for example, 0.5 seconds to 1 second), the sound image is localized in the azimuth “1” that is closer to the azimuth “2” than the azimuth “1 ′” (as shown in FIG. 7). And the output of the front speaker 7f and the output of the right speaker 7R are made equal. Then, after a lapse of a short time (for example, 0.05 seconds to 0.2 seconds), the sound image is localized in the azimuth “2” that is the final target azimuth (as shown in FIG. 7, the front speaker 7 f The output is reduced and the output of the right speaker 7R is increased). The output in the azimuth “2” is continued until the driver's line-of-sight direction becomes the azimuth “2”. After that, the output from each speaker 7 for sound image localization is stopped.

  A control example for sequentially moving the above-mentioned sound image localization position is shown in the flowchart of FIG. 8, and this FIG. 8 will be described below. First, in Q21, signals from the camera 10 and the sensor 11 are read. Thereafter, the processing of Q22 to Q25 is performed. Since this processing corresponds to the processing of Q2 to Q5 in FIG. 5, the redundant description thereof is omitted.

  After Q25, the driver's line-of-sight direction is calculated at Q26. Thereafter, in Q27, it is determined whether or not the driver's line-of-sight direction matches (substantially matches) the direction in which the dangerous object with the highest degree of danger exists calculated in Q25. If the determination in Q27 is YES, it is determined that the driver is looking at the dangerous object with the highest degree of danger, and the process returns to Q21 (no alarm by sound image localization).

  If NO in Q27, the sound image is first localized in the direction of the driver's line of sight in Q28, and then the sound image localization position is gradually moved toward the final orientation calculated in Q25. The output state from the speaker 7 is determined. In Q29, the output from each speaker 7 is executed with the output state determined in Q28. After Q29, the process returns to Q27.

  9 to 13 show a third embodiment of the present invention. In the present embodiment, the processing unit 37 and the actuator 38 of FIG. 3 are used. In this embodiment, as shown in FIGS. 9 and 10, the four speakers 7 are fixed to the lower surface of the thin plate-like holding member 31. The holding member 31 can be driven to rotate about the vertical axis by an actuator 32 such as a motor fixed to the roof 8. In FIG. 9, the holding member 31 may be disposed below the roof trim material indicated by the alternate long and short dash line α1, or the holding member 31 may be disposed above the roof trim material indicated by the two-dot chain line α2. However, in either case, the actuator 32 is disposed above the roof trim material α1 or α2. The actuator 32 is fixed to the roof 8. However, if the strength of the roof trim materials α1 and α2 can be ensured, the actuator 32 can be fixed to the roof trim materials α1 and α2.

  In the present embodiment, the rotation position of the holding member 31 is changed in accordance with the change in the orientation of the head D of the driver, and the front speaker 7f is always positioned in the front direction of the head D (the direction in which the face faces). (The left speaker 7L is positioned to the left of the left ear and the right speaker 7R is positioned to the right of the right ear). As a sensor for detecting the orientation of the head D, the gaze direction detection sensor 11 can be used (particularly when the sensor 11 is configured by a camera), but a sensor for detecting the orientation of the head D is used. It may be provided separately. In the present embodiment, the line-of-sight direction detected by the sensor 11 is determined to be the direction in which the head D is facing.

  FIG. 11 shows the case where the driver's head D is oriented straight forward (the line-of-sight direction is also oriented straight forward). At this time, the front speaker 7f is also directed straight forward. Is done. FIG. 11 shows a case where a dangerous object is present in the direction “2”. In this case, in order to localize the sound image in the direction “2”, the output from the front speaker 7f is reduced and the right speaker 7R is output. Is output in a state where the output of is increased.

  FIG. 12 shows the time when the head D is facing right front (the same as the line-of-sight direction), and accordingly, the holding member is set so that the position of the front speaker 7f coincides with the direction of the head D. 31 is rotated by the actuator 32. Output from the front speaker 7f and the right speaker 7R in order to localize the sound image in the direction “2” where the dangerous object is present. Since the holding member 31 is rotated, the rotation angle is taken into consideration. The outputs of the speaker 7f and the right speaker 7R are the same.

  In the present embodiment, the positional relationship of the speakers 7 is set to the same position with respect to the head D regardless of the change in the orientation of the head D. Therefore, the sound image localization is performed accurately, and the orientation in which the sound image is localized is determined. Can be clearly recognized by the driver.

