JPH01161600A - Vehicle drive supporting device - Google Patents

Abstract

PURPOSE:To display information only when the information is required so as to secure the safety of car drive by detecting the operation of a steering wheel and displaying only the information regarding the obstacle in the direction corresponding to the operation of the steering wheel. CONSTITUTION:A sensor section 11 is composed of sensors SS1 and SS2 which detect obstacles on both right and left sides of a vehicle and sensors CS1 and CS2 which detect obstacles behind the vehicle on both sides. The detect output of the sensor section 11 is supplied to an obstacle detecting section 13. The detecting section 13 constituting a calculating means together with a degree-of- danger calculating section 14 calculates presence/absence, scale, distance, etc., of an obstacle from the detect output of the sensor section 11 and outputs the calculated results to the calculating section 14. On the other hand, a sensor 15 detects the turned angle of the steering wheel of the vehicle and supplies the detected results to the calculating section 14. The calculating section 14 calculates the degree of danger from the output of the detecting section 13 and a degree-of-danger displaying section 16 which works a displaying means makes a display corresponding to the calculated degree of danger so as to inform the driver of the degree of danger.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vehicle driving support device that detects obstacles around a vehicle such as an automobile, and notifies the driver of the obstacles to support driving.

[Conventional technology]

FIG. 2 is a block diagram of a conventional vehicle driving support system disclosed in Japanese Patent Application Laid-Open No. 59-144291. In the same figure, 1 is a sensor section, which is an infrared sensor.

Obstacles around the vehicle are detected using ultrasonic waves, etc.

As shown in FIG. 3, the sensor unit 1 includes sensors 881. SS2. and sensors C81 to C8 that detect the presence or absence of obstacles at the left, right, front, and rear corners.
It is composed of 4. 2 is an input interface, which supplies a detection signal from the sensor section 1 to the CPU 3. 4
is memory.

Store necessary data. 5 is an output interface, which supplies the output of the CPU 3 to the CRT controller 6. 7 is a television camera that photographs the rear of the vehicle, and 8 is a memory that stores image signals.

9 is a CRT that displays a predetermined image.

Therefore, the detection of the obstacle outputted from the sensor unit l (No. 4 is stored in the memory 4 via the input interface 2 and the CPU 3. The CPU 3 processes the data stored in the memory 4 and converts it into an image signal. .

This image signal is sent to the output interface 5 and the controller 6.
The data is stored in the memory 8 via the . The image signal stored in the memory 8 is read out by the controller 6 and is sent to a predetermined position fi! of the CRT 9. (For example, on the left side of the screen as shown in Figure 4)
will be displayed along with your army mark.

On the other hand, the image output by the camera 7 is as shown in FIG.
It will be displayed as is on the right side of RT9.

In this way, the surrounding conditions of the vehicle are always displayed on the CRT 9, so that the driver can safely change lanes, turn right or left, etc. by checking this display.

[Problems to be Solved by the Invention] By the way, such a display is hardly necessary when the vehicle is simply traveling straight. However, since conventional devices always display the display even when the vehicle is traveling straight, the display often falls within the driver's field of vision.
On the contrary, there was a risk that it would hinder safe driving. In addition, because the display time is long, the warning significance is not recorded, and obstacles are detected.
Even if it is displayed, there is a drawback that the driver tends to notice it late. Furthermore, because it is displayed as an image, not only does it require skill to read each display, but CR
This requires a display means having a relatively large area such as T, which has the disadvantage of increasing the size of the device.

The present invention was developed in view of the above situation, and is intended to display a predetermined display only when necessary, so that even an unskilled person can quickly detect obstacles.

[Means to solve problems]

The vehicle driving support device of the present invention includes a first sensor that detects an obstacle on the left or right side of the vehicle, a calculation means that calculates the degree of danger in response to the output of the first sensor, and a rotation of the steering wheel of the vehicle. The present invention is characterized by comprising a second sensor that detects an angle, and a display means that displays a display corresponding to the degree of danger when the second sensor detects a rotation angle that is equal to or greater than a predetermined reference value.

