JP5682375B2 - Sound source detection device and approaching vehicle detection device - Google Patents

Description

  The present invention relates to a sound source detection device and an approaching vehicle detection device that detect a sound source (particularly, a sound source of an approaching vehicle) based on sounds collected by a plurality of sound collectors.

  In the approaching vehicle detection device, ambient sounds are collected by a plurality of sound collectors, and the moving direction of the sound source (particularly, the running sound of the vehicle) is specified based on the arrival time difference between the sounds. In the apparatus described in Patent Document 1, the frequency components of the low frequency band and the high frequency band are removed from the electrical signals output from a plurality of microphones arranged at predetermined intervals by a band pass filter, and converted into corrected electrical signals. The power of a predetermined frequency band in which the characteristics of the running sound of the vehicle appear is calculated from the corrected electric signal. When the power level is higher than the predetermined value, it is determined that there is an approaching vehicle, and unnecessary noise is generated by the corrected electric signal. A component is removed and converted into a noise suppression signal, a cross correlation between the noise suppression signals of a plurality of microphones is calculated, and an approaching direction of an approaching vehicle is calculated from an arrival time difference at which the correlation is maximum.

Japanese Utility Model Publication No. 5-92767 JP-A-8-202999

  In the approaching vehicle detection device described above, a plurality of microphones are arranged horizontally (parallel to the road surface) with respect to the vehicle in order to detect a vehicle approaching from the left-right direction of the host vehicle. When a plurality of microphones are arranged in this way, not only a vehicle traveling on a road on the same plane as the own vehicle, but also a road different from the own vehicle in the vertical direction (for example, an upper (elevated) road, a lower road) ) Is also detected as an approaching vehicle. In other words, there is no difference in sound arrival time between a plurality of horizontally arranged microphones between a sound source that is at the same height as the host vehicle and a sound source that is above or below it. It cannot be determined whether or not. Also, for example, even if the vehicle comes only from one of the left and right directions due to the road structure, the omnidirectional microphone detects sound from all directions, so the sound from the other direction where the vehicle does not come ( For example, other noise sounds, sounds reflected from walls and buildings) may also be detected and erroneously detected as approaching vehicles. As described above, in the conventional approaching vehicle detection device, a vehicle (sound) that does not possibly collide with the host vehicle may be detected as an approaching vehicle. As a result, an unnecessary alarm or the like is given to the detected approaching vehicle.

  Then, this invention makes it a subject to provide the sound source detection apparatus and approaching vehicle detection apparatus which can detect only a required sound source (especially approaching vehicle).

An approaching vehicle detection device according to the present invention is mounted on a host vehicle, detects a vehicle approaching based on sounds collected by a plurality of sound collectors, and the plurality of sound collectors are located above and below the host vehicle. An approaching vehicle detection device having a wide directional area in the left-right direction than the direction, arranged so that the directional areas intersect each other, and having an area where the directional areas intersect as a detection range, And a detection direction determination unit that determines a direction in which sound should be detected based on the road shape, and by selecting a sound collector to be used from a plurality of sound collectors, A detection range is set according to the direction in which to detect.
Moreover, the approaching vehicle detection device according to the present invention detects a vehicle that is mounted on the own vehicle based on sounds collected by the plurality of sound collectors, and the plurality of sound collectors are the own vehicle. An approaching vehicle detection device having a wide directional area in the left-right direction than the up-down direction, the directional areas are arranged so as to intersect each other, and the area where the directional areas intersect is a detection range, A detection device that detects a driver's attention direction; and a detection direction determination unit that determines a direction other than the driver's attention direction as a direction in which sound should be detected. By selecting a sound device, a detection range corresponding to the direction in which sound is to be detected is set.

