JP4826441B2 - Vehicle warning system - Google Patents

Description

  The present invention relates to a vehicular warning system that warns of deviation from a traveling lane, and more particularly to a vehicular warning system that warns of deviation from a traveling lane by vibration of a seat on which a driver is seated.

  There is known a lane departure warning device that informs the driver by an alarm sound or the like when there is a possibility that the host vehicle may deviate from the traveling lane by photographing the white line that divides the traveling lane with a camera and monitoring the white line (for example, , See Patent Document 1). The lane departure warning device described in Patent Document 1 emits an audible alarm when a departure from a driving lane is detected and when a mark indicating a decrease in the number of lanes is detected between the left and right white lines.

  In addition, when a vibrating body is arranged on the left and right sides of the driver's seat and an obstacle is detected, the vehicle seat notifies the driver of the presence and direction of the obstacle by vibrating the vibrating body in the direction of the obstacle. An apparatus has been proposed (see, for example, Patent Document 2).

Therefore, if the vehicle seat device described in Patent Document 2 is applied to a lane departure warning device, the driver can be informed of the direction of lane departure by the vibration of the vibrating body.
JP-A-6-251298 JP 2000-225877 A

  However, when the vehicle seat device described in Patent Document 2 is applied to a lane departure warning device, the driver cannot be notified of the timing of overcoming the white line even though the driver can be notified of the direction of lane departure. That is, there is a problem in that it is difficult for the driver to grasp the degree of danger because it is impossible to notify the timing of when the white line has been overcome even when an alarm sound is generated. Also, even if you get over the white line, if you get over slowly and get over at a faster speed, the margin for danger that may occur after lane departure is different, but with conventional lane departure warning devices, you can It was difficult to know the degree of danger because it was impossible to know whether it was overcome.

  In view of the above problems, an object of the present invention is to provide a vehicular warning system capable of notifying a driver of timing deviating from a driving lane.

In view of the above problems, the present invention is, by recognizing the lane marking line recognition means the front of the vehicle lane marker, the vehicle warning system for warning by the vibration of the sheet a lane departure of the host vehicle driver seated, the seat of the vibrator arranged on the left and right parts, the lane marking line recognition means by recognized lane marker determination means for determining whether the vibrating body position or the right of the vibrator position of the left of the vehicle rides over When the determination means determines that the left vibrating body position has crossed the lane line , the left vibrating body is requested to vibrate, and the determination means determines that the right vibrating body position has crossed the lane line. And vibration requesting means for requesting the right vibrating body to vibrate.

  According to the present invention, the driver recognizes the timing of getting over the white line by vibrating either the left or right vibrating body corresponding to the seat at the timing when either one of the left and right specific parts of the own vehicle gets over the white line. Can do.

In one embodiment of the present invention, when the determination means determines that the left tire of the vehicle has crossed the left lane line, the vibration requesting means requests the left vibrating body to vibrate, and When it is determined that the center has crossed the left lane line, the right vibration body is requested to vibrate, and when the determination means determines that the right tire of the vehicle has crossed the right lane line, the vibration request is issued. The means makes a vibration request to the right vibrating body, and makes a vibration request to the left vibrating body when it is determined that the approximate center of the vehicle has crossed the right lane marking .

  It is possible to provide a vehicular warning system capable of notifying the driver of timing deviating from the traveling lane.

The best mode for carrying out the present invention will be described below with reference to the drawings.
FIG. 1 shows a perspective view of the seat 1 of the driver's seat. The seat 1 has vibrating bodies L and R at portions where the left and right thighs of the driver of the seat cushion 1b come into contact with each other. The vehicle warning system recognizes a white line by a white line recognition device that recognizes a white line that divides a driving lane. When the host vehicle crosses the white line on the left side, the left vibrating body L is vibrated at the timing of overcoming the vehicle. When getting over the white line, the vibrating body R on the right side is vibrated at the timing of getting over the white line. The driver can grasp not only the direction depending on which left and right vibrating bodies vibrate, but also the timing of overcoming the white line. In addition, when the host vehicle crosses the left and right white lines in order, the respective vibrating bodies L and R are vibrated at the timing of overcoming, so it is intuitive how quickly the own vehicle has crossed the white line in the horizontal direction from that time interval. Can be grasped.

  FIG. 2 shows an example of a block diagram of the vehicle warning system 10. The lane warning system 10 includes a driving support ECU (Electronic Control Unit) 14 that controls the vehicle based on detected white lines and obstacles, a meter ECU 16 that controls lighting of warning lamps and sounding of alarm sounds, and a vibration body of the seat 1. A drive circuit 15 that vibrates L and R is connected by an in-vehicle LAN such as a CAN (Controller Area Network).

  The driving support ECU 14 is connected to the camera ECU 12 that recognizes white lines and pedestrians from the image data captured by the camera 11 and the millimeter wave radar device 13 that detects obstacles. The driving support ECU 14 is driven based on the recognition result of the white lines. The circuit 15 is requested to vibrate the vibrating bodies L and R.

  The recognition of white lines will be described. The camera 11 is mounted on, for example, a roof head lining or an indoor room mirror, and images a region that extends horizontally in a predetermined angle range toward the front of the vehicle. The camera 11 outputs image data of a predetermined luminance gradation (for example, 256 gradations) every predetermined cycle time by a photoelectric conversion element such as a complementary metal oxide semiconductor (CMOS) or a charge coupled device (CCD).

  FIG. 3 is a diagram for explaining the relationship between the host vehicle A and the travel lane. The own vehicle A is traveling in the right lane of two lanes on one side, and the other vehicle B is traveling slightly behind the own vehicle A in the left lane.

  The camera ECU 12 performs image processing on image data sequentially captured by the camera 11 and detects left and right white lines 21 and 22 that divide the traveling lane drawn on the road being projected. For example, the camera ECU 12 searches for an area having a luminance equal to or higher than a predetermined threshold from the bottom of the frame upward based on the luminance of the image data. Since the white line has edges that are high-frequency components at both ends, if the luminance value of the frame is differentiated in the horizontal direction, peaks are obtained at both ends of the white line, so that the white line portion can be estimated. For the estimated white line portion, a white line is extracted based on a threshold value determined from the brightness and contrast with the road surface, a white line width threshold value, and the like, and a matching method is applied from features such as a linear shape to apply the white lines 21 and 22. Recognize

  Based on the recognized white line, the camera ECU 12 determines the road curvature R of the travel lane, the yaw angle θ of the host vehicle A, the travel width W, and the offset D from the target travel line (center line) CL (the host vehicle with respect to the travel lane). White line information including information such as “A” shifted to the right side is plus and “A” is shifted to the left side is sent to the driving support ECU 14.

  The driving support ECU 14 requests the meter ECU to sound an alarm sound or display a warning when a deviation from the hatched line is predicted after one second based on the yaw angle θ, the offset amount D, and the vehicle speed of the host vehicle A, for example. Further, when the electric power steering device is provided, the steering operation of the driver is assisted so as to assist the additional steering force according to the offset amount D from the target travel line CL and travel in the vicinity of the target travel line CL. .

  The millimeter wave radar device 13 is disposed in a front grille in front of the vehicle or in a bumper at the rear of the vehicle, and includes a front including the diagonal front of the host vehicle A (hereinafter simply referred to as the front) and a rear including the diagonal rear of the host vehicle A. A nearby vehicle (hereinafter simply referred to as “rear”) is detected. The millimeter wave radar device 13 receives a millimeter wave returned from a millimeter wave (30 GHz to 300 GHz) by transmitting a radar having a predetermined wavelength and reflecting it to surrounding vehicles. When there is a surrounding vehicle within the range of the millimeter wave radar, the reflected wave returns from the surrounding vehicle. Therefore, the millimeter wave radar device 13 reflects the distance according to the time from when the reflected wave is received until the reflected wave is received. The relative velocity is detected according to the change in the frequency of the wave.

  The drive circuit 15 vibrates one or both of the vibrating body R and the vibrating body L at a predetermined frequency in response to a request from the driving support ECU 14. As the vibrating body R or the vibrating body L, vibration means having a known structure can be used. For example, the vibrating body R or the vibrating body L is a vibrating body that vibrates when an eccentric cam that is rotationally driven by a motor strikes a rod-shaped metal disposed in the front-rear direction of the host vehicle A, or the rotation of the motor. It is a vibrating body that vibrates due to a centrifugal force that acts when an eccentric weight connected to a shaft rotates. The vibration intensity and cycle of the vibrating bodies L and R can be controlled by the frequency and voltage supplied by the drive circuit 15.

  As shown in FIG. 1, the vibration of the vibrating body L disposed in the left part of the seat cushion 1b is transmitted to the left thigh of the driver, and the vibration body R disposed in the right part of the seat cushion 1b. The vibration is transmitted to the driver's right thigh. As indicated by the dotted lines in FIG. 1, the vibrating bodies L and R may be disposed on the seat back 1a so as to come into contact with the left and right sides of the back (waist) of the driver.

  The camera ECU 12 and the driving support ECU 14 include a CPU that executes a program, a ROM that stores the program, a RAM that temporarily stores data and programs, an EEPROM (Electronically Erasable and Programmable Read Only Memory) that is a nonvolatile memory, and data. An input / output interface that inputs and outputs and a communication unit that communicates with another ECU are configured as a microcomputer connected via a bus. When the CPU executes the program, the determination unit 14a and the vibration request unit 14b are realized.

  The determination unit 14a determines whether or not a predetermined part of the host vehicle A has crossed the white line, and the vibration request unit 14a sends a vibration request to the drive circuit 15 when the predetermined part of the host vehicle A has crossed the white line. . The left and right predetermined portions of the host vehicle A are, for example, left and right tires, left and right end portions of the vehicle body (for example, left and right door mirrors, left and right bumper end portions), and vibrating bodies L and R.

  The own vehicle A stores specifications such as a vehicle length, a vehicle width length B, and a tread length T. FIG. 4 is a diagram for explaining a predetermined portion in the host vehicle A. Since the seat position of the driver's seat in the vehicle width direction is fixed, the positions of the vibrating bodies L and R disposed on the seat 1 are also fixed, and the own vehicle A has a distance Sr from the center of the own vehicle to the vibrating body R and The distance Sl from the center of the host vehicle A to the vibrating body L is stored together with the vehicle width B and the like. Therefore, the determination unit 14a calculates the absolute value of the offset amount D (hereinafter simply referred to as the offset amount D) in consideration of the tread length T, the distance Sl, or the distance Sr, thereby causing the predetermined portion of the host vehicle A to have a white line. It is possible to determine whether or not it is time to get over.

  For example, the fact that the left tire has overcome the left white line is detected when the value obtained by adding half of the tread length T to the offset amount D is equal to or greater than W / 2 (D + T / 2 ≧ W / 2). . The fact that the right tire has crossed the white line on the left side is detected when the value obtained by subtracting half of the tread length T from the offset amount D is equal to or greater than W / 2 (DT−2 ≧ W / 2). Similarly, the fact that the right tire has overcome the right white line is detected when the value obtained by adding half of the tread length T to the offset amount D is equal to or greater than W / 2 (D + T / 2 ≧ W / 2). ). Further, the fact that the left tire has crossed the white line on the right side is detected when the value obtained by subtracting half of the tread length T from the offset amount D becomes W / 2 or more (DT−2 ≧ W / 2).

  Further, for example, the fact that the vibrating body L has crossed the white line on the left side is detected when the value obtained by subtracting the distance S1 from the offset amount D becomes W / 2 or more (D−Sl ≧ W / 2). The fact that the vibrating body R has overcome the left white line is detected when the value obtained by subtracting the distance Sr from the offset amount D is equal to or greater than W / 2 (D−Sr ≧ W / 2). The fact that the vibrating body R has overcome the white line on the right side is detected when the value obtained by adding the distance Sr to the offset amount D is equal to or greater than W / 2 (D + Sr ≧ W / 2). The fact that the vibrating body L has crossed the white line on the right side is detected when the value obtained by adding the distance Sl to the offset amount D is equal to or greater than W / 2 (D + Sl ≧ W / 2).

  In this way, the determination unit 14a determines whether or not predetermined left and right predetermined parts have overcome the white line. When it is determined that the vehicle has been overcome, the vibration requesting unit 14b performs vibration of the vibrating body L when the left predetermined portion is over the white line, and vibration of the vibrating body R when the right predetermined portion is over the white line. The drive circuit 15 is requested.

  The left and right predetermined parts do not need to be fixed. For example, when over the left white line, the left tire is left on the left predetermined part. Can select a predetermined part where the deviation of the driving lane can be easily sensed, such as a right predetermined part of the right tire and a predetermined part on the left side of the approximate center of the host vehicle A.

  FIG. 5 shows a flowchart of a control procedure in which the vehicle warning system 10 vibrates the vibrating bodies L and R corresponding to a case where a predetermined part of the host vehicle A gets over the white line. The flowchart in FIG. 5 starts with, for example, ignition on. Here, the left and right predetermined portions are the vibrating bodies L and R.

  The vibration request means 14a first determines whether or not the white line is normally recognized (S1). When the vehicle speed is less than a predetermined value, when driving on a road without a white line, when driving on a road with a lot of puddles, etc., the camera ECU 12 does not normally recognize the white line. Repeat the determination.

  When the white line is recognized (Yes in S1), the determination unit 14a determines whether the white line is at the position of the vibrating body R (S2). The determination unit 14a determines whether the white line is at the position of the vibrating body R from the offset amount D and the specification of the host vehicle A in the white line information.

  When the white line is at the position of the vibrating body R (Yes in S2), the vibration requesting unit 14a requests the driving circuit 15 to vibrate the vibrating body R (S3). By the vibration of the vibrating body R, the driver can grasp that the white line is currently at the position of the vibrating body R.

When the white line is not at the position of the vibrating body R (No in S2), the determination unit 14a determines whether the white line is at the position of the vibrating body L (S4). The determination unit 14a determines whether or not the white line is at the position of the vibrating body L from the offset amount D and the specification of the host vehicle A in the white line information.
When the white line is at the position of the vibrating body L (Yes in S4), the vibration requesting unit 14a requests the driving circuit 15 to vibrate the vibrating body L (S5). By the vibration of the vibrating body L, the driver can grasp that the white line is currently at the position of the vibrating body L. The vehicle warning system 10 repeats the above processing while traveling.

  After the vibrating body R vibrates (S3), the determination in Step S2 becomes No after the vibrating body R has already crossed the white line on the right side. Therefore, when the determination in Step S4 becomes Yes, the vibrating body L Vibrates (S5), and then the vibrating body L vibrates in order. On the contrary, after the vibrating body L vibrates (S5), the determination in Step S2 becomes Yes after the vibrating body L has already crossed the left white line, so that the determination in Step S2 becomes Yes. The vibrating body R vibrates (S3), and then the vibrating body R vibrates sequentially after the vibrating body L.

  Further, when the own vehicle A returns to the original travel lane after the vibrating body L or the vibrating body R has exceeded the white line and before the other vibrating body has exceeded the white line, the vibrating body L or the vibrating body R again. Will come to the position of the white line. In this case, the vibration body L or R vibrates once again, so that the driver can know that the vehicle has returned to the original travel lane.

  As described above, when the host vehicle A gets over the white line on the right side, it vibrates in the order of vibrating body R → vibrating body L, and when it gets over the white line on the left side, it vibrates in order of vibrating body L → vibrating body R. . Therefore, the vehicle warning system 10 of the present embodiment vibrates either of the left and right vibrating bodies L and R corresponding to the case where a predetermined part of the host vehicle A gets over the white line. The timing of overcoming can be grasped.

  The vehicle warning system 10 warns with a warning sound from the meter ECU 16 when there is a risk of lane departure, and warns the driver with vibrations of the vibrating bodies L and R when the driver inadvertently changes lanes. be able to. For example, when the driver changes lanes at his / her own will, the driver feels troublesome by detecting the signal of the winker operation or the signal of the torsion sensor of the steering and prohibiting the vibration of the vibrating body L and R. This can be prevented.

  In addition, when the driver gets over the white line, especially when the driver gets over the white line without noticing the corner, there is a risk of getting on the adjacent lane or the opposite lane at high speed. In such a case, the driver can recognize the degree of danger by intuitively knowing how fast the white line has been overcome, but in the vehicle warning system 10 of the present embodiment, the left and right vibrations can be recognized. From the time interval at which the bodies L and R vibrate, the driver can grasp the approximate vehicle speed in the lateral direction. For example, if the left and right vibrating bodies L and R vibrate at a too short time interval, the driver grasps that there is a possibility of immediately colliding with another vehicle B in an adjacent traveling lane, and the vehicle body is rebuilt properly. Therefore, it is possible to reduce the danger caused by the deviation of the driving lane. In addition, when the lane change is made at the driver's will, the driver can grasp the approximate vehicle speed in the lateral direction, and thus it is possible to facilitate safer operation such as operating the steering so as not to make a sudden lane change.

It is a perspective view of a seat of a driver's seat. It is an example of the block diagram of the warning system for vehicles. It is a figure for demonstrating the relationship between the own vehicle A and a driving | running lane. It is a figure for demonstrating the predetermined site | part of the own vehicle. It is a flowchart figure of the control procedure in which the warning system for vehicles vibrates the vibrating bodies L and R corresponding when the predetermined site | part of the own vehicle gets over a white line.

Explanation of symbols

1 seat 1a seat back 1b seat cushion 11 camera 12 camera ECU
13 Millimeter wave radar device 14 Driving support ECU
14a Determination means 14b Vibration request means 15 Drive circuit 16 Meter ECU
L, R vibrator

Claims (3)

By recognizing the lane marking line recognition means the front of the vehicle lane marker, the vehicle warning system for warning by the vibration of the sheet a lane departure of the host vehicle driver seated,
Vibrators disposed on left and right parts of the seat;
A determination unit configured to recognized lane markings whether the vibrating member position or the right of the vibrator position of the left of the vehicle rides over by the lane marking line recognition means,
When it is determined by the determination means that the left vibrating body position has crossed the lane marking , the left vibrating body is requested to vibrate,
A vibration requesting means for requesting the right vibrating body to vibrate when the determination means determines that the position of the right vibrating body has crossed a lane marking ;
A vehicle warning system characterized by comprising: When the determination means determines that the tire on the left side of the vehicle has crossed the left lane line, the vibration requesting unit makes a vibration request to the left vibrating body, and the approximate center of the vehicle crosses the left lane line. When it is determined that the vibration body on the right is requested to vibrate,
When the determination means determines that the right tire of the vehicle has crossed the right lane line, the vibration requesting means requests the right vibration body to vibrate, and the approximate center of the vehicle crosses the right lane line. When it is determined that the vibration body on the left is requested to vibrate ,
The vehicle warning system according to claim 1. The vibration requesting means, after making a vibration request to the left vibrating body, when the determination means determines that the right vibrating body position has crossed a lane marking , requests a vibration to the right vibrating body,
After making a vibration request to the right vibrating body, when the determination means determines that the left vibrating body position has crossed a lane marking , the left vibrating body is requested to vibrate.
The vehicle warning system according to claim 1.

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