[Effect]

When the first sensor detects an obstacle on the left or right side of the vehicle, it outputs the detection output to the calculation means.

The calculation means calculates the degree of danger from this detection output.

A display corresponding to this degree of risk is performed by the display means.

However, this display is performed only when the second sensor detects an operation of the vehicle steering wheel that is greater than or equal to a reference value.

Therefore, information regarding obstacles is displayed only when necessary, such as when changing course, turning right or turning left, etc., making safer driving possible.

〔Example〕

FIG. 1 is a block diagram of a vehicle driving support system according to the present invention. In the figure, 11 is a sensor unit that detects obstacles around the vehicle using infrared rays, ultrasonic waves, and the like. Sensor part 11
As shown in FIG. 5, it is composed of sensors SS1 and SS2 that detect obstacles on the left and right sides of the vehicle, and sensors C81 and C82 that detect obstacles on the left rear and right rear sides of the vehicle. Reference numeral 12 denotes an input interface section, which supplies the detection output output from the sensor section 11 to the obstacle detection section 13. The obstacle detection section 13 , which constitutes a calculation means together with the risk calculation section 14 , calculates the existence, size, distance, etc. of an obstacle from the detection output of the sensor section 11 and outputs it to the risk calculation section 14 . 15 (R8) is a sensor that detects the rotation angle O of the steering wheel of the vehicle.

The risk calculation section 14 calculates the risk from the output of the detection section 13, and the risk display section 16 as a display means displays a display corresponding to the risk to notify the driver of the risk.

The lever device operates according to a flowchart such as that shown in FIG. 6, for example. First, the magnitude relationship between the rotation angle of the steering wheel, 0, and a predetermined reference value Or set in advance and 01 is determined.For the 0 rotation angle 0, for example, rotation to the right is detected as positive, and rotation to the left is detected as negative. , the rightward reference value Or is set to a positive predetermined value, and the leftward reference value O1 is set to a negative predetermined value, and the two reference values are usually set to approximately equal values.

When the steering wheel is operated in the right direction by more than the standard value 0 (step 81), the sensor 15 detects this. The input of the signal regarding the obstacle on the right side is allowed (s2). That is, the signals R8E, R8L, and R generated by the detection fi1 section 13 from the detection outputs of the sensors SS2 and C82 are allowed.
3D, RBE, RBL and RBD are input to the calculation unit 14.

Signals R8E and RBE represent the degree of existence of obstacles on the right side and rear right side (the rate at which obstacles exist within a unit time).
For example, when the unit time is 1 second, the time when the obstacle exists is maximum when it is 1 second, and the minimum when it is 0 seconds.

Signals R5L and RBL represent the volume (size) of obstacles on the right side and right rear side.

Signals R8D and RBD represent the distances from the vehicle to obstacles on the right side and rear right side.

All values of these signals are assumed to be positive.

The risk calculation unit 14 calculates the risk RD from these signals output by the detection unit 13, for example, according to the following formula (S3)
.

RD==a, R8E+b, R8L+R8D/c1+ a
2 RB E + b 2 RB L + RB D
/ c -・・・(1) However, here at, bl, cl, C2, b,,c
, is a positive constant number.

In the most simplified case 1, for example, the sensor C82 may be omitted and only the sensor SS2 is used, and the degree of danger RD may be set only to the distance to the obstacle on the right side. In this case, RD=R8D/c1 (2), so the calculation section 14 can be configured to output the output of the detection section 13 as is. In other words, it is optional whether the detection unit 13 or the calculation unit 14 corresponds to the degree of risk.

The danger level notification unit 16 displays at least one of audio and light in accordance with the level of risk (S4), for example, the notification unit 1
If 6 is configured with a buzzer, lamp, etc., the risk level is RD.
Sound or light is generated at a volume or amount of light (brightness) corresponding to the value of .