  FIG. 13 is a flowchart for performing the above-described control by the controller U, and FIG. 13 will be described below. Since Q31 to Q37 in FIG. 13 are the same as Q21 to Q27 in FIG.

  When the determination in Q37 of FIG. 13 is NO, in Q38, the holding member 31 is rotated so that the front speaker 7f is positioned in the driver's line-of-sight direction (the direction of the head D). Thereafter, in Q39, the output state from each speaker 7 is set so that the sound image is localized in the target direction calculated in Q35. In addition, the output state of each speaker 7 with respect to the target azimuth is changed by the rotation of the holding member 31 (FIGS. 11 and 12 have the same target azimuth, but the output states of the speakers 7f and 7R are different. is doing). Thereafter, in Q40, the output from each speaker 7 is executed so as to be in the output state set in Q39.

  Although the embodiments have been described above, the present invention is not limited to the embodiments, and appropriate modifications can be made within the scope of the claims. Of course, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.

The simplified top view which shows an example of the vehicle to which this invention was applied. The simplified side view which shows the speaker arrange | positioned on a driver | operator's head. The block diagram which shows the example of a control system of this invention. The figure which shows the speaker output state for the sound image localization in the 1st Embodiment of this invention. The flowchart which shows the example of control in the 1st Embodiment of this invention. The simplified top view which shows the 2nd Embodiment of this invention and shows the sight line direction of a driver | operator, and the azimuth | direction example of sound image localization. The figure which shows the output state from each speaker in the case of sound image localization to the azimuth | direction "2" of FIG. The flowchart which shows the example of control in 2nd Embodiment. The principal part side view which shows the 3rd Embodiment of this invention and shows the example of a mechanism for rotating entirely, hold | maintaining the mutual position of each speaker. The figure which looked at FIG. 9 from the downward direction. The figure which shows the output state from each speaker for 3rd Embodiment for sound image localization. The figure which shows the output state from each speaker for sound image localization in case the direction of a driver | operator's head differs from FIG. The flowchart which shows the example of control in 3rd Embodiment.

1: Car 2: Driver's seat 7L: Left speaker 7R: Right speaker 7f: Front speaker 7r: Rear speaker 10: Camera (dangerous object detection)
11: Sensor (Gaze direction detection)
31: Holding member 32: Actuator U: Controller

Claims (4)

A pair of left and right speakers arranged in a left-right symmetrical position of the driver's head and a pair of front and rear speakers arranged in a front-rear symmetrical position in plan view, with the head in the driver's front view as a reference,
Direction detection means for detecting the direction of the alarm object around the host vehicle;
Speaker control means for controlling outputs from the plurality of speakers so that a sound image is localized in the direction of the alarm object detected by the direction detection means;
Head direction detecting means for detecting the orientation of the driver's head;
Rotating means for rotating the plurality of speakers around the vertical axis around the driver's head while maintaining the mutual positional relationship of the plurality of speakers;
The speaker control means controls the rotating means so that the front speaker among the plurality of speakers is positioned on the front side of the driver's head detected by the head direction detecting means. Change the rotation position of the speaker
A vehicle driving support apparatus characterized by the above. In claim 1,
It further comprises gaze direction detection means for detecting the gaze direction of the driver,
The speaker control means controls the output from the plurality of speakers when the driver's line-of-sight direction detected by the line-of-sight detection means is different from the direction of the alarm object detected by the direction detection means. Then, after the sound image is localized in the direction of the driver's line of sight, the sound image localization position is moved so that the sound image is gradually localized in the direction of the alarm object.
A vehicle driving support apparatus characterized by the above. In claim 1,
It further comprises gaze direction detection means for detecting the gaze direction of the driver,
When the driver's line-of-sight direction detected by the line-of-sight detection unit is different from the direction of the alarm target detected by the direction detection unit, a sound image is generated in the direction of the alarm target. While controlling the output from the plurality of speakers to be localized, the output from the speakers is stopped when the driver's line-of-sight direction and the orientation of the alarm object coincide.
A vehicle driving support apparatus characterized by the above. In any one of Claims 1 thru | or 3 ,
Each of the plurality of speakers is a non-directional flat speaker mounted on a vehicle roof.
A vehicle driving support apparatus characterized by the above.

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