  This approaching vehicle detection device includes a plurality of sound collectors having a directional region wider in the left-right direction than the vertical direction of the vehicle, and the plurality of sound collectors are arranged so that the directional regions intersect each other. ing. The range in the vertical direction of the directivity region is preferably a narrow range, and preferably has directivity up to the vicinity of the height of the vehicle. The area where the directivity areas of the two sound collectors intersect (the part where the directivity areas overlap) is an area where the two sound collectors can collect sound together. This is an area in which a sound source of an approaching vehicle can be detected using a difference in arrival time of sound from a sounder. Therefore, the detection range in the left-right direction can be set arbitrarily by adjusting the mounting position of each sound collector, the width of the directivity area in the left-right direction, and the manner in which the directivity areas of the two sound collectors intersect. Can be set. Therefore, it is possible to detect only an approaching vehicle that exists in a specific direction in the left-right direction. Further, since the vertical range in which the directivity areas of the two sound collectors can intersect is a range about the height of the vehicle, the vertical detection range is the vehicle height existing on the same plane as the host vehicle. The range of the degree. Therefore, it is possible to detect only the approaching vehicle existing on the road on the same plane as the own vehicle. As described above, in the approaching vehicle detection device, a plurality of sound collectors having a directional area wider in the left-right direction than the vertical direction of the vehicle are arranged so that the directional areas intersect each other, so that they are on the same plane as the host vehicle. It is possible to detect only sound sources existing in a specific direction, and it is possible to detect only approaching vehicles necessary for the host vehicle. This eliminates the detection of vehicles that are on different roads in the up-down direction from the host vehicle, sounds that are present in directions that do not require detection in the left-right direction, and the like. As a result, unnecessary alarms can be suppressed.

  In the approaching vehicle detection device of the present invention, at least one of the plurality of sound collectors is rotatable in the roll direction of the host vehicle, and directivity is obtained by rotating the rotatable sound collector. It is preferable that the detection range where the regions intersect each other can be arbitrarily set.

  In this approaching vehicle detection device, since at least one sound collector can rotate in the roll direction of the host vehicle, adjusting the amount of rotation of the rotatable sound collector in the roll direction allows the sound collector The inclination amount of the directivity area can be set arbitrarily, and the area (detection range) where the directivity areas intersect can be set arbitrarily. Thus, in the approaching vehicle detection device, the detection range can be arbitrarily set by configuring the sound collector to be rotatable in the roll direction of the host vehicle.

  According to the present invention, it is possible to detect only sound sources existing in a specific direction on the same plane by arranging a plurality of sound collectors having a directional area extending in a plane so that the directional areas intersect each other. Only the necessary sound source can be detected. Further, according to the present invention, by arranging a plurality of sound collectors having a directional area wider in the left-right direction than the vertical direction of the vehicle so that the directional areas intersect each other, the identification on the same plane as the own vehicle is performed. Only the sound source existing in the direction of the vehicle can be detected, and only the approaching vehicle necessary for the host vehicle can be detected.

It is a block diagram of the approaching vehicle detection apparatus which concerns on this Embodiment. It is a figure which shows the directivity area | region of a super-directional sound collector. It is a figure which shows the directivity area | region at the time of arranging the several super-directional sound collector which concerns on this Embodiment in the left-right direction, (a) is a top view, (b) is a side view. . It is a figure which shows the directivity area | region of the sound collector unit which concerns on this Embodiment, (a) is a top view, (b) is a side view. It is a figure which shows arrangement | positioning and directivity area | region of two sound collector units which concern on this Embodiment, (a) is a top view, (b) is a front view, (c) is a side view. is there. It is a figure which shows the detection range by two sound collector units of FIG. 5, (a) is a top view, (b) is a front view. It is a figure which shows arrangement | positioning and directivity area | region of three sound collector units which concern on this Embodiment, (a) is a top view, (b) is a front view, (c) is a side view. is there. It is a figure which shows the detection range by three sound collector units of FIG. 7, (a) is a top view, (b) is a front view. It is an example of the detection range according to the road structure which concerns on this Embodiment, (a) is a detection range in the road which can make a right turn, (b) is a detection range in T-junction, (c ) Is the detection range at the crossroads. It is an example of the detection range which considered the driver | operator's attention direction which concerns on this Embodiment. It is a front view which shows arrangement | positioning and directivity area | region of three sound collector units which can rotate to the roll direction which concerns on this Embodiment. It is a front view which shows the directivity area | region of the two sound collector units which can rotate to the roll direction which concerns on this Embodiment, (a) is a case where a detection range is made into the front, (b) is a detection range. Is the right side, and (c) is the case where the detection range is the left side.

  Hereinafter, embodiments of a sound source detection device and an approaching vehicle detection device according to the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  In the present embodiment, the present invention is applied to an approaching vehicle detection device mounted on a vehicle. The approaching vehicle detection device according to the present embodiment detects a vehicle approaching the host vehicle based on each sound collected by a plurality (two or more) of sound collectors (microphones) (that is, a nearby vehicle). The moving direction of the sound source of the traveling sound is specified), and information on the approaching vehicle is provided to the driving support device. In each figure, the directivity area and detection range are shown. The size of the directivity area and detection area drawn in each figure is the same size as the size of the vehicle. Is a large area or range that can be detected up to a distant vehicle.

  The traveling sound of the vehicle is mainly road noise (friction sound between the tire surface and the road surface) and pattern noise (air vortex (compression / release) in the tire groove). The range of the frequency component of the running sound of the vehicle may be measured in advance through experiments or the like.

  With reference to FIGS. 1-4, the approaching vehicle detection apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of an approaching vehicle detection device according to the present embodiment. FIG. 2 is a diagram illustrating a directivity region of the superdirective sound collector. FIG. 3 is a diagram showing a directivity region when a plurality of superdirective sound collectors according to the present embodiment are arranged shifted in the left-right direction. FIG. 4 is a diagram showing a directivity region of the sound collector unit according to the present embodiment.

  The approaching vehicle detection device 1 has a sound collector unit (corresponding to the sound collector described in the claims) having a directivity area (sound collection area) that spreads in a plane so as to be wider in the left-right direction than the vertical direction of the vehicle. ), And the sound collector units are arranged so that the directivity areas of adjacent sound collector units intersect each other. The approaching vehicle detection device 1 detects a sound source (vehicle) existing in the detection range, with a region where the directivity regions intersect as a detection range. The approaching vehicle detection device 1 includes a sound collector array 10 (sound collector units 11, 11,...) And an ECU [Electronic Control Unit] 20. Note that the configuration diagram of FIG. 1 shows a case where there are three sound collector units.

  The sound collector array 10 has two or more sound collector units 11. The sound collector unit 11 is configured using a plurality of superdirective sound collectors 12. As shown in FIG. 2, the superdirective sound collector 12 has a spindle-type directivity region 12a that is very long forward and narrow in the left-right direction and the up-down direction. Superdirective sound collector 12 is an acoustoelectric converter that collects ambient sounds outside the vehicle and converts the collected sounds into electrical signals. The super-directional sound collector 12 is a known sound collector and may be a commonly used one.

  As shown in FIG. 3A, a plurality of sound collector units 11 are provided so that a part of the left and right regions of the spindle type directivity region (for example, about half and about 2/3) overlap each other. The superdirective sound collectors 12 are arranged so as to be shifted in the left-right direction at regular angular intervals (that is, arranged in a fan shape). In addition, as shown in FIG. 3B, the sound collector unit 11 includes a plurality of super-directional sound collectors 12 so that all (substantially all) the vertical regions of the spindle-type directivity region overlap each other. Are arranged.

  By arranging a plurality of superdirective sound collectors 12 as described above, the sound collector unit 11 has a fan-shaped region in the left-right direction as the directivity region 11a, as shown in FIG. Have. As shown in FIG. 4B, the sound collector unit 11 has a narrow area in the vertical direction as the directivity area 11a (same as the vertical direction of the directivity area 12a of the superdirective sound collector 12). Have. As described above, the sound collector unit 11 has a directivity that is wide in the left-right direction and narrow in the vertical direction (directivity area spreading in a plane), and has a directivity area 11 a having a substantially fan-shaped directivity. Have.

  Note that the range in the vertical direction of the directivity region 11a of the sound collector unit 11 is preferably a range up to the height of the vehicle in order to detect only vehicles existing on a road on the same plane, and is preferably narrow. This range depends on the vertical range of the directivity region 12a of the superdirective sound collector 12. The range in the left-right direction of the directivity region 11a of the sound collector unit 11 can be arbitrarily set, and is determined according to the width of the detection range, the arrangement interval of the sound collector units 11, and the like. Superdirectivity required for the configuration of the sound collector unit 11 according to the horizontal range of the directivity area 11a of the sound collector unit 11 and the horizontal range of the directivity area 12a of the superdirective sound collector 12 The number of sound collectors 12 is determined.

  The arrangement of the plurality of sound collector units 11 will be described. The plurality of sound collector units 11 are arranged side by side in the vehicle width direction (left-right direction) at the front end portion of the vehicle. And at least one of the adjacent sound collector units 11 and 11 is inclined from the horizontal position in the roll direction of the vehicle, and is arranged so that the substantially planar directivity regions 11a and 11a intersect each other. Since the area where the directivity areas 11a and 11a intersect (overlapping part) can be collected by both the adjacent sound collector units 11 and 11, the sound source (and thus the vehicle) can be detected. A region (hereinafter referred to as “detection range”).

  For example, an example of an arrangement in the case of the two sound collector units 11C and 11R will be described with reference to FIGS. FIG. 5 is a diagram showing the arrangement and directivity area of two sound collector units according to the present embodiment. FIG. 6 is a diagram showing a detection range by the two sound collector units of FIG.

  As shown in FIG. 5, the sound collector unit 11 </ b> C is disposed at the center (vehicle center) in the vehicle width direction of the front end portion of the vehicle. As shown in FIG. 5, the sound collector unit 11R is disposed to the right of the sound collector unit 11C in the vehicle width direction at the front end portion of the vehicle and above the sound collector unit 11C in the vertical direction. The directivity regions 11Ca and 11Ra of the sound collector units 11C and 11R have the same size and shape, are fan-shaped in which the horizontal direction is wider than a semicircle, and the vertical direction is a very narrow range.

  Further, as shown in FIG. 5B, the sound collector unit 11C is arranged such that the substantially planar directivity region 11Ca is horizontal (parallel to the road surface). As shown in FIG. 5B, the sound collector unit 11R is arranged so that the substantially planar directivity region 11Ra faces the outside of the vehicle (counterclockwise from the horizontal position in the roll direction when the vehicle is viewed from the front). Rotation by a predetermined angle). In addition to this arrangement, for example, the sound collector unit 11R is disposed below the sound collector unit 11C, and the sound collector unit 11R is disposed so that the directivity region 11Ra faces the inside of the vehicle (when the vehicle is viewed from the front). In the roll direction, it may be arranged to rotate clockwise by a predetermined angle from the horizontal position).

As described above, when the sound collector unit 11C and the sound collector unit 11R are arranged, the hatched area (detection range) 11b _R illustrated in FIG. 6 overlaps the directivity area 11Ca and the directivity area 11Ra. It is an area. In the detection range 11b _R , both the sound collector unit 11C and the sound collector unit 11R can collect sound. Therefore, in the case of the arrangement of the sound collector unit 11C and the sound collector unit 11R, a very narrow range in the right and left direction of the vehicle in the left and right direction (for example, the range in the vertical direction is a range of about several tens of cm, It is possible to detect a sound source existing in a range of about 2 to 3 m, and not to detect other sound sources. Although the range in the vertical direction is very narrow, a vehicle that is present on a road on the same plane as the host vehicle is included in this range. As a result, in the case of this arrangement, the detection range 11b _R of the right side of the own vehicle, can only detect approaching vehicles the right to present the road on the same plane.

  An example of the arrangement in the case of the three sound collector units 11C, 11L, and 11R will be described with reference to FIGS. FIG. 7 is a diagram showing the arrangement and directivity area of the three sound collector units according to the present embodiment. FIG. 8 is a diagram showing a detection range by the three sound collector units of FIG.