Alternatively, the pitch and interval of the sound, the flashing cycle of the lamp, etc. may be changed. This display continues while the rotation angle θ is greater than the reference value Or.

As the vehicle travels, the relative position of the vehicle to the obstacle changes every moment. As a result, the degree of risk (and thus the display) also changes from moment to moment.

If the rotation angle θ is smaller than the reference value θ, it is determined whether the rotation angle 0 is smaller than the reference value 01 (S5).The sensor 15 detects that the rotation angle O is smaller than the reference value 01. When the sensor SSI detects an obstacle on the left side, C81
The signals LSE, LSL, generated by the detection unit 13 from the output of
LSD, LBE, LBL, and LBD are input to the calculation unit 14 (S6).

These signals LSE to LBD are similar to the signal RLS described above.
These are the same signals as RBD to RBD except that their directions are different.

The calculation unit 14 calculates the degree of danger RD from these signals according to the following formula.
Calculate.

RD = a 1L S E 10b 1L S L +
LSD/c.

+ a, L B E + b 2L B L +
LBD/c.

(3) Then, the notification unit 16 displays a display corresponding to the calculated risk level RD in the same manner as described above (S8).
.

When the rotation angle 0 is greater than or equal to the reference value 01 and less than or equal to the reference value Or, the notification section 16 does not display anything, so the driver is not prevented from driving normally.

On the other hand, as mentioned above, if you operate the steering wheel to the right or left more than the standard value, only during that time, the display regarding obstacles in the direction corresponding to the direction of the operation is displayed not as an image but as an audio or light, so it is difficult to drive. The operator can intuitively understand the meaning of the display without requiring any skill, and can quickly perform driving operations in response to the display.

In the above, it is assumed that the vehicle is moving forward, and the degree of danger related to obstacles in the same direction as the steering wheel operation direction is displayed. When C83 and C84 are installed, sensor S is used as the left sensor when the vehicle is moving backwards.
S1. C83 as the right sensor, sensor SS2, C
84 can be used to similarly detect obstacles in the same direction as the direction in which the handle is operated.

Furthermore, when the vehicle rotates while backing up, the front part of the vehicle protrudes outward, so a sensor on the opposite side to the direction in which the steering wheel is operated may be associated to display the degree of danger on the opposite side.

〔Effect of the invention〕

As described above, according to the present invention, the operation of the handle is detected,
Since only information about obstacles in the direction corresponding to the operation is displayed, not only can a small display device be used, but there is no need to perform any special operations other than those originally required for driving. The display is also displayed automatically when necessary, ensuring driving safety.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of the vehicle driving support device of the present invention, and FIG.
Figure 3 is a block diagram of a conventional vehicle driving support system, Figure 3 is an explanatory diagram of the mounting position of the sensor, Figure 4 is an explanatory diagram of its display, and Figure 5 is an illustration of the mounting position of the sensor of the present invention. FIG. 6 is a flowchart of the vehicle driving support system of the present invention. 1... Sensor section 2... Input interface 3... CPU 4... Memory 5... Output interface 6... CRT controller 7... Camera 8... Memory 9... CRT 11 ...Sensor section 12...Input interface 13...Obstacle detection section 14...Danger storage calculation section 15...Sensor 16...Danger notification section Patent applicant Oki Electric Industry Co., Ltd.

Claims (2)

[Claims] (1) A first sensor that detects an obstacle on the left or right side of the vehicle, a calculation means that calculates the degree of danger in response to the output of the first sensor, and a second sensor that detects the rotation angle of the steering wheel of the vehicle. What is claimed is: 1. A vehicle driving support device comprising: a sensor; and a display means for displaying a display corresponding to the degree of danger when the second sensor detects a rotation angle equal to or greater than a predetermined reference value. (2) The first sensor detects obstacles on the left or right side and rear, and the calculation means calculates the degree of danger by adding the outputs of the first sensors on the side and rear at a predetermined ratio. A vehicle driving support device according to claim 1, characterized in that: