JP5469138B2 - Perimeter monitoring device - Google Patents

Description

  The present invention relates to a periphery monitoring device that calculates a distance to a target and a relative speed by a radar device mounted on a vehicle and notifies a user of a warning when there is a possibility of a collision.

  2. Description of the Related Art Conventionally, a peripheral monitoring device that is mounted on a vehicle and calculates a distance to a target and a relative speed using a millimeter wave radar, a microwave radar, a laser radar, or the like monitors the distance from a preceding vehicle and performs vehicle speed / inter-vehicle control It is used in adaptive cruise control (hereinafter abbreviated as ACC), collision mitigation braking devices, and the like. When it is determined by the surrounding monitoring device that there is a possibility of collision, the warning information is notified to the user (driver) by display or voice.

  For example, in ACC, when notifying the user of various settings such as the own vehicle speed and the inter-vehicle maintaining distance with the preceding vehicle, or the presence or absence of the preceding vehicle following state, these pieces of information are usually displayed on the instrument panel. Further, in a collision reduction braking device or a device that warns of the approach of an obstacle in the blind spot of the host vehicle, it is necessary to notify the user of the approaching state, the presence or absence of the obstacle, etc. It was displayed on the instrument panel.

  As a prior example using the periphery monitoring device, in Patent Document 1, a road width determining factor such as a road width or an obstacle is detected using a millimeter wave radar or a camera, and the vehicle is determined based on the type of the road width determining factor. There has been proposed a driving assistance device that determines a road width that can actually be traveled and displays whether or not the vehicle can pass through a navigation device.

  Further, in Patent Document 2, information to be notified to the driver is limited depending on whether or not the passenger is detected, and when the passenger is detected, the information amount is more than the warning content to the driver for the passenger. There has been proposed a vehicle warning system that warns about the content of many warnings so that the driver does not feel bothered. Further, Patent Document 3 presents a periphery monitoring device that calculates the distance to the object of measurement of the vehicle and increases the pedestrian detection accuracy when the distance is equal to or less than a predetermined threshold value. ing.

JP 2005-326963 A JP 2008-143381 A JP 2009-116539 A

  In the prior examples presented in Patent Documents 1 to 3, an in-vehicle device such as a navigation device or an instrument panel is used to notify the driver of the detection result or warning information. However, when the warning information is displayed on the navigation device, the original navigation screen may not be displayed or may be reduced, which may be inconvenient for the user.

  For example, in a vehicle traveling on a highway, warning information immediately before a collision with a preceding vehicle is the most important information for the user. On the other hand, in a vehicle traveling on a general road, the warning information about the obstacle in the vehicle blind spot interrupted the navigation screen just before the complicated intersection, and the user missed how to proceed at the intersection. To do. In this case, if the user has already recognized an obstacle or is an obstacle that does not need to be urgently notified, the navigation information at the intersection is more important to the user than the warning information about the obstacle. It can be said that it was.

  In addition, in the case of a car not equipped with a navigation device, an instrument panel is used as a warning notification means. The instrument panel displays various information such as a speed meter, tachometer, trip meter, and fuel consumption. Therefore, there is a limit to securing the display area, and there has been a problem that visibility is deteriorated and detailed information cannot be displayed. Moreover, when displaying various settings of ACC, warning information, etc. on the instrument panel, it is necessary to set those display areas for the instrument panel, making it difficult to reduce the price and size of the vehicle. It was.

  In addition, when motion state information or position information is required to improve the detection accuracy of the radar device, a motion sensor such as a gyro sensor or an acceleration sensor that is a motion state detection unit, or a GPS that is a position information acquisition unit. (Global Positioning System) must be provided in the vehicle, making it difficult to reduce the price of the vehicle.

  Furthermore, there is a problem that the navigation device and the instrument panel are limited in installation location, and cannot be installed at a user's favorite position. When a PND (Personal Navigation Device), which is a relatively small liquid crystal monitor, is used, it can be installed at a user's favorite position, but the problem that notification of warning information hinders navigation still occurs. In addition, using a PND for notifying warning information in a vehicle having a stationary navigation device does not provide a fundamental solution to the problem because additional costs are incurred for the user.

  The present invention has been made to solve the above-described problems, and notifies the user of the detection result and warning information of the radar device with high visibility without using a navigation device or an instrument panel. It is another object of the present invention to provide a periphery monitoring device that can reduce the cost and size of a vehicle.

  It is another object of the present invention to provide a periphery monitoring device that can reduce the price of a vehicle without providing a dedicated vehicle-mounted device for improving the detection accuracy of the radar device.

Surroundings monitoring apparatus according to the present invention is mounted on vehicles, preceding vehicle of the vehicle, the radar device and the radar system for detecting a target at least one of the peripheral obstacles and pedestrians, the user of the vehicle during operation Is a peripheral monitoring device equipped with a portable information communication terminal that can be taken out of the vehicle except during driving, wherein the radar device detects a target and calculates a distance to the target and a relative speed. And determining the possibility of a collision based on the detection result by the detection means, and generating a warning information when it is determined that there is a possibility of a collision, and for communicating with a portable information communication terminal The portable information communication terminal includes at least one of an exercise state detection unit that detects exercise state information of the terminal and a position information acquisition unit that acquires position information of the terminal. each An input means for inputting information, a display means for displaying various information, an audio output means for outputting various information by voice, an Internet connection means, and a second communication means for communicating with the radar apparatus The radar apparatus and the portable information communication terminal are communicably connected to each other via the first communication means and the second communication means, and at least one of the exercise state information and the position information obtained by the portable information communication terminal. Are input to the radar device and used as a target detection algorithm.

According to the surroundings monitoring apparatus according to the present onset bright, connect the portable information communication terminal with the radar apparatus to be able to communicate, to the radar device at least one of the motion state information and position information obtained by the portable information communication terminal By inputting and using as a target detection algorithm, it is possible to improve the target detection accuracy of the radar apparatus. Further, since the mobile information communication terminal has a motion state detection unit and a position information acquisition unit, There is no need to provide such means, and the price of the vehicle can be reduced.

It is a block diagram which shows the structure of the periphery monitoring apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the periphery monitoring apparatus which concerns on Embodiment 2 of this invention. It is a figure explaining the calibration operation | movement of the periphery monitoring apparatus which concerns on Embodiment 2 of this invention. It is a figure explaining operation | movement of one observation period of the radar apparatus in the periphery monitoring apparatus which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structure of the periphery monitoring apparatus which concerns on Embodiment 3 of this invention. It is a figure explaining the operation | movement for warning prevention by the obstruction erroneous detection of the radar apparatus in the periphery monitoring apparatus which concerns on Embodiment 3 of this invention. It is a figure explaining the registration operation to the false detection point registration means of the radar apparatus in the periphery monitoring apparatus which concerns on Embodiment 3 of this invention.

Embodiment 1 FIG.
Hereinafter, a periphery monitoring device according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of the periphery monitoring apparatus according to the first embodiment. The periphery monitoring device 1 is mounted on a vehicle (not shown) and detects a target vehicle of at least one of a preceding vehicle of the vehicle, an obstacle around the vehicle, and a pedestrian, and a user drives the vehicle. The portable information communication terminal 3 is sometimes connected to the radar device 2 and can be taken out of the vehicle except during driving. 1 is a switch mounted on the vehicle, such as a steering switch or a console switch.

  The radar apparatus 2 includes a detection unit 21, a warning determination unit 22, and a communication unit 23 that is a first communication unit for communicating with the portable information communication terminal 3. The detection means 21 detects a target such as a preceding vehicle, an obstacle, and a pedestrian using a millimeter wave radar, a microwave radar, or a laser radar, and calculates a distance, a relative speed, an angle, and the like to the detected target. The warning determination unit 22 determines the possibility of collision with the target based on the detection result by the detection unit 21, and generates and transmits warning information when it is determined that there is a possibility of collision.

  The portable information communication terminal 3 is a communication terminal that can be carried by a user such as a mobile phone such as a commercially available smartphone or a tablet computer. A smart phone is a mobile terminal with a mobile phone (PHS) function and a personal digital assistant (PDA) function. The tablet computer is a portable personal computer having a flat outer shape and having a touch panel display / input unit. A tablet computer does not have a telephone function and cannot make a call, but has a function similar to that of a smartphone.

  The portable information communication terminal 3 is equipped with various functions in advance. For example, a liquid crystal display is provided as the display means 31 for displaying various information, and a speaker is provided as the sound output means 32 for outputting various information as sound. Further, a touch panel and buttons are provided as input means 33 for inputting various information.

  Further, as the motion state detection means 34 for detecting motion state information of the portable information communication terminal 3, a motion sensor such as a gyro sensor or an acceleration sensor is provided. Further, GPS is provided as position information acquisition means 35 for acquiring position information of the portable information communication terminal 3, and a camera such as a visible light camera or an infrared camera is provided as image pickup means 36 for acquiring image information in the vicinity of the terminal 3. Yes. However, in the periphery monitoring apparatus 1 according to the first embodiment, the portable information communication terminal 3 may not include the motion state detection unit 34, the position information acquisition unit 35, and the imaging unit 36.

  The portable information communication terminal 3 includes a communication unit 37 that is a second communication unit for communicating with the radar device 2. The radar device 2 and the portable information communication terminal 3 are communicably connected to each other via respective communication means 23 and 37, and the target detection result and warning information by the radar device 2 are displayed on the display means of the portable information communication terminal 3. The user is notified by one or both of 31 and sound output means 32.

  Various setting information regarding the detection means 21 of the radar apparatus 2 is input to the radar apparatus 2 from the in-vehicle input means 4 and displayed on the display means 31 of the portable information communication terminal 3 via the communication means 23 and 37. Various setting information related to the detection means 21 may be input not from the in-vehicle input means 4 but from the input means 33 of the portable information communication terminal 3.

  Communication by each of the communication means 23 and 37 may be either wireless communication or wired communication. In the case of wireless communication, for example, a wireless LAN, Bluetooth (registered trademark), an infrared communication device or the like is used as the communication means 23 and 37, and in the case of wired communication, for example, a USB controller is used. Further, the communication means 23 and 37 may be connected via an interface device (not shown) that mediates communication between the radar device 2 and the portable information communication terminal 3.

  Next, the operation of the periphery monitoring device 1 according to the first embodiment will be described by taking the case of performing ACC as an example. First, as a preparation stage, the user downloads, via the Internet, dedicated application software for communicating with the radar device 2 and performing various settings relating to ACC in the portable information communication terminal 3 and installing it in the portable information communication terminal 3. To do. Thereby, the user interface is displayed on the display means 31 of the portable information communication terminal 3.

  Next, the portable information communication terminal 3 is mounted at a predetermined position in the vehicle and connected to the radar device 2. This connection is performed so that the respective communication means 23 and 37 can communicate with each other, and may be either wireless or wired as described above. Subsequently, various setting information including ON / OFF setting of ACC, maximum speed, and inter-vehicle distance is input by the in-vehicle input unit 4. These various setting information is displayed on the display means 31 of the portable information communication terminal 3 via the communication means 23 and 37. In addition, you may make it input these various setting information from the input means 33 of the portable information communication terminal 3. FIG.

  Thereafter, in the traveling vehicle, the detection means 21 of the radar device 2 detects a preceding vehicle ahead of the vehicle. When detecting the preceding vehicle, the detecting means 21 calculates the distance, relative speed, angle, etc. between the preceding vehicle and the host vehicle. The warning determination unit 22 of the radar apparatus 2 determines the possibility of a collision based on the detection result acquired from the detection unit 21 and the vehicle speed of the host vehicle acquired from the ECU (Engine Control Unit). If it is determined that there is, warning information is generated and transmitted. This warning information is displayed on the display means 31 of the portable information communication terminal 3 via the communication means 23 and 37 and notified to the user.

  In addition to the warning information, the user is notified of various ACC setting information, detection results of the detection means 21 such as the presence or absence of a preceding vehicle, and failure information indicating the failure content when the radar device 2 fails. Necessary information is displayed on the display means 31 of the portable information communication terminal 3. Further, in order to notify the warning information more reliably to the user, it is desirable that the voice output by the voice output means 32 of the portable information communication terminal 3 is simultaneously performed.

  As described above, according to the periphery monitoring device 1 according to the first embodiment, the radar device 2 and the portable information communication terminal 3 are communicably connected, and various setting information and detection results regarding target detection of the radar device 2. Since the warning information and the like are displayed on the display means 31 of the portable information communication terminal 3 without using the in-vehicle device such as the navigation device or the instrument panel, the warning information seems to interrupt the screen of the navigation device. Therefore, it is possible to notify the user of necessary information with high visibility without causing any trouble. Further, since it is not necessary to secure a display area for various ACC setting information and warning information on the instrument panel, the vehicle can be reduced in price and size.

  In addition, by using the portable information communication terminal 3 that is also used outside the vehicle and is commercially available with the display means 31, the audio output means 32, the input means 33, the communication means 37, etc., the display device dedicated to the vehicle is mounted. The vehicle price can be reduced. Furthermore, since the portable information communication terminal 3 can be installed at a user's favorite position in the vehicle, the visibility can be improved.

  Further, by notifying the user of the warning information using the voice output means 32 of the portable information communication terminal 3, an in-vehicle speaker for notifying the warning information becomes unnecessary, and the price of the vehicle can be reduced. Furthermore, in the first embodiment, an example in which the user inputs various setting information of the radar device 2 by the in-vehicle input unit 4 has been described. However, the user may input using the input unit 33 of the portable information communication terminal 3. In that case, it is not necessary to provide the vehicle-mounted input means 4 (for example, a switch for setting each ACC) on the console or the steering, and the price of the vehicle can be reduced.