  The arrangement of the sound collector unit 11C and the sound collector unit 11R is the same as that shown in FIG. As shown in FIG. 7, the sound collector unit 11L is disposed to the left of the sound collector unit 11C in the vehicle width direction at the front end portion of the vehicle and above the sound collector unit 11C in the vertical direction. Further, as shown in FIG. 7B, the sound collector unit 11L is rotated clockwise from a horizontal position in the roll direction so that the substantially planar directivity region 11La faces the outside of the vehicle. At a predetermined angle). In addition to this arrangement, for example, the sound collector unit 11L is disposed below the sound collector unit 11C, and the sound collector unit 11L is disposed so that the substantially planar directivity region 11Ra faces the inside of the vehicle (vehicle As viewed from the front in the roll direction and rotated counterclockwise by a predetermined angle from the horizontal position). The directivity region 11La of the sound collector unit 11L is the same in size and shape as the directivity regions 11Ca and Ra of the sound collector unit 11C and the sound collector unit 11R.

As described above, when the sound collector unit 11C, the sound collector unit 11R, and the sound collector unit 11L are arranged, the hatched area (detection range) 11b _R shown in FIG. 8 includes the directivity area 11Ca and the directivity area 11Ra. Is a region that intersects and overlaps, and a hatched region (detection range) 11b _L is a region that intersects and overlaps the directivity region 11Ca and the directivity region 11La. This detection range 11b _R is the same region as described above. In the detection range 11b _L , both the sound collector unit 11C and the sound collector unit 11L can collect sound. Therefore, in the case of the arrangement of the sound collector unit 11C and the sound collector unit 11L, it is possible to detect a sound source that exists in a very narrow range in the left and right directions of the vehicle in the left-right direction, and does not detect other sound sources. As a result, in this arrangement, it is possible to detect the approaching vehicle on the right side of the road on the same plane by the detection range 11b _R on the right side of the host vehicle, and to the road on the same plane by the detection range 11b _L on the left side. An approaching vehicle on the left can be detected.

By arranging only two sound collector units 11C, 11L among the three sound collector units 11C, 11R, 11L, only the detection range 11b _L is obtained, and the left side of the vehicle in the left-right direction. In addition, only sound sources existing in a very narrow range in the vertical direction can be detected. As a result, in this arrangement, only the left approaching vehicle existing on the road on the same plane can be detected by the detection range 11b _L on the left side of the host vehicle.

  In the arrangement of the sound collector units 11C, 11R, and 11L, the sound collector unit 11C and the left and right sound collector units 11R and 11L are arranged so that the height positions are different. Good. In the arrangement of the sound collector units 11C, 11R, and 11L, the right and left sound collector units 11R and 11L are inclined in the roll direction without tilting the sound collector unit 11C. The sound collector unit 11C may also be configured to be tilted by rotating in the roll direction. Further, by adjusting the rotation angle in the roll direction, it is possible to set a detection range in which a sound source existing in front of the vehicle in the left-right direction can be detected.

  The ECU 20 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like, and comprehensively controls the approaching vehicle detection device 1. In the ECU 20, each electric signal is input from the plurality of sound collector units 11,. Since the sound collector unit 11 is composed of a plurality of superdirective sound collectors 12, the electrical signal of the sound collector unit 11 is an averaged signal of the electrical signals of the plurality of superdirective sound collectors 12 or the like. Is used. Then, the ECU 20 calculates a sound arrival time difference from the cross-correlation between the electrical signals of the two sound collector units 11 and 11 for each of the adjacent sound collector units 11 and 11, and based on the arrival time difference, The presence / absence determination and the sound source approach direction are determined when a sound source exists. At this time, only a sound source having a frequency component corresponding to the running sound of the vehicle is extracted as a sound source. Then, the ECU 20 generates approaching vehicle information based on the result, and transmits the approaching vehicle information to the driving support device 2. The approaching vehicle information is, for example, information on the presence / absence of an approaching vehicle and, in the case where an approaching vehicle is present, an approaching direction and a relative distance from the host vehicle.

For example, when the sound collector array 10 has all of the detection range 11b _{R on} the right side, the detection range 11b _{L on} the left side, and the detection range 11b _C on the front side, the ECU 20 determines the road conditions and the like for each process. Accordingly, a specific detection direction necessary for the host vehicle is determined, and the sound collector unit 11 is selected from the three detection ranges 11b _R , 11b _L , and 11b _C according to the detection direction and forms the selected detection range. , 11 may be processed using only a pair of electrical signals.

  The driving support device 2 is a device that supports various driving operations for the driver. In particular, when the driving assistance device 2 receives approaching vehicle information from the approaching vehicle detection device 1 at regular time intervals, the driving assistance device 2 performs driving assistance regarding the approaching vehicle. For example, if there is a vehicle approaching the host vehicle, determine the possibility of a collision of the approaching vehicle to the host vehicle, and output a warning to the driver when it is determined that there is a possibility of a collision, Information on approaching vehicles is provided, and when the possibility of collision increases, vehicle control such as automatic braking is performed.

  According to this approaching vehicle detection device 1, by arranging a plurality of sound collector units 11,... Having a substantially planar fan-shaped directivity region 11a so that the directivity regions intersect each other, A detection range 11b in which only a sound source existing in a specific direction on the same plane as the own vehicle can be detected can be arbitrarily set, and only an approaching vehicle necessary for the own vehicle can be detected (an unnecessary vehicle is not detected). . As a result, it is not possible to detect a vehicle that exists on a different road in the vertical direction from the own vehicle, a sound source that exists in a direction that does not require detection in the left-right direction, and the like (the sound of other sound sources other than the vehicle is not erroneously detected). As a result, unnecessary alarm output, vehicle control, and the like in the driving support device 2 can be suppressed.

  In said approaching vehicle detection apparatus 1, the detection range 11b for detecting only the specific direction required for the own vehicle can be set. Therefore, a method for determining a specific detection direction necessary for the host vehicle (driver) will be described.

  First, a method using a road structure will be described with reference to FIG. FIG. 9 is an example of a detection range corresponding to the road structure according to the present embodiment, where (a) is a detection range on a road that can only be turned right, and (b) is a detection range on a T-junction. Yes, (c) is the detection range at the crossroads.

  In the case of this method, the approaching vehicle detection device includes a detection direction determination unit in the ECU and includes an acquisition device for acquiring a road structure. As this acquisition device, for example, a navigation device for detecting a map database and a current position, an image recognition device for recognizing a road shape from a camera and a captured image, and for receiving road shape information and road closure information from an infrastructure. This is a road-to-vehicle communication device. The acquisition device acquires road shape information such as a front intersection on the road on which the host vehicle is traveling. Then, the detection direction determination unit in the ECU determines a direction in which the host vehicle can travel based on the road shape information, and determines a specific detection direction necessary for the host vehicle.

For example, as shown in FIG. 9A, when information on a road that can be turned only to the right side is acquired (for example, the left side cannot pass due to construction), the right side is a specific detection necessary for the vehicle. The direction is determined as a detection range 11b _R for detecting the right side. In this case, even though there is no possibility of a vehicle coming from the left side, other sound sources are not erroneously detected even when other sound sources exist on the left side. Further, as shown in FIG. 9B, when the information of the intersection of the T-junction is acquired, the detection range in which the right side and the left side are determined as specific detection directions necessary for the host vehicle and the right side is detected. 11b _R and the detection range 11b _L for detecting the left side. Further, as shown in FIG. 9C, when the information of the intersection of the crossroad is acquired, the detection range in which the right side, the left side, and the front side are determined as specific detection directions necessary for the host vehicle and the right side is detected. 11b _R , a detection range 11b _L for detecting the left side, and a detection range 11b _C for detecting the front side.

  Next, a method using the driver's attention direction will be described with reference to FIG. FIG. 10 is an example of a detection range in consideration of the driver's attention direction according to the present embodiment. The specific detection direction necessary for the host vehicle may be determined only by the method using the driver's attention direction, or the specific detection necessary for the host vehicle may be combined with the method using the road structure described above. The direction may be determined.