Embodiment 2. FIG.
FIG. 2 shows the configuration of the periphery monitoring apparatus according to Embodiment 2 of the present invention. 2 that are the same as or equivalent to those in FIG. 1 are assigned the same reference numerals, and descriptions thereof are omitted. The periphery monitoring device 1a according to the second embodiment inputs the motion state information detected by the motion state detection means 34 of the portable information communication terminal 3 to the radar device 2a, and serves as a target (here, preceding vehicle) detection algorithm. It is intended to be used. The exercise state information is information relating to the movement direction of the portable information communication terminal 3 and the mounting direction of the portable information communication terminal 3 on the vehicle.

  As shown in FIG. 2, the radar apparatus 2 a includes a memory 24 that is a storage unit, an uphill traveling determination unit 25, a preceding vehicle holding unit 26, and an uphill vertex position estimating unit 27. The memory 24 stores a calibration value that is a result of the calibration of the exercise state detection unit 34. The uphill running determination unit 25 acquires the exercise state information from the exercise state detection unit 34, and determines whether or not the vehicle is traveling uphill based on this. Specifically, when the result of subtracting the calibration value stored in the memory 24 from the output value of the motion state detection means 34 is equal to or greater than a threshold value, it is determined that the vehicle is traveling uphill.

  The preceding vehicle holding unit 26 determines that the vehicle is traveling uphill by the uphill traveling determination unit 25 and has been detected in the previous observation cycle of the detection unit 21 but not detected in the current observation cycle. When there is a vehicle, the distance and relative speed between the preceding vehicle and the host vehicle are predicted until the inclination angle of the uphill is equal to or less than the threshold (this is referred to as “holding the preceding vehicle”). Specifically, based on the distance between the preceding vehicle and the host vehicle in the previous observation cycle, the relative speed, and the time of the observation cycle, the distance and relative speed between the preceding vehicle and the host vehicle in the current observation cycle are predicted.

  Holding of the preceding vehicle by the preceding vehicle holding means 26 is continued until the inclination angle of the uphill is equal to or less than a threshold value. However, the preceding vehicle holding means 26 stops the prediction of the preceding vehicle A when the detecting means 21 detects another preceding vehicle B within the distance from the preceding vehicle A being predicted. Follow. The operation of the preceding vehicle holding means 26 will be described in detail later using the flowchart of FIG.

  Further, the uphill apex position estimating means 27 is the target detected by the detecting means 21 in front of the vehicle while the uphill traveling determining means 25 determines that the vehicle is traveling uphill. Is lost (lost), the position where the target is lost is estimated to be the top of the uphill. The uphill apex position estimating means 27 estimates the position where a predetermined number (for example, 3) or more of targets detected by the detecting means 21 in front of the vehicle is lost as the apex of the uphill. You may do it. When the vehicle approaches the apex position estimated by the uphill apex position estimating means 27, the fact is notified to the user by one or both of the display means 31 and the audio output means 32 of the portable information communication terminal 3. To do.

  The portable information communication terminal 3 of the periphery monitoring device 1a is mounted at a predetermined position in the vehicle and connected to the radar device 2a, and then performs calibration related to the mounting position of the motion state detection means 34. This calibration operation will be described with reference to the flowchart of FIG. First, in step 1 (S1), the radar apparatus 2a and the portable information communication terminal 3 mounted at a predetermined position in the vehicle are connected.

  Next, in step 2 (S2), the radar apparatus 2a requests the portable information communication terminal 3 to execute calibration, and the detection result of the motion state detection means 34 when it is connected to the radar apparatus 2a. Are stored in the memory 24 of the radar apparatus 2a. Subsequently, in step 3 (S3), the portable information communication terminal 3 executes calibration relating to the mounting position of the motion state detection means 34. Specifically, the detection result initial value stored in the memory 24 is set as the calibration initial value, and the detection result of the motion state detection means 34 is integrated for a certain period.

  Subsequently, in step 4 (S4), the calibration result (integration result) is stored in the memory 24 of the radar apparatus 2a, and the calibration value is updated. Thereafter, in step 5 (S5), it is determined whether or not a predetermined time for executing calibration has elapsed. If the predetermined time has elapsed (Yes), the process is terminated. If the predetermined time has not elapsed (No), the process returns to S3 and calibration is continued.

  In S2, the initial value of the detection result is not the detection result of the motion state detection means 34 when it is connected to the radar apparatus 2a, but the detection of the motion state detection means 34 when the vehicle starts moving and reaches a predetermined speed. The result may be stored in the memory 24. Furthermore, the calibration operation after S2 is performed not only when the portable information communication terminal 3 is connected to the radar apparatus 2a, but also when the change in the exercise state information detected by the exercise state detection unit 34 is equal to or greater than a predetermined value. It is also desirable to perform. Accordingly, since the calibration is executed each time the portable information communication terminal 3 falls from the mounting position or the user changes the mounting position, the mounting position is not limited.