  In the case of this method, the approaching vehicle detection device includes a detection direction determination unit in the ECU, and includes a detection device for detecting the driver's attention direction. The detection device is, for example, a camera that captures the driver's face and an image recognition device for recognizing the driver's face direction and line-of-sight direction from the captured image. The detection device detects the direction in which the driver is paying attention. A detection direction determination unit in the ECU determines a specific detection direction necessary for the host vehicle from a direction other than the driver's attention direction.

For example, as shown in FIG. 10, when information on the intersection of a T-junction is acquired and the right side is detected as the driver's attention direction, only the left side is determined as a specific detection direction necessary for the host vehicle. And the detection range 11b _L for detecting the left side. In this case, since the driver is paying attention to the vehicle coming from the right side, even if the vehicle comes from the right side, the driver can recognize it, and there is no need to perform an alarm output or the like for the approaching vehicle. Therefore, only vehicles coming from the left can be detected. As a result, false detection can be reduced, and it is possible to suppress alarm output and the like even though the driver recognizes it.

  Furthermore, in the approaching vehicle detection device 1 described above, the angle of each sound collector unit 11 in the roll direction is fixed, but a configuration may be provided that includes a device that rotates the sound collector unit in the vehicle roll direction. As described above, in the approaching vehicle detection device 1, the portion where the directivity regions 11a and 11a of the adjacent sound collector units 11 and 11 intersect and overlap each other is the detection range 11b. By adding a rotating device for the sound collector unit to this configuration, each sound collector unit is rotated at an arbitrary angle in the roll direction, so that the substantially planar directivity region of each sound collector unit is at an arbitrary angle. Rotate. As a result, it is possible to arbitrarily adjust the portion where the directivity areas overlap, and to arbitrarily set the position and size of the detection range.

  With reference to FIG. 11, the case of three sound collector units 11R ', 11C', and 11L 'will be described. FIG. 11 is a front view showing the arrangement and directivity area of three sound collector units that can rotate in the roll direction according to the present embodiment.

  The positions at which the three sound collector units 11R ', 11C', and 11L 'are arranged are the same positions as the positions of the three sound collector units 11R, 11C, and 11L shown in FIG. The three sound collector units 11R ′, 11C ′, and 11L ′ are equipped with a rotating device and can be rotated in the roll direction of the vehicle, and the angles of the directivity regions 11Ra ′, 11Ca ′, and 11La ′ in the roll direction. Can be adjusted. As the range of rotation, it can be rotated clockwise and counterclockwise as viewed from the front of the vehicle, and can be rotated at most 90 ° from the horizontal position. The detection range can be adjusted if at least one of the three sound collector units 11R ', 11C', 11L 'can be rotated.

  With reference to FIG. 12, the detection range when the two left and right sound collector units 11R'11L 'are rotated will be described. FIG. 12 is a front view showing a directivity region of two sound collector units that can rotate in the roll direction according to the present embodiment, and FIG. ) Is a case where the detection range is on the right side, and (c) is a case where the detection range is on the left side.

  As shown in FIG. 12 (a), the sound collector unit 11R ′ is rotated by a predetermined angle counterclockwise from the horizontal position in the roll direction when the vehicle is viewed from the front by each rotating device, and the sound collector unit 11L ′ is The vehicle is rotated by a predetermined angle clockwise from the horizontal position in the roll direction when viewed from the front. In this case, both the substantially planar directivity region 11Ra ′ and the directivity region 11La ′ rotate so as to face the outside of the vehicle, the directivity region 11Ra ′ and the directivity region 11La ′ intersect at the front of the vehicle, A detection range for detecting the front is set.

  As shown in FIG. 12 (b), the sound collector unit 11R ′ is rotated by a predetermined angle counterclockwise from the horizontal position in the roll direction when the vehicle is viewed from the front by the rotating device, and the sound collector unit 11L ′ is not rotated. . In this case, the substantially planar directivity region 11Ra ′ rotates so as to face outward, the substantially planar directivity region 11La ′ maintains a horizontal state, and the directivity region 11Ra ′ and the directivity region 11La ′ are maintained. A detection range that crosses on the right side of the vehicle and detects the right side is set.