  Next, the operation of one observation period of the radar device 2a in the periphery monitoring device 1a according to the second embodiment will be described with reference to the flowchart of FIG. First, in step 11 (S11), the detection means 21 of the radar device 2a detects an obstacle ahead of the vehicle. Subsequently, in step 12 (S12), the preceding vehicle is identified from the obstacles in front of the vehicle detected in S11.

  Next, in step 13 (S13), if there is a preceding vehicle (Yes), the process proceeds to step 14 (S14), where the distance and relative speed between the preceding vehicle and the host vehicle are stored, and the preceding vehicle holding flag is stored. Is turned OFF, and one observation period is completed. Note that the preceding vehicle holding flag at the time of turning on the power to the radar device 2a is OFF. On the other hand, when there is no preceding vehicle in S13 (No), the process proceeds to Step 15 (S15).

  In S15, the uphill running determination unit 25 subtracts the calibration value stored in the memory 24 from the detection result of the motion state detection unit 34, and obtains the uphill inclination angle with respect to the vehicle traveling direction. When the uphill inclination angle is smaller than the preset threshold (No), it is determined that the vehicle is not traveling uphill, and the process proceeds to step 20 (S20). In S20, since the vehicle is not traveling uphill, the preceding vehicle holding flag is turned OFF, and one observation cycle is completed.

  On the other hand, if the uphill inclination angle is equal to or greater than the threshold value in S15 (Yes), it is determined that the vehicle is traveling uphill, and the process proceeds to step 16 (S16). In S16, when the preceding vehicle holding flag is ON (Yes), the process proceeds to Step 19 (S19), the preceding vehicle in the previous observation cycle is held, and one observation cycle is ended.

  In S16, when the preceding vehicle holding flag is OFF (No), the process proceeds to Step 17 (S17) to check whether there is a preceding vehicle in the previous observation cycle. If there is a preceding vehicle in the previous observation cycle (Yes), it is determined that the preceding vehicle has been lost while traveling uphill, and the preceding vehicle holding flag is turned ON in step 18 (S18). Hold the preceding car. On the other hand, in S17, when there is no preceding vehicle in the previous observation cycle (No), it is determined that the vehicle is not in the following state, and one observation cycle is ended.

  In S13, even if the preceding vehicle (previous vehicle A) of the previous observation cycle is being held, that is, even if the preceding vehicle holding flag is ON, another preceding vehicle (preceding vehicle) is within the distance from the preceding vehicle A. B) is detected, the preceding vehicle B is recorded in S14, and the holding of the preceding vehicle A is stopped (the preceding vehicle holding flag is OFF). Thus, even if the preceding vehicle A is lost and the preceding vehicle A is being held, if the new preceding vehicle B exists, the holding of the preceding vehicle A can be released and the preceding vehicle B can be followed. Further, not only the preceding vehicle but also the holding of the preceding vehicle may be canceled when an obstacle is detected within a distance from the preceding vehicle being held.

  As described above, according to the periphery monitoring device 1a according to the second embodiment, the motion state information detected by the motion state detection unit 34 of the portable information communication terminal 3 is used as the target (preceding vehicle) of the radar device 2a. By using the detection algorithm, it is possible to improve the accuracy of detecting the preceding vehicle of the radar device 2a.

  Specifically, it is determined whether or not the vehicle is traveling uphill based on the motion state information acquired from the motion state detection means 34. When the preceding vehicle is lost during traveling uphill, the preceding vehicle in the previous observation cycle is determined. For example, when the preceding vehicle passes the top of the uphill and is no longer detected by the detection means 21 of the radar device 2 when following the ACC preceding vehicle, the risk of collision with the preceding vehicle can be avoided. it can.

  Further, by using the motion state detection means 34 of the portable information communication terminal 3, it is not necessary to provide a motion state detection means dedicated to the vehicle, and the price of the vehicle can be reduced. Furthermore, after the portable information communication terminal 3 is connected to the radar device 2a, the movement state detecting means 34 is calibrated before the radar device 2a is operated. There is no need to limit the mounting position, and it is very convenient.

Embodiment 3 FIG.
FIG. 5 shows the configuration of the periphery monitoring apparatus according to Embodiment 3 of the present invention. 5 that are the same as or equivalent to those in FIG. 1 are assigned the same reference numerals, and descriptions thereof are omitted. The periphery monitoring device 1b according to the third embodiment inputs the position information acquired by the position information acquisition unit 35 of the portable information communication terminal 3 to the radar device 2b, and uses it as an algorithm for detecting a target (here, an obstacle). It is intended to be used.

  As shown in FIG. 5, the radar device 2 b of the periphery monitoring device 1 b according to the third embodiment includes an erroneous detection point registration unit 28. The erroneous detection point registration means 28 acquires position information from the position information acquisition means 35 of the portable information communication terminal 3, and registers the position information of the point where the detection means 21 erroneously detected an obstacle.

  The warning determination unit 22 compares the current position information acquired from the position information acquisition unit 35 with the position information registered in the erroneous detection point registration unit 28 and is registered in the erroneous detection point registration unit 28. Warning information is not transmitted within a predetermined range of position information. The position information of the point (warning point) where the detection unit 21 erroneously detected an obstacle is displayed on the display unit 31 of the portable information communication terminal 3 and is registered in the erroneous detection point registration unit 28 by the user from the input unit 33. Is done.

  An operation for preventing a warning due to an erroneous detection of an obstacle in the radar apparatus 2b in the periphery monitoring apparatus 1b according to the third embodiment will be described with reference to the flowchart of FIG. First, in step 21 (S21), position information is acquired by the position information acquisition means 35 of the portable information communication terminal 3, and stored in the memory 24 as current position information.

  Next, in step 22 (S22), the detection means 21 performs an obstacle detection process, and calculates obstacle information including the distance, relative speed, angle, and the like between the detected obstacle and the host vehicle. Subsequently, in step 23 (S23), the warning determination unit 22 determines the possibility of a collision with the obstacle based on the obstacle information acquired from the detection unit 21 and the vehicle speed information acquired from the ECU, and the warning. It is determined whether or not there is a need. If it is determined in S23 that there is no need for warning (No), the process is terminated.

  If it is determined in S23 that a warning is necessary (Yes), the current position information is within a predetermined range of the position information registered in the erroneous detection point registration means 28 in step 24 (S24). It is determined whether or not there is. If it is within the predetermined range (Yes), the process is terminated without warning. If it is not within the predetermined range (No), a warning is given in step 25 (S25). The warning information and position information (current position information stored in S21) at this time are transmitted to the portable information communication terminal 3 and displayed on the display means 31.

  Next, the registration operation to the erroneous detection point registration unit 28 of the radar apparatus 2b will be described with reference to the flowchart of FIG. First, in step 31 (S31), the portable information communication terminal 3 that has received the warning information from the radar device 2b notifies the user of the warning information by the display means 31 and the sound output means 32. At this time, a warning point (current position information) is displayed on the display unit 31 together with the warning information.

  Next, in step 32 (S32), when the user who has been notified of the warning information determines that the obstacle information of the warning information is erroneously detected because the obstacle is not found at the warning point (Yes), Proceeding to step 33 (S 33), the position information of the erroneous detection point is registered in the erroneous detection point registration means 28 by the input means 33 of the portable information communication terminal 3. Specifically, this registration operation is as simple as selecting “false detection point registration” from the items displayed on the display means 31 of the portable information communication terminal 3. If it is determined in S32 that the obstacle information is not erroneously detected (No), the process is terminated.

  In the flowchart of FIG. 6, the position information acquired from the position information acquisition unit 35 is used as it is, but the position information acquired from the position information acquisition unit 35 is corrected by the distance from the obstacle detected by the detection unit 21. The corrected position information may be used and registered in the erroneous detection point registration means 28 so that the warning information is not transmitted within a predetermined range of the corrected position information. Thereby, the target range at the time of determining whether or not to issue a warning in S24 can be narrowed, and determination with higher accuracy can be performed.

  Further, in the flowchart of FIG. 7, whenever the user who is notified of the warning information in S32 determines that the obstacle information is erroneously detected, the position information of the erroneously detected point is registered in S33 each time. However, this registration operation may be a burden on the user. Therefore, the position information or the corrected position information of the erroneous detection point (warning point) is temporarily stored in the memory 24 included in the radar device 2 b and displayed on the display unit 31 of the portable information communication terminal 3. After that, it may be registered in the erroneous detection point registration means 28 from the input means 33 of the portable information communication terminal 3 at any timing of the user. As a result, it is possible to collectively perform registration operations at a plurality of points, and the burden on the user is reduced. Furthermore, safety can be improved because a registration operation can be performed when the signal is stopped or parked.

  In addition, the warning determination unit 22 indicates that the vehicle is passing through a predetermined range of the position information of the erroneous detection point registered in the erroneous detection point registration unit 28 or the corrected position information. The user may be notified by one or both of the display unit 31 and the audio output unit 32. Thereby, a user can be recognized that it is drive | working the area | region which does not warn, and a user's attention can be called.

  As described above, according to the periphery monitoring device 1b according to the third embodiment, the position information acquired by the position information acquisition unit 35 of the portable information communication terminal 3 is detected using the target (obstacle) of the radar device 2b. By using the algorithm, it is possible to improve the obstacle detection accuracy of the radar apparatus 2b.

  Specifically, the position information of the erroneous detection point of the obstacle acquired from the position information acquisition unit 35 is registered in the erroneous detection point registration unit 28, and warning information is not transmitted within a predetermined range of the registered position information. As a result, unnecessary warnings due to erroneous detection of obstacles can be prevented. As a result, the user is freed from the annoyance of being notified of the same warning information every time the user passes the same place. Further, by using the position information acquisition means 35 of the portable information communication terminal 3, it is not necessary to provide a position information acquisition means dedicated to the vehicle, and the price of the vehicle can be reduced.

  In the second embodiment, the movement state information detected by the movement state detection unit 34 and the position information acquired by the position information acquisition unit 35 in the third embodiment are input to the radar devices 2a and 2b, respectively. Although the example used as a target detection algorithm was demonstrated, this invention is not limited to this. As the target detection algorithm, both motion state information and position information may be used, and further, image information acquired by the imaging means 36 may be used. For example, when detecting a road width determining factor such as a road width or an obstacle, detection accuracy can be improved by confirming or correcting the detection result of the radar device 2 with image information.

  That is, the portable information communication terminal 3 of the periphery monitoring devices 1a and 1b includes an exercise state detection unit 34 that detects exercise state information, a position information acquisition unit 35 that acquires position information, and an imaging unit 36 that acquires image information. At least one of at least one of motion state information, position information, and image information is input to the radar devices 2a and 2b and used as a target detection algorithm. However, the motion state information, position information, and image information obtained by the portable information communication terminal 3 are information for improving the detection accuracy of the radar devices 2a and 2b. It is possible to perform target detection with the functions of the devices 2a and 2b alone.

  In any case, after the portable information communication terminal 3 is mounted at a predetermined position in the vehicle and connected to the radar devices 2a and 2b, the mobile information communication terminal 3 has a motion state that the terminal 3 has in response to a request from the radar devices 2a and 2b. Calibration concerning at least one mounting position of the detection means 34, the position information acquisition means 35, and the imaging means 36 is executed, and the result is stored in the memory 24 of the radar devices 2a and 2b.

  In the first to third embodiments, the radar device is used as a device for measuring the distance and relative speed between the host vehicle and the target. However, the present invention is not limited to this, for example, a radar. An ultrasonic sensor may be used instead of the apparatus. Furthermore, the present invention is not limited to ACC and obstacle detection during traveling, but a system that requires notification of warning information to the user, such as detection of surrounding obstacles during parking and detection of approaching objects in the left and right rear blind spots of the vehicle Needless to say, it can be used.

  The present invention can be used as a periphery monitoring device that calculates a distance to a target and a relative speed using a radar device mounted on a vehicle and notifies a user of a warning when there is a possibility of a collision.

1, 1a, 1b perimeter monitoring device, 2, 2a, 2b radar device,
3 portable information communication terminal, 4 in-vehicle input means,
21 detection means, 22 warning determination means, 23 communication means, 24 memory,
25 Uphill traveling judging means, 26 preceding vehicle holding means, 27 uphill vertex position estimating means,
28 erroneous detection point registration means, 31 display means, 32 voice output means, 33 input means,
34 motion state detection means, 35 position information acquisition means, 36 imaging means, 37 communication means.

Claims (21)