  As shown in FIG. 12C, the sound collector unit 11L 'is rotated by a predetermined angle clockwise from the horizontal position in the roll direction when the vehicle is viewed from the front by the rotating device, and the sound collector unit 11R' is not rotated. In this case, the substantially planar directional region 11Ra ′ maintains a horizontal state and rotates so that the substantially planar directional region 11La ′ faces outward, so that the directional region 11Ra ′ and the directional region 11La ′ are aligned. A detection range that crosses on the left side of the vehicle and detects the left side is set.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, although the present embodiment is applied to an approaching vehicle detection device that is mounted on a vehicle and provides the detected approaching vehicle information to the driving assistance device, other configurations may be used as the approaching vehicle detection device. For example, it may be incorporated in the driving support device as an approaching vehicle detection function, or the approaching vehicle detection device may have an alarm function or the like. Moreover, you may apply to the sound source detection apparatus which detects sound sources other than a vehicle. Moreover, you may apply to the sound source detection apparatus and approaching vehicle detection apparatus which are mounted in moving bodies other than vehicles, such as a robot.

  In the present embodiment, a plurality of sound collector units are arranged at the front end portion of the own vehicle in order to mainly detect the approaching vehicle in front of the own vehicle. However, in order to mainly detect the approaching vehicle behind the own vehicle. Alternatively, a plurality of sound collector units (sound collectors) may be arranged at the rear end of the vehicle. In the present embodiment, the sound collector array is composed of two or three sound collector units. However, the sound collector array may be composed of four or more sound collector units.

  Further, in this embodiment, a plurality of superdirective sound collectors are used to configure a sound collector unit having a fan-shaped directivity region in a substantially planar left-right direction. You may comprise what has a directional area | region wider in the left-right direction than the up-down direction.

  In the present embodiment, the size and shape of the directivity regions of the plurality of sound collector units included in the sound collector array are the same. However, the size of the directivity region of each sound collector unit is the same. The sheath shape may not be the same.

DESCRIPTION OF SYMBOLS 1 ... Approaching vehicle detection apparatus, 2 ... Driving assistance apparatus, 10 ... Sound collector array, 11, 11C, 11L, 11R, 11C ', 11L', 11R '... Sound collector unit, 11a, 11Ca, 11La, 11Ra, 11Ca ', 11La', 11Ra ' ... directional _{region, 11b, 11b C, 11b L} , 11b R ... detection range, 12 ... super-directional sound collector unit, 12a ... directional region, 20 ... ECU.

Claims (3)

A vehicle mounted on the host vehicle that detects an approaching vehicle based on sounds collected by a plurality of sound collectors, and the plurality of sound collectors has a wider directivity in the left-right direction than the vertical direction of the host vehicle. An approaching vehicle detection device having an area, the directional areas are arranged so as to intersect each other, and the area where the directional areas intersect is a detection range,
An acquisition device for acquiring a road shape;
A detection direction determination unit that determines a direction in which the sound should be detected based on the road shape;
With
By selecting a sound collector to be used from among the plurality of sound collectors, a detection range corresponding to a direction in which the sound is to be detected is set.
Approaching vehicle detection device. A vehicle mounted on the host vehicle that detects an approaching vehicle based on sounds collected by a plurality of sound collectors, and the plurality of sound collectors has a wider directivity in the left-right direction than the vertical direction of the host vehicle. An approaching vehicle detection device having an area, the directional areas are arranged so as to intersect each other, and the area where the directional areas intersect is a detection range,
A detection device for detecting a driver's attention direction;
A detection direction determination unit that determines a direction other than the driver's attention direction as a direction in which the sound is to be detected;
With
By selecting a sound collector to be used from among the plurality of sound collectors, a detection range corresponding to a direction in which the sound is to be detected is set.
Approaching vehicle detection device. At least one of the plurality of sound collectors is rotatable in a roll direction of the host vehicle;
Approaching vehicle detection device according to claim 1 or 2, characterized in that the arbitrarily set the detection range directional regions intersect with each other by rotating said rotatable sound collector.

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