A radar device that is mounted on a vehicle and detects at least one of a preceding vehicle of the vehicle, a nearby obstacle, and a pedestrian, and a user connected to the radar device when driving the vehicle and outside the vehicle except during driving A peripheral monitoring device equipped with a portable information communication terminal that can be taken out
The radar device detects a target, determines a collision possibility based on a detection unit that calculates a distance and a relative speed to the target, and a detection result by the detection unit, and determines that there is a collision possibility. Warning determination means for generating and transmitting warning information in case, and first communication means for communicating with the portable information communication terminal,
The portable information communication terminal, and having at least one of the position information acquisition means to acquire the positional information of the fine movement state detecting means and said end for detecting the motion state information of the terminal, for inputting various kinds of information Input means, display means for displaying various information, audio output means for outputting various information as audio, Internet connection means, and second communication means for communicating with the radar device,
The radar apparatus and the portable information communication terminal are communicably connected to each other via the first communication means and the second communication means, and exercise state information and position obtained by the portable information communication terminal. A periphery monitoring device, wherein at least one piece of information is input to the radar device and used as a target detection algorithm. The portable information communication terminal can be a cellular telephone and peripheral monitoring apparatus according to claim 1, wherein a is any one of a tablet computer. Wherein the first communication means a second communication means, periphery monitoring device according to claim 1, wherein the performing wireless communication. Wherein the first communication means a second communication means, periphery monitoring device according to claim 1, wherein the performing wired communication. The periphery monitoring device according to claim 3 or 4 , wherein the first communication unit and the second communication unit are connected via an interface device. Various kinds of setting information relating to the radar device, the portable information periphery monitoring device according to claim 1, wherein the input from the input means of the communication terminal. Various kinds of setting information relating to the radar device, the portable information periphery monitoring device according to claim 1, characterized in that it is displayed on the display means of the communication terminal. Failure information when the radar device fails, the portable information periphery monitoring device according to claim 1, characterized in that it is displayed on the display means of the communication terminal. The portable information communication terminal is mounted at a predetermined position of a vehicle and connected to the radar device, and then performs calibration related to at least one mounting position of the motion state detection means and the position information acquisition means of the terminal The perimeter monitoring apparatus according to claim 1, wherein: In the portable information communication terminal having the exercise state detection unit, if the change in the exercise state information detected by the exercise state detection unit is equal to or greater than a predetermined value, calibration regarding the mounting position of the exercise state detection unit is performed. The periphery monitoring device according to claim 1 , wherein the periphery monitoring device is executed. The radar device, the requests execution of calibration to the portable information communication terminal, the results of the calibration to claim 9 or claim 10, characterized in that stored in the storage means with said radar device The peripheral monitoring device described. In the radar apparatus connected to the portable information communication terminal having the motion state detection means,
Uphill traveling determination means for acquiring movement state information from the movement state detection means and determining whether or not the vehicle is traveling uphill based on this,
When it is determined by the uphill traveling determination means that the vehicle is traveling uphill, and there is a preceding vehicle that was detected in the previous observation period but not detected in the current observation period, the vehicle surroundings monitoring apparatus according to claim 1, further comprising a preceding vehicle holding means for performing distance and prediction of the relative speed between said prior vehicle and the subject vehicle to the inclined position of the hill is below the threshold. In the radar apparatus, when the detection unit detects another preceding vehicle B within a distance from the preceding vehicle A being predicted by the preceding vehicle holding unit, the preceding vehicle holding unit predicts the preceding vehicle A. The periphery monitoring device according to claim 12, which stops. In the radar apparatus, when the detection unit loses the target detected in front of the vehicle while the vehicle is determined to be traveling uphill by the uphill traveling determination unit, 13. The periphery monitoring device according to claim 12 , further comprising an uphill apex position estimating means for estimating that the position where the loss has occurred is an apex of the uphill. The uphill apex position estimating means estimates that a position at which a predetermined number or more of targets detected by the detecting means in front of the vehicle are lost is an apex of the uphill. 14. Perimeter monitoring device according to 14 . The user is notified by one or both of the display means and the voice output means of the portable information communication terminal that the vehicle has approached the top of the uphill estimated by the uphill vertex position estimating means. The perimeter monitoring device according to claim 14 or claim 15 , characterized in that: In the radar apparatus connected to the portable information communication terminal having the position information acquisition means,
It includes position information from the position information acquisition means, and includes erroneous detection point registration means for registering position information of a point where the detection means erroneously detected an obstacle,
The warning determining unit, periphery monitoring device according to claim 1, wherein it does not transmit the alarm information is within a predetermined range of the position information registered in the erroneous detection point registration means. In the radar apparatus connected to the portable information communication terminal having the position information acquisition means,
False detection of acquiring position information from the position information acquisition means and registering corrected position information obtained by correcting the position information of the point where the detection means erroneously detected the obstacle with the distance from the obstacle erroneously detected by the detection means With point registration means,
The warning determining unit, periphery monitoring device according to claim 1, wherein it does not transmit the alarm information is within a predetermined range of the correction position information registered in the erroneous detection point registration means. The position information or the corrected position information of the point where the detection means erroneously detected the obstacle is displayed on the display means of the portable information communication terminal and is registered in the erroneous detection point registration means from the input means. The perimeter monitoring device according to claim 17 or claim 18 , characterized by that. The position information or the corrected position information of the point where the detection means erroneously detected the obstacle is temporarily stored in the storage means included in the radar device and displayed on the display means of the portable information communication terminal. The periphery monitoring device according to claim 17 or 18 , wherein registration is performed in the erroneous detection point registration unit at an arbitrary timing of a user from the input unit of the information communication terminal. The warning determination means indicates that the position information or the corrected position information registered in the erroneous detection point registration means is passing within a predetermined range, the display means and the voice output means of the portable information communication terminal. The perimeter monitoring apparatus according to claim 17 or 18, wherein the user is notified by one or both of the above.

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